+ python -m lidar_slam --no-model /working/47266fdf-506d-4a56-b189-f30ffd4d38ad Lidar SLAM 0.0.11 ===================================================== The recording path: /working/47266fdf-506d-4a56-b189-f30ffd4d38ad 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 0.003617865 Adjusted end_distance from 9.223372036854776e+18 to 254.633617865 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.003617865 meters 0.07515855309711295 Centerline is valid? [0, True] SLAMing on 0.063617865 meters 0.07690681369739898 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99998697e-01 5.46579895e-04 -1.51887444e-03 6.19208001e-02] [-5.46350673e-04 9.99999839e-01 1.51326310e-04 7.12890531e-03] [ 1.51895690e-03 -1.50496275e-04 9.99998835e-01 -2.79033802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.123617865 meters 0.10767530083639261 Centerline is valid? [True, False] Translation: X:0.08, Y:0.01, Z:-0.00 [[ 9.99998411e-01 9.69604895e-04 1.49602282e-03 8.16063983e-02] [-9.62053352e-04 9.99986835e-01 -5.04023546e-03 1.09701503e-02] [-1.50089016e-03 5.03878820e-03 9.99986179e-01 -4.73755031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.183617865 meters 0.1343808674893774 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.01 [[ 9.99999782e-01 -1.97870421e-04 6.29255952e-04 8.39828968e-02] [ 2.01690053e-04 9.99981522e-01 -6.07581838e-03 1.31960309e-02] [-6.28042099e-04 6.07594397e-03 9.99981344e-01 -5.40794430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.243617865 meters 0.15989116679285137 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.00 [[ 9.99962745e-01 -8.62878220e-03 2.29111428e-04 1.03005008e-01] [ 8.62914130e-03 9.99961463e-01 -1.61556557e-03 1.74509641e-02] [-2.15162235e-04 1.61748242e-03 9.99998669e-01 -4.72486025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.303617865 meters 0.17197099520065823 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.01 [[ 0.99995984 -0.00775951 0.00448319 0.12134 ] [ 0.00778893 0.999948 -0.00658298 0.02298984] [-0.00443188 0.00661764 0.99996828 -0.00660853] [ 0. 0. 0. 1. ]] SLAMing on 0.363617865 meters 0.18605622628514173 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.01 [[ 0.9999827 -0.00458681 0.00368228 0.12301796] [ 0.00459878 0.99998415 -0.0032489 0.0255742 ] [-0.00366732 0.00326577 0.99998794 -0.00627872] [ 0. 0. 0. 1. ]] SLAMing on 0.423617865 meters 0.20599715686560635 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.01 [[ 0.99999278 -0.00264823 0.00272608 0.12539008] [ 0.00265345 0.99999465 -0.00191482 0.03572524] [-0.002721 0.00192204 0.99999445 -0.00581009] [ 0. 0. 0. 1. ]] SLAMing on 0.483617865 meters 0.21100872512149102 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.00 [[ 0.99999326 0.00331482 0.00157571 0.12801007] [-0.00332056 0.99998782 0.003652 0.04587266] [-0.00156359 -0.00365721 0.99999209 -0.0049484 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5436178650000001 meters 0.21445949219043856 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.01 [[ 0.99998307 0.00572427 0.00104094 0.12990196] [-0.00572943 0.99997096 0.00502475 0.0548864 ] [-0.00101215 -0.00503063 0.99998683 -0.00531044] [ 0. 0. 0. 1. ]] SLAMing on 0.603617865 meters 0.21122269529310278 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:-0.00 [[ 9.99865147e-01 1.64107426e-02 6.13244361e-04 1.29567225e-01] [-1.64179554e-02 9.99758354e-01 1.46179461e-02 6.46323135e-02] [-3.73204822e-04 -1.46260430e-02 9.99892964e-01 -2.87616572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.663617865 meters 0.19748857869694816 Centerline is valid? [False, False] Translation: X:0.13, Y:0.09, Z:-0.01 [[ 0.99976242 0.02170958 0.00194888 0.12724463] [-0.02171854 0.99975309 0.00469763 0.09089478] [-0.00184642 -0.00473884 0.99998707 -0.00588587] [ 0. 0. 0. 1. ]] SLAMing on 0.723617865 meters 0.1903935224084728 Centerline is valid? [False, False] Translation: X:0.13, Y:0.10, Z:-0.00 [[ 0.99957514 0.02906829 0.00213817 0.12653558] [-0.02908985 0.99951782 0.010859 0.09792305] [-0.00182149 -0.01091658 0.99993875 -0.00468167] [ 0. 0. 0. 1. ]] SLAMing on 0.7836178650000001 meters 0.17135870353559043 Centerline is valid? [False, False] Translation: X:0.13, Y:0.11, Z:-0.00 [[ 0.99934648 0.03603566 0.00283709 0.12530382] [-0.03607447 0.99923527 0.01508319 0.11055331] [-0.00229138 -0.01517568 0.99988222 -0.00435558] [ 0. 0. 0. 1. ]] SLAMing on 0.843617865 meters 0.15425347223724498 Centerline is valid? [False, False] Translation: X:0.13, Y:0.12, Z:-0.00 [[ 0.99922547 0.03922365 0.00315621 0.12521485] [-0.03927152 0.99908583 0.01688918 0.11731463] [-0.00249087 -0.01700005 0.99985239 -0.00470794] [ 0. 0. 0. 1. ]] SLAMing on 0.903617865 meters 0.12807930863439654 Centerline is valid? [False, False] Translation: X:0.13, Y:0.13, Z:-0.01 [[ 0.99926009 0.03832571 0.00322722 0.12601585] [-0.03836617 0.99917143 0.01358257 0.12702607] [-0.00270398 -0.01369634 0.99990254 -0.00659321] [ 0. 0. 0. 1. ]] SLAMing on 0.963617865 meters 0.12273855822088166 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-0.01 [[ 0.99947961 0.03178732 -0.00548449 0.11801914] [-0.0317268 0.99943833 0.01079028 0.13436714] [ 0.0058244 -0.01061066 0.99992674 -0.00948703] [ 0. 0. 0. 1. ]] SLAMing on 1.023617865 meters 0.11879181716193772 Centerline is valid? [False, False] Translation: X:0.12, Y:0.14, Z:-0.01 [[ 0.99963139 0.02653093 -0.00576218 0.1198762 ] [-0.02650476 0.99963824 0.00457026 0.13766307] [ 0.00588135 -0.00441585 0.99997295 -0.0120128 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0836178650000001 meters 0.11772791576523757 Centerline is valid? [False, False] Translation: X:0.12, Y:0.14, Z:-0.02 [[ 0.99974682 0.02167883 -0.00602739 0.12187629] [-0.02168852 0.99976358 -0.00154695 0.14119577] [ 0.00599243 0.00167728 0.99998064 -0.01503814] [ 0. 0. 0. 1. ]] SLAMing on 1.143617865 meters 0.11477980658751231 Centerline is valid? [False, False] Translation: X:0.12, Y:0.14, Z:-0.02 [[ 9.99956775e-01 9.29661887e-03 -1.48118885e-04 1.23031729e-01] [-9.29604151e-03 9.99950624e-01 3.51180651e-03 1.41634092e-01] [ 1.80759499e-04 -3.51027779e-03 9.99993823e-01 -1.77651127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.203617865 meters 0.1069203142254569 Centerline is valid? [False, False] Translation: X:0.13, Y:0.15, Z:-0.02 [[ 9.99957979e-01 9.13213427e-03 -8.02532412e-04 1.25466160e-01] [-9.13143945e-03 9.99957933e-01 8.65229843e-04 1.47795783e-01] [ 8.10400047e-04 -8.57865209e-04 9.99999304e-01 -2.13202124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.263617865 meters 0.10471021810413712 Centerline is valid? [False, False] Translation: X:0.13, Y:0.15, Z:-0.02 [[ 0.9999633 0.00844795 -0.00142161 0.12753266] [-0.00845038 0.99996282 -0.00171606 0.1531684 ] [ 0.00140706 0.00172801 0.99999752 -0.02385923] [ 0. 0. 0. 1. ]] SLAMing on 1.323617865 meters 0.10037707468948603 Centerline is valid? [False, False] Translation: X:0.13, Y:0.16, Z:-0.03 [[ 9.99932284e-01 1.14544318e-02 -2.05515240e-03 1.30546793e-01] [-1.14544852e-02 9.99934395e-01 -1.42365323e-05 1.56945382e-01] [ 2.05485451e-03 3.77762811e-05 9.99997888e-01 -2.72251152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.383617865 meters 0.09759036787781185 Centerline is valid? [False, True] Translation: X:0.13, Y:0.16, Z:-0.03 [[ 0.99993743 0.01096754 -0.0022043 0.13124894] [-0.01097036 0.99993901 -0.00127283 0.15969525] [ 0.00219021 0.00129694 0.99999676 -0.02822908] [ 0. 0. 0. 1. ]] SLAMing on 1.443617865 meters 0.09338915684081735 Centerline is valid? [True, True] Translation: X:0.19, Y:0.16, Z:-0.03 [[ 9.99953385e-01 7.54013906e-03 -6.03108985e-03 1.92207421e-01] [-7.53782047e-03 9.99971507e-01 4.07077876e-04 1.58385325e-01] [ 6.03398743e-03 -3.61597628e-04 9.99981730e-01 -3.03140767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.503617865 meters 0.09332950111604346 Centerline is valid? [True, True] Translation: X:0.25, Y:0.14, Z:-0.03 [[ 9.99950098e-01 1.23697844e-03 -9.91319544e-03 2.50908520e-01] [-1.23040114e-03 9.99999019e-01 6.69560883e-04 1.44338311e-01] [ 9.91401395e-03 -6.57330264e-04 9.99950639e-01 -3.06314325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.563617865 meters 0.0889862751070547 Centerline is valid? [True, True] Translation: X:0.31, Y:0.14, Z:-0.03 [[ 9.99919516e-01 -4.90325023e-03 -1.17012487e-02 3.10230511e-01] [ 4.91283251e-03 9.99987620e-01 7.90307557e-04 1.35454446e-01] [ 1.16972288e-02 -8.47730225e-04 9.99931226e-01 -3.17750249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.623617865 meters 0.08563645526671418 Centerline is valid? [True, True] Translation: X:0.37, Y:0.13, Z:-0.03 [[ 0.99979579 -0.01287381 -0.01557722 0.37043113] [ 0.01289174 0.99991634 0.00105176 0.125242 ] [ 0.01556238 -0.00125236 0.99987811 -0.03384347] [ 0. 0. 0. 1. ]] SLAMing on 1.683617865 meters 0.0855825962117444 Centerline is valid? [True, True] Translation: X:0.43, Y:0.11, Z:-0.03 [[ 0.99972459 -0.01550993 -0.01761198 0.42815912] [ 0.01553327 0.99987864 0.00118896 0.10792212] [ 0.0175914 -0.00146221 0.99984419 -0.03354301] [ 0. 0. 0. 1. ]] SLAMing on 1.743617865 meters 0.07792651227132527 Centerline is valid? [True, True] Translation: X:0.49, Y:0.11, Z:-0.03 [[ 0.99971755 -0.01501252 -0.01842384 0.48754241] [ 0.01503796 0.99988615 0.0012427 0.10624938] [ 0.01840309 -0.0015194 0.99982949 -0.03327066] [ 0. 0. 0. 1. ]] SLAMing on 1.8036178649999999 meters 0.07859617910269664 Centerline is valid? [True, True] Translation: X:0.55, Y:0.10, Z:-0.03 [[ 0.99974454 -0.00926353 -0.02061633 0.54780902] [ 0.00929408 0.99995585 0.00138671 0.10272448] [ 0.02060258 -0.00157797 0.9997865 -0.03246965] [ 0. 0. 0. 1. ]] SLAMing on 1.863617865 meters 0.07281102500637941 Centerline is valid? [True, True] Translation: X:0.61, Y:0.10, Z:-0.03 [[ 9.99751024e-01 -3.70815201e-04 -2.23103460e-02 6.08482525e-01] [ 4.04390446e-04 9.99998793e-01 1.50042537e-03 1.04584769e-01] [ 2.23097627e-02 -1.50907389e-03 9.99749967e-01 -3.07877259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.923617865 meters 0.07251709182573197 Centerline is valid? [True, True] Translation: X:0.67, Y:0.11, Z:-0.03 [[ 0.99969484 0.00623438 -0.02390309 0.66909092] [-0.00619772 0.9999795 0.00160738 0.10719479] [ 0.02391262 -0.00145874 0.99971299 -0.03023661] [ 0. 0. 0. 1. ]] SLAMing on 1.983617865 meters 0.06797229053076283 Centerline is valid? [True, True] Translation: X:0.73, Y:0.11, Z:-0.03 [[ 0.99952765 0.01280375 -0.02793823 0.72821962] [-0.01275624 0.99991687 0.00187818 0.11307208] [ 0.02795996 -0.00152091 0.99960789 -0.03246767] [ 0. 0. 0. 1. ]] SLAMing on 2.043617865 meters 0.06178455182109483 Centerline is valid? [True, True] Translation: X:0.79, Y:0.11, Z:-0.03 [[ 0.99944131 0.01300773 -0.03078742 0.78580895] [-0.01295018 0.999914 0.00206781 0.11139044] [ 0.03081167 -0.00166795 0.99952382 -0.03332255] [ 0. 0. 0. 1. ]] SLAMing on 2.103617865 meters 0.05176744270993639 Centerline is valid? [True, True] Translation: X:0.85, Y:0.12, Z:-0.03 [[ 0.99945937 0.00966365 -0.03142566 0.84714085] [-0.00960209 0.99995167 0.00210938 0.1225725 ] [ 0.03144452 -0.00180649 0.99950387 -0.02864624] [ 0. 0. 0. 1. ]] SLAMing on 2.163617865 meters 0.04989216551862717 Centerline is valid? [True, True] Translation: X:0.91, Y:0.12, Z:-0.03 [[ 0.99934706 0.00772812 -0.03529481 0.90650676] [-0.00764927 0.99996794 0.00236844 0.119836 ] [ 0.03531198 -0.00209691 0.99937414 -0.02899217] [ 0. 0. 0. 1. ]] SLAMing on 2.2236178649999996 meters 0.048391068154777214 Centerline is valid? [True, True] Translation: X:0.97, Y:0.12, Z:-0.03 [[ 0.99925749 0.00688955 -0.03790779 0.9656723 ] [-0.00679806 0.99997366 0.00254211 0.11921431] [ 0.0379243 -0.00228252 0.99927801 -0.02711528] [ 0. 0. 0. 1. ]] SLAMing on 2.2836178649999996 meters 0.043163273958653166 Centerline is valid? [True, True] Translation: X:1.03, Y:0.12, Z:-0.02 [[ 0.99925471 0.00657169 -0.03803734 1.02526999] [-0.00647957 0.99997577 0.0025447 0.1225071 ] [ 0.03805314 -0.00229633 0.99927308 -0.0216581 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3436178649999997 meters 0.04363790563870773 Centerline is valid? [True, True] Translation: X:1.08, Y:0.11, Z:-0.02 [[ 0.9992759 0.00623192 -0.03753458 1.08315816] [-0.00614219 0.999978 0.00250549 0.11471848] [ 0.03754937 -0.00227313 0.99929219 -0.01883473] [ 0. 0. 0. 1. ]] SLAMing on 2.4036178649999997 meters 0.03880671940880057 Centerline is valid? [True, True] Translation: X:1.14, Y:0.11, Z:-0.01 [[ 0.99936905 0.00528424 -0.03512221 1.14091073] [-0.00520532 0.99998372 0.00233801 0.11132493] [ 0.035134 -0.00215371 0.99938029 -0.01020915] [ 0. 0. 0. 1. ]] SLAMing on 2.463617865 meters 0.038302459684524046 Centerline is valid? [True, True] Translation: X:1.20, Y:0.11, Z:-0.00 [[ 0.99941425 0.00395047 -0.03399328 1.19902684] [-0.00387597 0.99998994 0.00225719 0.10596826] [ 0.03400185 -0.00212411 0.99941951 -0.00279214] [ 0. 0. 0. 1. ]] SLAMing on 2.523617865 meters 0.038807237842111486 Centerline is valid? [True, True] Translation: X:1.26, Y:0.10, Z:0.00 [[ 0.99937937 0.00135896 -0.03519981 1.25898039] [-0.00127754 0.99999646 0.00233561 0.09867289] [ 0.03520286 -0.00228919 0.99937757 0.00132508] [ 0. 0. 0. 1. ]] SLAMing on 2.583617865 meters 0.04001069302070636 Centerline is valid? [True, True] Translation: X:1.32, Y:0.09, Z:0.00 [[ 0.99929938 -0.0023705 -0.03735146 1.31843649] [ 0.00246476 0.99999389 0.00247775 0.08842861] [ 0.03734536 -0.00256808 0.99929912 0.00349575] [ 0. 0. 0. 1. ]] SLAMing on 2.6436178649999995 meters 0.04189744634397002 Centerline is valid? [True, True] Translation: X:1.38, Y:0.08, Z:0.01 [[ 0.99925047 -0.00660887 -0.03814223 1.37790905] [ 0.00671021 0.99997429 0.0025296 0.07820088] [ 0.03812453 -0.00278364 0.99926912 0.00607023] [ 0. 0. 0. 1. ]] SLAMing on 2.7036178649999996 meters 0.043984525585233435 Centerline is valid? [True, True] Translation: X:1.44, Y:0.07, Z:0.01 [[ 0.99919826 -0.01037265 -0.03866849 1.43669506] [ 0.01047961 0.9999418 0.00256419 0.06691284] [ 0.03863964 -0.00296737 0.9992488 0.00970096] [ 0. 0. 0. 1. ]] SLAMing on 2.7636178649999996 meters 0.044739036739386465 Centerline is valid? [True, True] Translation: X:1.49, Y:0.05, Z:0.01 [[ 0.99923332 -0.01108403 -0.03754881 1.49428955] [ 0.01118531 0.99993435 0.0024882 0.05465249] [ 0.03751876 -0.00290629 0.9992917 0.01305663] [ 0. 0. 0. 1. ]] SLAMing on 2.8236178649999997 meters 0.04450494026490194 Centerline is valid? [True, True] Translation: X:1.55, Y:0.04, Z:0.02 [[ 0.99926735 -0.00680596 -0.03766222 1.55200608] [ 0.00690475 0.99997305 0.0024936 0.04115621] [ 0.03764423 -0.00275183 0.99928742 0.01646639] [ 0. 0. 0. 1. ]] SLAMing on 2.8836178649999997 meters 0.043693844858721166 Centerline is valid? [True, True] Translation: X:1.61, Y:0.03, Z:0.02 [[ 0.9993308 -0.00279219 -0.03647123 1.61132293] [ 0.00288213 0.99999293 0.00241366 0.03339777] [ 0.03646423 -0.00251716 0.99933179 0.01799813] [ 0. 0. 0. 1. ]] SLAMing on 2.943617865 meters 0.04209653464765857 Centerline is valid? [True, True] Translation: X:1.67, Y:0.02, Z:0.02 [[ 0.99933849 0.00314771 -0.03623076 1.67117364] [-0.00306287 0.99999244 0.00239709 0.01911908] [ 0.03623803 -0.00228453 0.99934058 0.02035189] [ 0. 0. 0. 1. ]] SLAMing on 3.003617865 meters 0.0419093661077697 Centerline is valid? [True, True] Translation: X:1.73, Y:0.01, Z:0.02 [[ 0.99929466 0.00517957 -0.03719359 1.73116335] [-0.00509157 0.99998401 0.00246024 0.01166103] [ 0.03720574 -0.00226913 0.99930505 0.02106151] [ 0. 0. 0. 1. ]] SLAMing on 3.063617865 meters 0.04155547566556144 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.00, Z:0.02 [[ 0.99927891 0.0072601 -0.03726859 1.7902524 ] [-0.00717322 0.99997124 0.00246413 -0.00234867] [ 0.03728541 -0.00219502 0.99930225 0.02089537] [ 0. 0. 0. 1. ]] SLAMing on 3.123617865 meters 0.04178026432461452 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.01, Z:0.02 [[ 0.99921828 0.00848968 -0.03861021 1.84835413] [-0.00839756 0.99996149 0.00254749 -0.01434297] [ 0.03863035 -0.00222126 0.9992511 0.02004098] [ 0. 0. 0. 1. ]] SLAMing on 3.1836178649999995 meters 0.04360429480555071 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.03, Z:0.02 [[ 0.99920932 0.00680455 -0.03917186 1.90701314] [-0.00670859 0.99997417 0.00258052 -0.03375667] [ 0.03918841 -0.00231569 0.99922916 0.02078793] [ 0. 0. 0. 1. ]] SLAMing on 3.2436178649999996 meters 0.046088715012439004 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.05, Z:0.02 [[ 0.99929055 0.00439202 -0.03740464 1.96541911] [-0.00430289 0.99998771 0.00246304 -0.05444465] [ 0.03741499 -0.00230034 0.99929717 0.0237734 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3036178649999997 meters 0.04778363756430521 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.07, Z:0.02 [[ 0.99930876 0.00262918 -0.03708221 2.02386571] [-0.00254042 0.9999938 0.00244044 -0.06883921] [ 0.0370884 -0.00234455 0.99930924 0.02499106] [ 0. 0. 0. 1. ]] SLAMing on 3.3636178649999997 meters 0.05056327298366609 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.09, Z:0.02 [[ 9.99214341e-01 3.39648599e-04 -3.96306018e-02 2.08338317e+00] [-2.36504958e-04 9.99996573e-01 2.60728538e-03 -8.74792293e-02] [ 3.96313516e-02 -2.59586411e-03 9.99210997e-01 2.19461782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4236178649999998 meters 0.052524563241405954 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.11, Z:0.02 [[ 9.99181548e-01 -5.87445243e-04 -4.04461257e-02 2.14093000e+00] [ 6.95438253e-04 9.99996231e-01 2.65602796e-03 -1.06276895e-01] [ 4.04444130e-02 -2.68198191e-03 9.99178191e-01 2.14643870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.483617865 meters 0.05309319162618434 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.12, Z:0.02 [[ 9.99246145e-01 -4.98124936e-04 -3.88187164e-02 2.19935363e+00] [ 5.97240843e-04 9.99996591e-01 2.54174740e-03 -1.19139469e-01] [ 3.88173179e-02 -2.56301541e-03 9.99243037e-01 2.39300370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.543617865 meters 0.045981663968718 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.13, Z:0.03 [[ 0.9993062 -0.00271478 -0.03714506 2.25863826] [ 0.00280692 0.99999311 0.0024286 -0.12707289] [ 0.03713821 -0.00253118 0.99930693 0.03033544] [ 0. 0. 0. 1. ]] SLAMing on 3.6036178649999995 meters 0.04409993413553267 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.14, Z:0.04 [[ 9.99373726e-01 -6.37015282e-03 -3.48077152e-02 2.31823894e+00] [ 6.45323527e-03 9.99976590e-01 2.27507266e-03 -1.42076398e-01] [ 3.47924078e-02 -2.49827021e-03 9.99391438e-01 3.54038993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6636178649999995 meters 0.04664253853347433 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.16, Z:0.04 [[ 9.99443078e-01 -9.69411320e-03 -3.19305064e-02 2.37799829e+00] [ 9.76570148e-03 9.99950137e-01 2.08681081e-03 -1.56969990e-01] [ 3.19086845e-02 -2.39747241e-03 9.99487913e-01 3.88588667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7236178649999996 meters 0.050415032442545735 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.18, Z:0.04 [[ 9.99463540e-01 -1.33387296e-02 -2.99116959e-02 2.43667196e+00] [ 1.34031702e-02 9.99908263e-01 1.95488781e-03 -1.76062307e-01] [ 2.98828761e-02 -2.35475064e-03 9.99550633e-01 4.13442431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7836178649999996 meters 0.055980285048067846 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.19, Z:0.04 [[ 9.99378849e-01 -1.91188653e-02 -2.96038166e-02 2.49483930e+00] [ 1.91845045e-02 9.99814088e-01 1.93478757e-03 -1.94505534e-01] [ 2.95613219e-02 -2.50152033e-03 9.99559838e-01 4.14864192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8436178649999997 meters 0.05984065957649404 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.21, Z:0.04 [[ 9.99374289e-01 -2.25136701e-02 -2.72794082e-02 2.55383951e+00] [ 2.25706570e-02 9.99743661e-01 1.78286082e-03 -2.09137245e-01] [ 2.72322766e-02 -2.39745943e-03 9.99626258e-01 4.36617093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9036178649999997 meters 0.062073458153478395 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.22, Z:0.04 [[ 9.99372326e-01 -2.33790836e-02 -2.66152737e-02 2.61158157e+00] [ 2.34336019e-02 9.99723884e-01 1.73828495e-03 -2.19292572e-01] [ 2.65672853e-02 -2.36088560e-03 9.99644240e-01 4.44930614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.963617865 meters 0.06321676281642381 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.23, Z:0.04 [[ 9.99410106e-01 -2.15946860e-02 -2.67040976e-02 2.67016948e+00] [ 2.16488833e-02 9.99764118e-01 1.74207537e-03 -2.26491248e-01] [ 2.66601791e-02 -2.31916163e-03 9.99641864e-01 4.36475941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.023617864999999 meters 0.0610262897443318 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.23, Z:0.04 [[ 9.99498327e-01 -1.42761796e-02 -2.82716349e-02 2.72964427e+00] [ 1.43340050e-02 9.99895563e-01 1.84373464e-03 -2.28629480e-01] [ 2.82423608e-02 -2.24805544e-03 9.99598577e-01 4.05248152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.083617865 meters 0.05837866003959113 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.23, Z:0.04 [[ 9.99571033e-01 -6.63498818e-03 -2.85259162e-02 2.78855594e+00] [ 6.69075510e-03 9.99975887e-01 1.85995039e-03 -2.33029541e-01] [ 2.85128876e-02 -2.05001245e-03 9.99591323e-01 4.04408413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1436178649999995 meters 0.04500281970769208 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.23, Z:0.05 [[ 9.99728718e-01 3.73468093e-04 -2.32884472e-02 2.84907434e+00] [-3.38203130e-04 9.99998790e-01 1.51818877e-03 -2.25766869e-01] [ 2.32889861e-02 -1.50990069e-03 9.99727635e-01 4.81676174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.203617865 meters 0.052562054726657474 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.24, Z:0.05 [[ 9.99810645e-01 3.26179399e-03 -1.91842178e-02 2.90747091e+00] [-3.23839839e-03 9.99993975e-01 1.25046266e-03 -2.43565291e-01] [ 1.91881809e-02 -1.18809974e-03 9.99815184e-01 5.18041247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.263617865 meters 0.050341271321846764 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.25, Z:0.06 [[ 9.99849256e-01 7.92397731e-03 -1.54491683e-02 2.96600223e+00] [-7.90936365e-03 9.99968214e-01 1.00679107e-03 -2.52214841e-01] [ 1.54566550e-02 -8.84446211e-04 9.99880148e-01 5.66143030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.323617865 meters 0.037663403174657974 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.24, Z:0.06 [[ 9.99768507e-01 1.73168747e-02 -1.27694265e-02 3.02751831e+00] [-1.73076609e-02 9.99849865e-01 8.31717136e-04 -2.43259982e-01] [ 1.27819121e-02 -6.10515696e-04 9.99918122e-01 5.93759657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.383617865 meters 0.01960940654646806 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.22, Z:0.06 [[ 9.99574360e-01 2.70912889e-02 -1.08241156e-02 3.08940492e+00] [-2.70852414e-02 9.99632879e-01 7.04933188e-04 -2.20496737e-01] [ 1.08392394e-02 -4.11459356e-04 9.99941169e-01 5.88290200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.443617864999999 meters 0.01747723467413545 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.22, Z:0.06 [[ 9.99239185e-01 3.66904987e-02 -1.32234273e-02 3.15016976e+00] [-3.66823108e-02 9.99326606e-01 8.61289711e-04 -2.20988283e-01] [ 1.32461238e-02 -3.75568560e-04 9.99912196e-01 5.59282784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.503617865 meters 0.01688622326354408 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.22, Z:0.06 [[ 9.99086815e-01 4.00521575e-02 -1.48781709e-02 3.21131426e+00] [-4.00421650e-02 9.99197521e-01 9.69027707e-04 -2.22921430e-01] [ 1.49050431e-02 -3.72388634e-04 9.99888844e-01 5.59261108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.563617864999999 meters 0.016801418278195465 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.23, Z:0.05 [[ 9.99121427e-01 3.77848435e-02 -1.81295232e-02 3.27375921e+00] [-3.77696108e-02 9.99285775e-01 1.18200380e-03 -2.25648436e-01] [ 1.81612365e-02 -4.96220291e-04 9.99834948e-01 5.38617390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.623617865 meters 0.01823750403559125 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.23, Z:0.06 [[ 9.99378878e-01 3.02197962e-02 -1.81279335e-02 3.33392214e+00] [-3.02032515e-02 9.99543074e-01 1.18581869e-03 -2.30175955e-01] [ 1.81554856e-02 -6.37559620e-04 9.99834972e-01 5.51923973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6836178649999995 meters 0.021215250686363693 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.24, Z:0.06 [[ 9.99532043e-01 2.39472701e-02 -1.90321666e-02 3.39272412e+00] [-2.39278949e-02 9.99712912e-01 1.24512389e-03 -2.38118822e-01] [ 1.90565201e-02 -7.89141547e-04 9.99818097e-01 5.61624705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.743617865 meters 0.022752147754230834 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.24, Z:0.06 [[ 9.99703005e-01 1.31435101e-02 -2.05219335e-02 3.45320955e+00] [-1.31187156e-02 9.99913045e-01 1.34235692e-03 -2.43219516e-01] [ 2.05377923e-02 -1.07273684e-03 9.99788502e-01 5.72817491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.803617865 meters 0.0298826129333361 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.25, Z:0.06 [[ 9.99778940e-01 -1.84212409e-03 -2.09446156e-02 3.51184174e+00] [ 1.87122981e-03 9.99997311e-01 1.37013862e-03 -2.54237058e-01] [ 2.09420353e-02 -1.40902793e-03 9.99779699e-01 5.76169323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.863617864999999 meters 0.03174493884440994 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.26, Z:0.06 [[ 9.99751165e-01 -1.04561660e-02 -1.97047395e-02 3.57195739e+00] [ 1.04835973e-02 9.99944214e-01 1.28933058e-03 -2.60065075e-01] [ 1.96901588e-02 -1.49558631e-03 9.99805011e-01 6.02776023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.923617865 meters 0.03179830235858689 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.26, Z:0.06 [[ 9.99666282e-01 -1.69783533e-02 -1.94694534e-02 3.63178001e+00] [ 1.70063624e-02 9.99854570e-01 1.27394223e-03 -2.64058288e-01] [ 1.94449925e-02 -1.60462167e-03 9.99809641e-01 6.24146861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.983617864999999 meters 0.036918922530106195 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.28, Z:0.06 [[ 9.99598771e-01 -2.04357022e-02 -1.96132461e-02 3.69099857e+00] [ 2.04647846e-02 9.99789751e-01 1.28321148e-03 -2.76657837e-01] [ 1.95828991e-02 -1.68407748e-03 9.99806818e-01 6.38774537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.043617865 meters 0.035855358426604984 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.28, Z:0.07 [[ 9.99615718e-01 -1.97080887e-02 -1.94937661e-02 3.75039902e+00] [ 1.97366597e-02 9.99804401e-01 1.27433025e-03 -2.79083943e-01] [ 1.94648385e-02 -1.65858238e-03 9.99809166e-01 6.50153648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1036178649999995 meters 0.03204209403985985 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.28, Z:0.07 [[ 9.99711878e-01 -1.55766718e-02 -1.82627400e-02 3.81042544e+00] [ 1.56010026e-02 9.99877588e-01 1.19054121e-03 -2.76713968e-01] [ 1.82419598e-02 -1.47511525e-03 9.99832513e-01 6.58239760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.163617865 meters 0.03573475195313263 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.29, Z:0.07 [[ 9.99816464e-01 -9.76172891e-03 -1.64847277e-02 3.86878387e+00] [ 9.78076015e-03 9.99951590e-01 1.07424815e-03 -2.89840611e-01] [ 1.64734432e-02 -1.23528416e-03 9.99863541e-01 6.95045341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.223617865 meters 0.029700070356910645 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.29, Z:0.07 [[ 9.99858144e-01 -7.22855129e-03 -1.52131407e-02 3.92874820e+00] [ 7.24446373e-03 9.99973267e-01 9.91117600e-04 -2.88907503e-01] [ 1.52055697e-02 -1.10118805e-03 9.99883782e-01 7.25999890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.283617864999999 meters 0.028319451982235445 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.29, Z:0.07 [[ 9.99920655e-01 1.10073248e-03 -1.25488273e-02 3.98943241e+00] [-1.09056468e-03 9.99999072e-01 8.17072956e-04 -2.88885157e-01] [ 1.25497151e-02 -8.03322817e-04 9.99920927e-01 7.47097490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.343617865 meters 0.02614654396547269 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.29, Z:0.07 [[ 9.99896486e-01 6.98485636e-03 -1.25789097e-02 4.04976405e+00] [-6.97510288e-03 9.99975338e-01 8.19088718e-04 -2.92651822e-01] [ 1.25843207e-02 -7.31264742e-04 9.99920547e-01 7.47294904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.403617864999999 meters 0.027364525732422998 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.30, Z:0.08 [[ 9.99850841e-01 1.10485310e-02 -1.32749697e-02 4.10843220e+00] [-1.10380321e-02 9.99938706e-01 8.63889069e-04 -2.98187725e-01] [ 1.32837007e-02 -7.17230672e-04 9.99911511e-01 7.51032615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.463617865 meters 0.023050831899447052 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.29, Z:0.07 [[ 9.99758220e-01 1.64077938e-02 -1.46385059e-02 4.16898698e+00] [-1.63956099e-02 9.99865130e-01 9.51948051e-04 -2.92629761e-01] [ 1.46521509e-02 -7.11710657e-04 9.99892398e-01 7.41814507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.523617864999999 meters 0.021694070528352698 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.30, Z:0.07 [[ 9.99662854e-01 1.95648955e-02 -1.70702556e-02 4.22924177e+00] [-1.95487873e-02 9.99808288e-01 1.11001110e-03 -2.95532356e-01] [ 1.70887003e-02 -7.75934068e-04 9.99853676e-01 7.42377670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.583617865 meters 0.02217964296471265 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.30, Z:0.07 [[ 9.99602627e-01 2.08152863e-02 -1.90082295e-02 4.28857263e+00] [-2.07955467e-02 9.99782986e-01 1.23556556e-03 -2.99199918e-01] [ 1.90298231e-02 -8.39788053e-04 9.99818564e-01 7.31032750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6436178649999995 meters 0.02237622574726865 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.30, Z:0.07 [[ 9.99575551e-01 2.03742963e-02 -2.08232000e-02 4.34846394e+00] [-2.03505330e-02 9.99791992e-01 1.35248471e-03 -3.00657502e-01] [ 2.08464245e-02 -9.28147434e-04 9.99782259e-01 7.18272081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.703617865 meters 0.022195912257442732 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.30, Z:0.07 [[ 9.99577106e-01 1.95563395e-02 -2.15211039e-02 4.40706129e+00] [-1.95307874e-02 9.99808280e-01 1.39686779e-03 -3.04751563e-01] [ 2.15442955e-02 -9.75952959e-04 9.99767418e-01 7.33203901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.763617865 meters 0.022119956748176593 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.31, Z:0.07 [[ 9.99555575e-01 1.89924908e-02 -2.29768876e-02 4.46552664e+00] [-1.89632534e-02 9.99819072e-01 1.48970586e-03 -3.09575274e-01] [ 2.30010237e-02 -1.05332726e-03 9.99734887e-01 7.45608609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.823617864999999 meters 0.022196606013754366 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.31, Z:0.08 [[ 9.99567515e-01 1.90540757e-02 -2.23992173e-02 4.52463960e+00] [-1.90263397e-02 9.99817930e-01 1.45073880e-03 -3.13792774e-01] [ 2.24227816e-02 -1.02393626e-03 9.99748053e-01 7.65061460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.883617865 meters 0.02147671828547718 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.32, Z:0.08 [[ 9.99589324e-01 1.82986024e-02 -2.20532168e-02 4.58308532e+00] [-1.82715667e-02 9.99832043e-01 1.42682490e-03 -3.17238269e-01] [ 2.20756217e-02 -1.02329212e-03 9.99755780e-01 7.86106995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.943617864999999 meters 0.024346638559680785 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.33, Z:0.08 [[ 9.99639416e-01 1.85958878e-02 -1.93708975e-02 4.64077534e+00] [-1.85751089e-02 9.99826684e-01 1.25207049e-03 -3.27754015e-01] [ 1.93908236e-02 -8.91802478e-04 9.99811583e-01 8.20647445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.003617865 meters 0.022310683164504852 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.33, Z:0.08 [[ 9.99637776e-01 1.86659652e-02 -1.93880865e-02 4.69985625e+00] [-1.86451885e-02 9.99825380e-01 1.25185185e-03 -3.27397891e-01] [ 1.94080679e-02 -8.89903874e-04 9.99811250e-01 8.28472103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.063617864999999 meters 0.025684632480594084 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.34, Z:0.08 [[ 9.99649702e-01 1.92261231e-02 -1.81887186e-02 4.75685973e+00] [-1.92079524e-02 9.99814822e-01 1.17320064e-03 -3.36615272e-01] [ 1.82079065e-02 -8.23421632e-04 9.99833883e-01 8.45269784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.123617865 meters 0.024280192932154804 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.34, Z:0.09 [[ 9.99642982e-01 1.88303245e-02 -1.89559513e-02 4.81537906e+00] [-1.88105470e-02 9.99822320e-01 1.22111758e-03 -3.38839806e-01] [ 1.89755773e-02 -8.64109805e-04 9.99819574e-01 8.52093362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1836178649999995 meters 0.02485064257605231 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.34, Z:0.08 [[ 9.99632899e-01 1.83473704e-02 -1.99359181e-02 4.87464389e+00] [-1.83254263e-02 9.99831252e-01 1.28287543e-03 -3.40986998e-01] [ 1.99560914e-02 -9.17070283e-04 9.99800437e-01 8.43597593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.243617865 meters 0.027684037727644252 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.35, Z:0.08 [[ 9.99652699e-01 1.49681424e-02 -2.16895514e-02 4.93346459e+00] [-1.49414022e-02 9.99887399e-01 1.39439868e-03 -3.49139754e-01] [ 2.17079807e-02 -1.06984210e-03 9.99763782e-01 8.40917039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.303617865 meters 0.029836673912571842 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.36, Z:0.09 [[ 9.99727190e-01 1.16249372e-02 -2.02585078e-02 4.99346281e+00] [-1.16009364e-02 9.99931859e-01 1.30184839e-03 -3.55784205e-01] [ 2.02722612e-02 -1.06647557e-03 9.99793928e-01 8.66534604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.363617864999999 meters 0.0340597520337655 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.36, Z:0.09 [[ 9.99807771e-01 4.74512229e-03 -1.90238130e-02 5.05188707e+00] [-4.72272329e-03 9.99988101e-01 1.22217284e-03 -3.64847429e-01] [ 1.90293859e-02 -1.13209370e-03 9.99818284e-01 8.90526446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.423617865 meters 0.025101646658425944 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.36, Z:0.09 [[ 9.99829140e-01 1.00386646e-03 -1.84576154e-02 5.11227685e+00] [-9.82155482e-04 9.99998815e-01 1.18528829e-03 -3.56485169e-01] [ 1.84587834e-02 -1.16695752e-03 9.99828941e-01 9.18648478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.483617864999999 meters 0.028637514089831558 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.36, Z:0.09 [[ 9.99853283e-01 -6.04101737e-04 -1.71186352e-02 5.17025290e+00] [ 6.23005341e-04 9.99999202e-01 1.09895914e-03 -3.63705679e-01] [ 1.71179576e-02 -1.10946290e-03 9.99852861e-01 9.36327275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.543617865 meters 0.027855641198726407 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.37, Z:0.09 [[ 9.99865551e-01 -5.08011988e-04 -1.63897023e-02 5.22878594e+00] [ 5.25307696e-04 9.99999310e-01 1.05099112e-03 -3.65499430e-01] [ 1.63891570e-02 -1.05945946e-03 9.99865127e-01 9.45406536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6036178649999995 meters 0.02987366069010545 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.37, Z:0.09 [[ 9.99855844e-01 1.97001756e-03 -1.68644379e-02 5.28771958e+00] [-1.95212302e-03 9.99997514e-01 1.07747784e-03 -3.70963962e-01] [ 1.68665186e-02 -1.04440106e-03 9.99857205e-01 9.44828414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.663617865 meters 0.025439635355854615 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.37, Z:0.10 [[ 9.99850343e-01 3.33597439e-03 -1.69753839e-02 5.34701406e+00] [-3.31805013e-03 9.99993908e-01 1.08395258e-03 -3.70393102e-01] [ 1.69788965e-02 -1.02746518e-03 9.99855320e-01 9.60731719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.723617865 meters 0.026814921922126755 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.37, Z:0.09 [[ 9.99836356e-01 4.90400579e-03 -1.74130055e-02 5.40445994e+00] [-4.88540518e-03 9.99987450e-01 1.11057987e-03 -3.74818838e-01] [ 1.74182332e-02 -1.02532854e-03 9.99847765e-01 9.49513948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.783617864999999 meters 0.025514752308923052 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.38, Z:0.10 [[ 9.99849172e-01 6.13926990e-03 -1.62463013e-02 5.46355659e+00] [-6.12327148e-03 9.99980718e-01 1.03430325e-03 -3.79038120e-01] [ 1.62523379e-02 -9.34666737e-04 9.99867485e-01 9.60077600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.843617865 meters 0.025229553469248028 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.38, Z:0.10 [[ 9.99842313e-01 7.25961051e-03 -1.62064086e-02 5.52219467e+00] [-7.24389509e-03 9.99973234e-01 1.02819696e-03 -3.83149347e-01] [ 1.62134391e-02 -9.10637307e-04 9.99868139e-01 9.67944432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.903617864999999 meters 0.02568176360964964 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.39, Z:0.10 [[ 9.99798729e-01 1.11797441e-02 -1.66587800e-02 5.58054951e+00] [-1.11637008e-02 9.99937127e-01 1.05573768e-03 -3.88500599e-01] [ 1.66695355e-02 -8.69551557e-04 9.99860676e-01 9.71654262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.963617865 meters 0.022966328291583456 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.39, Z:0.10 [[ 9.99730753e-01 1.62305621e-02 -1.65828519e-02 5.64099960e+00] [-1.62153710e-02 9.99867971e-01 1.05012944e-03 -3.89303259e-01] [ 1.65977067e-02 -7.80949603e-04 9.99861944e-01 9.76904141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.023617864999999 meters 0.02182388959010341 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.39, Z:0.10 [[ 9.99690675e-01 1.87071527e-02 -1.63889509e-02 5.70058232e+00] [-1.86926481e-02 9.99824739e-01 1.03777864e-03 -3.92659534e-01] [ 1.64054924e-02 -7.31104741e-04 9.99865154e-01 9.94130034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.083617865 meters 0.019278626596560173 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.39, Z:0.10 [[ 9.99560951e-01 2.37957722e-02 -1.76540773e-02 5.76102110e+00] [-2.37797446e-02 9.99716598e-01 1.11726688e-03 -3.93313764e-01] [ 1.76756604e-02 -6.96966896e-04 9.99843530e-01 9.95539390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1436178649999995 meters 0.019184679549452445 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.40, Z:0.10 [[ 9.99468198e-01 2.76227259e-02 -1.73293433e-02 5.82046822e+00] [-2.76078621e-02 9.99618229e-01 1.09641441e-03 -3.96257588e-01] [ 1.73530134e-02 -6.17405218e-04 9.99849235e-01 1.00081027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.203617864999999 meters 0.018534001425955727 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.40, Z:0.10 [[ 9.99405354e-01 2.94613738e-02 -1.79155190e-02 5.88272204e+00] [-2.94457786e-02 9.99565736e-01 1.13370967e-03 -4.00244508e-01] [ 1.79411396e-02 -6.05499113e-04 9.99838861e-01 1.01054278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.263617865 meters 0.018874636089149455 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.40, Z:0.10 [[ 9.99338176e-01 3.09556739e-02 -1.91038274e-02 5.94374208e+00] [-3.09381206e-02 9.99520565e-01 1.21376992e-03 -4.04654733e-01] [ 1.91322414e-02 -6.21930105e-04 9.99816768e-01 1.00395572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.323617864999999 meters 0.020026220206049015 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.41, Z:0.10 [[ 9.99372035e-01 2.93432995e-02 -1.98621652e-02 6.00496349e+00] [-2.93239158e-02 9.99569159e-01 1.26651961e-03 -4.10657052e-01] [ 1.98907716e-02 -6.83287821e-04 9.99801926e-01 1.00447490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.383617865 meters 0.018930002934669645 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.41, Z:0.10 [[ 9.99349588e-01 3.11803186e-02 -1.81159667e-02 6.06654384e+00] [-3.11644362e-02 9.99513600e-01 1.15842493e-03 -4.10951479e-01] [ 1.81432752e-02 -5.93097586e-04 9.99835221e-01 1.02374013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.443617864999999 meters 0.02026042309474966 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.42, Z:0.10 [[ 9.99356019e-01 2.99223678e-02 -1.98040246e-02 6.12725914e+00] [-2.99031118e-02 9.99551998e-01 1.26781467e-03 -4.17145210e-01] [ 1.98330884e-02 -6.74796258e-04 9.99803077e-01 1.01512157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.503617865 meters 0.02092398762989087 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.42, Z:0.10 [[ 9.99408630e-01 2.85382974e-02 -1.91821894e-02 6.18871404e+00] [-2.85199105e-02 9.99592466e-01 1.23147608e-03 -4.23096428e-01] [ 1.92095163e-02 -6.83673493e-04 9.99815246e-01 1.03468736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.563617864999999 meters 0.022748418256463107 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.43, Z:0.11 [[ 9.99474897e-01 2.70603834e-02 -1.78231741e-02 6.24928083e+00] [-2.70442591e-02 9.99633581e-01 1.14513280e-03 -4.30178108e-01] [ 1.78476311e-02 -6.62516952e-04 9.99840499e-01 1.05616899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.623617865 meters 0.022911175337670626 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.43, Z:0.11 [[ 9.99456255e-01 2.78699151e-02 -1.76199147e-02 6.31094256e+00] [-2.78542219e-02 9.99611351e-01 1.13548230e-03 -4.31894873e-01] [ 1.76447125e-02 -6.44075875e-04 9.99844112e-01 1.06652443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6836178649999995 meters 0.020424992991103123 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.44, Z:0.11 [[ 9.99440685e-01 2.78711553e-02 -1.84801509e-02 6.37301566e+00] [-2.78538712e-02 9.99611295e-01 1.19206640e-03 -4.35290210e-01] [ 1.85061918e-02 -6.76655921e-04 9.99828517e-01 1.08757540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.743617864999999 meters 0.021050618984200617 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.44, Z:0.11 [[ 9.99544084e-01 2.49033470e-02 -1.70718274e-02 6.43360440e+00] [-2.48881044e-02 9.99689633e-01 1.10476243e-03 -4.40288748e-01] [ 1.70940412e-02 -6.79373329e-04 9.99853655e-01 1.10760041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.803617865 meters 0.02233216167130158 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.44, Z:0.11 [[ 9.99632452e-01 2.07227192e-02 -1.74793866e-02 6.49411878e+00] [-2.07060873e-02 9.99784965e-01 1.13197952e-03 -4.43887098e-01] [ 1.74990856e-02 -7.69633764e-04 9.99846583e-01 1.10292019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.863617864999999 meters 0.025634446316278113 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.45, Z:0.11 [[ 9.99696704e-01 1.64055206e-02 -1.83673445e-02 6.55230197e+00] [-1.63864248e-02 9.99865026e-01 1.18968566e-03 -4.53925528e-01] [ 1.83843828e-02 -8.88349719e-04 9.99830598e-01 1.11444305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.923617865 meters 0.027255271236024517 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.46, Z:0.11 [[ 9.99715282e-01 1.46374262e-02 -1.88440928e-02 6.61128220e+00] [-1.46170258e-02 9.99892421e-01 1.21987471e-03 -4.61665209e-01] [ 1.88599214e-02 -9.44082801e-04 9.99821690e-01 1.12562553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.983617864999999 meters 0.02791082988086464 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.46, Z:0.11 [[ 9.99703022e-01 1.44632187e-02 -1.96133502e-02 6.67055780e+00] [-1.44411056e-02 9.99894917e-01 1.26862499e-03 -4.61734919e-01] [ 1.96296375e-02 -9.85009777e-04 9.99806835e-01 1.13357286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.043617865 meters 0.02373807432814709 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.46, Z:0.11 [[ 9.99712359e-01 1.25968137e-02 -2.04087903e-02 6.73076904e+00] [-1.25725073e-02 9.99920093e-01 1.31885068e-03 -4.60131859e-01] [ 2.04237728e-02 -1.06188166e-03 9.99790849e-01 1.14606496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.103617865 meters 0.027090652530644247 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.47, Z:0.11 [[ 9.99688146e-01 9.06203274e-03 -2.32699639e-02 6.78952048e+00] [-9.02949416e-03 9.99958104e-01 1.50300221e-03 -4.66816092e-01] [ 2.32826092e-02 -1.29241749e-03 9.99728088e-01 1.13751083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.163617865 meters 0.027459575791044688 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.47, Z:0.11 [[ 9.99681456e-01 6.95194102e-03 -2.42622684e-02 6.84896249e+00] [-6.91596112e-03 9.99974857e-01 1.56655362e-03 -4.69496242e-01] [ 2.42725490e-02 -1.39825769e-03 9.99704400e-01 1.14230779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.223617865 meters 0.02860542038908549 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.47, Z:0.12 [[ 9.99651572e-01 7.98436963e-03 -2.51591824e-02 6.90719078e+00] [-7.94603484e-03 9.99967112e-01 1.62329693e-03 -4.73007147e-01] [ 2.51713160e-02 -1.42281559e-03 9.99682140e-01 1.15244260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.283617865 meters 0.029033132373602232 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.48, Z:0.12 [[ 9.99635348e-01 1.04070519e-02 -2.49171314e-02 6.96576560e+00] [-1.03702386e-02 9.99944938e-01 1.60619672e-03 -4.77024844e-01] [ 2.49324752e-02 -1.34721442e-03 9.99688230e-01 1.17130192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.343617865 meters 0.023872096266220364 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.47, Z:0.12 [[ 9.99593619e-01 1.50469520e-02 -2.42112607e-02 7.02652746e+00] [-1.50135724e-02 9.99886073e-01 1.55987487e-03 -4.69982498e-01] [ 2.42319737e-02 -1.19574345e-03 9.99705648e-01 1.19660004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.403617865000001 meters 0.023143941729388714 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.47, Z:0.12 [[ 9.99563959e-01 1.81711066e-02 -2.32744879e-02 7.08671699e+00] [-1.81411113e-02 9.99834312e-01 1.49927295e-03 -4.71828036e-01] [ 2.32978751e-02 -1.07639413e-03 9.99727988e-01 1.21910335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.463617865 meters 0.021564442664369653 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.47, Z:0.12 [[ 9.99484506e-01 2.17221615e-02 -2.36404191e-02 7.14633634e+00] [-2.16922193e-02 9.99763537e-01 1.52230282e-03 -4.73915063e-01] [ 2.36678967e-02 -1.00870493e-03 9.99719367e-01 1.23858065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.523617865 meters 0.02094328790026306 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.48, Z:0.12 [[ 9.99420158e-01 2.32800157e-02 -2.48473266e-02 7.20504076e+00] [-2.32474477e-02 9.99728463e-01 1.59882315e-03 -4.77501549e-01] [ 2.48778003e-02 -1.02025916e-03 9.99689979e-01 1.24251295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.583617865 meters 0.020925193597771407 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.48, Z:0.12 [[ 9.99401086e-01 2.40448569e-02 -2.48860164e-02 7.26413152e+00] [-2.40124671e-02 9.99710379e-01 1.59958691e-03 -4.81665898e-01] [ 2.49172707e-02 -1.00105425e-03 9.99689015e-01 1.24489990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.643617865000001 meters 0.020405929330343478 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.49, Z:0.12 [[ 9.99297576e-01 2.58082319e-02 -2.71714990e-02 7.32246657e+00] [-2.57703223e-02 9.99666368e-01 1.74450534e-03 -4.86958372e-01] [ 2.72074563e-02 -1.04306167e-03 9.99629264e-01 1.24346055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.703617865 meters 0.023920828162993128 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.50, Z:0.12 [[ 9.99271749e-01 2.60009378e-02 -2.79270992e-02 7.38001781e+00] [-2.59610256e-02 9.99661352e-01 1.79084984e-03 -4.96896833e-01] [ 2.79642055e-02 -1.06452952e-03 9.99608358e-01 1.23049049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.763617865 meters 0.0206366232996646 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.50, Z:0.12 [[ 9.99252513e-01 2.55294769e-02 -2.90286155e-02 7.43905254e+00] [-2.54862219e-02 9.99673445e-01 1.85915776e-03 -4.97855823e-01] [ 2.90665994e-02 -1.11793833e-03 9.99576852e-01 1.24367051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.823617865000001 meters 0.021506652105367376 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.50, Z:0.13 [[ 9.99253327e-01 2.74521939e-02 -2.71876165e-02 7.49732667e+00] [-2.74150129e-02 9.99622624e-01 1.73944417e-03 -5.01838730e-01] [ 2.72251081e-02 -9.92796522e-04 9.99628835e-01 1.25654033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.883617865 meters 0.021227518091431568 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.51, Z:0.13 [[ 9.99247235e-01 2.69772019e-02 -2.78781935e-02 7.55557218e+00] [-2.69379766e-02 9.99635519e-01 1.78170026e-03 -5.08400214e-01] [ 2.79160977e-02 -1.02937694e-03 9.99609740e-01 1.27752845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.943617865 meters 0.022779948934133935 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.52, Z:0.13 [[ 9.99270998e-01 2.56353578e-02 -2.82896043e-02 7.61306435e+00] [-2.55944938e-02 9.99670776e-01 1.80570460e-03 -5.15755164e-01] [ 2.83265806e-02 -1.08033013e-03 9.99598138e-01 1.28770212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.003617865 meters 0.02412255197972786 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.52, Z:0.13 [[ 9.99304349e-01 2.43097363e-02 -2.82817006e-02 7.67031079e+00] [-2.42684372e-02 9.99703853e-01 1.80265712e-03 -5.21734019e-01] [ 2.83171471e-02 -1.11505042e-03 9.99598367e-01 1.29547666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.063617865000001 meters 0.02631625383345735 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.53, Z:0.13 [[ 9.99394023e-01 2.01894034e-02 -2.83544548e-02 7.73029708e+00] [-2.01462804e-02 9.99795412e-01 1.80573870e-03 -5.28457609e-01] [ 2.83851107e-02 -1.23340767e-03 9.99596301e-01 1.30143177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.123617865 meters 0.02874281927788845 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.54, Z:0.13 [[ 9.99470169e-01 1.64797479e-02 -2.80677768e-02 7.78947834e+00] [-1.64360484e-02 9.99863322e-01 1.78693748e-03 -5.35899250e-01] [ 2.80933889e-02 -1.32466737e-03 9.99604425e-01 1.31528066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.183617865 meters 0.024043246987039076 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.54, Z:0.14 [[ 9.99583953e-01 1.05802546e-02 -2.68324426e-02 7.84959694e+00] [-1.05382064e-02 9.99943013e-01 1.70799703e-03 -5.36030360e-01] [ 2.68489845e-02 -1.42452061e-03 9.99638486e-01 1.37840908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.243617865000001 meters 0.026092411573957686 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.54, Z:0.14 [[ 9.99649730e-01 9.73507440e-03 -2.46098885e-02 7.90697735e+00] [-9.69946893e-03 9.99951733e-01 1.56575369e-03 -5.40808522e-01] [ 2.46239434e-02 -1.32650240e-03 9.99695905e-01 1.39605871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.303617865 meters 0.024086185227283497 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.54, Z:0.14 [[ 9.99637332e-01 9.63894637e-03 -2.51454847e-02 7.96554105e+00] [-9.60179476e-03 9.99952625e-01 1.59779136e-03 -5.40068029e-01] [ 2.51596944e-02 -1.35577011e-03 9.99682525e-01 1.40504639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.363617865 meters 0.023582203086145725 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.54, Z:0.14 [[ 9.99669092e-01 1.08586852e-02 -2.33194199e-02 8.02434366e+00] [-1.08271019e-02 9.99940290e-01 1.48021280e-03 -5.41671231e-01] [ 2.33341007e-02 -1.22724125e-03 9.99726970e-01 1.43030638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.423617865 meters 0.023844863501326738 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.54, Z:0.14 [[ 9.99676568e-01 1.30771538e-02 -2.18116398e-02 8.08456110e+00] [-1.30500793e-02 9.99913887e-01 1.38317229e-03 -5.43578173e-01] [ 2.18278495e-02 -1.09808130e-03 9.99761141e-01 1.44561760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.483617865000001 meters 0.022695029770426905 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.55, Z:0.15 [[ 9.99620801e-01 1.69837753e-02 -2.16750027e-02 8.14408019e+00] [-1.69579765e-02 9.99855260e-01 1.37352178e-03 -5.45133260e-01] [ 2.16951930e-02 -1.00543675e-03 9.99764126e-01 1.46116454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.543617865 meters 0.021860276963038834 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.55, Z:0.15 [[ 9.99573856e-01 1.91704578e-02 -2.20136367e-02 8.20287439e+00] [-1.91443971e-02 9.99815757e-01 1.39399838e-03 -5.47757157e-01] [ 2.20363045e-02 -9.71966530e-04 9.99756699e-01 1.46733897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.603617865 meters 0.021589051802176216 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.55, Z:0.15 [[ 9.99483670e-01 2.22685216e-02 -2.31626017e-02 8.26285374e+00] [-2.22405289e-02 9.99751575e-01 1.46547004e-03 -5.48856578e-01] [ 2.31894813e-02 -9.49564864e-04 9.99730637e-01 1.45186301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.663617865 meters 0.020950898256060748 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.55, Z:0.15 [[ 9.99391736e-01 2.47323302e-02 -2.45859539e-02 8.32147483e+00] [-2.47015565e-02 9.99693661e-01 1.55463907e-03 -5.51945518e-01] [ 2.46168722e-02 -9.46382110e-04 9.99696511e-01 1.45369304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.723617865 meters 0.02123936498813869 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.56, Z:0.15 [[ 9.99378356e-01 2.48734524e-02 -2.49842451e-02 8.37976628e+00] [-2.48417605e-02 9.99690150e-01 1.57809908e-03 -5.56584329e-01] [ 2.50157565e-02 -9.56465436e-04 9.99686599e-01 1.45714464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.783617865 meters 0.023343336026018423 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.56, Z:0.15 [[ 9.99500144e-01 2.10552572e-02 -2.35826005e-02 8.43858999e+00] [-2.10259915e-02 9.99777822e-01 1.48828835e-03 -5.64851821e-01] [ 2.36086972e-02 -9.91696861e-04 9.99720784e-01 1.46352069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.843617865 meters 0.024866490443509318 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.57, Z:0.15 [[ 9.99588379e-01 1.75955137e-02 -2.26598882e-02 8.49730250e+00] [-1.75676259e-02 9.99844656e-01 1.42920933e-03 -5.72731454e-01] [ 2.26815158e-02 -1.03054060e-03 9.99742210e-01 1.48229135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.903617865000001 meters 0.02657233369176043 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.58, Z:0.15 [[ 9.99643843e-01 1.56833288e-02 -2.15921295e-02 8.55569730e+00] [-1.56575850e-02 9.99876486e-01 1.36083399e-03 -5.81680569e-01] [ 2.16108050e-02 -1.02226872e-03 9.99765937e-01 1.50419580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.963617865 meters 0.02659517746216144 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.58, Z:0.15 [[ 9.99548235e-01 1.81105070e-02 -2.39861395e-02 8.61470520e+00] [-1.80794668e-02 9.99835412e-01 1.51033508e-03 -5.83480096e-01] [ 2.40095446e-02 -1.07599615e-03 9.99711150e-01 1.47634475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.023617865 meters 0.025992524532819108 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.58, Z:0.15 [[ 9.99474202e-01 2.11182311e-02 -2.46036741e-02 8.67422117e+00] [-2.10865136e-02 9.99776456e-01 1.54789750e-03 -5.84001495e-01] [ 2.46308630e-02 -1.02827791e-03 9.99696085e-01 1.46715943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.083617865 meters 0.025810582730967906 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.59, Z:0.15 [[ 9.99403550e-01 2.33262340e-02 -2.54642906e-02 8.73315043e+00] [-2.32930021e-02 9.99727399e-01 1.60091689e-03 -5.87552894e-01] [ 2.54946924e-02 -1.00682225e-03 9.99674450e-01 1.47094303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.143617865 meters 0.027087983008343225 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.59, Z:0.15 [[ 9.99405647e-01 2.27379047e-02 -2.59102192e-02 8.79054798e+00] [-2.27033475e-02 9.99740922e-01 1.62715838e-03 -5.92315530e-01] [ 2.59405046e-02 -1.03794257e-03 9.99662950e-01 1.46984550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.203617865 meters 0.030190777364210455 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.60, Z:0.15 [[ 9.99556149e-01 1.78023394e-02 -2.38868557e-02 8.85060566e+00] [-1.77715906e-02 9.99840949e-01 1.49895528e-03 -6.02863432e-01] [ 2.39097414e-02 -1.07378255e-03 9.99713545e-01 1.50921066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.263617865 meters 0.029243178139012813 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.61, Z:0.15 [[ 9.99637500e-01 1.43256075e-02 -2.27957469e-02 8.91087161e+00] [-1.42967048e-02 9.99896774e-01 1.43037678e-03 -6.05142918e-01] [ 2.28138848e-02 -1.10395421e-03 9.99739120e-01 1.53615715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.323617865000001 meters 0.02843552914938441 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.61, Z:0.16 [[ 9.99731245e-01 8.19219693e-03 -2.16870131e-02 8.97154296e+00] [-8.16460456e-03 9.99965743e-01 1.36053837e-03 -6.09760168e-01] [ 2.16974160e-02 -1.18310683e-03 9.99763883e-01 1.56425236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.383617865 meters 0.027190036928971154 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.61, Z:0.16 [[ 9.99734747e-01 6.90312874e-03 -2.19723122e-02 9.03079354e+00] [-6.87450592e-03 9.99975421e-01 1.37794492e-03 -6.10249114e-01] [ 2.19812843e-02 -1.22653063e-03 9.99757630e-01 1.56698588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.443617865 meters 0.02877298253466303 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.62, Z:0.16 [[ 9.99716105e-01 7.00836391e-03 -2.27726410e-02 9.08811019e+00] [-6.97768920e-03 9.99974639e-01 1.42618076e-03 -6.15229195e-01] [ 2.27820586e-02 -1.26687546e-03 9.99739653e-01 1.57252044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.503617865 meters 0.024838551626909733 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.61, Z:0.16 [[ 9.99699146e-01 8.88652634e-03 -2.28614667e-02 9.14795856e+00] [-8.85616406e-03 9.99959762e-01 1.42900356e-03 -6.10763848e-01] [ 2.28732457e-02 -1.22610874e-03 9.99737621e-01 1.58880945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.563617865 meters 0.02450744466282916 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.61, Z:0.16 [[ 9.99672649e-01 1.29709501e-02 -2.20533310e-02 9.20770018e+00] [-1.29437304e-02 9.99915279e-01 1.37656950e-03 -6.09472512e-01] [ 2.20693181e-02 -1.09066650e-03 9.99755848e-01 1.59705197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.623617865 meters 0.024684141668828555 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.61, Z:0.16 [[ 9.99637769e-01 1.45961846e-02 -2.26115668e-02 9.26630598e+00] [-1.45680063e-02 9.99892886e-01 1.41041992e-03 -6.11796112e-01] [ 2.26297316e-02 -1.08050357e-03 9.99743331e-01 1.60335294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.683617865 meters 0.02488401678486721 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.61, Z:0.16 [[ 9.99614582e-01 1.75362925e-02 -2.15213002e-02 9.32545844e+00] [-1.75114724e-02 9.99845763e-01 1.34121073e-03 -6.14296213e-01] [ 2.15415007e-02 -9.63824144e-04 9.99767490e-01 1.62940557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.743617865000001 meters 0.025725701995826494 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.62, Z:0.16 [[ 9.99625083e-01 1.82455494e-02 -2.04155245e-02 9.38356353e+00] [-1.82233801e-02 9.99833132e-01 1.27143163e-03 -6.16375612e-01] [ 2.04353157e-02 -8.98915089e-04 9.99790773e-01 1.64157716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.803617865 meters 0.026629888291230367 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.62, Z:0.16 [[ 9.99642688e-01 1.84238327e-02 -1.93664438e-02 9.44153020e+00] [-1.84039462e-02 9.99829907e-01 1.20459504e-03 -6.18574759e-01] [ 1.93853430e-02 -8.47745636e-04 9.99811727e-01 1.64432219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.863617865 meters 0.021876725493944024 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.62, Z:0.17 [[ 9.99625118e-01 1.82946304e-02 -2.03698140e-02 9.50036471e+00] [-1.82726362e-02 9.99832241e-01 1.26536268e-03 -6.16214846e-01] [ 2.03895461e-02 -8.92678115e-04 9.99791713e-01 1.66352152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.923617865 meters 0.022061191426622676 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.62, Z:0.17 [[ 9.99569151e-01 1.91124932e-02 -2.22761274e-02 9.55933180e+00] [-1.90864280e-02 9.99816882e-01 1.38214216e-03 -6.20229933e-01] [ 2.22984644e-02 -9.56374964e-04 9.99750901e-01 1.66286500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.983617865000001 meters 0.021044012095893693 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.62, Z:0.17 [[ 9.99528789e-01 2.05939504e-02 -2.27615822e-02 9.61838651e+00] [-2.05671560e-02 9.99787478e-01 1.41067397e-03 -6.20831627e-01] [ 2.27857962e-02 -9.41868235e-04 9.99739926e-01 1.65359847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.043617865 meters 0.02139049876547238 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.63, Z:0.17 [[ 9.99489029e-01 2.14220504e-02 -2.37229308e-02 9.67720169e+00] [-2.13932172e-02 9.99770060e-01 1.46856926e-03 -6.28004007e-01] [ 2.37489358e-02 -9.60309051e-04 9.99717493e-01 1.66371117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.103617865 meters 0.02136306240570198 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.64, Z:0.17 [[ 9.99499651e-01 1.96477374e-02 -2.47873590e-02 9.73595303e+00] [-1.96157554e-02 9.99806418e-01 1.53276738e-03 -6.35764007e-01] [ 2.48126760e-02 -1.04577769e-03 9.99691571e-01 1.67876443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.163617865 meters 0.022901160871561254 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.64, Z:0.17 [[ 9.99537369e-01 1.74678477e-02 -2.48982524e-02 9.79541905e+00] [-1.74349364e-02 9.99846817e-01 1.53831795e-03 -6.43484663e-01] [ 2.49213095e-02 -1.10350683e-03 9.99688807e-01 1.67914889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.223617865 meters 0.02654625389674689 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.66, Z:0.17 [[ 9.99598704e-01 1.40984317e-02 -2.45696027e-02 9.85351513e+00] [-1.40653921e-02 9.99899927e-01 1.51704269e-03 -6.56691195e-01] [ 2.45885319e-02 -1.17085281e-03 9.99696971e-01 1.69287430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.283617865 meters 0.022980768710657563 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.66, Z:0.17 [[ 9.99608134e-01 1.50249553e-02 -2.36184282e-02 9.91219735e+00] [-1.49947136e-02 9.99886511e-01 1.45701550e-03 -6.55413176e-01] [ 2.36376394e-02 -1.10229298e-03 9.99719984e-01 1.72183681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.343617865 meters 0.02367269429547593 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.66, Z:0.17 [[ 9.99518063e-01 1.77345607e-02 -2.54779652e-02 9.96982027e+00] [-1.77002970e-02 9.99842105e-01 1.56974614e-03 -6.60283978e-01] [ 2.55017811e-02 -1.11802207e-03 9.99674152e-01 1.71106009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.403617865000001 meters 0.02290329185584145 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.66, Z:0.17 [[ 9.99478056e-01 1.81237851e-02 -2.67421806e-02 1.00290679e+01] [-1.80862318e-02 9.99835077e-01 1.64550030e-03 -6.62298733e-01] [ 2.67675929e-02 -1.16097617e-03 9.99641010e-01 1.71096354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.463617865 meters 0.022490868033769703 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.66, Z:0.17 [[ 9.99492502e-01 1.72249551e-02 -2.67962448e-02 1.00877400e+01] [-1.71869765e-02 9.99850937e-01 1.64700061e-03 -6.63459527e-01] [ 2.68206200e-02 -1.18561833e-03 9.99639559e-01 1.71903489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.523617865 meters 0.02218630444677767 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.67, Z:0.17 [[ 9.99527685e-01 1.38862906e-02 -2.74149130e-02 1.01474574e+01] [-1.38453258e-02 9.99902732e-01 1.68351490e-03 -6.66732149e-01] [ 2.74356241e-02 -1.30315135e-03 9.99622723e-01 1.73996301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.583617865 meters 0.026187922773769388 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.68, Z:0.18 [[ 9.99645255e-01 5.17209505e-03 -2.61268807e-02 1.02065533e+01] [-5.13194015e-03 9.99985546e-01 1.60373812e-03 -6.77549175e-01] [ 2.61347977e-02 -1.46908761e-03 9.99657348e-01 1.76271282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.643617865 meters 0.02724373532626194 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.68, Z:0.18 [[ 9.99708061e-01 5.96449912e-05 -2.41617173e-02 1.02670952e+01] [-2.38231034e-05 9.99998900e-01 1.48287378e-03 -6.82234052e-01] [ 2.41617792e-02 -1.48186526e-03 9.99706963e-01 1.79197432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.703617865 meters 0.02747797050750205 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.68, Z:0.18 [[ 9.99789815e-01 -3.79225708e-03 -2.01480687e-02 1.03272537e+01] [ 3.81794125e-03 9.99991947e-01 1.23645775e-03 -6.82394975e-01] [ 2.01432175e-02 -1.31312201e-03 9.99796242e-01 1.82307211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.763617865 meters 0.026232909660012887 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.68, Z:0.18 [[ 9.99808825e-01 -3.33590401e-03 -1.92661917e-02 1.03863023e+01] [ 3.35928322e-03 9.99993660e-01 1.18124781e-03 -6.80865560e-01] [ 1.92621290e-02 -1.24574258e-03 9.99813692e-01 1.83236975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.823617865000001 meters 0.028874622837404544 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.68, Z:0.18 [[ 9.99800171e-01 1.59471269e-03 -1.99267219e-02 1.04458957e+01] [-1.57076004e-03 9.99998025e-01 1.21763047e-03 -6.83425684e-01] [ 1.99286243e-02 -1.18608706e-03 9.99800702e-01 1.83277330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.883617865 meters 0.023242418433959775 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.67, Z:0.18 [[ 9.99724305e-01 9.19101725e-03 -2.16064775e-02 1.05069350e+01] [-9.16463251e-03 9.99957133e-01 1.31985399e-03 -6.72598159e-01] [ 2.16176821e-02 -1.12147469e-03 9.99765682e-01 1.82945677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.943617865 meters 0.022747622579043877 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.67, Z:0.18 [[ 9.99676165e-01 1.30525083e-02 -2.18448233e-02 1.05671235e+01] [-1.30264643e-02 9.99914262e-01 1.33410801e-03 -6.70935276e-01] [ 2.18603638e-02 -1.04911517e-03 9.99760483e-01 1.83225853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.003617865 meters 0.02181029734973856 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.67, Z:0.18 [[ 9.99617697e-01 1.60315189e-02 -2.25266700e-02 1.06270898e+01] [-1.60045896e-02 9.99870973e-01 1.37523515e-03 -6.69296282e-01] [ 2.25458105e-02 -1.01417929e-03 9.99745296e-01 1.83813128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.063617865 meters 0.022213785634317754 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.67, Z:0.19 [[ 9.99607251e-01 1.73602847e-02 -2.19991750e-02 1.06855533e+01] [-1.73349442e-02 9.99848838e-01 1.34207372e-03 -6.72775164e-01] [ 2.20191483e-02 -9.60192157e-04 9.99757088e-01 1.85855033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.123617865 meters 0.022170645475756857 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.67, Z:0.19 [[ 9.99632817e-01 1.91093714e-02 -1.92110049e-02 1.07444701e+01] [-1.90903932e-02 9.99817076e-01 1.17080274e-03 -6.73348553e-01] [ 1.92298640e-02 -8.03627209e-04 9.99814766e-01 1.88879306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.183617865 meters 0.021668951512375408 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.67, Z:0.19 [[ 9.99641552e-01 1.97699704e-02 -1.80531329e-02 1.08036405e+01] [-1.97533398e-02 9.99804280e-01 1.09907211e-03 -6.74572566e-01] [ 1.80713282e-02 -7.42068484e-04 9.99836425e-01 1.90641331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.243617865000001 meters 0.021104093922482272 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.68, Z:0.19 [[ 9.99635214e-01 1.97495644e-02 -1.84226335e-02 1.08629661e+01] [-1.97322663e-02 9.99804672e-01 1.12028361e-03 -6.76507831e-01] [ 1.84411601e-02 -7.56354636e-04 9.99829661e-01 1.91275224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.303617865 meters 0.02161303983645575 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.68, Z:0.19 [[ 9.99609411e-01 1.85651244e-02 -2.08892845e-02 1.09224924e+01] [-1.85426544e-02 9.99827265e-01 1.26886791e-03 -6.80708712e-01] [ 2.09092328e-02 -8.81029526e-04 9.99780990e-01 1.90457574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.363617865 meters 0.02064743330828768 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.68, Z:0.19 [[ 9.99605155e-01 1.71884170e-02 -2.22281846e-02 1.09809501e+01] [-1.71626592e-02 9.99851801e-01 1.34905847e-03 -6.82664582e-01] [ 2.22480786e-02 -9.67031047e-04 9.99752013e-01 1.90885016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.423617865 meters 0.021063851089063713 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.69, Z:0.19 [[ 9.99639822e-01 1.53304153e-02 -2.20273714e-02 1.10398477e+01] [-1.53047108e-02 9.99881985e-01 1.33505305e-03 -6.87763104e-01] [ 2.20452387e-02 -9.97449648e-04 9.99756477e-01 1.91938295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.483617865000001 meters 0.022245511750018623 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.69, Z:0.19 [[ 9.99710763e-01 1.21699121e-02 -2.07432697e-02 1.10993669e+01] [-1.21464643e-02 9.99925440e-01 1.25600291e-03 -6.94077399e-01] [ 2.07570085e-02 -1.00368225e-03 9.99784046e-01 1.93555639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.543617865 meters 0.023056891190384433 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.70, Z:0.19 [[ 9.99726660e-01 1.12259900e-02 -2.05081082e-02 1.11581579e+01] [-1.12028906e-02 9.99936476e-01 1.24089641e-03 -6.99236942e-01] [ 2.05207358e-02 -1.01080713e-03 9.99788917e-01 1.94640339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.603617865 meters 0.024202561903523438 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.71, Z:0.20 [[ 9.99747987e-01 1.03844434e-02 -1.99029244e-02 1.12152578e+01] [-1.03625492e-02 9.99945584e-01 1.20287048e-03 -7.06355672e-01] [ 1.99143325e-02 -9.96322308e-04 9.99801194e-01 1.96325794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.663617865 meters 0.023748982147178743 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.71, Z:0.20 [[ 9.99726849e-01 1.27110973e-02 -1.96126406e-02 1.12745055e+01] [-1.26903125e-02 9.99918774e-01 1.18386760e-03 -7.10026220e-01] [ 1.96260957e-02 -9.34653684e-04 9.99806953e-01 1.97839968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.723617865 meters 0.02212170791939876 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.71, Z:0.20 [[ 9.99708684e-01 1.44039810e-02 -1.93668054e-02 1.13339871e+01] [-1.43840447e-02 9.99895862e-01 1.16831840e-03 -7.10968768e-01] [ 1.93816171e-02 -8.89405050e-04 9.99811763e-01 1.98796786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.783617865 meters 0.021129583532716226 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.71, Z:0.20 [[ 9.99646417e-01 1.57946481e-02 -2.13908800e-02 1.13934332e+01] [-1.57706692e-02 9.99874804e-01 1.28922726e-03 -7.12539832e-01] [ 2.14085648e-02 -9.51422916e-04 9.99770358e-01 1.97106316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.843617865 meters 0.020684955305767153 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.72, Z:0.20 [[ 9.99611244e-01 1.57715015e-02 -2.29917352e-02 1.14517296e+01] [-1.57438243e-02 9.99875100e-01 1.38431585e-03 -7.15828770e-01] [ 2.30106962e-02 -1.02179985e-03 9.99734697e-01 1.97108578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.903617865000001 meters 0.022331897459082595 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.72, Z:0.20 [[ 9.99599937e-01 1.59714067e-02 -2.33426519e-02 1.15090335e+01] [-1.59429741e-02 9.99871917e-01 1.40365875e-03 -7.21959483e-01] [ 2.33620806e-02 -1.03094590e-03 9.99726538e-01 1.97659598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.963617865 meters 0.02212382248975243 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.72, Z:0.20 [[ 9.99622254e-01 1.54981925e-02 -2.26970142e-02 1.15677763e+01] [-1.54712308e-02 9.99879384e-01 1.36302404e-03 -7.24060345e-01] [ 2.27154010e-02 -1.01135842e-03 9.99741460e-01 1.99277579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.023617865 meters 0.02548946808552258 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.73, Z:0.20 [[ 9.99665041e-01 1.38104189e-02 -2.18878746e-02 1.16255756e+01] [-1.37849762e-02 9.99904121e-01 1.31286987e-03 -7.32525979e-01] [ 2.19039073e-02 -1.01070629e-03 9.99759570e-01 2.00353242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.083617865 meters 0.027166731926728083 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.74, Z:0.20 [[ 9.99687331e-01 1.14115805e-02 -2.22489456e-02 1.16844765e+01] [-1.13847359e-02 9.99934303e-01 1.33285152e-03 -7.37767156e-01] [ 2.22626939e-02 -1.07913641e-03 9.99751573e-01 2.00353904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.143617865 meters 0.02553488635351322 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.74, Z:0.20 [[ 9.99700261e-01 9.37326255e-03 -2.26170291e-02 1.17442333e+01] [-9.34502469e-03 9.99955418e-01 1.35389326e-03 -7.38808191e-01] [ 2.26287111e-02 -1.14213075e-03 9.99743286e-01 2.01398145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.203617865 meters 0.02735617337732475 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.75, Z:0.20 [[ 9.99745460e-01 7.81962221e-03 -2.11628904e-02 1.18021128e+01] [-7.79457616e-03 9.99968821e-01 1.26571885e-03 -7.45087013e-01] [ 2.11721280e-02 -1.10044092e-03 9.99775240e-01 2.02945694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.263617865 meters 0.027602455776720016 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.75, Z:0.20 [[ 9.99744517e-01 9.25439149e-03 -2.06217651e-02 1.18613512e+01] [-9.23095753e-03 9.99956636e-01 1.23127184e-03 -7.49346170e-01] [ 2.06322655e-02 -1.04059863e-03 9.99786591e-01 2.04162914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.323617865000001 meters 0.021913476506840276 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.74, Z:0.21 [[ 9.99692253e-01 1.26539669e-02 -2.13372124e-02 1.19216632e+01] [-1.26296698e-02 9.99919432e-01 1.27309614e-03 -7.44543645e-01] [ 2.13516030e-02 -1.00322240e-03 9.99771525e-01 2.05249957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.383617865 meters 0.0279467968842163 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.76, Z:0.21 [[ 9.99681135e-01 1.40663766e-02 -2.09706036e-02 1.19792597e+01] [-1.40432305e-02 9.99900607e-01 1.25060617e-03 -7.58069692e-01] [ 2.09861108e-02 -9.55712378e-04 9.99779311e-01 2.05987310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.443617865 meters 0.02261584711085407 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.76, Z:0.21 [[ 9.99674607e-01 1.38186707e-02 -2.14411764e-02 1.20382112e+01] [-1.37944489e-02 9.99904036e-01 1.27718497e-03 -7.55216318e-01] [ 2.14567679e-02 -9.81000169e-04 9.99769296e-01 2.07971531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.503617865 meters 0.030833773984087067 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.77, Z:0.21 [[ 9.99658555e-01 1.28680579e-02 -2.27417135e-02 1.20951864e+01] [-1.28406014e-02 9.99916641e-01 1.35293739e-03 -7.68906924e-01] [ 2.27572274e-02 -1.06045816e-03 9.99740458e-01 2.05205816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.563617865 meters 0.024911349026275294 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.77, Z:0.21 [[ 9.99661536e-01 1.20642089e-02 -2.30492420e-02 1.21546703e+01] [-1.20358335e-02 9.99926629e-01 1.36941369e-03 -7.65180375e-01] [ 2.30640717e-02 -1.09153335e-03 9.99733393e-01 2.06804618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.623617865 meters 0.02350340496459604 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.77, Z:0.21 [[ 9.99686790e-01 1.06163353e-02 -2.26630835e-02 1.22136335e+01] [-1.05885656e-02 9.99943035e-01 1.34498183e-03 -7.67939520e-01] [ 2.26760713e-02 -1.10459102e-03 9.99742255e-01 2.09504885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.683617865 meters 0.023826376085566103 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.77, Z:0.21 [[ 9.99689486e-01 1.06466883e-02 -2.25295068e-02 1.22721609e+01] [-1.06192870e-02 9.99942722e-01 1.33553587e-03 -7.70588971e-01] [ 2.25424353e-02 -1.09587387e-03 9.99745286e-01 2.09983836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.743617865000001 meters 0.02240852741235905 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.77, Z:0.21 [[ 9.99683767e-01 1.22502761e-02 -2.19612542e-02 1.23308856e+01] [-1.22246580e-02 9.99924431e-01 1.30039019e-03 -7.70857880e-01] [ 2.19755247e-02 -1.03151014e-03 9.99757977e-01 2.10496578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.803617865 meters 0.021550351092517357 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.77, Z:0.21 [[ 9.99665899e-01 1.41174003e-02 -2.16515618e-02 1.23897056e+01] [-1.40929686e-02 9.99899869e-01 1.28058318e-03 -7.72770772e-01] [ 2.16674723e-02 -9.75020553e-04 9.99764757e-01 2.11206071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.863617865 meters 0.021868087379814334 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.78, Z:0.21 [[ 9.99672280e-01 1.45429640e-02 -2.10673740e-02 1.24482481e+01] [-1.45199574e-02 9.99893805e-01 1.24461335e-03 -7.76794925e-01] [ 2.10832372e-02 -9.38308095e-04 9.99777284e-01 2.12017612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.923617865 meters 0.022087487907845753 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.78, Z:0.21 [[ 9.99693147e-01 1.38184303e-02 -2.05587661e-02 1.25065805e+01] [-1.37963968e-02 9.99904089e-01 1.21318723e-03 -7.81341026e-01] [ 2.05735586e-02 -9.29178068e-04 9.99787910e-01 2.13120711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.983617865 meters 0.023658263280565157 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.79, Z:0.21 [[ 9.99727347e-01 1.33734224e-02 -1.91411207e-02 1.25638645e+01] [-1.33542666e-02 9.99910191e-01 1.12824588e-03 -7.88211592e-01] [ 1.91544902e-02 -8.72322631e-04 9.99816155e-01 2.14451003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.043617865 meters 0.02316410113819264 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.79, Z:0.22 [[ 9.99737857e-01 1.25639792e-02 -1.91406330e-02 1.26224198e+01] [-1.25447062e-02 9.99920677e-01 1.12665961e-03 -7.94852617e-01] [ 1.91532700e-02 -8.86250651e-04 9.99816167e-01 2.15912792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.103617865 meters 0.022417304501486417 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.80, Z:0.22 [[ 9.99730997e-01 1.28231322e-02 -1.93261817e-02 1.26814827e+01] [-1.28035575e-02 9.99917386e-01 1.13625936e-03 -7.98359151e-01] [ 1.93391555e-02 -8.88509826e-04 9.99812586e-01 2.16484484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.163617865 meters 0.0229896932155622 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.80, Z:0.21 [[ 9.99676630e-01 1.44340744e-02 -2.09354356e-02 1.27394346e+01] [-1.44114896e-02 9.99895393e-01 1.22926551e-03 -8.03285109e-01] [ 2.09509889e-02 -9.27157187e-04 9.99780074e-01 2.14593772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.223617865 meters 0.025572712578374256 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.81, Z:0.22 [[ 9.99653985e-01 1.52390404e-02 -2.14402109e-02 1.27970685e+01] [-1.52155772e-02 9.99883446e-01 1.25706832e-03 -8.12997621e-01] [ 2.14568684e-02 -9.30408170e-04 9.99769342e-01 2.15173467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.283617865 meters 0.025048163146573352 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.82, Z:0.22 [[ 9.99668858e-01 1.43807380e-02 -2.13393482e-02 1.28557757e+01] [-1.43573356e-02 9.99896147e-01 1.24948647e-03 -8.19850022e-01] [ 2.13551006e-02 -9.42696529e-04 9.99771509e-01 2.17511167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.343617865 meters 0.022908724543346148 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.82, Z:0.22 [[ 9.99694444e-01 1.34368972e-02 -2.07477420e-02 1.29148042e+01] [-1.34145997e-02 9.99909284e-01 1.21350881e-03 -8.20199053e-01] [ 2.07621656e-02 -9.34815363e-04 9.99784006e-01 2.19001745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.403617865 meters 0.02306274639844065 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.83, Z:0.22 [[ 9.99736640e-01 1.10672640e-02 -2.01038824e-02 1.29735486e+01] [-1.10458777e-02 9.99938303e-01 1.17452488e-03 -8.27446284e-01] [ 2.01156409e-02 -9.52150530e-04 9.99797207e-01 2.21049068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.463617865 meters 0.02559856953689096 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.84, Z:0.22 [[ 9.99742319e-01 1.01469475e-02 -2.03060495e-02 1.30308299e+01] [-1.01249704e-02 9.99948039e-01 1.18481247e-03 -8.35869251e-01] [ 2.03170166e-02 -9.78909012e-04 9.99793109e-01 2.22043365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.523617865 meters 0.0252403761177828 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.84, Z:0.22 [[ 9.99761309e-01 8.67150253e-03 -2.00531768e-02 1.30897542e+01] [-8.64981131e-03 9.99961907e-01 1.16817049e-03 -8.41059518e-01] [ 2.00625427e-02 -9.94435461e-04 9.99798232e-01 2.22650641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.583617865 meters 0.02544648580734884 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.84, Z:0.22 [[ 9.99768531e-01 1.10136802e-02 -1.84819842e-02 1.31481016e+01] [-1.09956751e-02 9.99938967e-01 1.07553380e-03 -8.44948871e-01] [ 1.84927018e-02 -8.72062955e-04 9.99828615e-01 2.24158717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.643617865 meters 0.025179027657394496 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.85, Z:0.23 [[ 9.99713080e-01 1.47879743e-02 -1.88433942e-02 1.32073200e+01] [-1.47699440e-02 9.99890318e-01 1.09566707e-03 -8.49983791e-01] [ 1.88575301e-02 -8.17036826e-04 9.99821847e-01 2.25434957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.703617865 meters 0.024761425481211307 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.85, Z:0.22 [[ 9.99651684e-01 1.77087158e-02 -1.95681516e-02 1.32670447e+01] [-1.76898430e-02 9.99842876e-01 1.13715623e-03 -8.52545865e-01] [ 1.95852146e-02 -7.90602608e-04 9.99807879e-01 2.24593803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.763617865 meters 0.02404641948930623 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.86, Z:0.23 [[ 9.99572164e-01 2.15511605e-02 -1.97746487e-02 1.33254319e+01] [-2.15326516e-02 9.99767486e-01 1.14846008e-03 -8.56781080e-01] [ 1.97948014e-02 -7.22168109e-04 9.99803803e-01 2.26404593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.823617865000001 meters 0.019487452936774834 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.85, Z:0.23 [[ 9.99502075e-01 2.47710057e-02 -1.95448173e-02 1.33858895e+01] [-2.47535551e-02 9.99692940e-01 1.13430839e-03 -8.53384001e-01] [ 1.95669138e-02 -6.49939881e-04 9.99808338e-01 2.28362510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.883617865 meters 0.017989242349534532 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.85, Z:0.23 [[ 9.99476669e-01 2.60790718e-02 -1.91381982e-02 1.34454143e+01] [-2.60625866e-02 9.99659696e-01 1.11033385e-03 -8.54655479e-01] [ 1.91606419e-02 -6.10961828e-04 9.99816231e-01 2.28945990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.943617865 meters 0.023055136655443436 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.87, Z:0.23 [[ 9.99466344e-01 2.62821879e-02 -1.93977885e-02 1.35047532e+01] [-2.62652960e-02 9.99654374e-01 1.12511530e-03 -8.67668166e-01] [ 1.94206546e-02 -6.15026217e-04 9.99811212e-01 2.29326345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.003617865 meters 0.018613880717415796 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.87, Z:0.23 [[ 9.99459858e-01 2.57017874e-02 -2.04795304e-02 1.35652468e+01] [-2.56828092e-02 9.99669435e-01 1.18920813e-03 -8.65137509e-01] [ 2.05033254e-02 -6.62593917e-04 9.99789565e-01 2.30850349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.063617865 meters 0.019860161137097713 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.87, Z:0.23 [[ 9.99471960e-01 2.37591933e-02 -2.21653210e-02 1.36240908e+01] [-2.37364890e-02 9.99717422e-01 1.28688594e-03 -8.71028142e-01] [ 2.21896329e-02 -7.60079517e-04 9.99753491e-01 2.31126557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.123617865 meters 0.028140621579981973 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.89, Z:0.23 [[ 9.99570602e-01 2.02803318e-02 -2.11499343e-02 1.36824329e+01] [-2.02588973e-02 9.99794014e-01 1.22724368e-03 -8.87870760e-01] [ 2.11704666e-02 -7.98242358e-04 9.99775562e-01 2.32289186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.183617865 meters 0.032939839992126324 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.90, Z:0.23 [[ 9.99684241e-01 1.38722529e-02 -2.09518332e-02 1.37411078e+01] [-1.38498258e-02 9.99903348e-01 1.21514916e-03 -8.99644146e-01] [ 2.09666651e-02 -9.24586225e-04 9.99779748e-01 2.33997375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.243617865000001 meters 0.03530367670628133 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.91, Z:0.23 [[ 9.99738613e-01 1.06845562e-02 -2.02125287e-02 1.38011418e+01] [-1.06630401e-02 9.99942461e-01 1.17197334e-03 -9.05904196e-01] [ 2.02238877e-02 -9.56139999e-04 9.99795019e-01 2.34966877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.303617865 meters 0.023546889865366294 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.89, Z:0.24 [[ 9.99797598e-01 8.10111315e-03 -1.84156022e-02 1.38618580e+01] [-8.08282209e-03 9.99966764e-01 1.06745269e-03 -8.93642410e-01] [ 1.84236377e-02 -9.18386595e-04 9.99829849e-01 2.38140352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.363617865 meters 0.022713495395847674 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.90, Z:0.24 [[ 9.99800198e-01 8.95398817e-03 -1.78715013e-02 1.39206913e+01] [-8.93690999e-03 9.99959529e-01 1.03524651e-03 -8.95130832e-01] [ 1.78800476e-02 -8.75323667e-04 9.99839756e-01 2.38803534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.423617865 meters 0.02093373714000205 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.89, Z:0.24 [[ 9.99780371e-01 1.10917598e-02 -1.77815113e-02 1.39799266e+01] [-1.10752124e-02 9.99938139e-01 1.02880445e-03 -8.93860275e-01] [ 1.77918226e-02 -8.31644478e-04 9.99841367e-01 2.38868176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.483617865 meters 0.021803462547586052 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.90, Z:0.24 [[ 9.99719259e-01 1.73015165e-02 -1.61882587e-02 1.40388438e+01] [-1.72886311e-02 9.99850103e-01 9.35591069e-04 -8.96725905e-01] [ 1.62020192e-02 -6.55455578e-04 9.99868524e-01 2.40258197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.543617865 meters 0.019296297483490838 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.89, Z:0.24 [[ 9.99652245e-01 2.19310300e-02 -1.46430380e-02 1.40987046e+01] [-2.19209870e-02 9.99759348e-01 8.46027441e-04 -8.93341231e-01] [ 1.46580684e-02 -5.24743385e-04 9.99892427e-01 2.41456752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.603617865 meters 0.017946902192132158 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.89, Z:0.24 [[ 9.99555554e-01 2.63172673e-02 -1.40034149e-02 1.41600863e+01] [-2.63085204e-02 9.99653544e-01 8.08509710e-04 -8.91814342e-01] [ 1.40198411e-02 -4.39741246e-04 9.99901621e-01 2.42135917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.663617865 meters 0.017655592581878397 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.89, Z:0.24 [[ 9.99539130e-01 2.70637976e-02 -1.37505865e-02 1.42222298e+01] [-2.70554374e-02 9.99633620e-01 7.93682736e-04 -8.93703384e-01] [ 1.37670286e-02 -4.21288821e-04 9.99905141e-01 2.42568969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.723617865 meters 0.019388966020192477 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.90, Z:0.24 [[ 9.99609748e-01 2.45301309e-02 -1.33650552e-02 1.42828351e+01] [-2.45219636e-02 9.99698991e-01 7.74650653e-04 -8.99550745e-01] [ 1.33800345e-02 -4.46610948e-04 9.99910384e-01 2.43198760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.783617865 meters 0.021163380610285235 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.91, Z:0.24 [[ 9.99727994e-01 1.94938604e-02 -1.28034003e-02 1.43433597e+01] [-1.94859096e-02 9.99809854e-01 7.45460314e-04 -9.05490100e-01] [ 1.28154977e-02 -4.95771644e-04 9.99917755e-01 2.43694928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.843617865 meters 0.022864078270829133 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.91, Z:0.24 [[ 9.99802671e-01 1.53700090e-02 -1.25849750e-02 1.44045307e+01] [-1.53619990e-02 9.99881729e-01 7.32896238e-04 -9.11823766e-01] [ 1.25947512e-02 -5.39421242e-04 9.99920537e-01 2.44467218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.903617865 meters 0.02471031451309381 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.92, Z:0.25 [[ 9.99854015e-01 1.16885289e-02 -1.24630146e-02 1.44648756e+01] [-1.16803814e-02 9.99931518e-01 7.26323037e-04 -9.18747818e-01] [ 1.24706508e-02 -5.80644240e-04 9.99922070e-01 2.45286730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.963617865 meters 0.025323275216380066 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.92, Z:0.25 [[ 9.99870298e-01 1.06853556e-02 -1.20503505e-02 1.45244891e+01] [-1.06776645e-02 9.99942745e-01 7.02400941e-04 -9.22361090e-01] [ 1.20571659e-02 -5.73640238e-04 9.99927145e-01 2.45866921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.023617865 meters 0.023308693409622952 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.92, Z:0.25 [[ 9.99875599e-01 1.08682245e-02 -1.14310480e-02 1.45839424e+01] [-1.08613178e-02 9.99940792e-01 6.66109021e-04 -9.20041149e-01] [ 1.14376106e-02 -5.41869911e-04 9.99934442e-01 2.45541098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.083617864999997 meters 0.024148488374444367 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.92, Z:0.25 [[ 9.99857878e-01 1.23489325e-02 -1.14772469e-02 1.46421892e+01] [-1.23420764e-02 9.99923611e-01 6.68007364e-04 -9.22606784e-01] [ 1.14846193e-02 -5.26259367e-04 9.99933911e-01 2.46771069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.143617865 meters 0.023190068243855923 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.92, Z:0.25 [[ 9.99838741e-01 1.39139840e-02 -1.13530853e-02 1.47018176e+01] [-1.39073864e-02 9.99903070e-01 6.59875314e-04 -9.22484712e-01] [ 1.13611663e-02 -5.01877160e-04 9.99935334e-01 2.48070049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.203617865 meters 0.02444651104303714 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.92, Z:0.25 [[ 9.99796682e-01 1.60565185e-02 -1.21976479e-02 1.47610530e+01] [-1.60490710e-02 9.99870955e-01 7.08217492e-04 -9.23698610e-01] [ 1.22074454e-02 -5.12312581e-04 9.99925355e-01 2.48187248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.263617864999997 meters 0.020802456957314436 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.92, Z:0.25 [[ 9.99792650e-01 1.51242391e-02 -1.36350633e-02 1.48223760e+01] [-1.51148351e-02 9.99885450e-01 7.92488999e-04 -9.17553690e-01] [ 1.36454872e-02 -5.86232943e-04 9.99906724e-01 2.47026825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.323617865 meters 0.02093043914931723 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.92, Z:0.25 [[ 9.99810851e-01 1.41241805e-02 -1.33704477e-02 1.48822888e+01] [-1.41150475e-02 9.99900076e-01 7.77197980e-04 -9.20772343e-01] [ 1.33800890e-02 -5.88326469e-04 9.99910310e-01 2.47906780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.383617864999998 meters 0.021871623141059917 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.92, Z:0.25 [[ 9.99866225e-01 9.79643425e-03 -1.30981543e-02 1.49418544e+01] [-9.78730547e-03 9.99951814e-01 7.60872069e-04 -9.24924024e-01] [ 1.31049770e-02 -6.32574645e-04 9.99913926e-01 2.50808786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.443617864999997 meters 0.023264495061523366 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.93, Z:0.25 [[ 9.99897919e-01 6.70084839e-03 -1.26194299e-02 1.50011764e+01] [-6.69213003e-03 9.99977339e-01 7.32969017e-04 -9.27681187e-01] [ 1.26240555e-02 -6.48443329e-04 9.99920103e-01 2.52416326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.503617865 meters 0.025219630204706724 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.93, Z:0.25 [[ 9.99917100e-01 3.75303532e-03 -1.23170045e-02 1.50591501e+01] [-3.74451409e-03 9.99992734e-01 7.14815480e-04 -9.31913954e-01] [ 1.23195977e-02 -6.68635024e-04 9.99923887e-01 2.53156517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.563617864999998 meters 0.025808593071003215 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.93, Z:0.25 [[ 9.99915819e-01 2.92708066e-03 -1.26406710e-02 1.51176093e+01] [-2.91805115e-03 9.99995474e-01 7.32706778e-04 -9.34988880e-01] [ 1.26427584e-02 -6.95758974e-04 9.99919835e-01 2.53729444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.623617865 meters 0.026673060384503015 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.94, Z:0.26 [[ 9.99914564e-01 3.29669813e-03 -1.26490004e-02 1.51768365e+01] [-3.28769781e-03 9.99994327e-01 7.32271727e-04 -9.38016558e-01] [ 1.26513427e-02 -6.90623074e-04 9.99919730e-01 2.55324412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.683617865 meters 0.026510962235915914 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.94, Z:0.26 [[ 9.99914374e-01 5.05815271e-03 -1.20689635e-02 1.52363305e+01] [-5.05008608e-03 9.99987004e-01 6.98760318e-04 -9.39534663e-01] [ 1.20723411e-02 -6.37751181e-04 9.99926923e-01 2.56881298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.743617864999997 meters 0.02597575967149224 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.94, Z:0.26 [[ 9.99856903e-01 1.15875978e-02 -1.23248081e-02 1.52953765e+01] [-1.15797219e-02 9.99932701e-01 7.10200104e-04 -9.39912099e-01] [ 1.23322082e-02 -5.67380625e-04 9.99923794e-01 2.58657802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.803617865 meters 0.02272938571650273 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.94, Z:0.26 [[ 9.99774041e-01 1.70738514e-02 -1.26629335e-02 1.53559055e+01] [-1.70659848e-02 9.99854100e-01 7.29028836e-04 -9.36415047e-01] [ 1.26735334e-02 -5.12758674e-04 9.99919556e-01 2.59448624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.863617865 meters 0.019554817652270504 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.93, Z:0.26 [[ 9.99591194e-01 2.46208939e-02 -1.45346981e-02 1.54172045e+01] [-2.46113270e-02 9.99696745e-01 8.36742492e-04 -9.31612635e-01] [ 1.45508917e-02 -4.78682218e-04 9.99894016e-01 2.58009758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.923617864999997 meters 0.017368411151482476 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.93, Z:0.26 [[ 9.99439866e-01 3.01328339e-02 -1.45590593e-02 1.54777877e+01] [-3.01238215e-02 9.99545823e-01 8.37973472e-04 -9.31226019e-01] [ 1.45776974e-02 -3.98929590e-04 9.99893660e-01 2.59371211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.983617865 meters 0.01727349809412945 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.94, Z:0.26 [[ 9.99378807e-01 3.21264278e-02 -1.44876535e-02 1.55395583e+01] [-3.21177179e-02 9.99483745e-01 8.33526773e-04 -9.35735643e-01] [ 1.45069524e-02 -3.67698625e-04 9.99894701e-01 2.61026851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.043617864999998 meters 0.017432860319263183 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.94, Z:0.26 [[ 9.99361865e-01 3.26921951e-02 -1.43904157e-02 1.56013955e+01] [-3.26836111e-02 9.99465402e-01 8.31346366e-04 -9.42135556e-01] [ 1.44099011e-02 -3.60485104e-04 9.99896107e-01 2.61973152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.103617864999997 meters 0.01764463364749314 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.95, Z:0.26 [[ 9.99356842e-01 3.25434188e-02 -1.50608413e-02 1.56640795e+01] [-3.25339432e-02 9.99470249e-01 8.73794863e-04 -9.49055589e-01] [ 1.50812991e-02 -3.83244318e-04 9.99886197e-01 2.62347862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.163617865 meters 0.019074354542152082 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.96, Z:0.26 [[ 9.99429746e-01 2.92928530e-02 -1.67961929e-02 1.57255759e+01] [-2.92805274e-02 9.99570754e-01 9.79333513e-04 -9.59524288e-01] [ 1.68176707e-02 -4.86973658e-04 9.99858454e-01 2.61372198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.223617864999998 meters 0.020736494000751348 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.97, Z:0.26 [[ 9.99546877e-01 2.52438331e-02 -1.63947740e-02 1.57858186e+01] [-2.52315284e-02 9.99681176e-01 9.56971830e-04 -9.69655645e-01] [ 1.64137046e-02 -5.42872998e-04 9.99865139e-01 2.62337698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.283617865 meters 0.02367020998926924 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.99, Z:0.26 [[ 9.99686759e-01 1.89554652e-02 -1.63423890e-02 1.58456738e+01] [-1.89423955e-02 9.99820121e-01 9.54176928e-04 -9.85747329e-01] [ 1.63575362e-02 -6.44314045e-04 9.99865999e-01 2.63594080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.343617865 meters 0.02276564758745887 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.99, Z:0.26 [[ 9.99750609e-01 1.47573202e-02 -1.67612759e-02 1.59054564e+01] [-1.47429821e-02 9.99890837e-01 9.78675379e-04 -9.94535919e-01] [ 1.67738889e-02 -7.31320116e-04 9.99859041e-01 2.64420160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.403617864999998 meters 0.02350761263343533 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.01, Z:0.26 [[ 9.99713431e-01 1.51171047e-02 -1.85615177e-02 1.59638104e+01] [-1.50995915e-02 9.99885408e-01 1.08331252e-03 -1.00522933e+00] [ 1.85757672e-02 -8.02730745e-04 9.99827133e-01 2.64221077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.463617865 meters 0.02138156342947218 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.01, Z:0.27 [[ 9.99677134e-01 1.73351041e-02 -1.85774646e-02 1.60224049e+01] [-1.73179663e-02 9.99849446e-01 1.08299479e-03 -1.00914860e+00] [ 1.85934415e-02 -7.60921223e-04 9.99826837e-01 2.65559217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.523617865 meters 0.020540219833405017 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.02, Z:0.27 [[ 9.99590672e-01 2.14624909e-02 -1.89169103e-02 1.60822463e+01] [-2.14454810e-02 9.99769412e-01 1.10161700e-03 -1.01747531e+00] [ 1.89361918e-02 -6.95483832e-04 9.99820452e-01 2.67439558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.583617864999997 meters 0.0218246312316352 Centerline is valid? [True, True] Translation: X:16.14, Y:-1.03, Z:0.27 [[ 9.99461410e-01 2.56059334e-02 -2.05237870e-02 1.61408068e+01] [-2.55867921e-02 9.99671891e-01 1.19474146e-03 -1.02674623e+00] [ 2.05476454e-02 -6.68960115e-04 9.99788651e-01 2.65849973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.643617865 meters 0.018991763138247363 Centerline is valid? [True, True] Translation: X:16.20, Y:-1.03, Z:0.27 [[ 9.99383885e-01 2.80490514e-02 -2.10974060e-02 1.62008959e+01] [-2.80293822e-02 9.99606346e-01 1.22749317e-03 -1.02859126e+00] [ 2.11235310e-02 -6.35389638e-04 9.99776671e-01 2.67915223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.703617865 meters 0.018303345232896298 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.03, Z:0.27 [[ 9.99263220e-01 3.27447642e-02 -2.00199062e-02 1.62601434e+01] [-3.27280012e-02 9.99463617e-01 1.16447465e-03 -1.03139378e+00] [ 2.00472983e-02 -5.08405174e-04 9.99798903e-01 2.69258999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.763617864999997 meters 0.017303740841065753 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.03, Z:0.27 [[ 9.99077994e-01 3.79135697e-02 -2.01425555e-02 1.63211267e+01] [-3.78976528e-02 9.99280939e-01 1.17148004e-03 -1.03429493e+00] [ 2.01724868e-02 -4.07044355e-04 9.99796432e-01 2.70571049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.823617865 meters 0.01637224968141783 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.04, Z:0.27 [[ 9.98944841e-01 4.10938589e-02 -2.05061023e-02 1.63838095e+01] [-4.10780130e-02 9.99155229e-01 1.19354427e-03 -1.03633799e+00] [ 2.05378266e-02 -3.49934952e-04 9.99789015e-01 2.71354602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.883617864999998 meters 0.015806510386842804 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.04, Z:0.27 [[ 9.98870225e-01 4.27388140e-02 -2.07765848e-02 1.64465869e+01] [-4.27228663e-02 9.99086228e-01 1.21104305e-03 -1.03622638e+00] [ 2.08093582e-02 -3.22039593e-04 9.99783410e-01 2.71490921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.943617864999997 meters 0.01711330206210732 Centerline is valid? [True, True] Translation: X:16.51, Y:-1.04, Z:0.27 [[ 9.98934450e-01 4.03971825e-02 -2.23166363e-02 1.65071722e+01] [-4.03781347e-02 9.99183620e-01 1.30365818e-03 -1.04337851e+00] [ 2.23510816e-02 -4.01164925e-04 9.99750103e-01 2.70894074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.003617865 meters 0.017294223120748783 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.05, Z:0.27 [[ 9.99071614e-01 3.70710981e-02 -2.19463633e-02 1.65686806e+01] [-3.70517711e-02 9.99312519e-01 1.28675943e-03 -1.04593709e+00] [ 2.19789772e-02 -4.72413190e-04 9.99758321e-01 2.72208357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.063617864999998 meters 0.017695500707497036 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.05, Z:0.27 [[ 9.99194303e-01 3.36504909e-02 -2.18721322e-02 1.66308898e+01] [-3.36303898e-02 9.99433511e-01 1.28631045e-03 -1.05057879e+00] [ 2.19030269e-02 -5.49705736e-04 9.99759949e-01 2.73961055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.123617865 meters 0.018310544923929587 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.05, Z:0.27 [[ 9.99325321e-01 2.99145315e-02 -2.13078080e-02 1.66927513e+01] [-2.98945749e-02 9.99552270e-01 1.25457429e-03 -1.05423509e+00] [ 2.13357979e-02 -6.16739992e-04 9.99772176e-01 2.74953782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.183617865 meters 0.019632655484089698 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.06, Z:0.27 [[ 9.99413633e-01 2.69440486e-02 -2.11283844e-02 1.67529257e+01] [-2.69237383e-02 9.99636715e-01 1.24520234e-03 -1.05758638e+00] [ 2.11542595e-02 -6.75617101e-04 9.99775995e-01 2.74739736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.243617864999997 meters 0.021582378142580197 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.06, Z:0.28 [[ 9.99422786e-01 2.65221942e-02 -2.12289227e-02 1.68125146e+01] [-2.65015911e-02 9.99647988e-01 1.25131198e-03 -1.06434981e+00] [ 2.12546375e-02 -6.87989474e-04 9.99773858e-01 2.75468244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.303617865 meters 0.019901877674750594 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.06, Z:0.28 [[ 9.99381844e-01 2.65279997e-02 -2.30693352e-02 1.68726558e+01] [-2.65036825e-02 9.99647792e-01 1.35925808e-03 -1.06477217e+00] [ 2.30972684e-02 -7.46995509e-04 9.99732943e-01 2.76436899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.363617865 meters 0.0190113121804098 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.07, Z:0.28 [[ 9.99307112e-01 2.83792548e-02 -2.40813810e-02 1.69321532e+01] [-2.83533140e-02 9.99596958e-01 1.41804340e-03 -1.06521170e+00] [ 2.41119182e-02 -7.34273894e-04 9.99708996e-01 2.77044905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.423617864999997 meters 0.018622042776068486 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.07, Z:0.28 [[ 9.99183122e-01 3.22843545e-02 -2.43065571e-02 1.69907377e+01] [-3.22591042e-02 9.99478516e-01 1.43032532e-03 -1.06520367e+00] [ 2.43400587e-02 -6.45049161e-04 9.99703529e-01 2.77605269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.483617865 meters 0.018218163636352928 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.07, Z:0.28 [[ 9.99128553e-01 3.40014183e-02 -2.42082211e-02 1.70512066e+01] [-3.39768950e-02 9.99421605e-01 1.42373546e-03 -1.06640469e+00] [ 2.42426282e-02 -5.99974559e-04 9.99705924e-01 2.78694758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.543617864999998 meters 0.018274522731623846 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.07, Z:0.28 [[ 9.99098459e-01 3.46075197e-02 -2.45883931e-02 1.71119136e+01] [-3.45824033e-02 9.99400804e-01 1.44609415e-03 -1.07139600e+00] [ 2.46237055e-02 -5.94464715e-04 9.99696614e-01 2.80963155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.603617864999997 meters 0.019424741787285905 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.08, Z:0.28 [[ 9.99139002e-01 3.31202790e-02 -2.49860392e-02 1.71719150e+01] [-3.30938750e-02 9.99451167e-01 1.46962872e-03 -1.07862477e+00] [ 2.50210005e-02 -6.41478510e-04 9.99686720e-01 2.81370907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.663617865 meters 0.018421247027890417 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.08, Z:0.28 [[ 9.99189264e-01 3.14447338e-02 -2.51404753e-02 1.72322336e+01] [-3.14174659e-02 9.99505255e-01 1.47897306e-03 -1.08129126e+00] [ 2.51745431e-02 -6.87923982e-04 9.99682834e-01 2.83071637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.723617864999998 meters 0.01793292949455527 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.09, Z:0.28 [[ 9.99245228e-01 2.96233162e-02 -2.51283521e-02 1.72920587e+01] [-2.95955032e-02 9.99560864e-01 1.47809862e-03 -1.08554123e+00] [ 2.51611035e-02 -7.33296771e-04 9.99683140e-01 2.84197984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.783617864999997 meters 0.018064391358091875 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.09, Z:0.29 [[ 9.99235711e-01 3.03519621e-02 -2.46323519e-02 1.73513830e+01] [-3.03254718e-02 9.99539028e-01 1.44835026e-03 -1.09117107e+00] [ 2.46649573e-02 -7.00255614e-04 9.99695528e-01 2.86396630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.843617865 meters 0.018125184132590996 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.09, Z:0.29 [[ 9.99156279e-01 3.18055616e-02 -2.59834001e-02 1.74097295e+01] [-3.17766043e-02 9.99493830e-01 1.52670070e-03 -1.09439564e+00] [ 2.60188056e-02 -6.99748372e-04 9.99661209e-01 2.86742562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.903617864999998 meters 0.018270825796790093 Centerline is valid? [True, True] Translation: X:17.47, Y:-1.10, Z:0.29 [[ 9.99091240e-01 3.27949661e-02 -2.72246889e-02 1.74698239e+01] [-3.27635704e-02 9.99461852e-01 1.59859935e-03 -1.09753887e+00] [ 2.72624640e-02 -7.05168591e-04 9.99628061e-01 2.87095055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.963617865 meters 0.018660426968188475 Centerline is valid? [True, True] Translation: X:17.53, Y:-1.10, Z:0.29 [[ 9.99091119e-01 3.31074690e-02 -2.68483187e-02 1.75284697e+01] [-3.30770699e-02 9.99451562e-01 1.57569769e-03 -1.10041055e+00] [ 2.68857615e-02 -6.86201857e-04 9.99638277e-01 2.88662341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.023617865 meters 0.02040306127857675 Centerline is valid? [True, True] Translation: X:17.59, Y:-1.11, Z:0.29 [[ 9.99240973e-01 2.85494486e-02 -2.65029664e-02 1.75881112e+01] [-2.85182460e-02 9.99592063e-01 1.55463121e-03 -1.10544345e+00] [ 2.65365387e-02 -7.97633082e-04 9.99647526e-01 2.90014189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.083617864999997 meters 0.023536953213325825 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.11, Z:0.29 [[ 9.99377473e-01 2.32516978e-02 -2.65334712e-02 1.76471992e+01] [-2.32185637e-02 9.99729202e-01 1.55621383e-03 -1.11320433e+00] [ 2.65624706e-02 -9.39175952e-04 9.99646714e-01 2.90547453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.143617865 meters 0.025267531372428088 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.12, Z:0.29 [[ 9.99438702e-01 2.00309114e-02 -2.68522603e-02 1.77061232e+01] [-1.99958361e-02 9.99798824e-01 1.57413725e-03 -1.11896611e+00] [ 2.68783897e-02 -1.03632029e-03 9.99638174e-01 2.91622225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.203617865 meters 0.02083428204137633 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.11, Z:0.29 [[ 9.99484286e-01 1.62939536e-02 -2.76707358e-02 1.77667725e+01] [-1.62553043e-02 9.99866560e-01 1.62114116e-03 -1.11496712e+00] [ 2.76934582e-02 -1.17050888e-03 9.99615777e-01 2.94069889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.263617864999997 meters 0.021496655508319727 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.12, Z:0.29 [[ 9.99470803e-01 1.54362199e-02 -2.86327851e-02 1.78255792e+01] [-1.53945173e-02 9.99880092e-01 1.67634176e-03 -1.11830555e+00] [ 2.86552281e-02 -1.23466674e-03 9.99588592e-01 2.94231940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.323617865 meters 0.021972212592827892 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.12, Z:0.30 [[ 9.99473723e-01 1.48632431e-02 -2.88333251e-02 1.78841678e+01] [-1.48207736e-02 9.99888745e-01 1.68609581e-03 -1.12332439e+00] [ 2.88551780e-02 -1.25787627e-03 9.99582811e-01 2.96397571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.383617864999998 meters 0.021839225037301988 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.12, Z:0.30 [[ 9.99478607e-01 1.58469425e-02 -2.81316407e-02 1.79431012e+01] [-1.58069578e-02 9.99873712e-01 1.64316847e-03 -1.12468413e+00] [ 2.81541272e-02 -1.19763607e-03 9.99602877e-01 2.97691792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.443617864999997 meters 0.021053492348955385 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.13, Z:0.30 [[ 9.99437442e-01 1.86959190e-02 -2.78435293e-02 1.80030570e+01] [-1.86578884e-02 9.99824606e-01 1.62506512e-03 -1.12628499e+00] [ 2.78690278e-02 -1.10464946e-03 9.99610973e-01 2.99097905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.503617865 meters 0.02085343670160069 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.13, Z:0.30 [[ 9.99434429e-01 1.96565417e-02 -2.72844742e-02 1.80615008e+01] [-1.96204091e-02 9.99806235e-01 1.59140302e-03 -1.12851068e+00] [ 2.73104688e-02 -1.05517043e-03 9.99626443e-01 3.01065600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.563617864999998 meters 0.02159464298513734 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.13, Z:0.30 [[ 9.99425777e-01 2.07901210e-02 -2.67560640e-02 1.81190491e+01] [-2.07558328e-02 9.99783360e-01 1.55862698e-03 -1.13117909e+00] [ 2.67826716e-02 -1.00238759e-03 9.99640777e-01 3.01590675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.623617865 meters 0.021523653478595858 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.13, Z:0.30 [[ 9.99401744e-01 2.16447583e-02 -2.69751617e-02 1.81783538e+01] [-2.16102676e-02 9.99765239e-01 1.56951146e-03 -1.13322202e+00] [ 2.70028007e-02 -9.85632025e-04 9.99634872e-01 3.01841388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.683617865 meters 0.02220992494782476 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.14, Z:0.30 [[ 9.99343995e-01 2.19473954e-02 -2.88078485e-02 1.82374733e+01] [-2.19082309e-02 9.99758584e-01 1.67447135e-03 -1.13547061e+00] [ 2.88376441e-02 -1.04224389e-03 9.99583565e-01 3.00363903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.743617864999997 meters 0.020384086287930692 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.14, Z:0.30 [[ 9.99379383e-01 1.82654369e-02 -3.01201451e-02 1.82963673e+01] [-1.82210062e-02 9.99832454e-01 1.74895001e-03 -1.13849286e+00] [ 3.01470439e-02 -1.19904523e-03 9.99544755e-01 3.02660099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.803617865 meters 0.02180857142329332 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.15, Z:0.30 [[ 9.99439010e-01 1.57001083e-02 -2.95832890e-02 1.83559512e+01] [-1.56561636e-02 9.99875961e-01 1.71651865e-03 -1.14528934e+00] [ 2.96065690e-02 -1.25239489e-03 9.99560845e-01 3.04219867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.863617865 meters 0.02185548687922401 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.15, Z:0.31 [[ 9.99499113e-01 1.40732097e-02 -2.83455050e-02 1.84145826e+01] [-1.40322526e-02 9.99900193e-01 1.64333117e-03 -1.14838126e+00] [ 2.83658029e-02 -1.24475676e-03 9.99596835e-01 3.05337790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.923617864999997 meters 0.024123909495073644 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.16, Z:0.30 [[ 9.99466371e-01 1.50746476e-02 -2.89780521e-02 1.84725878e+01] [-1.50323191e-02 9.99885600e-01 1.67801598e-03 -1.15641115e+00] [ 2.90000325e-02 -1.24151321e-03 9.99578640e-01 3.04424476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.983617865 meters 0.020354169410015797 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.15, Z:0.31 [[ 9.99452583e-01 1.70915815e-02 -2.83268790e-02 1.85318834e+01] [-1.70519970e-02 9.99853262e-01 1.63840901e-03 -1.15494894e+00] [ 2.83507253e-02 -1.15448226e-03 9.99597371e-01 3.06822573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.043617864999998 meters 0.01972878698320572 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.16, Z:0.31 [[ 9.99433388e-01 2.12274248e-02 -2.61208491e-02 1.85920632e+01] [-2.11952087e-02 9.99774217e-01 1.50962848e-03 -1.15669197e+00] [ 2.61469970e-02 -9.55136259e-04 9.99657653e-01 3.08999158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.103617864999997 meters 0.018335149791768035 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.16, Z:0.31 [[ 9.99388374e-01 2.45708443e-02 -2.48827463e-02 1.86520578e+01] [-2.45426595e-02 9.99697750e-01 1.43750825e-03 -1.15622966e+00] [ 2.49105463e-02 -8.25940267e-04 9.99689343e-01 3.10414877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.163617865 meters 0.018795503515812072 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.16, Z:0.31 [[ 9.99337945e-01 2.69238255e-02 -2.44699495e-02 1.87099884e+01] [-2.68973038e-02 9.99637204e-01 1.41240004e-03 -1.15900800e+00] [ 2.44990991e-02 -7.53289290e-04 9.99699568e-01 3.10514770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.223617864999998 meters 0.018426444854687314 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.16, Z:0.31 [[ 9.99317074e-01 2.75703838e-02 -2.46020131e-02 1.87685415e+01] [-2.75438183e-02 9.99619591e-01 1.41808737e-03 -1.16070358e+00] [ 2.46317514e-02 -7.39485539e-04 9.99696319e-01 3.11128765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.283617864999997 meters 0.017881975342650142 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.16, Z:0.31 [[ 9.99325432e-01 2.69507971e-02 -2.49466605e-02 1.88277712e+01] [-2.69233316e-02 9.99636470e-01 1.43625211e-03 -1.16190694e+00] [ 2.49762998e-02 -7.63636047e-04 9.99687752e-01 3.11695428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.343617865 meters 0.018358367278431334 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.17, Z:0.31 [[ 9.99375693e-01 2.59081290e-02 -2.40206944e-02 1.88866448e+01] [-2.58824026e-02 9.99664040e-01 1.38134315e-03 -1.16524061e+00] [ 2.40484124e-02 -7.58767479e-04 9.99710507e-01 3.13448600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.403617864999998 meters 0.017200425991467476 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.17, Z:0.31 [[ 9.99382347e-01 2.48095211e-02 -2.48879756e-02 1.89452116e+01] [-2.47816064e-02 9.99691867e-01 1.42946372e-03 -1.16638615e+00] [ 2.49157711e-02 -8.11816794e-04 9.99689224e-01 3.14164512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.463617865 meters 0.018325865393254443 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.17, Z:0.31 [[ 9.99454814e-01 2.15527260e-02 -2.50110803e-02 1.90048716e+01] [-2.15235521e-02 9.99767312e-01 1.43508705e-03 -1.17160263e+00] [ 2.50361906e-02 -8.95977370e-04 9.99686144e-01 3.14376821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.523617865 meters 0.02121617391875499 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.18, Z:0.31 [[ 9.99548159e-01 1.81630028e-02 -2.39495852e-02 1.90630825e+01] [-1.81353045e-02 9.99834599e-01 1.37323093e-03 -1.17885546e+00] [ 2.39705660e-02 -9.38277421e-04 9.99712224e-01 3.14279140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.583617864999997 meters 0.019844344603722634 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.18, Z:0.32 [[ 9.99592656e-01 1.70318725e-02 -2.29006011e-02 1.91219235e+01] [-1.70062809e-02 9.99854522e-01 1.31181094e-03 -1.18035815e+00] [ 2.29196122e-02 -9.21822527e-04 9.99736886e-01 3.15913933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.643617865 meters 0.020760587267913876 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.19, Z:0.32 [[ 9.99574486e-01 1.69891184e-02 -2.37111124e-02 1.91796563e+01] [-1.69617138e-02 9.99855220e-01 1.35642513e-03 -1.18648737e+00] [ 2.37307240e-02 -9.53666850e-04 9.99717932e-01 3.15857949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.703617865 meters 0.02164493432370094 Centerline is valid? [True, True] Translation: X:19.24, Y:-1.19, Z:0.32 [[ 9.99555627e-01 1.78337772e-02 -2.38852510e-02 1.92372731e+01] [-1.78062581e-02 9.99840525e-01 1.36434316e-03 -1.19065735e+00] [ 2.39057733e-02 -9.38429937e-04 9.99713776e-01 3.15611174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.763617864999997 meters 0.02230605621097157 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.20, Z:0.32 [[ 9.99519306e-01 1.91133801e-02 -2.44097385e-02 1.92953468e+01] [-1.90850668e-02 9.99816894e-01 1.39237731e-03 -1.19586520e+00] [ 2.44318820e-02 -9.25846512e-04 9.99701068e-01 3.15223735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.823617865 meters 0.021877704501112392 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.20, Z:0.32 [[ 9.99474137e-01 2.06408183e-02 -2.50081325e-02 1.93539261e+01] [-2.06116185e-02 9.99786543e-01 1.42484789e-03 -1.19957699e+00] [ 2.50322043e-02 -9.08640530e-04 9.99686232e-01 3.15976975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.883617864999998 meters 0.017063562783235193 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.20, Z:0.32 [[ 9.99432887e-01 2.37023943e-02 -2.39186211e-02 1.94132851e+01] [-2.36765967e-02 9.99718743e-01 1.36121829e-03 -1.19539669e+00] [ 2.39441579e-02 -7.94134785e-04 9.99712982e-01 3.18300009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.943617864999997 meters 0.01816233707587555 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.20, Z:0.32 [[ 9.99408136e-01 2.48966430e-02 -2.37388718e-02 1.94714947e+01] [-2.48716076e-02 9.99689743e-01 1.34933045e-03 -1.20083138e+00] [ 2.37651005e-02 -7.58107925e-04 9.99717283e-01 3.18613753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.003617865 meters 0.018129283164046696 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.21, Z:0.32 [[ 9.99374721e-01 2.47225425e-02 -2.52777083e-02 1.95303038e+01] [-2.46941460e-02 9.99694023e-01 1.43496854e-03 -1.20593329e+00] [ 2.53054499e-02 -8.09859870e-04 9.99679438e-01 3.19011574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.063617864999998 meters 0.018746719241417853 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.21, Z:0.32 [[ 9.99400433e-01 2.30270930e-02 -2.58559049e-02 1.95886397e+01] [-2.29968621e-02 9.99734462e-01 1.46599225e-03 -1.21278157e+00] [ 2.58827967e-02 -8.70508607e-04 9.99664605e-01 3.20209171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.123617864999996 meters 0.018544727644558695 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.21, Z:0.32 [[ 9.99415041e-01 2.34535623e-02 -2.48898842e-02 1.96472815e+01] [-2.34257222e-02 9.99724586e-01 1.40955777e-03 -1.21420678e+00] [ 2.49160883e-02 -8.25669719e-04 9.99689205e-01 3.21671836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.183617865 meters 0.01917702889836702 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.22, Z:0.32 [[ 9.99469846e-01 2.14708127e-02 -2.44750936e-02 1.97056199e+01] [-2.14433398e-02 9.99769107e-01 1.38441510e-03 -1.22044337e+00] [ 2.44991670e-02 -8.58853397e-04 9.99699481e-01 3.23335398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.243617864999997 meters 0.019299256666911648 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.22, Z:0.33 [[ 9.99541773e-01 1.92160635e-02 -2.33877484e-02 1.97641216e+01] [-1.91903979e-02 9.99814974e-01 1.32136165e-03 -1.22429667e+00] [ 2.34088125e-02 -8.71935963e-04 9.99725596e-01 3.25033849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.303617865 meters 0.019723983283560335 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.23, Z:0.33 [[ 9.99558118e-01 1.78763451e-02 -2.37488096e-02 1.98229492e+01] [-1.78495423e-02 9.99839786e-01 1.34011456e-03 -1.22822341e+00] [ 2.37689611e-02 -9.15617007e-04 9.99717059e-01 3.26399759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.363617865 meters 0.020718516558507483 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.23, Z:0.33 [[ 9.99560565e-01 1.66238124e-02 -2.45423333e-02 1.98818515e+01] [-1.65948532e-02 9.99861339e-01 1.38317812e-03 -1.23137065e+00] [ 2.45619239e-02 -9.75293880e-04 9.99697835e-01 3.27623750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.423617864999997 meters 0.023438912573003668 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.24, Z:0.33 [[ 9.99561067e-01 1.61648583e-02 -2.48268270e-02 1.99392347e+01] [-1.61351281e-02 9.99868844e-01 1.39737164e-03 -1.23701118e+00] [ 2.48461591e-02 -9.96174253e-04 9.99690790e-01 3.28741409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.483617865 meters 0.020903068344692972 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.23, Z:0.33 [[ 9.99566384e-01 1.54231596e-02 -2.50832792e-02 1.99982214e+01] [-1.53926282e-02 9.99880533e-01 1.40983572e-03 -1.23468276e+00] [ 2.51020267e-02 -1.02312680e-03 9.99684371e-01 3.30784531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.543617864999998 meters 0.0223566674121429 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.24, Z:0.33 [[ 9.99555951e-01 1.47546594e-02 -2.58882206e-02 2.00562855e+01] [-1.47219633e-02 9.99890570e-01 1.45312371e-03 -1.23858253e+00] [ 2.59068280e-02 -1.07135302e-03 9.99663788e-01 3.31948432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.603617864999997 meters 0.0211173908651132 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.24, Z:0.33 [[ 9.99562433e-01 1.54010324e-02 -2.52537276e-02 2.01157456e+01] [-1.53701885e-02 9.99880870e-01 1.41502746e-03 -1.23671599e+00] [ 2.52725120e-02 -1.02625373e-03 9.99680072e-01 3.34482262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.663617865 meters 0.01945431158569289 Centerline is valid? [True, True] Translation: X:20.17, Y:-1.24, Z:0.34 [[ 9.99569584e-01 1.65003853e-02 -2.42566443e-02 2.01749161e+01] [-1.64723136e-02 9.99863402e-01 1.35664708e-03 -1.23552477e+00] [ 2.42757161e-02 -9.56500105e-04 9.99704844e-01 3.37538230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.723617864999998 meters 0.02260442222054804 Centerline is valid? [True, True] Translation: X:20.23, Y:-1.24, Z:0.34 [[ 9.99565440e-01 1.79059198e-02 -2.34160165e-02 2.02328232e+01] [-1.78801857e-02 9.99839281e-01 1.30792121e-03 -1.24031642e+00] [ 2.34356726e-02 -8.88670115e-04 9.99724952e-01 3.38866866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.783617864999997 meters 0.018503068154233342 Centerline is valid? [True, True] Translation: X:20.29, Y:-1.24, Z:0.34 [[ 9.99532316e-01 1.87330585e-02 -2.41706648e-02 2.02923850e+01] [-1.87059280e-02 9.99824120e-01 1.34809039e-03 -1.23639695e+00] [ 2.41916675e-02 -8.95325199e-04 9.99706938e-01 3.41105679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.843617865 meters 0.019247474838655822 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.24, Z:0.34 [[ 9.99502164e-01 2.00521783e-02 -2.43584530e-02 2.03499509e+01] [-2.00250606e-02 9.99798558e-01 1.35671511e-03 -1.23881797e+00] [ 2.43807513e-02 -8.68260194e-04 9.99702368e-01 3.43298513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.903617864999998 meters 0.01929514175467951 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.24, Z:0.34 [[ 9.99434319e-01 2.17212031e-02 -2.56755090e-02 2.04085930e+01] [-2.16916770e-02 9.99763688e-01 1.42796517e-03 -1.23843785e+00] [ 2.57004587e-02 -8.70212550e-04 9.99669310e-01 3.43496336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.963617865 meters 0.0190183956535097 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.24, Z:0.34 [[ 9.99349279e-01 2.21984869e-02 -2.84296788e-02 2.04669776e+01] [-2.21625356e-02 9.99753134e-01 1.57908534e-03 -1.24085020e+00] [ 2.84577137e-02 -9.47984025e-04 9.99594548e-01 3.42823609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.023617865 meters 0.018500197540588067 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.24, Z:0.34 [[ 9.99343638e-01 2.22484206e-02 -2.85884840e-02 2.05252761e+01] [-2.22121558e-02 9.99752022e-01 1.58549522e-03 -1.24365528e+00] [ 2.86166695e-02 -9.49442698e-04 9.99590008e-01 3.44467490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.083617864999997 meters 0.019326057574445506 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.25, Z:0.34 [[ 9.99333700e-01 2.22362722e-02 -2.89431285e-02 2.05834637e+01] [-2.21991773e-02 9.99752284e-01 1.60238339e-03 -1.24751392e+00] [ 2.89715899e-02 -9.58802084e-04 9.99579776e-01 3.44796822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.143617865 meters 0.019159544510211606 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.25, Z:0.35 [[ 9.99330295e-01 2.32411487e-02 -2.82632210e-02 2.06422807e+01] [-2.32062391e-02 9.99729478e-01 1.56258452e-03 -1.24930668e+00] [ 2.82918915e-02 -9.05654987e-04 9.99599294e-01 3.46277683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.203617865 meters 0.01941657510163159 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.25, Z:0.35 [[ 9.99413535e-01 2.21691676e-02 -2.60981520e-02 2.07009178e+01] [-2.21390820e-02 9.99753862e-01 1.44120220e-03 -1.25496120e+00] [ 2.61236785e-02 -8.62567860e-04 9.99658346e-01 3.49517938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.263617864999997 meters 0.019790904961555476 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.26, Z:0.35 [[ 9.99495474e-01 2.02532309e-02 -2.44663931e-02 2.07592479e+01] [-2.02262565e-02 9.99794518e-01 1.34950051e-03 -1.25914582e+00] [ 2.44886975e-02 -8.53956107e-04 9.99699742e-01 3.51236780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.323617865 meters 0.01936036814770127 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.26, Z:0.35 [[ 9.99542849e-01 1.84869200e-02 -2.39233515e-02 2.08177771e+01] [-1.84606635e-02 9.99828719e-01 1.31793064e-03 -1.26101761e+00] [ 2.39436183e-02 -8.75687200e-04 9.99712927e-01 3.52500804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.383617864999998 meters 0.01963138707555866 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.26, Z:0.35 [[ 9.99516917e-01 1.94051929e-02 -2.42769792e-02 2.08765673e+01] [-1.93784660e-02 9.99811328e-01 1.33571080e-03 -1.26443600e+00] [ 2.42983186e-02 -8.64614927e-04 9.99704378e-01 3.53280170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.443617864999997 meters 0.021888725768402426 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.27, Z:0.35 [[ 9.99494500e-01 2.01564986e-02 -2.45857673e-02 2.09347568e+01] [-2.01293562e-02 9.99796471e-01 1.35099973e-03 -1.26941244e+00] [ 2.46079948e-02 -8.55421128e-04 9.99696811e-01 3.51402676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.503617865 meters 0.019821088451265744 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.27, Z:0.35 [[ 9.99481505e-01 1.95348529e-02 -2.55951163e-02 2.09932229e+01] [-1.95052821e-02 9.99808767e-01 1.40450317e-03 -1.26989487e+00] [ 2.56176584e-02 -9.04534979e-04 9.99671405e-01 3.52118435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.563617864999998 meters 0.02098942844286915 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.28, Z:0.35 [[ 9.99568999e-01 1.68107825e-02 -2.40668736e-02 2.10525758e+01] [-1.67838878e-02 9.99858271e-01 1.31907323e-03 -1.27820952e+00] [ 2.40856373e-02 -9.14569003e-04 9.99709481e-01 3.54030301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.623617864999996 meters 0.02221249710550733 Centerline is valid? [True, True] Translation: X:21.11, Y:-1.28, Z:0.36 [[ 9.99653130e-01 1.56797009e-02 -2.11604754e-02 2.11105075e+01] [-1.56586775e-02 9.99876724e-01 1.15885736e-03 -1.28365850e+00] [ 2.11760373e-02 -8.27110328e-04 9.99775420e-01 3.55793216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.683617865 meters 0.022134217559285876 Centerline is valid? [True, True] Translation: X:21.17, Y:-1.29, Z:0.36 [[ 9.99650916e-01 1.68994631e-02 -2.03089532e-02 2.11694381e+01] [-1.68803814e-02 9.99856899e-01 1.11064628e-03 -1.28754576e+00] [ 2.03248163e-02 -7.67435696e-04 9.99793135e-01 3.56711778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.743617864999997 meters 0.021801365847522184 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.29, Z:0.36 [[ 9.99629375e-01 1.99163033e-02 -1.85594769e-02 2.12288907e+01] [-1.99009068e-02 9.99801443e-01 1.01391527e-03 -1.29152551e+00] [ 1.85759852e-02 -6.44189070e-04 9.99827244e-01 3.57219680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.803617865 meters 0.019497290384010175 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.29, Z:0.36 [[ 9.99568011e-01 2.36455748e-02 -1.74550123e-02 2.12887452e+01] [-2.36325340e-02 9.99720258e-01 9.53033835e-04 -1.28874027e+00] [ 1.74726644e-02 -5.40115965e-04 9.99847195e-01 3.56485145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.863617865 meters 0.01907365954206082 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.29, Z:0.36 [[ 9.99504734e-01 2.56150109e-02 -1.82800091e-02 2.13489203e+01] [-2.56010473e-02 9.99671742e-01 9.97514262e-04 -1.29307704e+00] [ 1.82995599e-02 -5.29032847e-04 9.99832409e-01 3.56580704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.923617864999997 meters 0.019521776074113772 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.30, Z:0.36 [[ 9.99492756e-01 2.60245720e-02 -1.83562654e-02 2.14093210e+01] [-2.60105600e-02 9.99661166e-01 1.00171637e-03 -1.29887134e+00] [ 1.83761150e-02 -5.23751512e-04 9.99831008e-01 3.56493241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.983617865 meters 0.01874851522338879 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.30, Z:0.36 [[ 9.99475848e-01 2.64253330e-02 -1.87011035e-02 2.14700115e+01] [-2.64108545e-02 9.99650651e-01 1.02080433e-03 -1.30067176e+00] [ 1.87215454e-02 -5.26357146e-04 9.99824598e-01 3.55791208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.043617864999998 meters 0.018731870377265605 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.31, Z:0.35 [[ 9.99394347e-01 2.78192556e-02 -2.09052304e-02 2.15301368e+01] [-2.78014671e-02 9.99612813e-01 1.14111713e-03 -1.30524908e+00] [ 2.09288812e-02 -5.59229937e-04 9.99780811e-01 3.54015011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.103617864999997 meters 0.018207909664397795 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.31, Z:0.36 [[ 9.99444731e-01 2.70755218e-02 -1.94202626e-02 2.15906082e+01] [-2.70600307e-02 9.99633248e-01 1.06005980e-03 -1.31198254e+00] [ 1.94418419e-02 -5.33958280e-04 9.99810847e-01 3.56518306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.163617865 meters 0.019793310109783923 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.32, Z:0.36 [[ 9.99531758e-01 2.53256385e-02 -1.71720045e-02 2.16501512e+01] [-2.53132674e-02 9.99679128e-01 9.37427129e-04 -1.32112694e+00] [ 1.71902354e-02 -5.02308644e-04 9.99852111e-01 3.59267499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.223617864999998 meters 0.021617615724331 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.33, Z:0.36 [[ 9.99654013e-01 2.15951352e-02 -1.50167931e-02 2.17094331e+01] [-2.15852397e-02 9.99766675e-01 8.20747081e-04 -1.33014351e+00] [ 1.50310135e-02 -4.96322034e-04 9.99886905e-01 3.60960136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.283617864999997 meters 0.02067200867334491 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.34, Z:0.36 [[ 9.99704171e-01 1.90155698e-02 -1.51650481e-02 2.17699968e+01] [-1.90051817e-02 9.99819042e-01 8.28837459e-04 -1.33705007e+00] [ 1.51780646e-02 -5.40377771e-04 9.99884661e-01 3.62569990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.343617865 meters 0.020591317587770417 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.34, Z:0.36 [[ 9.99665883e-01 2.10013399e-02 -1.50687168e-02 2.18301214e+01] [-2.09913046e-02 9.99779319e-01 8.23841881e-04 -1.34033666e+00] [ 1.50826932e-02 -5.07254598e-04 9.99886121e-01 3.63932983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.403617864999998 meters 0.018903678359171724 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.34, Z:0.36 [[ 9.99566607e-01 2.46444674e-02 -1.61011907e-02 2.18909107e+01] [-2.46334817e-02 9.99696162e-01 8.80289636e-04 -1.33982648e+00] [ 1.61179928e-02 -4.83279738e-04 9.99869980e-01 3.63743913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.463617865 meters 0.018163202593741837 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.34, Z:0.36 [[ 9.99494861e-01 2.65605647e-02 -1.74516188e-02 2.19523081e+01] [-2.65479496e-02 9.99647086e-01 9.54174423e-04 -1.34149127e+00] [ 1.74708033e-02 -4.90387736e-04 9.99847254e-01 3.63419903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.523617865 meters 0.018115473987031304 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.34, Z:0.36 [[ 9.99480819e-01 2.71996168e-02 -1.72706031e-02 2.20139150e+01] [-2.71873472e-02 9.99629909e-01 9.44869680e-04 -1.34426538e+00] [ 1.72899115e-02 -4.74837239e-04 9.99850406e-01 3.64884787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.583617864999997 meters 0.018354752966727995 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.35, Z:0.37 [[ 9.99534689e-01 2.65129957e-02 -1.50820150e-02 2.20759923e+01] [-2.65035567e-02 9.99648378e-01 8.25414272e-04 -1.34788844e+00] [ 1.50985961e-02 -4.25303158e-04 9.99885919e-01 3.68547214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.643617865 meters 0.019525943077992138 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.35, Z:0.37 [[ 9.99580834e-01 2.41398483e-02 -1.59820134e-02 2.21362911e+01] [-2.41288808e-02 9.99708470e-01 8.78734804e-04 -1.35413524e+00] [ 1.59985667e-02 -4.92738372e-04 9.99871893e-01 3.69209523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.703617865 meters 0.020295159500365298 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.36, Z:0.37 [[ 9.99592137e-01 2.31415600e-02 -1.67340180e-02 2.21971501e+01] [-2.31293864e-02 9.99732056e-01 9.20678754e-04 -1.35769740e+00] [ 1.67508402e-02 -5.33255674e-04 9.99859553e-01 3.68817110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.763617864999997 meters 0.021006036073374874 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.36, Z:0.37 [[ 9.99599939e-01 2.23639601e-02 -1.73151677e-02 2.22575253e+01] [-2.23507996e-02 9.99749735e-01 9.53225988e-04 -1.36157270e+00] [ 1.73321522e-02 -5.65836797e-04 9.99849627e-01 3.68945360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.823617865 meters 0.021800852819237396 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.37, Z:0.37 [[ 9.99623895e-01 2.18448523e-02 -1.65792624e-02 2.23167700e+01] [-2.18327115e-02 9.99761221e-01 9.12953973e-04 -1.36760180e+00] [ 1.65952469e-02 -5.50640354e-04 9.99862138e-01 3.72310432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.883617864999998 meters 0.022350498904610272 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.37, Z:0.37 [[ 9.99625795e-01 2.14677450e-02 -1.69530541e-02 2.23773559e+01] [-2.14550008e-02 9.99769379e-01 9.33273441e-04 -1.37065336e+00] [ 1.69691796e-02 -5.69196417e-04 9.99855851e-01 3.72773216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.943617864999997 meters 0.02284744511206029 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.37, Z:0.37 [[ 9.99622888e-01 2.14970448e-02 -1.70868126e-02 2.24374488e+01] [-2.14841030e-02 9.99768748e-01 9.40636909e-04 -1.37355090e+00] [ 1.71030821e-02 -5.73187342e-04 9.99853567e-01 3.72374740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.003617865 meters 0.019563580619808695 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.37, Z:0.37 [[ 9.99631014e-01 2.11938584e-02 -1.69898621e-02 2.24969046e+01] [-2.11810200e-02 9.99775220e-01 9.35262336e-04 -1.37177689e+00] [ 1.70058649e-02 -5.75054630e-04 9.99855224e-01 3.73636059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.063617864999998 meters 0.02508594350256266 Centerline is valid? [True, True] Translation: X:22.56, Y:-1.39, Z:0.38 [[ 9.99691094e-01 1.90251362e-02 -1.59925225e-02 2.25561448e+01] [-1.90134921e-02 9.99818840e-01 8.79846811e-04 -1.38528218e+00] [ 1.60063645e-02 -5.75501321e-04 9.99871724e-01 3.75202378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.123617864999996 meters 0.021253388310012444 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.38, Z:0.38 [[ 9.99694702e-01 1.85406908e-02 -1.63323467e-02 2.26158499e+01] [-1.85284822e-02 9.99827929e-01 8.98528135e-04 -1.38368638e+00] [ 1.63461957e-02 -5.95640222e-04 9.99866215e-01 3.76336739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.183617865 meters 0.02013301941978235 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.38, Z:0.38 [[ 9.99611097e-01 2.10474775e-02 -1.82936461e-02 2.26758072e+01] [-2.10325917e-02 9.99778285e-01 1.00575121e-03 -1.38447251e+00] [ 1.83107587e-02 -6.20597283e-04 9.99832151e-01 3.75081478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.243617864999997 meters 0.018820228462348564 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.39, Z:0.37 [[ 9.99452152e-01 2.55283172e-02 -2.10641937e-02 2.27357331e+01] [-2.55095909e-02 9.99673908e-01 1.15727532e-03 -1.38602575e+00] [ 2.10868682e-02 -6.19302339e-04 9.99777455e-01 3.72312068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.303617865 meters 0.018148299434700012 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.39, Z:0.37 [[ 9.99385457e-01 2.81240556e-02 -2.09223742e-02 2.27948149e+01] [-2.81061638e-02 9.99604284e-01 1.14877562e-03 -1.39135824e+00] [ 2.09464031e-02 -5.60021970e-04 9.99780443e-01 3.73927373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.363617865 meters 0.017981921036384123 Centerline is valid? [True, True] Translation: X:22.85, Y:-1.39, Z:0.38 [[ 9.99326093e-01 3.07181603e-02 -2.00936469e-02 2.28540881e+01] [-3.07021896e-02 9.99527968e-01 1.10289676e-03 -1.39399482e+00] [ 2.01180410e-02 -4.85234556e-04 9.99797494e-01 3.75702340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.423617864999997 meters 0.017104012079322668 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.40, Z:0.38 [[ 9.99214967e-01 3.49970066e-02 -1.85650141e-02 2.29157839e+01] [-3.49840988e-02 9.99387349e-01 1.01968835e-03 -1.39654985e+00] [ 1.85893262e-02 -3.69407572e-04 9.99827135e-01 3.78935388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.483617865 meters 0.016237420731595117 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.40, Z:0.38 [[ 9.99185078e-01 3.63034223e-02 -1.76420128e-02 2.29779974e+01] [-3.62919435e-02 9.99340759e-01 9.70474425e-04 -1.39859626e+00] [ 1.76656140e-02 -3.29420631e-04 9.99843897e-01 3.81052802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.543617864999998 meters 0.016809262109558437 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.40, Z:0.38 [[ 9.99236919e-01 3.46053438e-02 -1.81121695e-02 2.30398499e+01] [-3.45928854e-02 9.99400986e-01 1.00079122e-03 -1.40476125e+00] [ 1.81359528e-02 -3.73475330e-04 9.99835460e-01 3.81673633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.603617864999997 meters 0.01787132527466366 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.41, Z:0.38 [[ 9.99357353e-01 3.09294199e-02 -1.81177077e-02 2.31014486e+01] [-3.09162767e-02 9.99521472e-01 1.00514406e-03 -1.40894275e+00] [ 1.81401264e-02 -4.44366048e-04 9.99835356e-01 3.82224970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.663617865 meters 0.019543227029529656 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.42, Z:0.38 [[ 9.99441497e-01 2.69426485e-02 -1.97683726e-02 2.31626955e+01] [-2.69261777e-02 9.99636821e-01 1.09893429e-03 -1.41630146e+00] [ 1.97908013e-02 -5.66033820e-04 9.99803983e-01 3.82754691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.723617864999998 meters 0.01919351795469717 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.42, Z:0.38 [[ 9.99471522e-01 2.53061020e-02 -2.04029026e-02 2.32228211e+01] [-2.52882049e-02 9.99679558e-01 1.13475365e-03 -1.41839261e+00] [ 2.04250808e-02 -6.18201173e-04 9.99791195e-01 3.84451105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.783617864999997 meters 0.019985022761805266 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.42, Z:0.38 [[ 9.99493827e-01 2.29620438e-02 -2.20189637e-02 2.32829120e+01] [-2.29406327e-02 9.99736079e-01 1.22453024e-03 -1.42016977e+00] [ 2.20412702e-02 -7.18781458e-04 9.99756803e-01 3.82874527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.843617865 meters 0.02072291520520575 Centerline is valid? [True, True] Translation: X:23.34, Y:-1.42, Z:0.38 [[ 9.99514251e-01 2.17488278e-02 -2.23215459e-02 2.33415648e+01] [-2.17265377e-02 9.99763181e-01 1.24065007e-03 -1.42170559e+00] [ 2.23432425e-02 -7.55077512e-04 9.99750073e-01 3.83159723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.903617864999998 meters 0.022023462596730565 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.43, Z:0.39 [[ 9.99579880e-01 1.96983551e-02 -2.12612089e-02 2.34000878e+01] [-1.96776964e-02 9.99805679e-01 1.18045591e-03 -1.42744212e+00] [ 2.12803304e-02 -7.61588361e-04 9.99773258e-01 3.87145889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.963617865 meters 0.02271634450705487 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.43, Z:0.39 [[ 9.99612071e-01 1.92399342e-02 -2.01378374e-02 2.34586184e+01] [-1.92213289e-02 9.99814629e-01 1.11706643e-03 -1.42594834e+00] [ 2.01555967e-02 -7.29557096e-04 9.99796589e-01 3.88268549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.023617865 meters 0.021162085436435097 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.42, Z:0.39 [[ 9.99570409e-01 2.05677099e-02 -2.08798073e-02 2.35175657e+01] [-2.05480325e-02 9.99788198e-01 1.15654174e-03 -1.42273634e+00] [ 2.08991723e-02 -7.27005940e-04 9.99781324e-01 3.89272250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.083617864999997 meters 0.020513075140169038 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.42, Z:0.39 [[ 9.99540688e-01 2.11087862e-02 -2.17446882e-02 2.35768502e+01] [-2.10876032e-02 9.99776908e-01 1.20303601e-03 -1.42465403e+00] [ 2.17652318e-02 -7.43940085e-04 9.99762832e-01 3.91082168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.143617865 meters 0.019468248679763586 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.42, Z:0.39 [[ 9.99520443e-01 2.20205509e-02 -2.17710624e-02 2.36357298e+01] [-2.19995590e-02 9.99757256e-01 1.20327363e-03 -1.42154077e+00] [ 2.17922744e-02 -7.23742822e-04 9.99762258e-01 3.91548914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.203617865 meters 0.019405389935341043 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.42, Z:0.39 [[ 9.99532593e-01 2.25528746e-02 -2.06388798e-02 2.36948807e+01] [-2.25341515e-02 9.99745425e-01 1.13932312e-03 -1.42345478e+00] [ 2.06593206e-02 -6.73710947e-04 9.99786346e-01 3.93130843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.263617864999997 meters 0.01937170171874235 Centerline is valid? [True, True] Translation: X:23.75, Y:-1.43, Z:0.40 [[ 9.99543841e-01 2.43109129e-02 -1.79189738e-02 2.37536136e+01] [-2.42971013e-02 9.99704294e-01 9.88115724e-04 -1.42518832e+00] [ 1.79376970e-02 -5.52285866e-04 9.99838954e-01 3.95961648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.323617865 meters 0.019906715387215952 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.43, Z:0.39 [[ 9.99455783e-01 2.69770830e-02 -1.89835626e-02 2.38135469e+01] [-2.69620781e-02 9.99635910e-01 1.04595853e-03 -1.42695380e+00] [ 1.90048678e-02 -5.33552999e-04 9.99819249e-01 3.94916692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.383617864999998 meters 0.019075968113802848 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.43, Z:0.40 [[ 9.99408529e-01 2.86585370e-02 -1.90073806e-02 2.38737560e+01] [-2.86437983e-02 9.99589134e-01 1.04727085e-03 -1.42650950e+00] [ 1.90295844e-02 -5.02207845e-04 9.99818795e-01 3.95291744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.443617864999997 meters 0.017818442075501827 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.43, Z:0.40 [[ 9.99387804e-01 2.88433642e-02 -1.98009597e-02 2.39344848e+01] [-2.88274051e-02 9.99583809e-01 1.09099556e-03 -1.42617097e+00] [ 1.98241866e-02 -5.19517373e-04 9.99803347e-01 3.96249705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.503617865 meters 0.019263855249545755 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.43, Z:0.40 [[ 9.99402644e-01 2.67740524e-02 -2.18519149e-02 2.39940805e+01] [-2.67541101e-02 9.99641319e-01 1.20450522e-03 -1.43204308e+00] [ 2.18763265e-02 -6.19157159e-04 9.99760493e-01 3.95874352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.563617864999998 meters 0.019128375015426996 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.44, Z:0.40 [[ 9.99470541e-01 2.38732990e-02 -2.21066185e-02 2.40538018e+01] [-2.38521545e-02 9.99714753e-01 1.21969963e-03 -1.43617090e+00] [ 2.21294309e-02 -6.91763369e-04 9.99754875e-01 3.97533712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.623617864999996 meters 0.020402393945458622 Centerline is valid? [True, True] Translation: X:24.11, Y:-1.44, Z:0.40 [[ 9.99618866e-01 1.71572858e-02 -2.16275298e-02 2.41137979e+01] [-1.71354918e-02 9.99852465e-01 1.19262737e-03 -1.44139156e+00] [ 2.16448013e-02 -8.21574461e-04 9.99765386e-01 3.98075197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.683617865 meters 0.022234157285272196 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.45, Z:0.40 [[ 9.99695987e-01 1.25566293e-02 -2.12194289e-02 2.41734861e+01] [-1.25346242e-02 9.99920754e-01 1.16971791e-03 -1.45033728e+00] [ 2.12324351e-02 -9.03384734e-04 9.99774158e-01 4.00024061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.743617864999997 meters 0.02282130776423379 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.46, Z:0.40 [[ 9.99720452e-01 1.08625243e-02 -2.10005785e-02 2.42320858e+01] [-1.08406121e-02 9.99940570e-01 1.15697186e-03 -1.45569348e+00] [ 2.10118981e-02 -9.28989306e-04 9.99778794e-01 4.00893022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.803617865 meters 0.02255125930624077 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.46, Z:0.40 [[ 9.99720339e-01 9.87508705e-03 -2.14878418e-02 2.42912048e+01] [-9.85195051e-03 9.99950769e-01 1.18232459e-03 -1.45916726e+00] [ 2.14984595e-02 -9.70296789e-04 9.99768411e-01 4.00898216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.863617865 meters 0.024456199550734404 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.47, Z:0.40 [[ 9.99725804e-01 9.65541241e-03 -2.13328418e-02 2.43490406e+01] [-9.63259164e-03 9.99952918e-01 1.17224864e-03 -1.46630270e+00] [ 2.13431559e-02 -9.66436656e-04 9.99771742e-01 4.01769795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.923617864999997 meters 0.02228607437549856 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.47, Z:0.40 [[ 9.99738959e-01 9.33418708e-03 -2.08539289e-02 2.44073438e+01] [-9.31234460e-03 9.99955984e-01 1.14427065e-03 -1.47020384e+00] [ 2.08636918e-02 -9.49772978e-04 9.99781878e-01 4.04179733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.983617865 meters 0.02403524759230177 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.48, Z:0.40 [[ 9.99734391e-01 1.04025908e-02 -2.05653689e-02 2.44650372e+01] [-1.03816048e-02 9.99945475e-01 1.12695562e-03 -1.47782642e+00] [ 2.05759709e-02 -9.13154759e-04 9.99787875e-01 4.04298019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.043617864999998 meters 0.022995337496980302 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.48, Z:0.40 [[ 9.99686263e-01 1.22535607e-02 -2.18454809e-02 2.45243447e+01] [-1.22303592e-02 9.99924492e-01 1.19536712e-03 -1.48064547e+00] [ 2.18584789e-02 -9.27814013e-04 9.99760644e-01 4.03703075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.103617864999997 meters 0.02375016572768633 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.49, Z:0.41 [[ 9.99660472e-01 1.61289037e-02 -2.04645893e-02 2.45832145e+01] [-1.61093723e-02 9.99869610e-01 1.11890437e-03 -1.48875452e+00] [ 2.04799676e-02 -7.88852784e-04 9.99789952e-01 4.05393132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.163617865 meters 0.01971235481434369 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.49, Z:0.41 [[ 9.99598110e-01 2.00436365e-02 -2.00467141e-02 2.46429814e+01] [-2.00256940e-02 9.99798866e-01 1.09539903e-03 -1.48723384e+00] [ 2.00646378e-02 -6.93509434e-04 9.99798444e-01 4.07207234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.223617864999998 meters 0.020012164672074725 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.49, Z:0.41 [[ 9.99543438e-01 2.24909460e-02 -2.01760306e-02 2.47018285e+01] [-2.24732847e-02 9.99746837e-01 1.10169768e-03 -1.49159522e+00] [ 2.01957010e-02 -6.47773004e-04 9.99795836e-01 4.07437693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.283617864999997 meters 0.01803151558496577 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.49, Z:0.41 [[ 9.99474472e-01 2.55433676e-02 -1.99578829e-02 2.47614013e+01] [-2.55267129e-02 9.99673547e-01 1.08884543e-03 -1.49340280e+00] [ 1.99791804e-02 -5.78814060e-04 9.99800229e-01 4.08482889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.343617865 meters 0.017447796810436428 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.50, Z:0.41 [[ 9.99405723e-01 2.80098678e-02 -2.00910090e-02 2.48213085e+01] [-2.79935006e-02 9.99607505e-01 1.09548387e-03 -1.49777342e+00] [ 2.01138078e-02 -5.32415173e-04 9.99797555e-01 4.10125414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.403617864999998 meters 0.016738971941366417 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.50, Z:0.41 [[ 9.99355933e-01 3.00419511e-02 -1.96265361e-02 2.48821048e+01] [-3.00267288e-02 9.99548524e-01 1.06989090e-03 -1.50021596e+00] [ 1.96498168e-02 -4.79881142e-04 9.99806809e-01 4.10593071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.463617864999996 meters 0.016375509732400928 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.50, Z:0.41 [[ 9.99277686e-01 3.34058315e-02 -1.81150700e-02 2.49429297e+01] [-3.33934106e-02 9.99441796e-01 9.87802076e-04 -1.50455638e+00] [ 1.81379564e-02 -3.82164604e-04 9.99835421e-01 4.12339055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.523617865 meters 0.016540261814316337 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.51, Z:0.41 [[ 9.99211932e-01 3.55644114e-02 -1.76263523e-02 2.50035039e+01] [-3.55529432e-02 9.99367330e-01 9.63659950e-04 -1.51134729e+00] [ 1.76494726e-02 -3.36231816e-04 9.99844179e-01 4.14582449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.583617864999997 meters 0.015602001716764699 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.51, Z:0.42 [[ 9.99126036e-01 3.78211973e-02 -1.77966499e-02 2.50660195e+01] [-3.78097989e-02 9.99284477e-01 9.76636009e-04 -1.51496876e+00] [ 1.78208536e-02 -3.02894709e-04 9.99841150e-01 4.15602569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.643617865 meters 0.01532001583791932 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.52, Z:0.42 [[ 9.99008500e-01 4.02823351e-02 -1.89565445e-02 2.51280830e+01] [-4.02698047e-02 9.99188299e-01 1.04242055e-03 -1.52012127e+00] [ 1.89831486e-02 -2.78010649e-04 9.99819765e-01 4.15789704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.703617865 meters 0.014261428551900442 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.52, Z:0.42 [[ 9.98862439e-01 4.42459358e-02 -1.77799033e-02 2.51904025e+01] [-4.42354708e-02 9.99020650e-01 9.81631104e-04 -1.51917095e+00] [ 1.78059238e-02 -1.94012043e-04 9.99841443e-01 4.18107055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.763617864999997 meters 0.014534432500028406 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.52, Z:0.42 [[ 9.98809896e-01 4.56536606e-02 -1.71620297e-02 2.52516321e+01] [-4.56440492e-02 9.98957314e-01 9.51527845e-04 -1.52228976e+00] [ 1.71875758e-02 -1.67050902e-04 9.99852269e-01 4.19335152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.823617865 meters 0.014155540895221044 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.52, Z:0.42 [[ 9.98737801e-01 4.71392141e-02 -1.73406589e-02 2.53140257e+01] [-4.71295574e-02 9.98888319e-01 9.65351077e-04 -1.52151158e+00] [ 1.73668875e-02 -1.46875033e-04 9.99849173e-01 4.20898086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.883617864999998 meters 0.014342739222620728 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.52, Z:0.42 [[ 9.98667722e-01 4.70758836e-02 -2.11339082e-02 2.53762312e+01] [-4.70614001e-02 9.98891299e-01 1.18242396e-03 -1.52168378e+00] [ 2.11661407e-02 -1.86257330e-04 9.99775955e-01 4.17791059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.943617864999997 meters 0.015356825057693922 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.53, Z:0.42 [[ 9.98819212e-01 4.28929701e-02 -2.28117067e-02 2.54367933e+01] [-4.28748917e-02 9.99079628e-01 1.28122750e-03 -1.52803379e+00] [ 2.28456670e-02 -3.01665188e-04 9.99738958e-01 4.18123150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.003617865 meters 0.016741287662511147 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.53, Z:0.42 [[ 9.99175995e-01 3.34383156e-02 -2.30045768e-02 2.54978297e+01] [-3.34173736e-02 9.99440646e-01 1.29427598e-03 -1.53424274e+00] [ 2.30349875e-02 -5.24456952e-04 9.99734522e-01 4.19884949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.063617864999998 meters 0.018146415874172855 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.54, Z:0.42 [[ 9.99382029e-01 2.79372007e-02 -2.13324428e-02 2.55584332e+01] [-2.79179276e-02 9.99609497e-01 1.20080207e-03 -1.53926397e+00] [ 2.13576595e-02 -6.04502411e-04 9.99771716e-01 4.21862587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.123617864999996 meters 0.021266995253391444 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.55, Z:0.42 [[ 9.99532920e-01 2.11017314e-02 -2.21056176e-02 2.56180070e+01] [-2.10793608e-02 9.99777031e-01 1.24453924e-03 -1.54860300e+00] [ 2.21269507e-02 -7.77985655e-04 9.99754866e-01 4.24214934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.183617865 meters 0.02237932777648093 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.55, Z:0.43 [[ 9.99614928e-01 1.75121793e-02 -2.15248470e-02 2.56776883e+01] [-1.74901456e-02 9.99846302e-01 1.21148690e-03 -1.55163866e+00] [ 2.15427544e-02 -8.34547678e-04 9.99767580e-01 4.25159299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.243617864999997 meters 0.02212197300555505 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.55, Z:0.43 [[ 9.99646615e-01 1.39908948e-02 -2.26030775e-02 2.57369708e+01] [-1.39657195e-02 9.99901666e-01 1.27127531e-03 -1.55208659e+00] [ 2.26186411e-02 -9.55157820e-04 9.99743710e-01 4.25483556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.303617865 meters 0.022321838091732476 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.56, Z:0.43 [[ 9.99676441e-01 1.21057911e-02 -2.23710351e-02 2.57960093e+01] [-1.20806871e-02 9.99926236e-01 1.25697556e-03 -1.55620515e+00] [ 2.23846016e-02 -9.86311377e-04 9.99748947e-01 4.27603407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.363617865 meters 0.02153600382960373 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.56, Z:0.43 [[ 9.99680804e-01 1.13215686e-02 -2.25856521e-02 2.58551470e+01] [-1.12958162e-02 9.99935397e-01 1.26746547e-03 -1.55814565e+00] [ 2.25985427e-02 -1.01193753e-03 9.99744108e-01 4.29354290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.423617864999997 meters 0.022783770567236284 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.56, Z:0.43 [[ 9.99650101e-01 1.19699394e-02 -2.35880461e-02 2.59134003e+01] [-1.19420730e-02 9.99927817e-01 1.32189581e-03 -1.55911092e+00] [ 2.36021665e-02 -1.03974311e-03 9.99720889e-01 4.27024522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.483617865 meters 0.021696323487460527 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.56, Z:0.43 [[ 9.99618734e-01 1.24250366e-02 -2.46577764e-02 2.59724267e+01] [-1.23947731e-02 9.99922230e-01 1.37980708e-03 -1.56322107e+00] [ 2.46730029e-02 -1.07365347e-03 9.99694999e-01 4.29094523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.543617864999998 meters 0.023446098458749454 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.57, Z:0.43 [[ 9.99643855e-01 1.14083527e-02 -2.41249256e-02 2.60303591e+01] [-1.13791308e-02 9.99934347e-01 1.34821128e-03 -1.56932702e+00] [ 2.41387226e-02 -1.07321044e-03 9.99708043e-01 4.30162127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.603617864999997 meters 0.023090817127861325 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.57, Z:0.43 [[ 9.99675501e-01 9.48232320e-03 -2.36427418e-02 2.60896490e+01] [-9.45376142e-03 9.99954442e-01 1.31953918e-03 -1.57140916e+00] [ 2.36541769e-02 -1.09559815e-03 9.99719600e-01 4.30041826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.663617865 meters 0.023436541126391007 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.58, Z:0.43 [[ 9.99692359e-01 9.46449803e-03 -2.29262153e-02 2.61479122e+01] [-9.43766609e-03 9.99954647e-01 1.27827999e-03 -1.57776262e+00] [ 2.29372738e-02 -1.06151678e-03 9.99736343e-01 4.31707981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.723617864999998 meters 0.023590188765055205 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.58, Z:0.43 [[ 9.99683404e-01 1.03847290e-02 -2.29183115e-02 2.62068528e+01] [-1.03581925e-02 9.99945538e-01 1.27628678e-03 -1.58282938e+00] [ 2.29303172e-02 -1.03849044e-03 9.99736526e-01 4.32629833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.783617864999997 meters 0.02220771465359039 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.58, Z:0.43 [[ 9.99645258e-01 1.28294942e-02 -2.33401315e-02 2.62661235e+01] [-1.28026813e-02 9.99917200e-01 1.29786554e-03 -1.58446232e+00] [ 2.33548499e-02 -9.98588871e-04 9.99726740e-01 4.33244043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.843617865 meters 0.02066423932062899 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.59, Z:0.43 [[ 9.99537070e-01 1.89975423e-02 -2.37642303e-02 2.63261183e+01] [-1.89715323e-02 9.99819154e-01 1.31949940e-03 -1.58503538e+00] [ 2.37849998e-02 -8.68044705e-04 9.99716720e-01 4.32706161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.903617864999998 meters 0.018616564053440313 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.59, Z:0.43 [[ 9.99451575e-01 2.34654805e-02 -2.33649493e-02 2.63859315e+01] [-2.34415702e-02 9.99724368e-01 1.29674508e-03 -1.58605721e+00] [ 2.33889379e-02 -7.48322812e-04 9.99726161e-01 4.34626547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.963617864999996 meters 0.017690819979282898 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.59, Z:0.44 [[ 9.99339541e-01 2.81148054e-02 -2.30225791e-02 2.64459232e+01] [-2.80928386e-02 9.99604503e-01 1.27707743e-03 -1.58974584e+00] [ 2.30493785e-02 -6.29464378e-04 9.99734130e-01 4.35698683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.023617865 meters 0.017357825698065977 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.59, Z:0.44 [[ 9.99294516e-01 3.07030130e-02 -2.16285772e-02 2.65042812e+01] [-3.06842439e-02 9.99528408e-01 1.19920179e-03 -1.59210001e+00] [ 2.16551964e-02 -5.34699231e-04 9.99765356e-01 4.36241694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.083617864999997 meters 0.016032759788074193 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.60, Z:0.44 [[ 9.99140128e-01 3.53383800e-02 -2.16841565e-02 2.65643336e+01] [-3.53206228e-02 9.99375310e-01 1.20147108e-03 -1.59582928e+00] [ 2.17130687e-02 -4.34540061e-04 9.99764149e-01 4.37633052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.143617865 meters 0.015284883136219032 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.60, Z:0.44 [[ 9.98957335e-01 4.02551735e-02 -2.15351931e-02 2.66253449e+01] [-4.02387746e-02 9.99189379e-01 1.19445325e-03 -1.59716484e+00] [ 2.15658192e-02 -3.26658051e-04 9.99767377e-01 4.38722344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.203617865 meters 0.01530342690857751 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.60, Z:0.44 [[ 9.98928729e-01 4.09274866e-02 -2.15948081e-02 2.66882496e+01] [-4.09110453e-02 9.99162069e-01 1.20277553e-03 -1.60089940e+00] [ 2.16259397e-02 -3.18020857e-04 9.99766081e-01 4.38320819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.263617864999997 meters 0.015836824328330085 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.61, Z:0.44 [[ 9.98990580e-01 3.95401340e-02 -2.13166199e-02 2.67493732e+01] [-3.95236838e-02 9.99217922e-01 1.19262318e-03 -1.60548186e+00] [ 2.13471052e-02 -3.48907979e-04 9.99772064e-01 4.39308406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.323617865 meters 0.017113959233180726 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.61, Z:0.44 [[ 9.99140571e-01 3.57892571e-02 -2.09104702e-02 2.68106172e+01] [-3.57725150e-02 9.99359269e-01 1.17428166e-03 -1.61162033e+00] [ 2.09390989e-02 -4.25252341e-04 9.99780663e-01 4.40662359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.383617864999998 meters 0.01844285752995858 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.62, Z:0.44 [[ 9.99471256e-01 2.67073396e-02 -1.85452502e-02 2.68707492e+01] [-2.66925527e-02 9.99643145e-01 1.04446106e-03 -1.61827749e+00] [ 1.85665270e-02 -5.48888738e-04 9.99827477e-01 4.44503632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.443617864999997 meters 0.021524520473106393 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.63, Z:0.45 [[ 9.99664051e-01 1.87238041e-02 -1.79221765e-02 2.69297955e+01] [-1.87087094e-02 9.99824467e-01 1.00954595e-03 -1.62772367e+00] [ 1.79379331e-02 -6.73905999e-04 9.99838875e-01 4.47762473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.503617865 meters 0.02355934384386632 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.63, Z:0.45 [[ 9.99722185e-01 1.50950458e-02 -1.81022616e-02 2.69898549e+01] [-1.50790568e-02 9.99885785e-01 1.01943152e-03 -1.63284149e+00] [ 1.81155824e-02 -7.46183274e-04 9.99835621e-01 4.48567178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.563617864999998 meters 0.02270189923826759 Centerline is valid? [True, True] Translation: X:27.05, Y:-1.63, Z:0.45 [[ 9.99755483e-01 1.28504039e-02 -1.79955725e-02 2.70497409e+01] [-1.28342459e-02 9.99917124e-01 1.01309393e-03 -1.63234983e+00] [ 1.80070998e-02 -7.81886604e-04 9.99837553e-01 4.48395918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.623617864999996 meters 0.021821093156580592 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.63, Z:0.45 [[ 9.99746608e-01 1.22829992e-02 -1.88639075e-02 2.71088338e+01] [-1.22651576e-02 9.99924217e-01 1.06121393e-03 -1.63471663e+00] [ 1.88755128e-02 -8.29576231e-04 9.99821497e-01 4.49750256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.683617865 meters 0.02372060066015475 Centerline is valid? [True, True] Translation: X:27.17, Y:-1.64, Z:0.45 [[ 9.99739125e-01 1.17845762e-02 -1.95654286e-02 2.71662714e+01] [-1.17653156e-02 9.99930182e-01 1.09923806e-03 -1.64120066e+00] [ 1.95770167e-02 -8.68757853e-04 9.99807974e-01 4.50356548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.743617864999997 meters 0.024703501740212866 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.65, Z:0.45 [[ 9.99755891e-01 1.12442259e-02 -1.90190806e-02 2.72234715e+01] [-1.12259569e-02 9.99936418e-01 1.06705544e-03 -1.64590152e+00] [ 1.90298695e-02 -8.53287585e-04 9.99818552e-01 4.51882879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.803617864999996 meters 0.02234541763677157 Centerline is valid? [True, True] Translation: X:27.28, Y:-1.65, Z:0.45 [[ 9.99746611e-01 1.08821835e-02 -1.97051224e-02 2.72827517e+01] [-1.08625264e-02 9.99940391e-01 1.10432535e-03 -1.64556626e+00] [ 1.97159652e-02 -8.89998113e-04 9.99805225e-01 4.52326645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.863617865 meters 0.025725211870694223 Centerline is valid? [True, True] Translation: X:27.34, Y:-1.65, Z:0.45 [[ 9.99746142e-01 1.06800327e-02 -1.98390683e-02 2.73397945e+01] [-1.06600973e-02 9.99942563e-01 1.11034354e-03 -1.65304403e+00] [ 1.98497874e-02 -8.98575274e-04 9.99802570e-01 4.52298821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.923617864999997 meters 0.02143778176849013 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.65, Z:0.45 [[ 9.99749600e-01 9.79009720e-03 -2.01219001e-02 2.73989809e+01] [-9.76944794e-03 9.99951646e-01 1.12425463e-03 -1.64994058e+00] [ 2.01319337e-02 -9.27393266e-04 9.99796902e-01 4.53331598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.983617865 meters 0.022835711092465044 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.65, Z:0.45 [[ 9.99725845e-01 1.00070274e-02 -2.11682319e-02 2.74569361e+01] [-9.98425987e-03 9.99949459e-01 1.18096843e-03 -1.65225524e+00] [ 2.11789800e-02 -9.69295531e-04 9.99775230e-01 4.52359063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.043617864999998 meters 0.022562445234489296 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.65, Z:0.45 [[ 9.99718247e-01 1.02465637e-02 -2.14110881e-02 2.75159127e+01] [-1.02233719e-02 9.99947029e-01 1.19235136e-03 -1.65318670e+00] [ 2.14221714e-02 -9.73121890e-04 9.99770045e-01 4.52694468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.103617864999997 meters 0.022252744595718185 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.65, Z:0.45 [[ 9.99681345e-01 1.02097647e-02 -2.30861432e-02 2.75749761e+01] [-1.01828296e-02 9.99947329e-01 1.28397879e-03 -1.65418386e+00] [ 2.30980364e-02 -1.04848738e-03 9.99732655e-01 4.53225438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.163617865 meters 0.024760212582639378 Centerline is valid? [True, True] Translation: X:27.63, Y:-1.66, Z:0.45 [[ 9.99601719e-01 1.07645567e-02 -2.60869104e-02 2.76323729e+01] [-1.07304139e-02 9.99941378e-01 1.44844448e-03 -1.65616020e+00] [ 2.61009731e-02 -1.16794425e-03 9.99658629e-01 4.51213636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.223617864999998 meters 0.02174074072592971 Centerline is valid? [True, True] Translation: X:27.69, Y:-1.65, Z:0.45 [[ 9.99584870e-01 9.86707076e-03 -2.70689767e-02 2.76916635e+01] [-9.83005318e-03 9.99950558e-01 1.50025974e-03 -1.65250237e+00] [ 2.70824415e-02 -1.23354745e-03 9.99632442e-01 4.52174054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.283617864999997 meters 0.023630233440379716 Centerline is valid? [True, True] Translation: X:27.75, Y:-1.66, Z:0.45 [[ 9.99596812e-01 7.65163361e-03 -2.73434708e-02 2.77502053e+01] [-7.61308715e-03 9.99969875e-01 1.51354036e-03 -1.65749704e+00] [ 2.73542281e-02 -1.30476190e-03 9.99624952e-01 4.53256292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.343617865 meters 0.024263344509592073 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.66, Z:0.45 [[ 9.99544048e-01 5.99131897e-03 -2.95939365e-02 2.78100066e+01] [-5.94548823e-03 9.99980986e-01 1.63640548e-03 -1.65805303e+00] [ 2.96031781e-02 -1.45970896e-03 9.99560664e-01 4.51715595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.403617864999998 meters 0.02363749131154484 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.66, Z:0.45 [[ 9.99537879e-01 6.97212090e-03 -2.95874618e-02 2.78693709e+01] [-6.92684388e-03 9.99974677e-01 1.63249901e-03 -1.65860941e+00] [ 2.95980945e-02 -1.42679687e-03 9.99560862e-01 4.53657531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.463617864999996 meters 0.022684703350048074 Centerline is valid? [True, True] Translation: X:27.93, Y:-1.66, Z:0.46 [[ 9.99531338e-01 8.50214536e-03 -2.94077727e-02 2.79287004e+01] [-8.45826778e-03 9.99962922e-01 1.61611735e-03 -1.65895692e+00] [ 2.94204228e-02 -1.36662112e-03 9.99566191e-01 4.55875388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.523617865 meters 0.02036442479045418 Centerline is valid? [True, True] Translation: X:27.99, Y:-1.66, Z:0.46 [[ 9.99520765e-01 1.15588948e-02 -2.87164022e-02 2.79885803e+01] [-1.15184272e-02 9.99932422e-01 1.57423998e-03 -1.65546118e+00] [ 2.87326581e-02 -1.24271776e-03 9.99586359e-01 4.56986747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.583617864999997 meters 0.022276564568544138 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.66, Z:0.46 [[ 9.99438343e-01 1.82598188e-02 -2.80994291e-02 2.80484353e+01] [-1.82237378e-02 9.99832748e-01 1.53962526e-03 -1.65659301e+00] [ 2.81228428e-02 -1.02668389e-03 9.99603947e-01 4.56515600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.643617865 meters 0.01776218152438939 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.65, Z:0.46 [[ 9.99392195e-01 2.07125261e-02 -2.80398364e-02 2.81077472e+01] [-2.06775949e-02 9.99785017e-01 1.53518297e-03 -1.65369409e+00] [ 2.80656059e-02 -9.54453500e-04 9.99605628e-01 4.60493786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.703617865 meters 0.01730725568571207 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.65, Z:0.46 [[ 9.99325580e-01 2.31523320e-02 -2.85018481e-02 2.81665392e+01] [-2.31172883e-02 9.99731545e-01 1.55846373e-03 -1.65323152e+00] [ 2.85302787e-02 -8.98527233e-04 9.99592525e-01 4.60518838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.763617864999997 meters 0.01688384039624828 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.65, Z:0.46 [[ 9.99258422e-01 2.64577252e-02 -2.79748845e-02 2.82255568e+01] [-2.64253135e-02 9.99649623e-01 1.52772514e-03 -1.65363716e+00] [ 2.80055028e-02 -7.87347119e-04 9.99607459e-01 4.60628814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.823617865 meters 0.016257956661054652 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.66, Z:0.46 [[ 9.99117351e-01 3.11107230e-02 -2.82248620e-02 2.82844693e+01] [-3.10796272e-02 9.99515726e-01 1.53985075e-03 -1.65514686e+00] [ 2.82590993e-02 -6.61273410e-04 9.99600413e-01 4.61854034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.883617864999998 meters 0.015212005069726735 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.66, Z:0.46 [[ 9.99138151e-01 3.15908008e-02 -2.69253912e-02 2.83434619e+01] [-3.15627122e-02 9.99500696e-01 1.46766800e-03 -1.65592581e+00] [ 2.69583120e-02 -6.16564716e-04 9.99636369e-01 4.64704237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.943617864999997 meters 0.0180791540284342 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.66, Z:0.47 [[ 9.99278732e-01 2.77590448e-02 -2.59123696e-02 2.84012900e+01] [-2.77317756e-02 9.99614404e-01 1.41119685e-03 -1.66390544e+00] [ 2.59415514e-02 -6.91582980e-04 9.99663222e-01 4.65426906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.003617865 meters 0.019907125056237148 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.67, Z:0.47 [[ 9.99389597e-01 2.36831022e-02 -2.56815938e-02 2.84606083e+01] [-2.36549876e-02 9.99719204e-01 1.39802755e-03 -1.67240157e+00] [ 2.57074921e-02 -7.89676407e-04 9.99669196e-01 4.68027024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.063617864999998 meters 0.018379363030701135 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.67, Z:0.47 [[ 9.99529386e-01 1.80996186e-02 -2.47671326e-02 2.85204774e+01] [-1.80717751e-02 9.99835784e-01 1.34759403e-03 -1.67440723e+00] [ 2.47874563e-02 -8.99373783e-04 9.99692339e-01 4.71702103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.123617864999996 meters 0.02150898255525359 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.68, Z:0.47 [[ 9.99600227e-01 1.48423279e-02 -2.40643008e-02 2.85783426e+01] [-1.48151203e-02 9.99889394e-01 1.30851838e-03 -1.68158725e+00] [ 2.40810606e-02 -9.51479761e-04 9.99709556e-01 4.72114761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.183617865 meters 0.02361776800235273 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.69, Z:0.47 [[ 9.99643725e-01 1.28562831e-02 -2.33910151e-02 2.86354442e+01] [-1.28300767e-02 9.99916885e-01 1.27009850e-03 -1.68761896e+00] [ 2.34053997e-02 -9.69537482e-04 9.99725586e-01 4.73704670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.243617864999997 meters 0.02120855733660027 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.69, Z:0.48 [[ 9.99665813e-01 1.24601696e-02 -2.26496623e-02 2.86942373e+01] [-1.24355420e-02 9.99921922e-01 1.22785636e-03 -1.68713199e+00] [ 2.26631932e-02 -9.45785202e-04 9.99742709e-01 4.75473641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.303617864999996 meters 0.02092512596961828 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.69, Z:0.48 [[ 9.99662796e-01 1.23164582e-02 -2.28604289e-02 2.87530845e+01] [-1.22913686e-02 9.99923692e-01 1.23770752e-03 -1.68975692e+00] [ 2.28739286e-02 -9.56304201e-04 9.99737900e-01 4.77214976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.363617865 meters 0.023282368127809483 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.69, Z:0.48 [[ 9.99664856e-01 1.26618809e-02 -2.25799096e-02 2.88107057e+01] [-1.26375286e-02 9.99919398e-01 1.22087332e-03 -1.69452957e+00] [ 2.25935482e-02 -9.35109901e-04 9.99744296e-01 4.77149328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.423617864999997 meters 0.02323252466305308 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.70, Z:0.48 [[ 9.99617044e-01 1.50922292e-02 -2.31946142e-02 2.88698201e+01] [-1.50672358e-02 9.99885699e-01 1.25195001e-03 -1.69843719e+00] [ 2.32108578e-02 -9.01991844e-04 9.99730185e-01 4.77969914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.483617865 meters 0.023306498240869784 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.70, Z:0.48 [[ 9.99603484e-01 1.67771714e-02 -2.26141641e-02 2.89279836e+01] [-1.67538910e-02 9.99858901e-01 1.21854138e-03 -1.70180453e+00] [ 2.26314169e-02 -8.39182970e-04 9.99743524e-01 4.78932924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.543617864999998 meters 0.019964776538603166 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.70, Z:0.48 [[ 9.99590038e-01 1.91301848e-02 -2.13024030e-02 2.89875900e+01] [-1.91100873e-02 9.99816728e-01 1.14662878e-03 -1.69913507e+00] [ 2.13204341e-02 -7.39067922e-04 9.99772421e-01 4.80138661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.603617864999997 meters 0.020088792214953455 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.71, Z:0.48 [[ 9.99550346e-01 2.07169587e-02 -2.16774979e-02 2.90460802e+01] [-2.06965456e-02 9.99785124e-01 1.16562446e-03 -1.70533490e+00] [ 2.16969881e-02 -7.16451013e-04 9.99764336e-01 4.81071122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.663617865 meters 0.017407482354903837 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.70, Z:0.48 [[ 9.99539793e-01 2.10393769e-02 -2.18528650e-02 2.91050621e+01] [-2.10187415e-02 9.99778393e-01 1.17357606e-03 -1.70498889e+00] [ 2.18727136e-02 -7.13716251e-04 9.99760509e-01 4.82363943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.723617864999998 meters 0.018931858232959793 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.71, Z:0.48 [[ 9.99543409e-01 2.17722877e-02 -2.09509212e-02 2.91624070e+01] [-2.17535133e-02 9.99762733e-01 1.12362638e-03 -1.71068095e+00] [ 2.09704141e-02 -6.67357200e-04 9.99779874e-01 4.81273906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.783617864999997 meters 0.017900598411716602 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.72, Z:0.48 [[ 9.99584328e-01 2.17221055e-02 -1.89557897e-02 2.92209443e+01] [-2.17067558e-02 9.99763865e-01 1.01516680e-03 -1.71613157e+00] [ 1.89733651e-02 -6.03276123e-04 9.99819808e-01 4.83481940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.843617865 meters 0.018530045416293252 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.72, Z:0.48 [[ 9.99599566e-01 2.14041059e-02 -1.85086969e-02 2.92798493e+01] [-2.13894404e-02 9.99770730e-01 9.89979020e-04 -1.72180272e+00] [ 1.85256430e-02 -5.93691929e-04 9.99828209e-01 4.83236779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.903617864999998 meters 0.017456585364444988 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.73, Z:0.48 [[ 9.99591689e-01 2.15217452e-02 -1.87954539e-02 2.93388463e+01] [-2.15066668e-02 9.99768201e-01 1.00401960e-03 -1.72828287e+00] [ 1.88127054e-02 -5.99382083e-04 9.99822846e-01 4.83519610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.963617864999996 meters 0.01775415262883422 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.73, Z:0.48 [[ 9.99586059e-01 2.20097283e-02 -1.85278640e-02 2.93972850e+01] [-2.19951837e-02 9.99757588e-01 9.88450722e-04 -1.73479371e+00] [ 1.85451281e-02 -5.80517791e-04 9.99827856e-01 4.82543414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.023617865 meters 0.017580210573861575 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.74, Z:0.48 [[ 9.99577814e-01 2.27962521e-02 -1.80145533e-02 2.94565411e+01] [-2.27826505e-02 9.99739981e-01 9.59926426e-04 -1.74034007e+00] [ 1.80317519e-02 -5.49101887e-04 9.99837264e-01 4.82860084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.083617864999997 meters 0.018207155426048106 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.75, Z:0.48 [[ 9.99564697e-01 2.32032919e-02 -1.82215150e-02 2.95158696e+01] [-2.31894543e-02 9.99730618e-01 9.70361190e-04 -1.75009864e+00] [ 1.82391220e-02 -5.47391798e-04 9.99833504e-01 4.83452069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.143617865 meters 0.01911613007538604 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.76, Z:0.49 [[ 9.99611995e-01 2.25952378e-02 -1.62884858e-02 2.95751303e+01] [-2.25841042e-02 9.99744571e-01 8.67172956e-04 -1.75993792e+00] [ 1.63039193e-02 -4.98975628e-04 9.99866958e-01 4.85637765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.203617865 meters 0.0187587799881598 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.76, Z:0.49 [[ 9.99582044e-01 2.50786325e-02 -1.43805333e-02 2.96357993e+01] [-2.50702146e-02 9.99685400e-01 7.65363821e-04 -1.76415337e+00] [ 1.43952034e-02 -4.04520877e-04 9.99896302e-01 4.87297944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.263617864999997 meters 0.01521842237572338 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.76, Z:0.49 [[ 9.99388895e-01 3.22899558e-02 -1.33863999e-02 2.96969318e+01] [-3.22833086e-02 9.99478504e-01 7.12410155e-04 -1.76165806e+00] [ 1.34024227e-02 -2.79817517e-04 9.99910144e-01 4.89796160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.323617865 meters 0.01482346197090537 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.77, Z:0.49 [[ 9.99252697e-01 3.58185401e-02 -1.45285766e-02 2.97588145e+01] [-3.58110833e-02 9.99358278e-01 7.73163495e-04 -1.76504029e+00] [ 1.45469468e-02 -2.52301643e-04 9.99894156e-01 4.89888407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.383617864999998 meters 0.014966217098495185 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.77, Z:0.49 [[ 9.99185557e-01 3.75449371e-02 -1.47851548e-02 2.98213451e+01] [-3.75373471e-02 9.99294913e-01 7.90633700e-04 -1.76890442e+00] [ 1.48044142e-02 -2.34994288e-04 9.99890381e-01 4.91011880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.443617864999997 meters 0.015284718339112104 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.77, Z:0.49 [[ 9.99194085e-01 3.73910023e-02 -1.45977281e-02 2.98838291e+01] [-3.73835726e-02 9.99300684e-01 7.81598632e-04 -1.77404023e+00] [ 1.46167444e-02 -2.35253503e-04 9.99893142e-01 4.92718969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.503617865 meters 0.015852535346068786 Centerline is valid? [True, True] Translation: X:29.95, Y:-1.78, Z:0.49 [[ 9.99304598e-01 3.46271391e-02 -1.38304535e-02 2.99461761e+01] [-3.46201559e-02 9.99400266e-01 7.44083964e-04 -1.77736137e+00] [ 1.38479244e-02 -2.64754069e-04 9.99904078e-01 4.92835477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.563617864999998 meters 0.0164654504509814 Centerline is valid? [True, True] Translation: X:30.01, Y:-1.78, Z:0.49 [[ 9.99351055e-01 3.32767971e-02 -1.37885493e-02 3.00083204e+01] [-3.32696823e-02 9.99446133e-01 7.45120115e-04 -1.78293551e+00] [ 1.38057075e-02 -2.85895917e-04 9.99904656e-01 4.94191769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.623617864999996 meters 0.017823373937088337 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.79, Z:0.50 [[ 9.99520126e-01 2.78544884e-02 -1.35516068e-02 3.00687624e+01] [-2.78470681e-02 9.99611924e-01 7.35984507e-04 -1.79187441e+00] [ 1.35668482e-02 -3.58258809e-04 9.99907902e-01 4.97010446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.683617865 meters 0.018943744141303464 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.80, Z:0.50 [[ 9.99578807e-01 2.57974075e-02 -1.32929251e-02 3.01301289e+01] [-2.57900900e-02 9.99667120e-01 7.21632404e-04 -1.79847805e+00] [ 1.33071164e-02 -3.78502723e-04 9.99911385e-01 4.99481296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.743617864999997 meters 0.017559612905147588 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.80, Z:0.50 [[ 9.99554795e-01 2.66019424e-02 -1.35110653e-02 3.01923314e+01] [-2.65944166e-02 9.99646035e-01 7.36405732e-04 -1.79734295e+00] [ 1.35258727e-02 -3.76758981e-04 9.99908450e-01 4.99088354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.803617864999996 meters 0.01736009079374656 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.80, Z:0.50 [[ 9.99506787e-01 2.81367474e-02 -1.39465188e-02 3.02541521e+01] [-2.81288285e-02 9.99604014e-01 7.63677721e-04 -1.79710391e+00] [ 1.39624836e-02 -3.71001831e-04 9.99902451e-01 4.98868213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.863617865 meters 0.01800616078733418 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.80, Z:0.50 [[ 9.99478555e-01 2.82034510e-02 -1.57220830e-02 3.03160190e+01] [-2.81933267e-02 9.99602115e-01 8.65272009e-04 -1.80224696e+00] [ 1.57402310e-02 -4.21562996e-04 9.99876026e-01 4.99845957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.923617864999997 meters 0.017810961765640683 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.80, Z:0.50 [[ 9.99462989e-01 2.90275645e-02 -1.52030650e-02 3.03783055e+01] [-2.90181549e-02 9.99578532e-01 8.39200982e-04 -1.80406862e+00] [ 1.52210174e-02 -3.97585425e-04 9.99884075e-01 5.00657613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.983617865 meters 0.018032429553702323 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.81, Z:0.50 [[ 9.99453286e-01 2.98302028e-02 -1.42579370e-02 3.04392190e+01] [-2.98219605e-02 9.99554914e-01 7.90392365e-04 -1.80566427e+00] [ 1.42751686e-02 -3.64760611e-04 9.99898038e-01 5.02478166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.043617865 meters 0.019056619063827804 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.81, Z:0.50 [[ 9.99485566e-01 2.88929047e-02 -1.39213080e-02 3.04997230e+01] [-2.88849328e-02 9.99582444e-01 7.73413260e-04 -1.81143642e+00] [ 1.39378412e-02 -3.70899344e-04 9.99902795e-01 5.04402415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.103617865000004 meters 0.018069632177241116 Centerline is valid? [True, True] Translation: X:30.56, Y:-1.81, Z:0.51 [[ 9.99504002e-01 2.81015126e-02 -1.42145852e-02 3.05614524e+01] [-2.80930770e-02 9.99604997e-01 7.92812712e-04 -1.81341552e+00] [ 1.42312496e-02 -3.93088042e-04 9.99898653e-01 5.05477800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.163617865 meters 0.018333031150401902 Centerline is valid? [True, True] Translation: X:30.62, Y:-1.82, Z:0.51 [[ 9.99499998e-01 2.82790307e-02 -1.41438943e-02 3.06247901e+01] [-2.82706492e-02 9.99599991e-01 7.92216074e-04 -1.81580575e+00] [ 1.41606397e-02 -3.91962891e-04 9.99899656e-01 5.05589978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.223617865 meters 0.018691117754526223 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.82, Z:0.51 [[ 9.99492429e-01 2.86035468e-02 -1.40257393e-02 3.06870367e+01] [-2.85952803e-02 9.99590759e-01 7.89609788e-04 -1.81954749e+00] [ 1.40425850e-02 -3.88139059e-04 9.99901323e-01 5.06683499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.283617865000004 meters 0.018691468078742852 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.82, Z:0.51 [[ 9.99418003e-01 3.02411927e-02 -1.57837109e-02 3.07487662e+01] [-3.02308805e-02 9.99542545e-01 8.91580865e-04 -1.82270142e+00] [ 1.58034530e-02 -4.13906490e-04 9.99875032e-01 5.06005548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.343617865 meters 0.017905740731935512 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.82, Z:0.51 [[ 9.99385009e-01 3.10056397e-02 -1.63784738e-02 3.08113771e+01] [-3.09945745e-02 9.99519121e-01 9.29059135e-04 -1.82488594e+00] [ 1.63994038e-02 -4.20843944e-04 9.99865432e-01 5.06438614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.403617865 meters 0.019332572915951335 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.83, Z:0.51 [[ 9.99415804e-01 3.02206871e-02 -1.59612562e-02 3.08722885e+01] [-3.02100572e-02 9.99543161e-01 9.06723753e-04 -1.83071892e+00] [ 1.59813662e-02 -4.24003587e-04 9.99872200e-01 5.07248162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.463617865 meters 0.01811170372394212 Centerline is valid? [True, True] Translation: X:30.93, Y:-1.83, Z:0.51 [[ 9.99443265e-01 2.90914126e-02 -1.63355430e-02 3.09341511e+01] [-2.90800918e-02 9.99576652e-01 9.30175148e-04 -1.83317674e+00] [ 1.63556875e-02 -4.54618198e-04 9.99866133e-01 5.07419805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.523617865 meters 0.01786450998292405 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.84, Z:0.51 [[ 9.99436635e-01 2.90836954e-02 -1.67496412e-02 3.09970865e+01] [-2.90717220e-02 9.99576869e-01 9.57939477e-04 -1.83698331e+00] [ 1.67704144e-02 -4.70458895e-04 9.99859256e-01 5.07553039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.583617865 meters 0.01811636813843604 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.84, Z:0.51 [[ 9.99422203e-01 3.03300573e-02 -1.53410297e-02 3.10585386e+01] [-3.03200993e-02 9.99539852e-01 8.81331655e-04 -1.84155874e+00] [ 1.53607014e-02 -4.15680880e-04 9.99881931e-01 5.08974816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.643617865 meters 0.0177379635255889 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.84, Z:0.51 [[ 9.99285672e-01 3.38489716e-02 -1.68045595e-02 3.11191528e+01] [-3.38374487e-02 9.99426879e-01 9.69641218e-04 -1.84469544e+00] [ 1.68277498e-02 -4.00325154e-04 9.99858323e-01 5.08398493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.703617865 meters 0.016758379481126864 Centerline is valid? [True, True] Translation: X:31.18, Y:-1.85, Z:0.51 [[ 9.99202651e-01 3.57265461e-02 -1.78234878e-02 3.11817560e+01] [-3.57138686e-02 9.99361526e-01 1.02917549e-03 -1.84695757e+00] [ 1.78488768e-02 -3.91809173e-04 9.99840619e-01 5.08911733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.763617865 meters 0.01746144090831683 Centerline is valid? [True, True] Translation: X:31.24, Y:-1.85, Z:0.51 [[ 9.99158590e-01 3.67148337e-02 -1.82792820e-02 3.12425302e+01] [-3.67016293e-02 9.99325709e-01 1.05742979e-03 -1.85273500e+00] [ 1.83057798e-02 -3.85660624e-04 9.99832361e-01 5.08764016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.823617865 meters 0.017055574699748263 Centerline is valid? [True, True] Translation: X:31.31, Y:-1.86, Z:0.51 [[ 9.99159974e-01 3.69072026e-02 -1.78102681e-02 3.13053073e+01] [-3.68946275e-02 9.99318626e-01 1.03423604e-03 -1.85705416e+00] [ 1.78363034e-02 -3.76264047e-04 9.99840850e-01 5.09680368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.883617865 meters 0.017548205586893895 Centerline is valid? [True, True] Translation: X:31.37, Y:-1.86, Z:0.51 [[ 9.99189903e-01 3.61843050e-02 -1.76134675e-02 3.13673209e+01] [-3.61718125e-02 9.99345058e-01 1.02742885e-03 -1.86400786e+00] [ 1.76391085e-02 -3.89485488e-04 9.99844343e-01 5.10798138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.943617865 meters 0.018220859841200147 Centerline is valid? [True, True] Translation: X:31.43, Y:-1.87, Z:0.51 [[ 9.99272090e-01 3.38257777e-02 -1.76382064e-02 3.14290410e+01] [-3.38128105e-02 9.99427650e-01 1.03296878e-03 -1.87209991e+00] [ 1.76630522e-02 -4.35819539e-04 9.99843901e-01 5.11416865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.003617865 meters 0.018397534832577497 Centerline is valid? [True, True] Translation: X:31.49, Y:-1.88, Z:0.51 [[ 9.99290639e-01 3.29057870e-02 -1.83146957e-02 3.14907448e+01] [-3.28915710e-02 9.99458346e-01 1.07697242e-03 -1.87844335e+00] [ 1.83402141e-02 -4.73809347e-04 9.99831692e-01 5.12596483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.063617865000005 meters 0.018256192244523062 Centerline is valid? [True, True] Translation: X:31.55, Y:-1.88, Z:0.51 [[ 9.99232265e-01 3.50332900e-02 -1.75370878e-02 3.15526519e+01] [-3.50205144e-02 9.99386058e-01 1.03516049e-03 -1.87942236e+00] [ 1.75625861e-02 -4.20207929e-04 9.99845678e-01 5.13038941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.123617865 meters 0.018576097035795526 Centerline is valid? [True, True] Translation: X:31.61, Y:-1.89, Z:0.51 [[ 9.99180114e-01 3.58232289e-02 -1.88625662e-02 3.16132052e+01] [-3.58085083e-02 9.99358045e-01 1.11769598e-03 -1.88511521e+00] [ 1.88904968e-02 -4.41339237e-04 9.99821461e-01 5.13214865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.183617865 meters 0.017256189965952053 Centerline is valid? [True, True] Translation: X:31.68, Y:-1.89, Z:0.51 [[ 9.99181611e-01 3.56405162e-02 -1.91275303e-02 3.16763221e+01] [-3.56252892e-02 9.99364572e-01 1.13634262e-03 -1.88603400e+00] [ 1.91558760e-02 -4.53988850e-04 9.99816406e-01 5.14175975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.243617865000004 meters 0.0174409049434883 Centerline is valid? [True, True] Translation: X:31.74, Y:-1.89, Z:0.51 [[ 9.99196972e-01 3.57551136e-02 -1.80826487e-02 3.17393401e+01] [-3.57414389e-02 9.99360488e-01 1.07894858e-03 -1.88761069e+00] [ 1.81096626e-02 -4.31782267e-04 9.99835913e-01 5.14962610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.303617865 meters 0.018134867441301713 Centerline is valid? [True, True] Translation: X:31.80, Y:-1.89, Z:0.52 [[ 9.99238331e-01 3.46345115e-02 -1.79779971e-02 3.18009612e+01] [-3.46207277e-02 9.99399942e-01 1.07746148e-03 -1.89216590e+00] [ 1.80045266e-02 -4.54229470e-04 9.99837802e-01 5.16272348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.363617865 meters 0.01890297510010793 Centerline is valid? [True, True] Translation: X:31.86, Y:-1.90, Z:0.52 [[ 9.99326068e-01 3.17087542e-02 -1.84923014e-02 3.18626515e+01] [-3.16935957e-02 9.99497013e-01 1.11228592e-03 -1.89694749e+00] [ 1.85182692e-02 -5.25448786e-04 9.99828384e-01 5.17643180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.423617865000004 meters 0.018297771419152366 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.90, Z:0.52 [[ 9.99367514e-01 3.04587800e-02 -1.83530635e-02 3.19244111e+01] [-3.04436080e-02 9.99535875e-01 1.10556668e-03 -1.89793935e+00] [ 1.83782196e-02 -5.46133953e-04 9.99830957e-01 5.18074745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.483617865 meters 0.0184379792062019 Centerline is valid? [True, True] Translation: X:31.99, Y:-1.90, Z:0.52 [[ 9.99394841e-01 2.97825066e-02 -1.79709191e-02 3.19865743e+01] [-2.97677737e-02 9.99556251e-01 1.08681934e-03 -1.89928773e+00] [ 1.79953127e-02 -5.51207392e-04 9.99837919e-01 5.18713135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.543617865 meters 0.01864233735225384 Centerline is valid? [True, True] Translation: X:32.05, Y:-1.90, Z:0.52 [[ 9.99373632e-01 2.98973882e-02 -1.89338097e-02 3.20487067e+01] [-2.98809634e-02 9.99552803e-01 1.14985904e-03 -1.90092968e+00] [ 1.89597204e-02 -5.83378328e-04 9.99820078e-01 5.19318463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.603617865000004 meters 0.01808791026453844 Centerline is valid? [True, True] Translation: X:32.11, Y:-1.90, Z:0.52 [[ 9.99331633e-01 3.03263033e-02 -2.04108448e-02 3.21099598e+01] [-3.03072167e-02 9.99539857e-01 1.24387310e-03 -1.90120670e+00] [ 2.04391750e-02 -6.24445844e-04 9.99790903e-01 5.19603982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.663617865 meters 0.018447414964581604 Centerline is valid? [True, True] Translation: X:32.17, Y:-1.90, Z:0.52 [[ 9.99283221e-01 3.10014603e-02 -2.17245113e-02 3.21700594e+01] [-3.09799816e-02 9.99519127e-01 1.32462339e-03 -1.90370579e+00] [ 2.17551299e-02 -6.50648968e-04 9.99763117e-01 5.19401756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.723617865 meters 0.018158827095383186 Centerline is valid? [True, True] Translation: X:32.23, Y:-1.90, Z:0.52 [[ 9.99280190e-01 3.12394260e-02 -2.15220920e-02 3.22305408e+01] [-3.12183950e-02 9.99511725e-01 1.31255293e-03 -1.90474214e+00] [ 2.15525867e-02 -6.39722975e-04 9.99767511e-01 5.21325033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.783617865000004 meters 0.01847237891039374 Centerline is valid? [True, True] Translation: X:32.29, Y:-1.91, Z:0.52 [[ 9.99284315e-01 3.10269933e-02 -2.16375629e-02 3.22905051e+01] [-3.10056862e-02 9.99518337e-01 1.31959508e-03 -1.90868967e+00] [ 2.16680840e-02 -6.47763179e-04 9.99765010e-01 5.22338551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.843617865 meters 0.01848201492293006 Centerline is valid? [True, True] Translation: X:32.35, Y:-1.91, Z:0.52 [[ 9.99274747e-01 3.16590350e-02 -2.11585670e-02 3.23510280e+01] [-3.16388025e-02 9.99498535e-01 1.29038289e-03 -1.91273941e+00] [ 2.11888090e-02 -6.20015311e-04 9.99775300e-01 5.24469250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.903617865 meters 0.01814260158796029 Centerline is valid? [True, True] Translation: X:32.41, Y:-1.92, Z:0.53 [[ 9.99188664e-01 3.41009245e-02 -2.14275798e-02 3.24123299e+01] [-3.40807311e-02 9.99418229e-01 1.30697635e-03 -1.91556874e+00] [ 2.14596829e-02 -5.75648369e-04 9.99769549e-01 5.25124829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.963617865 meters 0.018043666094098354 Centerline is valid? [True, True] Translation: X:32.47, Y:-1.92, Z:0.53 [[ 9.99141613e-01 3.55587295e-02 -2.12511951e-02 3.24740427e+01] [-3.55391796e-02 9.99367442e-01 1.29702081e-03 -1.91843387e+00] [ 2.12838729e-02 -5.40657423e-04 9.99773327e-01 5.26316370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.023617865 meters 0.01790761771826583 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.92, Z:0.53 [[ 9.99053292e-01 3.72570108e-02 -2.24596452e-02 3.25350884e+01] [-3.72355641e-02 9.99305573e-01 1.37249187e-03 -1.92301913e+00] [ 2.24951835e-02 -5.34894959e-04 9.99746808e-01 5.26101095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.083617865 meters 0.01777228900438832 Centerline is valid? [True, True] Translation: X:32.60, Y:-1.93, Z:0.53 [[ 9.99062397e-01 3.71127608e-02 -2.22928309e-02 3.25969092e+01] [-3.70915155e-02 9.99310940e-01 1.36588494e-03 -1.92741487e+00] [ 2.23281615e-02 -5.37729398e-04 9.99750551e-01 5.26893304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.143617865 meters 0.01808184350410275 Centerline is valid? [True, True] Translation: X:32.66, Y:-1.93, Z:0.53 [[ 9.99086243e-01 3.49244672e-02 -2.46365830e-02 3.26586425e+01] [-3.48977382e-02 9.99389741e-01 1.51417568e-03 -1.93236706e+00] [ 2.46744301e-02 -6.53031065e-04 9.99695327e-01 5.25575543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.203617865 meters 0.01807453793228685 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.94, Z:0.53 [[ 9.99165762e-01 3.20947421e-02 -2.52528820e-02 3.27191410e+01] [-3.20657279e-02 9.99484556e-01 1.55315545e-03 -1.93823274e+00] [ 2.52897136e-02 -7.42107705e-04 9.99679889e-01 5.27101827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.263617865 meters 0.019577779854479907 Centerline is valid? [True, True] Translation: X:32.78, Y:-1.95, Z:0.53 [[ 9.99353601e-01 2.76570101e-02 -2.29667068e-02 3.27793128e+01] [-2.76318418e-02 9.99617170e-01 1.41254633e-03 -1.94841751e+00] [ 2.29969812e-02 -7.77020854e-04 9.99735232e-01 5.31064999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.323617865 meters 0.020248350434365573 Centerline is valid? [True, True] Translation: X:32.84, Y:-1.95, Z:0.53 [[ 9.99403559e-01 2.61188592e-02 -2.25905383e-02 3.28388781e+01] [-2.60941214e-02 9.99658525e-01 1.38918337e-03 -1.95257949e+00] [ 2.26191081e-02 -7.98874555e-04 9.99743836e-01 5.31384085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.383617865 meters 0.02051698051447796 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.96, Z:0.53 [[ 9.99345477e-01 2.71523508e-02 -2.39033086e-02 3.28986032e+01] [-2.71249690e-02 9.99630971e-01 1.46907295e-03 -1.95681375e+00] [ 2.39343764e-02 -8.19734898e-04 9.99713196e-01 5.31231164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.443617865 meters 0.01984634367558038 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.96, Z:0.53 [[ 9.99306835e-01 2.86744139e-02 -2.37408275e-02 3.29580437e+01] [-2.86478509e-02 9.99588502e-01 1.45829632e-03 -1.95896688e+00] [ 2.37728740e-02 -7.77161791e-04 9.99717083e-01 5.32191514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.503617865 meters 0.018184748061550102 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.96, Z:0.53 [[ 9.99206616e-01 3.17277334e-02 -2.40725833e-02 3.30184867e+01] [-3.17013242e-02 9.99496294e-01 1.47799429e-03 -1.95832546e+00] [ 2.41073512e-02 -7.13688911e-04 9.99709121e-01 5.32884193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.563617865000005 meters 0.017996312931185907 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.96, Z:0.53 [[ 9.99158095e-01 3.34142225e-02 -2.38031694e-02 3.30778494e+01] [-3.33888921e-02 9.99441368e-01 1.46091462e-03 -1.96058633e+00] [ 2.38386875e-02 -6.64923214e-04 9.99715597e-01 5.33799981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.623617865 meters 0.01734411786624579 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.96, Z:0.54 [[ 9.99132948e-01 3.50074955e-02 -2.25350195e-02 3.31380361e+01] [-3.49852092e-02 9.99386874e-01 1.38257047e-03 -1.96187279e+00] [ 2.25696030e-02 -5.92979343e-04 9.99745098e-01 5.36014683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.683617865 meters 0.017482524919058173 Centerline is valid? [True, True] Translation: X:33.20, Y:-1.96, Z:0.54 [[ 9.99137819e-01 3.50186454e-02 -2.23005307e-02 3.31997463e+01] [-3.49968185e-02 9.99386487e-01 1.36840254e-03 -1.96441711e+00] [ 2.23347686e-02 -5.86775107e-04 9.99750376e-01 5.36601024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.743617865000004 meters 0.01817064917022407 Centerline is valid? [True, True] Translation: X:33.26, Y:-1.97, Z:0.54 [[ 9.99200779e-01 3.28738415e-02 -2.27401148e-02 3.32606766e+01] [-3.28505726e-02 9.99459299e-01 1.39616114e-03 -1.96801038e+00] [ 2.27737164e-02 -6.48019504e-04 9.99740435e-01 5.36731535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.803617865 meters 0.018097267504341905 Centerline is valid? [True, True] Translation: X:33.32, Y:-1.97, Z:0.54 [[ 9.99301715e-01 3.06927115e-02 -2.13082095e-02 3.33214340e+01] [-3.06717751e-02 9.99528654e-01 1.30875255e-03 -1.97088070e+00] [ 2.13383351e-02 -6.54278064e-04 9.99772098e-01 5.38986386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.863617865 meters 0.018760757584333078 Centerline is valid? [True, True] Translation: X:33.38, Y:-1.98, Z:0.54 [[ 9.99327418e-01 2.97030487e-02 -2.15044420e-02 3.33821007e+01] [-2.96814871e-02 9.99558534e-01 1.32121574e-03 -1.97512052e+00] [ 2.15341927e-02 -6.82043296e-04 9.99767880e-01 5.39616019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.923617865000004 meters 0.01938400636464624 Centerline is valid? [True, True] Translation: X:33.44, Y:-1.98, Z:0.54 [[ 9.99299592e-01 2.99572739e-02 -2.24251356e-02 3.34427730e+01] [-2.99338628e-02 9.99550930e-01 1.37899531e-03 -1.97728387e+00] [ 2.24563761e-02 -7.06758524e-04 9.99747574e-01 5.38112418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.983617865 meters 0.019381366846594635 Centerline is valid? [True, True] Translation: X:33.50, Y:-1.98, Z:0.54 [[ 9.99312035e-01 2.96259541e-02 -2.23105303e-02 3.35025986e+01] [-2.96027017e-02 9.99560803e-01 1.37183880e-03 -1.98165468e+00] [ 2.23413736e-02 -7.10443046e-04 9.99750148e-01 5.39767750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.043617865 meters 0.02025953165022145 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.99, Z:0.54 [[ 9.99337465e-01 2.86530790e-02 -2.24417642e-02 3.35619392e+01] [-2.86293181e-02 9.99589145e-01 1.37941780e-03 -1.98667217e+00] [ 2.24720685e-02 -7.36011475e-04 9.99747200e-01 5.40652599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.103617865000004 meters 0.0208726915914525 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.99, Z:0.54 [[ 9.99333832e-01 2.87442973e-02 -2.24868537e-02 3.36207697e+01] [-2.87204807e-02 9.99586527e-01 1.38144267e-03 -1.99026214e+00] [ 2.25172646e-02 -7.34689148e-04 9.99746184e-01 5.40660578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.163617865 meters 0.02149892096123112 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.99, Z:0.54 [[ 9.99332395e-01 2.93575925e-02 -2.17461808e-02 3.36794770e+01] [-2.93354815e-02 9.99568730e-01 1.33515551e-03 -1.99412299e+00] [ 2.17759992e-02 -6.96329475e-04 9.99762632e-01 5.42105637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.223617865 meters 0.020027499321040355 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.99, Z:0.54 [[ 9.99331747e-01 2.91854775e-02 -2.20060972e-02 3.37391416e+01] [-2.91628146e-02 9.99573763e-01 1.35012815e-03 -1.99480041e+00] [ 2.20361215e-02 -7.07466189e-04 9.99756925e-01 5.43707697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.283617865000004 meters 0.019587974156315434 Centerline is valid? [True, True] Translation: X:33.80, Y:-2.00, Z:0.54 [[ 9.99320844e-01 2.92236302e-02 -2.24461417e-02 3.37989698e+01] [-2.92000785e-02 9.99572639e-01 1.37636192e-03 -1.99717150e+00] [ 2.24767714e-02 -7.19998054e-04 9.99747106e-01 5.43973296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.343617865 meters 0.021384602668712213 Centerline is valid? [True, True] Translation: X:33.86, Y:-2.00, Z:0.54 [[ 9.99305503e-01 2.94407272e-02 -2.28419721e-02 3.38581360e+01] [-2.94164092e-02 9.99566263e-01 1.39997011e-03 -2.00338610e+00] [ 2.28732808e-02 -7.27069043e-04 9.99738108e-01 5.44586614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.403617865 meters 0.019889833076072973 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.00, Z:0.55 [[ 9.99304158e-01 3.00349034e-02 -2.21156872e-02 3.39177399e+01] [-3.00122632e-02 9.99548612e-01 1.35499311e-03 -2.00351954e+00] [ 2.21464015e-02 -6.90308426e-04 9.99754500e-01 5.46643530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.463617865 meters 0.01959502293184597 Centerline is valid? [True, True] Translation: X:33.98, Y:-2.00, Z:0.55 [[ 9.99304179e-01 3.00785918e-02 -2.20553156e-02 3.39771554e+01] [-3.00561019e-02 9.99547301e-01 1.35056099e-03 -2.00494445e+00] [ 2.20859542e-02 -6.86724426e-04 9.99755840e-01 5.47660437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.523617865 meters 0.02079545167360902 Centerline is valid? [True, True] Translation: X:34.04, Y:-2.01, Z:0.55 [[ 9.99298794e-01 3.00625408e-02 -2.23195881e-02 3.40361851e+01] [-3.00395190e-02 9.99547778e-01 1.36609938e-03 -2.00892831e+00] [ 2.23505631e-02 -6.94671775e-04 9.99749954e-01 5.48598055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.583617865 meters 0.020181659531845145 Centerline is valid? [True, True] Translation: X:34.10, Y:-2.01, Z:0.55 [[ 9.99300728e-01 3.00505441e-02 -2.22490370e-02 3.40962465e+01] [-3.00276751e-02 9.99548141e-01 1.36131021e-03 -2.00973716e+00] [ 2.22798917e-02 -6.92271425e-04 9.99751533e-01 5.49773895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.643617865 meters 0.018617490391176716 Centerline is valid? [True, True] Translation: X:34.16, Y:-2.01, Z:0.55 [[ 9.99333329e-01 2.89571992e-02 -2.22346069e-02 3.41564448e+01] [-2.89341062e-02 9.99580396e-01 1.35968299e-03 -2.00796496e+00] [ 2.22646497e-02 -7.15438054e-04 9.99751856e-01 5.51373541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.703617865 meters 0.017932074078040646 Centerline is valid? [True, True] Translation: X:34.22, Y:-2.01, Z:0.55 [[ 9.99365130e-01 2.86030912e-02 -2.12414585e-02 3.42163817e+01] [-2.85819508e-02 9.99590610e-01 1.29823361e-03 -2.00646590e+00] [ 2.12698959e-02 -6.90287082e-04 9.99773532e-01 5.52501758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.763617865 meters 0.018544595941673674 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.01, Z:0.55 [[ 9.99410743e-01 2.81223233e-02 -1.96800056e-02 3.42749074e+01] [-2.81040973e-02 9.99604279e-01 1.20213419e-03 -2.00677040e+00] [ 1.97060246e-02 -6.48337029e-04 9.99805607e-01 5.53958820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.823617865 meters 0.018988265936601908 Centerline is valid? [True, True] Translation: X:34.34, Y:-2.01, Z:0.55 [[ 9.99447841e-01 2.67691174e-02 -1.96831831e-02 3.43353088e+01] [-2.67506353e-02 9.99641415e-01 1.20171943e-03 -2.00879928e+00] [ 1.97082940e-02 -6.74518240e-04 9.99805545e-01 5.54468454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.883617865 meters 0.018358281309342576 Centerline is valid? [True, True] Translation: X:34.40, Y:-2.01, Z:0.55 [[ 9.99518728e-01 2.34500837e-02 -2.03077578e-02 3.43958871e+01] [-2.34297258e-02 9.99724717e-01 1.23985166e-03 -2.00684376e+00] [ 2.03312421e-02 -7.63449757e-04 9.99793007e-01 5.54672968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.943617865 meters 0.02083339596301639 Centerline is valid? [True, True] Translation: X:34.45, Y:-2.01, Z:0.56 [[ 9.99571185e-01 2.14248598e-02 -1.99605120e-02 3.44538962e+01] [-2.14047948e-02 9.99770149e-01 1.21836387e-03 -2.01193307e+00] [ 1.99820273e-02 -7.90590754e-04 9.99800027e-01 5.55757568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.003617865 meters 0.019926508858035683 Centerline is valid? [True, True] Translation: X:34.51, Y:-2.01, Z:0.56 [[ 9.99609670e-01 1.96546182e-02 -1.98545414e-02 3.45139115e+01] [-1.96344421e-02 9.99806493e-01 1.21063901e-03 -2.00903675e+00] [ 1.98744940e-02 -8.20333615e-04 9.99802146e-01 5.57340722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.063617865 meters 0.01952522465357793 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.01, Z:0.56 [[ 9.99614627e-01 1.94070736e-02 -1.98484910e-02 3.45729038e+01] [-1.93868777e-02 9.99811325e-01 1.20943167e-03 -2.00798824e+00] [ 1.98682176e-02 -8.24165320e-04 9.99802268e-01 5.58097405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.123617865 meters 0.0209575705219339 Centerline is valid? [True, True] Translation: X:34.63, Y:-2.01, Z:0.56 [[ 9.99621334e-01 2.01584996e-02 -1.87303001e-02 3.46312286e+01] [-2.01406717e-02 9.99796506e-01 1.13998846e-03 -2.00845991e+00] [ 1.87494691e-02 -7.62315957e-04 9.99823923e-01 5.59844920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.183617865 meters 0.018327425340307228 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.00, Z:0.56 [[ 9.99606982e-01 2.18533686e-02 -1.75588345e-02 3.46904528e+01] [-2.18379873e-02 9.99760953e-01 1.06727223e-03 -2.00149144e+00] [ 1.75779606e-02 -6.83403167e-04 9.99845262e-01 5.61261174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.243617865000004 meters 0.02032349117479964 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.00, Z:0.56 [[ 9.99579898e-01 2.27802704e-02 -1.79188888e-02 3.47479670e+01] [-2.27644245e-02 9.99740265e-01 1.08781586e-03 -2.00379681e+00] [ 1.79390153e-02 -6.79445677e-04 9.99838852e-01 5.61452246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.303617865 meters 0.020673014436529153 Centerline is valid? [True, True] Translation: X:34.81, Y:-2.00, Z:0.56 [[ 9.99561343e-01 2.34042586e-02 -1.81483328e-02 3.48073718e+01] [-2.33881354e-02 9.99725855e-01 1.10017422e-03 -2.00283097e+00] [ 1.81691063e-02 -6.75235961e-04 9.99834700e-01 5.61732376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.363617865 meters 0.019854397957526325 Centerline is valid? [True, True] Translation: X:34.87, Y:-2.00, Z:0.56 [[ 9.99578285e-01 2.27057517e-02 -1.81025122e-02 3.48666609e+01] [-2.26896168e-02 9.99741957e-01 1.09621992e-03 -2.00207924e+00] [ 1.81227315e-02 -6.85018563e-04 9.99835535e-01 5.62733375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.423617865000004 meters 0.02344846912720309 Centerline is valid? [True, True] Translation: X:34.92, Y:-2.01, Z:0.56 [[ 9.99645998e-01 2.03658574e-02 -1.71204724e-02 3.49247541e+01] [-2.03510979e-02 9.99792358e-01 1.03589605e-03 -2.00703952e+00] [ 1.71380144e-02 -6.87108929e-04 9.99852897e-01 5.64889247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.483617865 meters 0.022956128129330313 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.00, Z:0.57 [[ 9.99681161e-01 1.89744543e-02 -1.66597241e-02 3.49850348e+01] [-1.89603036e-02 9.99819730e-01 1.00694840e-03 -2.00475942e+00] [ 1.66758271e-02 -6.90753919e-04 9.99860710e-01 5.65073395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.543617865 meters 0.022340223399990176 Centerline is valid? [True, True] Translation: X:35.04, Y:-2.00, Z:0.57 [[ 9.99686623e-01 1.86549500e-02 -1.66927954e-02 3.50439684e+01] [-1.86407082e-02 9.99825738e-01 1.00836998e-03 -2.00400380e+00] [ 1.67086975e-02 -6.96888449e-04 9.99860157e-01 5.65598729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.603617865000004 meters 0.020615828992303763 Centerline is valid? [True, True] Translation: X:35.10, Y:-2.00, Z:0.57 [[ 9.99644346e-01 1.96328566e-02 -1.80480506e-02 3.51027923e+01] [-1.96163905e-02 9.99806987e-01 1.08894415e-03 -2.00058792e+00] [ 1.80659462e-02 -7.34519252e-04 9.99836528e-01 5.65235075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.663617865 meters 0.01955833121770148 Centerline is valid? [True, True] Translation: X:35.16, Y:-2.00, Z:0.57 [[ 9.99596765e-01 2.15039786e-02 -1.85441769e-02 3.51619490e+01] [-2.14869402e-02 9.99768504e-01 1.11757674e-03 -1.99876871e+00] [ 1.85639163e-02 -7.18668475e-04 9.99827417e-01 5.65896286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.723617865 meters 0.019150573758278545 Centerline is valid? [True, True] Translation: X:35.22, Y:-2.00, Z:0.57 [[ 9.99560687e-01 2.33817877e-02 -1.82133028e-02 3.52212571e+01] [-2.33656869e-02 9.99726384e-01 1.09634224e-03 -1.99993096e+00] [ 1.82339538e-02 -6.70294271e-04 9.99833523e-01 5.67090215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.783617865000004 meters 0.019338755318374964 Centerline is valid? [True, True] Translation: X:35.28, Y:-2.00, Z:0.57 [[ 9.99520035e-01 2.57311449e-02 -1.72513396e-02 3.52796977e+01] [-2.57170750e-02 9.99668724e-01 1.03697069e-03 -2.00179799e+00] [ 1.72723071e-02 -5.92818981e-04 9.99850647e-01 5.67661138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.843617865 meters 0.019176014400362165 Centerline is valid? [True, True] Translation: X:35.34, Y:-2.01, Z:0.57 [[ 9.99463352e-01 2.72793282e-02 -1.81340949e-02 3.53391249e+01] [-2.72640526e-02 9.99627673e-01 1.08910682e-03 -2.00560927e+00] [ 1.81570532e-02 -5.94113440e-04 9.99834971e-01 5.67872477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.903617865 meters 0.016628269396537117 Centerline is valid? [True, True] Translation: X:35.40, Y:-2.01, Z:0.57 [[ 9.99304240e-01 3.17822692e-02 -1.95172742e-02 3.53991082e+01] [-3.17654444e-02 9.99494664e-01 1.17154159e-03 -2.00633965e+00] [ 1.95446457e-02 -5.50751589e-04 9.99808833e-01 5.68710107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.963617865 meters 0.016990399828251637 Centerline is valid? [True, True] Translation: X:35.46, Y:-2.01, Z:0.57 [[ 9.99101053e-01 3.75999796e-02 -1.95787585e-02 3.54579547e+01] [-3.75841724e-02 9.99292775e-01 1.17482747e-03 -2.01210520e+00] [ 1.96090854e-02 -4.37919930e-04 9.99807627e-01 5.69118661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.023617865 meters 0.014206690496139743 Centerline is valid? [True, True] Translation: X:35.52, Y:-2.01, Z:0.57 [[ 9.98926835e-01 4.22487546e-02 -1.89795073e-02 3.55186145e+01] [-4.22347490e-02 9.99107066e-01 1.13833939e-03 -2.01167249e+00] [ 1.90106533e-02 -3.35523038e-04 9.99819225e-01 5.71023422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.083617865 meters 0.013513123576238344 Centerline is valid? [True, True] Translation: X:35.58, Y:-2.02, Z:0.57 [[ 9.98613942e-01 4.89206454e-02 -1.94155885e-02 3.55786285e+01] [-4.89072478e-02 9.98802646e-01 1.16455675e-03 -2.01719159e+00] [ 1.94493120e-02 -2.13379604e-04 9.99810821e-01 5.71803428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.143617865 meters 0.013131695855769135 Centerline is valid? [True, True] Translation: X:35.64, Y:-2.02, Z:0.57 [[ 9.98454720e-01 5.14922771e-02 -2.08977645e-02 3.56409127e+01] [-5.14772867e-02 9.98673377e-01 1.25498416e-03 -2.02268262e+00] [ 2.09346631e-02 -1.77284640e-04 9.99780830e-01 5.70649280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.203617865 meters 0.0136584216767016 Centerline is valid? [True, True] Translation: X:35.70, Y:-2.04, Z:0.57 [[ 9.98660154e-01 4.76709004e-02 -2.01341072e-02 3.57023688e+01] [-4.76561127e-02 9.98863064e-01 1.21390398e-03 -2.03739939e+00] [ 2.01690839e-02 -2.52764258e-04 9.99796551e-01 5.72942801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.263617865 meters 0.014673377183900164 Centerline is valid? [True, True] Translation: X:35.76, Y:-2.05, Z:0.57 [[ 9.98872213e-01 4.29123152e-02 -2.03183475e-02 3.57638571e+01] [-4.28961850e-02 9.99078779e-01 1.22924418e-03 -2.04971198e+00] [ 2.03523795e-02 -3.56278259e-04 9.99792805e-01 5.74003917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.323617865 meters 0.01588494708652991 Centerline is valid? [True, True] Translation: X:35.82, Y:-2.06, Z:0.57 [[ 9.99022224e-01 3.90342066e-02 -2.07587521e-02 3.58249226e+01] [-3.90164868e-02 9.99237775e-01 1.25808975e-03 -2.06043939e+00] [ 2.07920378e-02 -4.46926047e-04 9.99783722e-01 5.73950391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.383617865 meters 0.01749213075788473 Centerline is valid? [True, True] Translation: X:35.89, Y:-2.07, Z:0.57 [[ 9.99156725e-01 3.47540448e-02 -2.18631082e-02 3.58859379e+01] [-3.47332554e-02 9.99395733e-01 1.33002291e-03 -2.07488691e+00] [ 2.18961207e-02 -5.69524414e-04 9.99760089e-01 5.73575610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.443617865 meters 0.01802677206331798 Centerline is valid? [True, True] Translation: X:35.95, Y:-2.09, Z:0.57 [[ 9.99208079e-01 3.28786312e-02 -2.24100569e-02 3.59455757e+01] [-3.28562374e-02 9.99459153e-01 1.36684647e-03 -2.08517709e+00] [ 2.24428765e-02 -6.29453889e-04 9.99747929e-01 5.73928978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.503617865 meters 0.017048192120687953 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.09, Z:0.58 [[ 9.99206915e-01 3.26399320e-02 -2.28073703e-02 3.60043935e+01] [-3.26166803e-02 9.99466967e-01 1.39083936e-03 -2.09460616e+00] [ 2.28406101e-02 -6.45835599e-04 9.99738911e-01 5.75453758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.563617865 meters 0.017223504903333645 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.10, Z:0.58 [[ 9.99194626e-01 3.32955642e-02 -2.23943134e-02 3.60631396e+01] [-3.32733289e-02 9.99445358e-01 1.36488446e-03 -2.10466946e+00] [ 2.24273372e-02 -6.18651861e-04 9.99748284e-01 5.76177780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.623617865 meters 0.017400629232039565 Centerline is valid? [True, True] Translation: X:36.12, Y:-2.11, Z:0.58 [[ 9.99210366e-01 3.28378048e-02 -2.23679116e-02 3.61236706e+01] [-3.28155196e-02 9.99460497e-01 1.36272960e-03 -2.11353450e+00] [ 2.24005931e-02 -6.27638902e-04 9.99748878e-01 5.77662976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.683617865 meters 0.01829607632748396 Centerline is valid? [True, True] Translation: X:36.18, Y:-2.13, Z:0.58 [[ 9.99271637e-01 3.16215770e-02 -2.13605010e-02 3.61830355e+01] [-3.16009787e-02 9.99499717e-01 1.30126216e-03 -2.12627798e+00] [ 2.13909626e-02 -6.25301637e-04 9.99770992e-01 5.80141733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.743617865000004 meters 0.017924879741645652 Centerline is valid? [True, True] Translation: X:36.24, Y:-2.14, Z:0.58 [[ 9.99290440e-01 3.15445458e-02 -2.05805329e-02 3.62434046e+01] [-3.15254135e-02 9.99502165e-01 1.25348796e-03 -2.13511913e+00] [ 2.06098279e-02 -6.03788720e-04 9.99787413e-01 5.81467353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.803617865 meters 0.017760232811645064 Centerline is valid? [True, True] Translation: X:36.30, Y:-2.14, Z:0.58 [[ 9.99265274e-01 3.18366752e-02 -2.13386785e-02 3.63040358e+01] [-3.18161697e-02 9.99492892e-01 1.29984981e-03 -2.14249206e+00] [ 2.13692404e-02 -6.19979755e-04 9.99771459e-01 5.81140735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.863617865 meters 0.01690119548127647 Centerline is valid? [True, True] Translation: X:36.37, Y:-2.15, Z:0.58 [[ 9.99220538e-01 3.27976995e-02 -2.19687866e-02 3.63653221e+01] [-3.27761799e-02 9.99461820e-01 1.33900343e-03 -2.15196780e+00] [ 2.20008797e-02 -6.17906822e-04 9.99757760e-01 5.82660592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.923617865000004 meters 0.01758345384845747 Centerline is valid? [True, True] Translation: X:36.43, Y:-2.16, Z:0.58 [[ 9.99219359e-01 3.27225991e-02 -2.21337961e-02 3.64254522e+01] [-3.27007218e-02 9.99464277e-01 1.34972645e-03 -2.16174383e+00] [ 2.21661051e-02 -6.24881687e-04 9.99754106e-01 5.83137396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.983617865 meters 0.019601058075997404 Centerline is valid? [True, True] Translation: X:36.49, Y:-2.17, Z:0.58 [[ 9.99255453e-01 3.21280391e-02 -2.13618633e-02 3.64852647e+01] [-3.21075181e-02 9.99483571e-01 1.30300900e-03 -2.17347721e+00] [ 2.13926945e-02 -6.16162433e-04 9.99770960e-01 5.84128159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.043617865 meters 0.017334943909263836 Centerline is valid? [True, True] Translation: X:36.55, Y:-2.18, Z:0.59 [[ 9.99205615e-01 3.33923708e-02 -2.17506125e-02 3.65462493e+01] [-3.33713850e-02 9.99442139e-01 1.32719267e-03 -2.17533883e+00] [ 2.17827968e-02 -6.00290307e-04 9.99762547e-01 5.85790235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.103617865000004 meters 0.017197328364512845 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.18, Z:0.59 [[ 9.99140389e-01 3.53272067e-02 -2.16903415e-02 3.66079205e+01] [-3.53067743e-02 9.99375644e-01 1.32435153e-03 -2.17957902e+00] [ 2.17235847e-02 -5.57397111e-04 9.99763860e-01 5.86540559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.163617865 meters 0.018543768185357076 Centerline is valid? [True, True] Translation: X:36.67, Y:-2.19, Z:0.59 [[ 9.99182445e-01 3.47991673e-02 -2.05781194e-02 3.66687023e+01] [-3.47806284e-02 9.99394179e-01 1.25822474e-03 -2.18627503e+00] [ 2.06094379e-02 -5.41476152e-04 9.99787456e-01 5.88122375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.223617865 meters 0.018837467353344572 Centerline is valid? [True, True] Translation: X:36.73, Y:-2.19, Z:0.59 [[ 9.99273226e-01 3.19144690e-02 -2.08443196e-02 3.67303712e+01] [-3.18947248e-02 9.99490415e-01 1.27906812e-03 -2.18978277e+00] [ 2.08745185e-02 -6.13314692e-04 9.99781915e-01 5.89146737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.283617865000004 meters 0.018059722560982133 Centerline is valid? [True, True] Translation: X:36.79, Y:-2.19, Z:0.59 [[ 9.99314262e-01 3.05803814e-02 -2.08769328e-02 3.67920395e+01] [-3.05602086e-02 9.99532102e-01 1.28469832e-03 -2.19163963e+00] [ 2.09064511e-02 -6.45813929e-04 9.99781228e-01 5.90745400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.343617865 meters 0.01794122254667106 Centerline is valid? [True, True] Translation: X:36.85, Y:-2.19, Z:0.59 [[ 9.99298564e-01 3.01713605e-02 -2.21826119e-02 3.68533888e+01] [-3.01484665e-02 9.99544498e-01 1.36584939e-03 -2.19241922e+00] [ 2.22137172e-02 -6.96119604e-04 9.99753003e-01 5.90223277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.403617865 meters 0.018031958094448474 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.19, Z:0.59 [[ 9.99182731e-01 3.30584919e-02 -2.32595581e-02 3.69134114e+01] [-3.30340882e-02 9.99453199e-01 1.43274227e-03 -2.19421521e+00] [ 2.32942040e-02 -6.63213035e-04 9.99728433e-01 5.89607588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.463617865 meters 0.017751000466858628 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.20, Z:0.59 [[ 9.99124062e-01 3.45458332e-02 -2.36155326e-02 3.69737143e+01] [-3.45210918e-02 9.99402911e-01 1.45466958e-03 -2.19695688e+00] [ 2.36516848e-02 -6.38161415e-04 9.99720056e-01 5.90835637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.523617865 meters 0.017678457004979664 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.20, Z:0.59 [[ 9.99088143e-01 3.62146938e-02 -2.26136638e-02 3.70350589e+01] [-3.61924295e-02 9.99343868e-01 1.39318425e-03 -2.20105353e+00] [ 2.26492800e-02 -5.73470428e-04 9.99743308e-01 5.93527877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.583617865 meters 0.01723834946092881 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.20, Z:0.60 [[ 9.99133354e-01 3.54617595e-02 -2.17946039e-02 3.70973518e+01] [-3.54408574e-02 9.99370871e-01 1.34467881e-03 -2.20435733e+00] [ 2.18285770e-02 -5.71093996e-04 9.99761565e-01 5.95692274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.643617865 meters 0.01883696250818597 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.21, Z:0.60 [[ 9.99176050e-01 3.41564330e-02 -2.19216407e-02 3.71575428e+01] [-3.41348621e-02 9.99416314e-01 1.35754849e-03 -2.21248967e+00] [ 2.19552143e-02 -6.08137755e-04 9.99758770e-01 5.96774728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.703617865 meters 0.018815633790560497 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.22, Z:0.60 [[ 9.99239810e-01 3.17802758e-02 -2.25790879e-02 3.72188796e+01] [-3.17566814e-02 9.99494645e-01 1.40285564e-03 -2.21662368e+00] [ 2.26122606e-02 -6.84752302e-04 9.99744076e-01 5.96942104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.763617865 meters 0.018669772422113366 Centerline is valid? [True, True] Translation: X:37.28, Y:-2.22, Z:0.60 [[ 9.99288695e-01 3.08769358e-02 -2.16499091e-02 3.72796393e+01] [-3.08549581e-02 9.99522963e-01 1.34853024e-03 -2.21957326e+00] [ 2.16812198e-02 -6.79563987e-04 9.99764704e-01 5.98060032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.823617865 meters 0.019641544739837393 Centerline is valid? [True, True] Translation: X:37.34, Y:-2.23, Z:0.60 [[ 9.99247118e-01 3.13596663e-02 -2.28422599e-02 3.73392849e+01] [-3.13353239e-02 9.99507915e-01 1.42291846e-03 -2.22538248e+00] [ 2.28756418e-02 -7.06077555e-04 9.99738069e-01 5.98111269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.883617865 meters 0.02023648510186939 Centerline is valid? [True, True] Translation: X:37.40, Y:-2.23, Z:0.60 [[ 9.99176052e-01 3.24536241e-02 -2.43717107e-02 3.73981858e+01] [-3.24262333e-02 9.99472978e-01 1.51834244e-03 -2.23027574e+00] [ 2.44081420e-02 -7.26808629e-04 9.99701813e-01 5.98208888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.943617865 meters 0.018691859192346824 Centerline is valid? [True, True] Translation: X:37.46, Y:-2.23, Z:0.60 [[ 9.99115158e-01 3.46725656e-02 -2.38057445e-02 3.74580200e+01] [-3.46470742e-02 9.99398510e-01 1.48255712e-03 -2.22820565e+00] [ 2.38428297e-02 -6.56445898e-04 9.99715504e-01 5.98574398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.003617865 meters 0.01748299736885602 Centerline is valid? [True, True] Translation: X:37.52, Y:-2.23, Z:0.60 [[ 9.99077050e-01 3.53377311e-02 -2.44191068e-02 3.75182813e+01] [-3.53111209e-02 9.99375212e-01 1.52020357e-03 -2.22819958e+00] [ 2.44575706e-02 -6.56534459e-04 9.99700653e-01 5.99893799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.063617865 meters 0.018773749447383713 Centerline is valid? [True, True] Translation: X:37.58, Y:-2.23, Z:0.60 [[ 9.99131673e-01 3.35139024e-02 -2.47531604e-02 3.75780158e+01] [-3.34859959e-02 9.99437999e-01 1.54115393e-03 -2.23492970e+00] [ 2.47908991e-02 -7.10931479e-04 9.99692406e-01 6.00901365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.123617865 meters 0.020021119901099085 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.24, Z:0.60 [[ 9.99293311e-01 2.92590662e-02 -2.35962898e-02 3.76384583e+01] [-2.92325166e-02 9.99571559e-01 1.46938941e-03 -2.24121385e+00] [ 2.36291731e-02 -7.78572072e-04 9.99720489e-01 6.03283576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.183617865 meters 0.02103564604060151 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.25, Z:0.60 [[ 9.99316525e-01 2.82482730e-02 -2.38436010e-02 3.76972415e+01] [-2.82208859e-02 9.99600609e-01 1.48439089e-03 -2.24526210e+00] [ 2.38760095e-02 -8.10488802e-04 9.99714599e-01 6.03505447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.243617865000004 meters 0.020267154738280353 Centerline is valid? [True, True] Translation: X:37.76, Y:-2.25, Z:0.60 [[ 9.99308411e-01 2.83828799e-02 -2.40231614e-02 3.77572387e+01] [-2.83551436e-02 9.99596795e-01 1.49448909e-03 -2.24718193e+00] [ 2.40558931e-02 -8.12275323e-04 9.99710285e-01 6.04376542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.303617865 meters 0.02052273510034566 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.25, Z:0.61 [[ 9.99283796e-01 2.85064723e-02 -2.48852755e-02 3.78163511e+01] [-2.84767687e-02 9.99593257e-01 1.54725736e-03 -2.25093588e+00] [ 2.49192605e-02 -8.37496968e-04 9.99689116e-01 6.05517443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.363617865 meters 0.02013030394196171 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.25, Z:0.61 [[ 9.99289593e-01 2.88922706e-02 -2.41980521e-02 3.78762660e+01] [-2.88643178e-02 9.99582208e-01 1.50372407e-03 -2.25393070e+00] [ 2.42313883e-02 -8.04195547e-04 9.99706053e-01 6.07173122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.423617865000004 meters 0.020016094567216352 Centerline is valid? [True, True] Translation: X:37.94, Y:-2.26, Z:0.61 [[ 9.99239757e-01 3.17619181e-02 -2.26072657e-02 3.79351955e+01] [-3.17382706e-02 9.99495228e-01 1.40413954e-03 -2.25704453e+00] [ 2.26404524e-02 -6.85556535e-04 9.99743437e-01 6.09669293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.483617865 meters 0.018367075817229236 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.26, Z:0.61 [[ 9.99187127e-01 3.42770896e-02 -2.12171377e-02 3.79955878e+01] [-3.42568385e-02 9.99412194e-01 1.31729965e-03 -2.25672958e+00] [ 2.12498194e-02 -5.89396789e-04 9.99774023e-01 6.12083743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.543617865 meters 0.017734524000890643 Centerline is valid? [True, True] Translation: X:38.06, Y:-2.26, Z:0.61 [[ 9.99057312e-01 3.77696159e-02 -2.13996094e-02 3.80558613e+01] [-3.77498134e-02 9.99286338e-01 1.32872096e-03 -2.25986131e+00] [ 2.14345226e-02 -5.19637127e-04 9.99770119e-01 6.11826810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.603617865000004 meters 0.01697031267834693 Centerline is valid? [True, True] Translation: X:38.12, Y:-2.26, Z:0.61 [[ 9.98937949e-01 4.05857256e-02 -2.18122185e-02 3.81178830e+01] [-4.05657864e-02 9.99175950e-01 1.35600432e-03 -2.26407014e+00] [ 2.18492785e-02 -4.69734376e-04 9.99761166e-01 6.13279570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.663617865 meters 0.017396812423563883 Centerline is valid? [True, True] Translation: X:38.18, Y:-2.27, Z:0.61 [[ 9.98895792e-01 4.14490639e-02 -2.21172198e-02 3.81792138e+01] [-4.14286585e-02 9.99140511e-01 1.38019982e-03 -2.26991399e+00] [ 2.21554183e-02 -4.62389049e-04 9.99754432e-01 6.14424879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.723617865 meters 0.017009564076241185 Centerline is valid? [True, True] Translation: X:38.24, Y:-2.27, Z:0.62 [[ 9.98929438e-01 4.05390174e-02 -2.22837643e-02 3.82412939e+01] [-4.05179606e-02 9.99177835e-01 1.39581651e-03 -2.27405126e+00] [ 2.23220284e-02 -4.91429522e-04 9.99750712e-01 6.15900796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.783617865000004 meters 0.01837990110332561 Centerline is valid? [True, True] Translation: X:38.30, Y:-2.28, Z:0.62 [[ 9.99048730e-01 3.72009990e-02 -2.27534924e-02 3.83023036e+01] [-3.71780584e-02 9.99307633e-01 1.43056351e-03 -2.28310342e+00] [ 2.27909570e-02 -5.83271993e-04 9.99740082e-01 6.17480953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.843617865 meters 0.019124639513863204 Centerline is valid? [True, True] Translation: X:38.36, Y:-2.29, Z:0.62 [[ 9.99162679e-01 3.32442294e-02 -2.38487337e-02 3.83628795e+01] [-3.32178046e-02 9.99447006e-01 1.50343008e-03 -2.28898416e+00] [ 2.38855259e-02 -7.09968644e-04 9.99714448e-01 6.18544408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.903617865 meters 0.019381962213317363 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.29, Z:0.62 [[ 9.99251176e-01 3.12884757e-02 -2.27621966e-02 3.84236485e+01] [-3.12638691e-02 9.99510134e-01 1.43617486e-03 -2.29165736e+00] [ 2.27959819e-02 -7.23465087e-04 9.99739876e-01 6.19834945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.963617865 meters 0.01866080095167498 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.29, Z:0.62 [[ 9.99324199e-01 2.93647339e-02 -2.21101200e-02 3.84840689e+01] [-2.93410234e-02 9.99568485e-01 1.39609561e-03 -2.29247793e+00] [ 2.21415751e-02 -7.46418575e-04 9.99754567e-01 6.21415126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.023617865 meters 0.019198894948268784 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.30, Z:0.62 [[ 9.99319042e-01 2.96639970e-02 -2.19430822e-02 3.85446850e+01] [-2.96407156e-02 9.99559657e-01 1.38554837e-03 -2.29669562e+00] [ 2.19745206e-02 -7.34196208e-04 9.99758261e-01 6.22903783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.083617865 meters 0.01875172579537711 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.30, Z:0.62 [[ 9.99229545e-01 3.24118278e-02 -2.21312147e-02 3.86049432e+01] [-3.23888209e-02 9.99474368e-01 1.39732062e-03 -2.29632188e+00] [ 2.21648716e-02 -6.79440100e-04 9.99754098e-01 6.22616318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.143617865 meters 0.017545597660432156 Centerline is valid? [True, True] Translation: X:38.67, Y:-2.29, Z:0.62 [[ 9.99042807e-01 3.73310693e-02 -2.28004446e-02 3.86659733e+01] [-3.73079330e-02 9.99302780e-01 1.43941206e-03 -2.29430432e+00] [ 2.28382824e-02 -5.87396810e-04 9.99739000e-01 6.22386002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.203617865 meters 0.016953118980190814 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.29, Z:0.62 [[ 9.98915178e-01 4.07428644e-02 -2.25496249e-02 3.87272885e+01] [-4.07210917e-02 9.99169538e-01 1.42407488e-03 -2.29411808e+00] [ 2.25889192e-02 -5.04284665e-04 9.99744711e-01 6.23162755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.263617865 meters 0.016553389194986584 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.29, Z:0.62 [[ 9.98936193e-01 4.06547257e-02 -2.17641007e-02 3.87907626e+01] [-4.06343757e-02 9.99173134e-01 1.37662895e-03 -2.29406836e+00] [ 2.18020712e-02 -4.90793835e-04 9.99762186e-01 6.23284715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.323617865 meters 0.017306986346400526 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.30, Z:0.62 [[ 9.99030835e-01 3.88867030e-02 -2.06207473e-02 3.88514450e+01] [-3.88679505e-02 9.99243498e-01 1.30955891e-03 -2.29917896e+00] [ 2.06560721e-02 -5.06803548e-04 9.99786512e-01 6.24444605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.383617865 meters 0.018377479658031645 Centerline is valid? [True, True] Translation: X:38.91, Y:-2.30, Z:0.63 [[ 9.99232419e-01 3.50476823e-02 -1.74995182e-02 3.89130868e+01] [-3.50335348e-02 9.99385516e-01 1.11445166e-03 -2.30433622e+00] [ 1.75278240e-02 -5.00526245e-04 9.99846251e-01 6.27198441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.443617865 meters 0.019004019371660547 Centerline is valid? [True, True] Translation: X:38.97, Y:-2.31, Z:0.63 [[ 9.99274015e-01 3.40132451e-02 -1.71622255e-02 3.89749221e+01] [-3.39994619e-02 9.99421252e-01 1.09433717e-03 -2.30743314e+00] [ 1.71895149e-02 -5.10036265e-04 9.99852119e-01 6.27562994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.503617865 meters 0.019928150095978377 Centerline is valid? [True, True] Translation: X:39.04, Y:-2.31, Z:0.63 [[ 9.99295646e-01 3.40824465e-02 -1.57034313e-02 3.90366812e+01] [-3.40708623e-02 9.99418915e-01 1.00470851e-03 -2.31094555e+00] [ 1.57285492e-02 -4.68971394e-04 9.99876189e-01 6.28256724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.563617865 meters 0.017843930246105335 Centerline is valid? [True, True] Translation: X:39.10, Y:-2.31, Z:0.63 [[ 9.99242254e-01 3.57532243e-02 -1.53826251e-02 3.90992332e+01] [-3.57422483e-02 9.99360553e-01 9.87951961e-04 -2.30919750e+00] [ 1.54081112e-02 -4.37393738e-04 9.99881192e-01 6.27872458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.623617865 meters 0.01762431688434323 Centerline is valid? [True, True] Translation: X:39.16, Y:-2.31, Z:0.63 [[ 9.99141640e-01 3.81855795e-02 -1.60575496e-02 3.91609387e+01] [-3.81738673e-02 9.99270576e-01 1.03537857e-03 -2.31184419e+00] [ 1.60853734e-02 -4.21511072e-04 9.99870533e-01 6.28929121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.683617865 meters 0.01678192242400241 Centerline is valid? [True, True] Translation: X:39.22, Y:-2.31, Z:0.63 [[ 9.98945312e-01 4.27344272e-02 -1.67938107e-02 3.92223201e+01] [-4.27221904e-02 9.99086399e-01 1.08689502e-03 -2.31254454e+00] [ 1.68249157e-02 -3.68280306e-04 9.99858383e-01 6.29351872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.743617865000004 meters 0.01616922585573614 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.31, Z:0.63 [[ 9.98795098e-01 4.62549428e-02 -1.63961047e-02 3.92849154e+01] [-4.62437433e-02 9.98929622e-01 1.06173663e-03 -2.31282564e+00] [ 1.64276652e-02 -3.02240083e-04 9.99865011e-01 6.30164447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.803617865 meters 0.01599463712211678 Centerline is valid? [True, True] Translation: X:39.35, Y:-2.32, Z:0.63 [[ 9.98689480e-01 4.82853810e-02 -1.69660018e-02 3.93470571e+01] [-4.82736537e-02 9.98833542e-01 1.10031825e-03 -2.31560724e+00] [ 1.69993409e-02 -2.79865365e-04 9.99855462e-01 6.29777801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.863617865 meters 0.016135500569110707 Centerline is valid? [True, True] Translation: X:39.41, Y:-2.32, Z:0.63 [[ 9.98682862e-01 4.83686024e-02 -1.71178170e-02 3.94095318e+01] [-4.83566049e-02 9.98829513e-01 1.11433561e-03 -2.32043431e+00] [ 1.71516797e-02 -2.85108363e-04 9.99852858e-01 6.30939755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.923617865000004 meters 0.016083588151312132 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.32, Z:0.63 [[ 9.98727180e-01 4.75469849e-02 -1.68316382e-02 3.94711315e+01] [-4.75351935e-02 9.98868958e-01 1.10016502e-03 -2.32330925e+00] [ 1.68649105e-02 -2.98669525e-04 9.99857733e-01 6.33355947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.983617865 meters 0.016418533090664014 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.33, Z:0.63 [[ 9.98763627e-01 4.68020740e-02 -1.67565605e-02 3.95330939e+01] [-4.67902151e-02 9.98904133e-01 1.09928322e-03 -2.32720183e+00] [ 1.67896463e-02 -3.13881024e-04 9.99858995e-01 6.34715301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.043617865 meters 0.016759935535848335 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.33, Z:0.64 [[ 9.98831915e-01 4.55103191e-02 -1.62362484e-02 3.95947534e+01] [-4.54989536e-02 9.98963814e-01 1.06890314e-03 -2.33203553e+00] [ 1.62680708e-02 -3.28922261e-04 9.99867612e-01 6.36949497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.103617865000004 meters 0.017103426594029327 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.34, Z:0.64 [[ 9.98928235e-01 4.30902531e-02 -1.69000135e-02 3.96569290e+01] [-4.30775226e-02 9.99071109e-01 1.11676372e-03 -2.33609739e+00] [ 1.69324368e-02 -3.87556104e-04 9.99856561e-01 6.38466057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.163617865 meters 0.01886254574716127 Centerline is valid? [True, True] Translation: X:39.72, Y:-2.34, Z:0.64 [[ 9.98961339e-01 4.23524163e-02 -1.68081840e-02 3.97177818e+01] [-4.23396518e-02 9.99102653e-01 1.11470835e-03 -2.34327907e+00] [ 1.68403118e-02 -4.01897889e-04 9.99858111e-01 6.39382923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.223617865 meters 0.018382070933544537 Centerline is valid? [True, True] Translation: X:39.78, Y:-2.34, Z:0.64 [[ 9.99087984e-01 3.90705399e-02 -1.72247644e-02 3.97803475e+01] [-3.90565838e-02 9.99236343e-01 1.14601520e-03 -2.34360545e+00] [ 1.72563861e-02 -4.72229562e-04 9.99850986e-01 6.39799344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.283617865000004 meters 0.019565804756552268 Centerline is valid? [True, True] Translation: X:39.84, Y:-2.35, Z:0.64 [[ 9.99172368e-01 3.62153407e-02 -1.85210045e-02 3.98418332e+01] [-3.61986822e-02 9.99343851e-01 1.23400565e-03 -2.34922885e+00] [ 1.85535419e-02 -5.62548392e-04 9.99827710e-01 6.41039466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.343617865 meters 0.020661179787961975 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.35, Z:0.64 [[ 9.99217078e-01 3.44927305e-02 -1.93773738e-02 3.99028269e+01] [-3.44740865e-02 9.99404752e-01 1.29546923e-03 -2.35255583e+00] [ 1.94105237e-02 -6.26437715e-04 9.99811402e-01 6.40486626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.403617865 meters 0.01906514133130863 Centerline is valid? [True, True] Translation: X:39.97, Y:-2.35, Z:0.64 [[ 9.99235078e-01 3.31285826e-02 -2.07787413e-02 3.99652225e+01] [-3.31067476e-02 9.99450849e-01 1.39404626e-03 -2.35122403e+00] [ 2.08135135e-02 -7.05063378e-04 9.99783127e-01 6.41044605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.463617865 meters 0.019334216903428934 Centerline is valid? [True, True] Translation: X:40.03, Y:-2.35, Z:0.64 [[ 9.99220550e-01 3.30482805e-02 -2.15894466e-02 4.00254618e+01] [-3.30246014e-02 9.99453484e-01 1.45249891e-03 -2.35468100e+00] [ 2.16256502e-02 -7.38383886e-04 9.99765866e-01 6.42285217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.523617865 meters 0.020020395532756984 Centerline is valid? [True, True] Translation: X:40.09, Y:-2.36, Z:0.64 [[ 9.99179105e-01 3.45607968e-02 -2.11344948e-02 4.00855293e+01] [-3.45384434e-02 9.99402358e-01 1.42189057e-03 -2.35585345e+00] [ 2.11710056e-02 -6.90770798e-04 9.99775631e-01 6.43314274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.583617865 meters 0.01850281874433053 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.35, Z:0.64 [[ 9.99033242e-01 3.76027518e-02 -2.27731001e-02 4.01466917e+01] [-3.75775836e-02 9.99292538e-01 1.53225183e-03 -2.35393832e+00] [ 2.28146059e-02 -6.75012444e-04 9.99739485e-01 6.43938841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.643617865 meters 0.018419071834933996 Centerline is valid? [True, True] Translation: X:40.21, Y:-2.36, Z:0.65 [[ 9.98956499e-01 3.99296884e-02 -2.21705332e-02 4.02067893e+01] [-3.99063989e-02 9.99202308e-01 1.49208308e-03 -2.35577014e+00] [ 2.22124263e-02 -6.05779953e-04 9.99753090e-01 6.45420351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.703617865 meters 0.017820062818930896 Centerline is valid? [True, True] Translation: X:40.27, Y:-2.36, Z:0.65 [[ 9.98938469e-01 4.04878614e-02 -2.19697027e-02 4.02685751e+01] [-4.04651164e-02 9.99179857e-01 1.47904333e-03 -2.35710849e+00] [ 2.20115677e-02 -5.88466701e-04 9.99757543e-01 6.47229346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.763617865 meters 0.01805213066603691 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.36, Z:0.65 [[ 9.98924457e-01 4.06869511e-02 -2.22373755e-02 4.03301154e+01] [-4.06636806e-02 9.99171768e-01 1.49782873e-03 -2.35956036e+00] [ 2.22798998e-02 -5.91964220e-04 9.99751597e-01 6.48396824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.823617865 meters 0.01839570527969459 Centerline is valid? [True, True] Translation: X:40.39, Y:-2.36, Z:0.65 [[ 9.98932865e-01 4.01041549e-02 -2.29082609e-02 4.03917298e+01] [-4.00792875e-02 9.99195310e-01 1.54380712e-03 -2.36385348e+00] [ 2.29517400e-02 -6.24012894e-04 9.99736379e-01 6.48616908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.883617865 meters 0.018325886176547266 Centerline is valid? [True, True] Translation: X:40.45, Y:-2.37, Z:0.65 [[ 9.98960857e-01 3.81404103e-02 -2.49502618e-02 4.04524126e+01] [-3.81102709e-02 9.99272123e-01 1.68254401e-03 -2.36795885e+00] [ 2.49962740e-02 -7.29934368e-04 9.99687278e-01 6.48587644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.943617865 meters 0.019135811403982832 Centerline is valid? [True, True] Translation: X:40.51, Y:-2.38, Z:0.65 [[ 9.99102172e-01 3.49376128e-02 -2.39627397e-02 4.05120837e+01] [-3.49088736e-02 9.99389192e-01 1.61672582e-03 -2.37518952e+00] [ 2.40045876e-02 -7.78762028e-04 9.99711545e-01 6.50830857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.003617865 meters 0.019266788617926675 Centerline is valid? [True, True] Translation: X:40.57, Y:-2.38, Z:0.65 [[ 9.99081878e-01 3.51940296e-02 -2.44291155e-02 4.05715973e+01] [-3.51642510e-02 9.99380188e-01 1.64762376e-03 -2.37952324e+00] [ 2.44719606e-02 -7.87079491e-04 9.99700207e-01 6.51098288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.063617865 meters 0.018860268701985115 Centerline is valid? [True, True] Translation: X:40.63, Y:-2.38, Z:0.65 [[ 9.99008842e-01 3.63682193e-02 -2.56648751e-02 4.06309761e+01] [-3.63357612e-02 9.99338141e-01 1.73006696e-03 -2.38423597e+00] [ 2.57108080e-02 -7.95799417e-04 9.99669106e-01 6.51205220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.123617865 meters 0.017489259162717825 Centerline is valid? [True, True] Translation: X:40.69, Y:-2.39, Z:0.65 [[ 9.98900234e-01 3.90145398e-02 -2.60036027e-02 4.06904711e+01] [-3.89821382e-02 9.99238372e-01 1.75199616e-03 -2.38655751e+00] [ 2.60521510e-02 -7.36393344e-04 9.99660314e-01 6.52685208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.183617865 meters 0.01775554706188805 Centerline is valid? [True, True] Translation: X:40.75, Y:-2.39, Z:0.65 [[ 9.98823066e-01 4.08126668e-02 -2.62070562e-02 4.07486075e+01] [-4.07804032e-02 9.99166575e-01 1.76460997e-03 -2.39169288e+00] [ 2.62572331e-02 -6.93798824e-04 9.99654979e-01 6.52648075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.243617865 meters 0.01750048716319234 Centerline is valid? [True, True] Translation: X:40.81, Y:-2.40, Z:0.65 [[ 9.98680165e-01 4.34477636e-02 -2.73901277e-02 4.08082568e+01] [-4.34135446e-02 9.99055488e-01 1.84302416e-03 -2.39733721e+00] [ 2.74443327e-02 -6.51489139e-04 9.99623121e-01 6.52964156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.303617865 meters 0.016863805547658647 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.40, Z:0.66 [[ 9.98606757e-01 4.44061366e-02 -2.85068398e-02 4.08680006e+01] [-4.43694758e-02 9.99013349e-01 1.91760769e-03 -2.40461102e+00] [ 2.85638671e-02 -6.50102455e-04 9.99591758e-01 6.55035302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.363617865 meters 0.017176783409638942 Centerline is valid? [True, True] Translation: X:40.93, Y:-2.41, Z:0.65 [[ 9.98604869e-01 4.41865470e-02 -2.89113256e-02 4.09281997e+01] [-4.41487462e-02 9.99023076e-01 1.94481677e-03 -2.41004000e+00] [ 2.89690162e-02 -6.65704723e-04 9.99580088e-01 6.54800571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.423617865000004 meters 0.017593160208594312 Centerline is valid? [True, True] Translation: X:40.99, Y:-2.42, Z:0.66 [[ 9.98683956e-01 4.26994876e-02 -2.84096935e-02 4.09881087e+01] [-4.26623862e-02 9.99087718e-01 1.91107282e-03 -2.41888431e+00] [ 2.84653777e-02 -6.96532443e-04 9.99594536e-01 6.55884688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.483617865 meters 0.018594142936343993 Centerline is valid? [True, True] Translation: X:41.05, Y:-2.43, Z:0.66 [[ 9.98944394e-01 3.81869761e-02 -2.55314213e-02 4.10475619e+01] [-3.81555406e-02 9.99270336e-01 1.71745623e-03 -2.43163472e+00] [ 2.55783764e-02 -7.41478096e-04 9.99672545e-01 6.59745753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.543617865 meters 0.019447240400362813 Centerline is valid? [True, True] Translation: X:41.11, Y:-2.44, Z:0.66 [[ 9.99093607e-01 3.53261212e-02 -2.37493130e-02 4.11074034e+01] [-3.52981145e-02 9.99375550e-01 1.59757677e-03 -2.44008158e+00] [ 2.37909190e-02 -7.57822773e-04 9.99716669e-01 6.61329601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.603617865000004 meters 0.02125531432580675 Centerline is valid? [True, True] Translation: X:41.17, Y:-2.45, Z:0.66 [[ 9.99027204e-01 3.57286593e-02 -2.58478072e-02 4.11675543e+01] [-3.56956134e-02 9.99361196e-01 1.73890538e-03 -2.45250777e+00] [ 2.58934243e-02 -8.14560449e-04 9.99664377e-01 6.59730084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.663617865 meters 0.018087002475032768 Centerline is valid? [True, True] Translation: X:41.23, Y:-2.46, Z:0.66 [[ 9.98833073e-01 4.04720827e-02 -2.63534297e-02 4.12277508e+01] [-4.04393774e-02 9.99180421e-01 1.77301349e-03 -2.45600090e+00] [ 2.64035885e-02 -7.05228220e-04 9.99651116e-01 6.61289668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.723617865 meters 0.01678729795893762 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.46, Z:0.66 [[ 9.98663168e-01 4.42494925e-02 -2.67181403e-02 4.12884284e+01] [-4.42172334e-02 9.99020323e-01 1.79727643e-03 -2.45971046e+00] [ 2.67714937e-02 -6.13471531e-04 9.99641391e-01 6.61358472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.783617865000004 meters 0.016507450544790542 Centerline is valid? [True, True] Translation: X:41.35, Y:-2.47, Z:0.66 [[ 9.98456338e-01 4.85890406e-02 -2.69080974e-02 4.13482425e+01] [-4.85578906e-02 9.98818729e-01 1.81024272e-03 -2.46826426e+00] [ 2.69642696e-02 -5.00847870e-04 9.99636273e-01 6.61222217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.843617865 meters 0.015822960026447525 Centerline is valid? [True, True] Translation: X:41.41, Y:-2.47, Z:0.66 [[ 9.98260710e-01 5.27373295e-02 -2.63501288e-02 4.14106758e+01] [-5.27088724e-02 9.98608346e-01 1.77384236e-03 -2.47421736e+00] [ 2.64070063e-02 -3.81871555e-04 9.99651201e-01 6.62729882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.903617865 meters 0.014321611616763194 Centerline is valid? [True, True] Translation: X:41.47, Y:-2.48, Z:0.67 [[ 9.97875908e-01 6.00758003e-02 -2.51906627e-02 4.14721977e+01] [-6.00520894e-02 9.98193802e-01 1.69738497e-03 -2.47532481e+00] [ 2.52471351e-02 -1.81027639e-04 9.99681224e-01 6.66321743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.963617865 meters 0.014080968774617002 Centerline is valid? [True, True] Translation: X:41.53, Y:-2.48, Z:0.67 [[ 9.97646799e-01 6.36063808e-02 -2.55947856e-02 4.15339980e+01] [-6.35829885e-02 9.97975059e-01 1.72756754e-03 -2.47730543e+00] [ 2.56528420e-02 -9.61092674e-05 9.99670907e-01 6.66017132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.023617865 meters 0.01412447020413867 Centerline is valid? [True, True] Translation: X:41.60, Y:-2.48, Z:0.67 [[ 9.97502557e-01 6.55556147e-02 -2.62889885e-02 4.15965142e+01] [-6.55314312e-02 9.97848916e-01 1.78131321e-03 -2.48092130e+00] [ 2.63492137e-02 -5.41094386e-05 9.99652798e-01 6.65996561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.083617865 meters 0.014263141105255273 Centerline is valid? [True, True] Translation: X:41.66, Y:-2.49, Z:0.67 [[ 9.97613220e-01 6.42759395e-02 -2.52282867e-02 4.16595885e+01] [-6.42530869e-02 9.97932160e-01 1.71625191e-03 -2.48654025e+00] [ 2.52864324e-02 -9.11602907e-05 9.99680243e-01 6.67329178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.143617865 meters 0.014715383835763646 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.49, Z:0.67 [[ 9.97979968e-01 5.86904949e-02 -2.43189061e-02 4.17214813e+01] [-5.86674488e-02 9.98276201e-01 1.66066618e-03 -2.49322348e+00] [ 2.43744505e-02 -2.30583406e-04 9.99702872e-01 6.69144352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.203617865 meters 0.015736242092591172 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.50, Z:0.67 [[ 9.98374765e-01 5.16665968e-02 -2.40497809e-02 4.17826952e+01] [-5.16418829e-02 9.98664308e-01 1.64797567e-03 -2.50068751e+00] [ 2.41028031e-02 -4.03321349e-04 9.99709404e-01 6.70352033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.263617865 meters 0.018089551111005898 Centerline is valid? [True, True] Translation: X:41.84, Y:-2.51, Z:0.67 [[ 9.98830659e-01 4.22652351e-02 -2.34726189e-02 4.18420355e+01] [-4.22390042e-02 9.99106234e-01 1.61240965e-03 -2.51042090e+00] [ 2.35197887e-02 -6.19064149e-04 9.99723180e-01 6.71493689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.323617865 meters 0.019285230424733298 Centerline is valid? [True, True] Translation: X:41.90, Y:-2.52, Z:0.67 [[ 9.99078095e-01 3.63091691e-02 -2.29042490e-02 4.19025947e+01] [-3.62826042e-02 9.99340329e-01 1.57446465e-03 -2.51564638e+00] [ 2.29463072e-02 -7.41987339e-04 9.99736423e-01 6.72081362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.383617865 meters 0.02066392525145229 Centerline is valid? [True, True] Translation: X:41.96, Y:-2.52, Z:0.67 [[ 9.99159461e-01 3.27424827e-02 -2.46637711e-02 4.19636012e+01] [-3.27105785e-02 9.99463427e-01 1.69601002e-03 -2.52239790e+00] [ 2.47060687e-02 -8.87818239e-04 9.99694364e-01 6.72262729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.443617865 meters 0.02089248312981189 Centerline is valid? [True, True] Translation: X:42.02, Y:-2.53, Z:0.67 [[ 9.99135020e-01 3.34284441e-02 -2.47335821e-02 4.20233458e+01] [-3.33965628e-02 9.99440732e-01 1.70105444e-03 -2.52689172e+00] [ 2.47766129e-02 -8.73566432e-04 9.99692631e-01 6.73294675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.503617865 meters 0.01936506095406521 Centerline is valid? [True, True] Translation: X:42.08, Y:-2.53, Z:0.67 [[ 9.98942033e-01 3.83944722e-02 -2.53116250e-02 4.20834654e+01] [-3.83626928e-02 9.99262366e-01 1.74009986e-03 -2.52534493e+00] [ 2.53597645e-02 -7.67236794e-04 9.99678095e-01 6.72888704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.563617865 meters 0.018373857703631008 Centerline is valid? [True, True] Translation: X:42.14, Y:-2.53, Z:0.67 [[ 9.98749188e-01 4.31842005e-02 -2.52028613e-02 4.21442218e+01] [-4.31542197e-02 9.99066921e-01 1.73251685e-03 -2.52860236e+00] [ 2.52541624e-02 -6.42739980e-04 9.99680856e-01 6.74250924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.623617865 meters 0.017524834875039946 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.53, Z:0.68 [[ 9.98642722e-01 4.66665805e-02 -2.31288781e-02 4.22057620e+01] [-4.66422507e-02 9.98910392e-01 1.59056480e-03 -2.53165180e+00] [ 2.31779029e-02 -5.09623024e-04 9.99731226e-01 6.76605545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.683617865 meters 0.01774742524194833 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.54, Z:0.68 [[ 9.98593345e-01 4.82220486e-02 -2.20446346e-02 4.22668226e+01] [-4.82002795e-02 9.98836537e-01 1.51808969e-03 -2.53699715e+00] [ 2.20921919e-02 -4.53396710e-04 9.99755835e-01 6.77966654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.743617865 meters 0.017603074792052472 Centerline is valid? [True, True] Translation: X:42.33, Y:-2.54, Z:0.68 [[ 9.98607780e-01 4.88854907e-02 -1.98169101e-02 4.23283140e+01] [-4.88679514e-02 9.98804310e-01 1.36864390e-03 -2.54330291e+00] [ 1.98601220e-02 -3.98326647e-04 9.99802689e-01 6.80395674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.803617865 meters 0.01826005924291146 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.55, Z:0.68 [[ 9.98616561e-01 4.85878675e-02 -2.01042873e-02 4.23887540e+01] [-4.85696637e-02 9.98818826e-01 1.39304764e-03 -2.55084767e+00] [ 2.01482258e-02 -4.14661976e-04 9.99796918e-01 6.81125941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.863617865 meters 0.0187172412273939 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.56, Z:0.68 [[ 9.98654098e-01 4.79217452e-02 -1.98368145e-02 4.24507588e+01] [-4.79038087e-02 9.98851002e-01 1.37866633e-03 -2.55704053e+00] [ 1.98800902e-02 -4.26551805e-04 9.99802280e-01 6.81555934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.923617865000004 meters 0.01737544870804167 Centerline is valid? [True, True] Translation: X:42.51, Y:-2.56, Z:0.68 [[ 9.98700657e-01 4.71321827e-02 -1.93792420e-02 4.25127802e+01] [-4.71148325e-02 9.98888566e-01 1.35114750e-03 -2.55931359e+00] [ 1.94213857e-02 -4.36342153e-04 9.99811292e-01 6.83566989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.983617865 meters 0.01808482691588259 Centerline is valid? [True, True] Translation: X:42.57, Y:-2.56, Z:0.68 [[ 9.98698593e-01 4.66959733e-02 -2.05086673e-02 4.25738303e+01] [-4.66763544e-02 9.98909035e-01 1.43452267e-03 -2.56491821e+00] [ 2.05532795e-02 -4.75385951e-04 9.99788646e-01 6.83900673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.043617865 meters 0.019125099803399034 Centerline is valid? [True, True] Translation: X:42.63, Y:-2.57, Z:0.68 [[ 9.98701464e-01 4.64617008e-02 -2.08972692e-02 4.26343957e+01] [-4.64412227e-02 9.98919951e-01 1.46443770e-03 -2.57023023e+00] [ 2.09427394e-02 -4.92041339e-04 9.99780556e-01 6.83860180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.103617865000004 meters 0.019060564356026617 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.57, Z:0.68 [[ 9.98715080e-01 4.65153229e-02 -2.01125392e-02 4.26978208e+01] [-4.64963039e-02 9.98917463e-01 1.41247905e-03 -2.57187203e+00] [ 2.01564685e-02 -4.75505390e-04 9.99796725e-01 6.84699361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.163617865 meters 0.018057434654265462 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.57, Z:0.69 [[ 9.98693103e-01 4.71993058e-02 -1.96038623e-02 4.27603921e+01] [-4.71812723e-02 9.98885388e-01 1.38164393e-03 -2.57354137e+00] [ 1.96472243e-02 -4.54903091e-04 9.99806871e-01 6.86466136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.223617865 meters 0.01729026977657465 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.58, Z:0.69 [[ 9.98614251e-01 4.85045102e-02 -2.04179111e-02 4.28223367e+01] [-4.84851183e-02 9.98822861e-01 1.44400570e-03 -2.57575418e+00] [ 2.04639172e-02 -4.52039833e-04 9.99790490e-01 6.88444345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.283617865000004 meters 0.01735582815467447 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.58, Z:0.69 [[ 9.98538392e-01 5.04390119e-02 -1.94161462e-02 4.28837062e+01] [-5.04217552e-02 9.98727064e-01 1.37760935e-03 -2.57831815e+00] [ 1.94609160e-02 -3.96599655e-04 9.99810540e-01 6.88966466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.343617865 meters 0.017341072289956176 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.58, Z:0.69 [[ 9.98525930e-01 5.08102164e-02 -1.90863655e-02 4.29469227e+01] [-5.07935258e-02 9.98708252e-01 1.35854934e-03 -2.58181348e+00] [ 1.91307389e-02 -3.87082943e-04 9.99816916e-01 6.90128223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.403617865 meters 0.017367534879613594 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.59, Z:0.69 [[ 9.98618723e-01 4.95934872e-02 -1.73531413e-02 4.30089205e+01] [-4.95794325e-02 9.98769415e-01 1.23946375e-03 -2.58753562e+00] [ 1.73932561e-02 -3.77392806e-04 9.99848655e-01 6.93001083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.463617865 meters 0.017795191514937293 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.59, Z:0.70 [[ 9.98699468e-01 4.82838608e-02 -1.63719972e-02 4.30703822e+01] [-4.82711135e-02 9.98833581e-01 1.17312052e-03 -2.59391015e+00] [ 1.64095433e-02 -3.81300302e-04 9.99865282e-01 6.95224963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.523617865 meters 0.018465371242973257 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.60, Z:0.69 [[ 9.98808393e-01 4.58570470e-02 -1.67010764e-02 4.31323516e+01] [-4.58433747e-02 9.98947918e-01 1.20077359e-03 -2.59831740e+00] [ 1.67385694e-02 -4.33709041e-04 9.99859806e-01 6.94960924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.583617865 meters 0.01960340359121834 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.61, Z:0.70 [[ 9.98907950e-01 4.30555803e-02 -1.81417857e-02 4.31935061e+01] [-4.30389052e-02 9.99072540e-01 1.30876799e-03 -2.60619894e+00] [ 1.81813097e-02 -5.26536153e-04 9.99834568e-01 6.96031621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.643617865 meters 0.020631630432345185 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.61, Z:0.70 [[ 9.98998625e-01 4.07072484e-02 -1.85652140e-02 4.32551359e+01] [-4.06893419e-02 9.99170945e-01 1.34138968e-03 -2.61137551e+00] [ 1.86044267e-02 -5.84640108e-04 9.99826752e-01 6.96433963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.703617865 meters 0.01951257985056466 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.61, Z:0.70 [[ 9.99127563e-01 3.74814369e-02 -1.84188505e-02 4.33172755e+01] [-3.74632413e-02 9.99297119e-01 1.33205384e-03 -2.61233202e+00] [ 1.84558315e-02 -6.40861873e-04 9.99829471e-01 6.97610134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.763617865 meters 0.02332271260245657 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.62, Z:0.70 [[ 9.99158891e-01 3.64175738e-02 -1.88486319e-02 4.33775489e+01] [-3.63982955e-02 9.99336430e-01 1.36496017e-03 -2.62262380e+00] [ 1.88858330e-02 -6.77754017e-04 9.99821417e-01 6.99173227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.823617865 meters 0.020798442945206178 Centerline is valid? [True, True] Translation: X:43.44, Y:-2.62, Z:0.70 [[ 9.99057593e-01 3.85830732e-02 -1.98814362e-02 4.34405413e+01] [-3.85619664e-02 9.99255167e-01 1.44405891e-03 -2.61926152e+00] [ 1.99223441e-02 -6.76030747e-04 9.99801302e-01 6.99751442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.883617865 meters 0.01992795714648808 Centerline is valid? [True, True] Translation: X:43.50, Y:-2.62, Z:0.70 [[ 9.98959333e-01 4.10829748e-02 -1.98101224e-02 4.35027412e+01] [-4.10624507e-02 9.99155542e-01 1.44186707e-03 -2.61979062e+00] [ 1.98526298e-02 -6.26914386e-04 9.99802721e-01 7.01286556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.943617865 meters 0.020088899082087643 Centerline is valid? [True, True] Translation: X:43.56, Y:-2.62, Z:0.70 [[ 9.98838971e-01 4.40254307e-02 -1.95569019e-02 4.35640949e+01] [-4.40059008e-02 9.99030250e-01 1.42805789e-03 -2.62310222e+00] [ 1.96008075e-02 -5.65780791e-04 9.99807726e-01 7.03440232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.003617865 meters 0.018451715596102085 Centerline is valid? [True, True] Translation: X:43.63, Y:-2.62, Z:0.71 [[ 9.98688906e-01 4.72808261e-02 -1.96212344e-02 4.36254279e+01] [-4.72617189e-02 9.98881507e-01 1.43663267e-03 -2.62210996e+00] [ 1.96672134e-02 -5.07415838e-04 9.99806453e-01 7.05219302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.063617865 meters 0.01749324011823274 Centerline is valid? [True, True] Translation: X:43.69, Y:-2.62, Z:0.71 [[ 9.98481123e-01 5.12752743e-02 -2.01566965e-02 4.36866884e+01] [-5.12559086e-02 9.98684460e-01 1.47654925e-03 -2.62044454e+00] [ 2.02058900e-02 -4.41156756e-04 9.99795743e-01 7.06214470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.123617865 meters 0.017706781787950755 Centerline is valid? [True, True] Translation: X:43.75, Y:-2.62, Z:0.71 [[ 9.98472125e-01 5.17926924e-02 -1.92596155e-02 4.37477614e+01] [-5.17750896e-02 9.98657773e-01 1.41181982e-03 -2.62371574e+00] [ 1.93068867e-02 -4.12494415e-04 9.99813520e-01 7.07884477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.183617865 meters 0.01807211499979742 Centerline is valid? [True, True] Translation: X:43.81, Y:-2.63, Z:0.71 [[ 9.98624030e-01 4.94106839e-02 -1.75679059e-02 4.38093702e+01] [-4.93956285e-02 9.98778458e-01 1.29014142e-03 -2.62648802e+00] [ 1.76101927e-02 -4.20588471e-04 9.99844840e-01 7.11007992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.243617865 meters 0.018516667818760567 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.63, Z:0.71 [[ 9.98844555e-01 4.46352997e-02 -1.78113513e-02 4.38705354e+01] [-4.46190005e-02 9.99003215e-01 1.31164816e-03 -2.62862229e+00] [ 1.78521431e-02 -5.15407929e-04 9.99840505e-01 7.12549232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.303617865 meters 0.019861162539183484 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.63, Z:0.71 [[ 9.99014713e-01 4.04849381e-02 -1.81816422e-02 4.39311207e+01] [-4.04672562e-02 9.99179967e-01 1.33952163e-03 -2.63186639e+00] [ 1.82209631e-02 -6.02440642e-04 9.99833803e-01 7.12544030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.363617865 meters 0.021140271435680983 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.64, Z:0.71 [[ 9.99127546e-01 3.75896728e-02 -1.81978999e-02 4.39928015e+01] [-3.75714653e-02 9.99293043e-01 1.34150444e-03 -2.63598590e+00] [ 1.82354615e-02 -6.56612275e-04 9.99833505e-01 7.13127506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.423617865000004 meters 0.02155529074943067 Centerline is valid? [True, True] Translation: X:44.05, Y:-2.64, Z:0.71 [[ 9.99213486e-01 3.42428774e-02 -1.99958509e-02 4.40540741e+01] [-3.42201446e-02 9.99413226e-01 1.47803627e-03 -2.63758131e+00] [ 2.00347301e-02 -7.92612866e-04 9.99798970e-01 7.13854394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.483617865 meters 0.02257890036212907 Centerline is valid? [True, True] Translation: X:44.12, Y:-2.64, Z:0.71 [[ 9.99233589e-01 3.28450490e-02 -2.12940910e-02 4.41153838e+01] [-3.28189347e-02 9.99460073e-01 1.57476266e-03 -2.63918390e+00] [ 2.13343169e-02 -8.74706363e-04 9.99772015e-01 7.14495353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.543617865 meters 0.02237409974052459 Centerline is valid? [True, True] Translation: X:44.18, Y:-2.64, Z:0.72 [[ 9.99232708e-01 3.29029692e-02 -2.12459518e-02 4.41754658e+01] [-3.28769745e-02 9.99458170e-01 1.57173899e-03 -2.64094856e+00] [ 2.12861550e-02 -8.72030386e-04 9.99773044e-01 7.16085759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.603617865000004 meters 0.02353561346524635 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.64, Z:0.72 [[ 9.99198627e-01 3.28296261e-02 -2.28980308e-02 4.42348134e+01] [-3.27994141e-02 9.99460519e-01 1.69383944e-03 -2.64330560e+00] [ 2.29412859e-02 -9.41440053e-04 9.99736371e-01 7.17721700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.663617865 meters 0.020111541576021165 Centerline is valid? [True, True] Translation: X:44.29, Y:-2.64, Z:0.72 [[ 9.99116775e-01 3.46968861e-02 -2.37022353e-02 4.42946619e+01] [-3.46650517e-02 9.99397449e-01 1.75277779e-03 -2.63862904e+00] [ 2.37487695e-02 -9.29590479e-04 9.99717526e-01 7.20633377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.723617865 meters 0.02343821546877106 Centerline is valid? [True, True] Translation: X:44.35, Y:-2.65, Z:0.72 [[ 9.99029720e-01 3.69099079e-02 -2.40266087e-02 4.43540274e+01] [-3.68778521e-02 9.99318202e-01 1.77605579e-03 -2.64613296e+00] [ 2.40757814e-02 -8.88282794e-04 9.99709742e-01 7.20876121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.783617865000004 meters 0.02003079770641993 Centerline is valid? [True, True] Translation: X:44.41, Y:-2.64, Z:0.72 [[ 9.98837131e-01 4.14188201e-02 -2.46752278e-02 4.44146615e+01] [-4.13863942e-02 9.99141552e-01 1.82356906e-03 -2.64324033e+00] [ 2.47295755e-02 -8.00229786e-04 9.99693857e-01 7.24290237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.843617865 meters 0.018631789803348446 Centerline is valid? [True, True] Translation: X:44.48, Y:-2.64, Z:0.73 [[ 9.98699657e-01 4.43368035e-02 -2.51643187e-02 4.44752878e+01] [-4.43040112e-02 9.99016365e-01 1.85943860e-03 -2.64320970e+00] [ 2.52220078e-02 -7.42140438e-04 9.99681599e-01 7.26381622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.903617865 meters 0.01830271831530043 Centerline is valid? [True, True] Translation: X:44.54, Y:-2.64, Z:0.73 [[ 9.98586410e-01 4.64051442e-02 -2.59180135e-02 4.45363311e+01] [-4.63710446e-02 9.98922448e-01 1.91547519e-03 -2.64446711e+00] [ 2.59789734e-02 -7.10922137e-04 9.99662237e-01 7.27755610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.963617865 meters 0.017889115204007308 Centerline is valid? [True, True] Translation: X:44.60, Y:-2.65, Z:0.73 [[ 9.98599426e-01 4.62754284e-02 -2.56470412e-02 4.45970900e+01] [-4.62419728e-02 9.98928468e-01 1.89633057e-03 -2.64806262e+00] [ 2.57073131e-02 -7.07704832e-04 9.99669262e-01 7.31761432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.023617865 meters 0.01807802457973099 Centerline is valid? [True, True] Translation: X:44.66, Y:-2.65, Z:0.73 [[ 9.98617844e-01 4.61309869e-02 -2.51859806e-02 4.46585335e+01] [-4.60986558e-02 9.98935154e-01 1.86311027e-03 -2.65222842e+00] [ 2.52451086e-02 -6.99495305e-04 9.99681047e-01 7.33968386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.083617865 meters 0.018984480382958684 Centerline is valid? [True, True] Translation: X:44.72, Y:-2.66, Z:0.73 [[ 9.98556615e-01 4.66286343e-02 -2.66543981e-02 4.47191365e+01] [-4.65925195e-02 9.98912027e-01 1.97472353e-03 -2.65725430e+00] [ 2.67174775e-02 -7.29977683e-04 9.99642758e-01 7.33647500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.143617865 meters 0.01794381308168951 Centerline is valid? [True, True] Translation: X:44.78, Y:-2.66, Z:0.73 [[ 9.98458195e-01 4.78000326e-02 -2.82203731e-02 4.47807179e+01] [-4.77598974e-02 9.98856648e-01 2.09491818e-03 -2.66015887e+00] [ 2.82882445e-02 -7.43886104e-04 9.99599531e-01 7.34233175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.203617865 meters 0.017228824747657946 Centerline is valid? [True, True] Translation: X:44.84, Y:-2.66, Z:0.74 [[ 9.98462334e-01 4.81450116e-02 -2.74777283e-02 4.48411321e+01] [-4.81070774e-02 9.98840100e-01 2.04032448e-03 -2.66236010e+00] [ 2.75440883e-02 -7.15313943e-04 9.99620334e-01 7.35819719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.263617865 meters 0.018468060626540102 Centerline is valid? [True, True] Translation: X:44.90, Y:-2.67, Z:0.73 [[ 9.98426607e-01 4.83158125e-02 -2.84586066e-02 4.49009107e+01] [-4.82751838e-02 9.98831838e-01 2.11337792e-03 -2.66773988e+00] [ 2.85274719e-02 -7.36208279e-04 9.99592738e-01 7.33360458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.323617865 meters 0.018084575381024568 Centerline is valid? [True, True] Translation: X:44.96, Y:-2.67, Z:0.73 [[ 9.98427973e-01 4.83414089e-02 -2.83670810e-02 4.49610943e+01] [-4.83010437e-02 9.98830601e-01 2.10685733e-03 -2.67230533e+00] [ 2.84357570e-02 -7.33385672e-04 9.99595353e-01 7.34548928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.383617865 meters 0.018502145362776095 Centerline is valid? [True, True] Translation: X:45.02, Y:-2.68, Z:0.74 [[ 9.98455236e-01 4.80334100e-02 -2.79272930e-02 4.50218197e+01] [-4.79941667e-02 9.98845462e-01 2.07419374e-03 -2.67704710e+00] [ 2.79946805e-02 -7.30642444e-04 9.99607805e-01 7.35174711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.443617865 meters 0.018521403574283307 Centerline is valid? [True, True] Translation: X:45.08, Y:-2.68, Z:0.74 [[ 9.98420461e-01 4.87386879e-02 -2.79485947e-02 4.50824813e+01] [-4.86996607e-02 9.98811311e-01 2.07577585e-03 -2.68178446e+00] [ 2.80165431e-02 -7.11409995e-04 9.99607206e-01 7.35635625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.503617865 meters 0.018572176026570218 Centerline is valid? [True, True] Translation: X:45.14, Y:-2.69, Z:0.74 [[ 9.98423949e-01 4.93538575e-02 -2.67173175e-02 4.51437860e+01] [-4.93184044e-02 9.98781135e-01 1.98469303e-03 -2.68961640e+00] [ 2.67827050e-02 -6.63909580e-04 9.99641059e-01 7.37329994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.563617865 meters 0.018230768101263672 Centerline is valid? [True, True] Translation: X:45.21, Y:-2.69, Z:0.74 [[ 9.98430171e-01 4.93920258e-02 -2.64125330e-02 4.52053143e+01] [-4.93573670e-02 9.98779253e-01 1.96294030e-03 -2.69451095e+00] [ 2.64772435e-02 -6.56205738e-04 9.99649201e-01 7.38200058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.623617865 meters 0.018644317721378447 Centerline is valid? [True, True] Translation: X:45.27, Y:-2.70, Z:0.74 [[ 9.98435984e-01 4.95237359e-02 -2.59419560e-02 4.52657135e+01] [-4.94902750e-02 9.98772739e-01 1.93069342e-03 -2.70238922e+00] [ 2.60057336e-02 -6.43799246e-04 9.99661586e-01 7.38721013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.683617865 meters 0.01795862750039027 Centerline is valid? [True, True] Translation: X:45.33, Y:-2.71, Z:0.74 [[ 9.98475976e-01 4.91868080e-02 -2.50276313e-02 4.53270497e+01] [-4.91554199e-02 9.98789395e-01 1.86818920e-03 -2.70822067e+00] [ 2.50892229e-02 -6.35098317e-04 9.99685014e-01 7.40884175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.743617865 meters 0.01791025084970911 Centerline is valid? [True, True] Translation: X:45.39, Y:-2.71, Z:0.74 [[ 9.98525614e-01 4.86746799e-02 -2.40286150e-02 4.53901194e+01] [-4.86454570e-02 9.98814488e-01 1.79954786e-03 -2.71364121e+00] [ 2.40877212e-02 -6.28011674e-04 9.99709651e-01 7.41994989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.803617865 meters 0.018449805707103886 Centerline is valid? [True, True] Translation: X:45.45, Y:-2.72, Z:0.74 [[ 9.98523404e-01 4.88103655e-02 -2.38445133e-02 4.54518635e+01] [-4.87814742e-02 9.98807867e-01 1.79217186e-03 -2.71971991e+00] [ 2.39035641e-02 -6.26355037e-04 9.99714073e-01 7.42348290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.863617865 meters 0.01904221307933622 Centerline is valid? [True, True] Translation: X:45.51, Y:-2.73, Z:0.74 [[ 9.98552026e-01 4.80362310e-02 -2.42151144e-02 4.55131651e+01] [-4.80060590e-02 9.98845375e-01 1.82612290e-03 -2.72715409e+00] [ 2.42748751e-02 -6.61006515e-04 9.99705103e-01 7.42135277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.923617865000004 meters 0.01821114743853469 Centerline is valid? [True, True] Translation: X:45.58, Y:-2.73, Z:0.74 [[ 9.98534448e-01 4.82090690e-02 -2.45935283e-02 4.55755113e+01] [-4.81778451e-02 9.98837040e-01 1.86088961e-03 -2.73105210e+00] [ 2.46546388e-02 -6.73299177e-04 9.99695801e-01 7.42723729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.983617865 meters 0.017649725092764766 Centerline is valid? [True, True] Translation: X:45.64, Y:-2.73, Z:0.74 [[ 9.98422305e-01 4.99148297e-02 -2.57179138e-02 4.56378939e+01] [-4.98810689e-02 9.98753255e-01 1.95299003e-03 -2.73498691e+00] [ 2.57833333e-02 -6.67071778e-04 9.99667332e-01 7.42266248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.043617865 meters 0.018466011661381992 Centerline is valid? [True, True] Translation: X:45.70, Y:-2.74, Z:0.74 [[ 9.98332218e-01 5.19663972e-02 -2.51451179e-02 4.56982887e+01] [-5.19346261e-02 9.98648650e-01 1.91536342e-03 -2.74265468e+00] [ 2.52106725e-02 -6.06266720e-04 9.99681977e-01 7.43392543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.103617865000004 meters 0.016754442866008152 Centerline is valid? [True, True] Translation: X:45.76, Y:-2.74, Z:0.75 [[ 9.98144412e-01 5.60972769e-02 -2.36818033e-02 4.57601394e+01] [-5.60701693e-02 9.98425194e-01 1.80764663e-03 -2.74438996e+00] [ 2.37459131e-02 -4.76449661e-04 9.99717913e-01 7.45368728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.163617865 meters 0.01604872276614176 Centerline is valid? [True, True] Translation: X:45.82, Y:-2.75, Z:0.75 [[ 9.97894032e-01 6.06370204e-02 -2.30358997e-02 4.58214058e+01] [-6.06125256e-02 9.98159818e-01 1.76071259e-03 -2.74813614e+00] [ 2.31002738e-02 -3.60740529e-04 9.99733088e-01 7.46165625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.223617865 meters 0.01520424354900317 Centerline is valid? [True, True] Translation: X:45.88, Y:-2.75, Z:0.75 [[ 9.97733484e-01 6.36476875e-02 -2.18372606e-02 4.58832984e+01] [-6.36262923e-02 9.97972391e-01 1.67386491e-03 -2.75236014e+00] [ 2.18995208e-02 -2.80647142e-04 9.99760137e-01 7.48470802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.283617865000004 meters 0.014951894627533673 Centerline is valid? [True, True] Translation: X:45.95, Y:-2.76, Z:0.75 [[ 9.97634512e-01 6.58034084e-02 -1.98819247e-02 4.59452462e+01] [-6.57860114e-02 9.97832583e-01 1.52850517e-03 -2.76014952e+00] [ 1.99394131e-02 -2.16936991e-04 9.99801167e-01 7.51214370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.343617865 meters 0.01494034056865847 Centerline is valid? [True, True] Translation: X:46.01, Y:-2.77, Z:0.75 [[ 9.97654147e-01 6.53514761e-02 -2.03810689e-02 4.60080987e+01] [-6.53329941e-02 9.97862279e-01 1.57206654e-03 -2.76757654e+00] [ 2.04402367e-02 -2.36822457e-04 9.99791048e-01 7.50834713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.403617865 meters 0.015356880195963842 Centerline is valid? [True, True] Translation: X:46.07, Y:-2.78, Z:0.75 [[ 9.97793409e-01 6.32450182e-02 -2.02084461e-02 4.60696954e+01] [-6.32263065e-02 9.97997990e-01 1.56415434e-03 -2.77618819e+00] [ 2.02669136e-02 -2.82997485e-04 9.99794565e-01 7.50640822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.463617865 meters 0.01652929234433999 Centerline is valid? [True, True] Translation: X:46.13, Y:-2.79, Z:0.75 [[ 9.98114955e-01 5.80269033e-02 -1.99853934e-02 4.61306806e+01] [-5.80074716e-02 9.98314944e-01 1.55112501e-03 -2.78896381e+00] [ 2.00417239e-02 -3.88898925e-04 9.99799069e-01 7.51946998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.523617865 meters 0.01765186543337115 Centerline is valid? [True, True] Translation: X:46.19, Y:-2.80, Z:0.75 [[ 9.98341209e-01 5.42193795e-02 -1.93672394e-02 4.61925743e+01] [-5.42003764e-02 9.98528945e-01 1.50514728e-03 -2.79843242e+00] [ 1.94203573e-02 -4.52938892e-04 9.99811304e-01 7.52971533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.583617865 meters 0.019354894822911972 Centerline is valid? [True, True] Translation: X:46.25, Y:-2.81, Z:0.75 [[ 9.98572680e-01 4.99348516e-02 -1.89503097e-02 4.62517561e+01] [-4.99158670e-02 9.98752339e-01 1.47378896e-03 -2.81030589e+00] [ 1.90002595e-02 -5.25764249e-04 9.99819341e-01 7.53680111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.643617865 meters 0.018440059196315393 Centerline is valid? [True, True] Translation: X:46.31, Y:-2.82, Z:0.75 [[ 9.98636913e-01 4.84163476e-02 -1.94980565e-02 4.63130599e+01] [-4.83959445e-02 9.98827077e-01 1.51719686e-03 -2.81778128e+00] [ 1.95486439e-02 -5.71501935e-04 9.99808744e-01 7.54721938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.703617865 meters 0.01933000129681018 Centerline is valid? [True, True] Translation: X:46.37, Y:-2.83, Z:0.75 [[ 9.98629388e-01 4.82362849e-02 -2.03127198e-02 4.63734829e+01] [-4.82140086e-02 9.98835770e-01 1.58525650e-03 -2.82567217e+00] [ 2.03655381e-02 -6.03726076e-04 9.99792419e-01 7.54225578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.763617865 meters 0.019326445196583834 Centerline is valid? [True, True] Translation: X:46.43, Y:-2.83, Z:0.75 [[ 9.98678310e-01 4.68773594e-02 -2.10748018e-02 4.64349281e+01] [-4.68529752e-02 9.98900434e-01 1.64958230e-03 -2.83371576e+00] [ 2.11289567e-02 -6.59984897e-04 9.99776541e-01 7.54379253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.823617865 meters 0.019967223149221912 Centerline is valid? [True, True] Translation: X:46.50, Y:-2.84, Z:0.76 [[ 9.98813272e-01 4.43920674e-02 -2.00347919e-02 4.64958293e+01] [-4.43694410e-02 9.99013954e-01 1.57267829e-03 -2.84378881e+00] [ 2.00848511e-02 -6.81879429e-04 9.99798047e-01 7.56303347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.883617865 meters 0.01998598163729566 Centerline is valid? [True, True] Translation: X:46.56, Y:-2.85, Z:0.76 [[ 9.98895501e-01 4.28181432e-02 -1.93490057e-02 4.65573788e+01] [-4.27966627e-02 9.99082642e-01 1.52306854e-03 -2.85046805e+00] [ 1.93964707e-02 -6.93313437e-04 9.99811630e-01 7.57843641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.943617865 meters 0.020361868468022223 Centerline is valid? [True, True] Translation: X:46.62, Y:-2.86, Z:0.76 [[ 9.98962754e-01 4.19120013e-02 -1.77988936e-02 4.66190951e+01] [-4.18936104e-02 9.99121089e-01 1.40502985e-03 -2.85875893e+00] [ 1.78421376e-02 -6.57912572e-04 9.99840600e-01 7.60433970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.003617865 meters 0.019810140239659366 Centerline is valid? [True, True] Translation: X:46.68, Y:-2.86, Z:0.76 [[ 9.98992395e-01 4.18821433e-02 -1.61270234e-02 4.66818828e+01] [-4.18669847e-02 9.99122378e-01 1.27657153e-03 -2.86427305e+00] [ 1.61663355e-02 -6.00095412e-04 9.99869136e-01 7.62503634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.063617865 meters 0.019239897552100874 Centerline is valid? [True, True] Translation: X:46.74, Y:-2.87, Z:0.76 [[ 9.98912046e-01 4.37231205e-02 -1.62176797e-02 4.67436571e+01] [-4.37079596e-02 9.99043520e-01 1.28827939e-03 -2.86882721e+00] [ 1.62584954e-02 -5.78036107e-04 9.99867655e-01 7.62464277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.123617865 meters 0.019268809266474188 Centerline is valid? [True, True] Translation: X:46.80, Y:-2.87, Z:0.76 [[ 9.98674198e-01 4.86470609e-02 -1.68318140e-02 4.68028077e+01] [-4.86313606e-02 9.98815895e-01 1.34106643e-03 -2.87410533e+00] [ 1.68771223e-02 -5.20734428e-04 9.99857436e-01 7.61697410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.183617865 meters 0.01775353789101594 Centerline is valid? [True, True] Translation: X:46.86, Y:-2.88, Z:0.76 [[ 9.98487746e-01 5.20196469e-02 -1.77813991e-02 4.68640885e+01] [-5.20026632e-02 9.98645942e-01 1.41650176e-03 -2.87669300e+00] [ 1.78310079e-02 -4.89679541e-04 9.99840895e-01 7.61862042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.243617865 meters 0.01681904306857729 Centerline is valid? [True, True] Translation: X:46.93, Y:-2.88, Z:0.76 [[ 9.98282243e-01 5.54458101e-02 -1.89295054e-02 4.69253834e+01] [-5.54271644e-02 9.98461593e-01 1.50864609e-03 -2.88135353e+00] [ 1.89840322e-02 -4.56845792e-04 9.99819683e-01 7.61103414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.303617865 meters 0.016984808985747103 Centerline is valid? [True, True] Translation: X:46.99, Y:-2.89, Z:0.76 [[ 9.98230641e-01 5.62943002e-02 -1.91452311e-02 4.69874336e+01] [-5.62753576e-02 9.98414118e-01 1.52715969e-03 -2.88952164e+00] [ 1.92008395e-02 -4.47052872e-04 9.99815547e-01 7.62025013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.363617865 meters 0.01718290869122711 Centerline is valid? [True, True] Translation: X:47.05, Y:-2.90, Z:0.76 [[ 9.98199339e-01 5.66435988e-02 -1.97378157e-02 4.70501661e+01] [-5.66234368e-02 9.98394357e-01 1.57931168e-03 -2.89578672e+00] [ 1.97955817e-02 -4.58844917e-04 9.99803943e-01 7.61992125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.423617865000004 meters 0.017954580304322048 Centerline is valid? [True, True] Translation: X:47.11, Y:-2.90, Z:0.76 [[ 9.98266859e-01 5.53961455e-02 -1.98631869e-02 4.71119247e+01] [-5.53753765e-02 9.98464333e-01 1.59452664e-03 -2.90382444e+00] [ 1.99210143e-02 -4.91831646e-04 9.99801436e-01 7.62360966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.483617865 meters 0.018626168674888657 Centerline is valid? [True, True] Translation: X:47.17, Y:-2.91, Z:0.76 [[ 9.98358549e-01 5.38023112e-02 -1.96346133e-02 4.71730129e+01] [-5.37816224e-02 9.98551470e-01 1.58059791e-03 -2.91202618e+00] [ 1.96912118e-02 -5.22022078e-04 9.99805973e-01 7.63642554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.543617865 meters 0.017960057690444696 Centerline is valid? [True, True] Translation: X:47.23, Y:-2.92, Z:0.77 [[ 9.98514945e-01 5.09436866e-02 -1.93040077e-02 4.72341594e+01] [-5.09230756e-02 9.98701363e-01 1.55808181e-03 -2.92034470e+00] [ 1.93583132e-02 -5.72748530e-04 9.99812446e-01 7.66226333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.603617865000004 meters 0.018448881793769405 Centerline is valid? [True, True] Translation: X:47.30, Y:-2.93, Z:0.77 [[ 9.98602338e-01 4.89088531e-02 -2.00323642e-02 4.72955464e+01] [-4.88861542e-02 9.98803041e-01 1.62154424e-03 -2.92860626e+00] [ 2.00876941e-02 -6.39972628e-04 9.99798017e-01 7.67162250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.663617865 meters 0.01914682574654794 Centerline is valid? [True, True] Translation: X:47.36, Y:-2.94, Z:0.77 [[ 9.98579041e-01 4.93405908e-02 -2.01346728e-02 4.73570691e+01] [-4.93176493e-02 9.98781807e-01 1.63466608e-03 -2.93519163e+00] [ 2.01908003e-02 -6.39348555e-04 9.99795941e-01 7.67501486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.723617865 meters 0.018065936070031242 Centerline is valid? [True, True] Translation: X:47.42, Y:-2.94, Z:0.77 [[ 9.98432491e-01 5.22755319e-02 -1.99957253e-02 4.74192264e+01] [-5.22533933e-02 9.98632531e-01 1.62840057e-03 -2.93818470e+00] [ 2.00535073e-02 -5.81003538e-04 9.99798739e-01 7.69015027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.783617865000004 meters 0.018557773516884396 Centerline is valid? [True, True] Translation: X:47.48, Y:-2.94, Z:0.77 [[ 9.98384887e-01 5.31434411e-02 -2.00846289e-02 4.74804141e+01] [-5.31211852e-02 9.98586726e-01 1.64037747e-03 -2.94430094e+00] [ 2.01434191e-02 -5.70808781e-04 9.99796938e-01 7.69623539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.843617865 meters 0.01773312567943272 Centerline is valid? [True, True] Translation: X:47.54, Y:-2.95, Z:0.77 [[ 9.98367096e-01 5.33928672e-02 -2.03062427e-02 4.75434954e+01] [-5.33700724e-02 9.98573417e-01 1.66321958e-03 -2.94682858e+00] [ 2.03660782e-02 -5.76758055e-04 9.99792424e-01 7.69956768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.903617865 meters 0.018975065494568982 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.95, Z:0.77 [[ 9.98424171e-01 5.24035508e-02 -2.00759279e-02 4.76040906e+01] [-5.23809722e-02 9.98625813e-01 1.64922576e-03 -2.95424059e+00] [ 2.01347651e-02 -5.95030238e-04 9.99797098e-01 7.71205468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.963617865 meters 0.01905277830336042 Centerline is valid? [True, True] Translation: X:47.67, Y:-2.96, Z:0.77 [[ 9.98609693e-01 4.90068361e-02 -1.94167787e-02 4.76664652e+01] [-4.89850314e-02 9.98798236e-01 1.59729346e-03 -2.95782610e+00] [ 1.94717226e-02 -6.43941218e-04 9.99810201e-01 7.71633043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.023617865 meters 0.020899585427614026 Centerline is valid? [True, True] Translation: X:47.73, Y:-2.96, Z:0.77 [[ 9.98703643e-01 4.72424640e-02 -1.89521129e-02 4.77267745e+01] [-4.72213459e-02 9.98883231e-01 1.56050836e-03 -2.96496736e+00] [ 1.90046700e-02 -6.63541111e-04 9.99819175e-01 7.73050908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.083617865 meters 0.020773429364412312 Centerline is valid? [True, True] Translation: X:47.79, Y:-2.97, Z:0.77 [[ 9.98707905e-01 4.73310778e-02 -1.85010767e-02 4.77896839e+01] [-4.73109209e-02 9.98879046e-01 1.52592001e-03 -2.96624686e+00] [ 1.85525612e-02 -6.48645403e-04 9.99827676e-01 7.74059525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.143617865 meters 0.02038501756395643 Centerline is valid? [True, True] Translation: X:47.85, Y:-2.97, Z:0.77 [[ 9.98620874e-01 4.91713944e-02 -1.83990059e-02 4.78520111e+01] [-4.91516822e-02 9.98790165e-01 1.52232600e-03 -2.96667267e+00] [ 1.84516010e-02 -6.15884429e-04 9.99829565e-01 7.74274288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.203617865 meters 0.019568796051433017 Centerline is valid? [True, True] Translation: X:47.91, Y:-2.97, Z:0.78 [[ 9.98588715e-01 4.98207788e-02 -1.83975238e-02 4.79139148e+01] [-4.98011003e-02 9.98757989e-01 1.52651522e-03 -2.96834500e+00] [ 1.84507261e-02 -6.08143938e-04 9.99829586e-01 7.75325269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.263617865 meters 0.01799025134090595 Centerline is valid? [True, True] Translation: X:47.98, Y:-2.97, Z:0.78 [[ 9.98520594e-01 5.14739443e-02 -1.75230101e-02 4.79764601e+01] [-5.14562764e-02 9.98674184e-01 1.45794853e-03 -2.96894602e+00] [ 1.75748242e-02 -5.54122780e-04 9.99845397e-01 7.77345561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.323617865 meters 0.018027654607835425 Centerline is valid? [True, True] Translation: X:48.04, Y:-2.97, Z:0.78 [[ 9.98279554e-01 5.59446749e-02 -1.75535273e-02 4.80370905e+01] [-5.59275660e-02 9.98433755e-01 1.46444757e-03 -2.97076071e+00] [ 1.76079622e-02 -4.80202007e-04 9.99844853e-01 7.77830979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.383617865 meters 0.017086164366768162 Centerline is valid? [True, True] Translation: X:48.10, Y:-2.97, Z:0.78 [[ 9.98017338e-01 6.02649819e-02 -1.81528424e-02 4.80990446e+01] [-6.02473852e-02 9.98182326e-01 1.51518063e-03 -2.97296426e+00] [ 1.82111588e-02 -4.18515242e-04 9.99834076e-01 7.78821803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.443617865 meters 0.017141496851123927 Centerline is valid? [True, True] Translation: X:48.16, Y:-2.98, Z:0.78 [[ 9.97709055e-01 6.49758282e-02 -1.88356812e-02 4.81597881e+01] [-6.49576973e-02 9.97886778e-01 1.57345450e-03 -2.97594659e+00] [ 1.88981137e-02 -3.46327326e-04 9.99821355e-01 7.78779400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.503617865 meters 0.015628346481801773 Centerline is valid? [True, True] Translation: X:48.22, Y:-2.98, Z:0.78 [[ 9.97581116e-01 6.68496597e-02 -1.90536125e-02 4.82222256e+01] [-6.68314242e-02 9.97763010e-01 1.59292166e-03 -2.97659019e+00] [ 1.91174761e-02 -3.15688502e-04 9.99817195e-01 7.79812925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.563617865 meters 0.015559453332968948 Centerline is valid? [True, True] Translation: X:48.28, Y:-2.98, Z:0.78 [[ 9.97555593e-01 6.72540715e-02 -1.89665324e-02 4.82846026e+01] [-6.72359908e-02 9.97735833e-01 1.59008896e-03 -2.98220294e+00] [ 1.90305290e-02 -3.10968536e-04 9.99818855e-01 7.80182495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.623617865 meters 0.015759658178922165 Centerline is valid? [True, True] Translation: X:48.35, Y:-2.99, Z:0.78 [[ 9.97521729e-01 6.77733043e-02 -1.88991888e-02 4.83463074e+01] [-6.77553519e-02 9.97700700e-01 1.58934224e-03 -2.98849779e+00] [ 1.89634488e-02 -3.04882228e-04 9.99820131e-01 7.81485767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.683617865 meters 0.014911963222130946 Centerline is valid? [True, True] Translation: X:48.41, Y:-2.99, Z:0.78 [[ 9.97470737e-01 6.84089002e-02 -1.92963987e-02 4.84095230e+01] [-6.83902093e-02 9.97657321e-01 1.62764239e-03 -2.99195262e+00] [ 1.93625386e-02 -3.03840906e-04 9.99812482e-01 7.81944061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.743617865 meters 0.014678260379187257 Centerline is valid? [True, True] Translation: X:48.47, Y:-3.00, Z:0.78 [[ 9.97315478e-01 7.02685857e-02 -2.05952197e-02 4.84712802e+01] [-7.02475696e-02 9.97528065e-01 1.74302118e-03 -2.99781412e+00] [ 2.06667893e-02 -2.91577875e-04 9.99786377e-01 7.81530986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.803617865 meters 0.014633563038459587 Centerline is valid? [True, True] Translation: X:48.53, Y:-3.00, Z:0.78 [[ 9.97188274e-01 7.17735148e-02 -2.15431867e-02 4.85327384e+01] [-7.17507545e-02 9.97420917e-01 1.82860443e-03 -3.00430740e+00] [ 2.16188704e-02 -2.77722999e-04 9.99766246e-01 7.81738758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.863617865 meters 0.014524086192402794 Centerline is valid? [True, True] Translation: X:48.60, Y:-3.01, Z:0.78 [[ 9.97143770e-01 7.21534941e-02 -2.23198591e-02 4.85954004e+01] [-7.21290300e-02 9.97393499e-01 1.90023722e-03 -3.01187760e+00] [ 2.23987911e-02 -2.84899923e-04 9.99749075e-01 7.81382624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.923617865000004 meters 0.01491055255082938 Centerline is valid? [True, True] Translation: X:48.66, Y:-3.02, Z:0.78 [[ 9.97200100e-01 7.13449829e-02 -2.24020887e-02 4.86561959e+01] [-7.13200027e-02 9.97451652e-01 1.91308757e-03 -3.02182590e+00] [ 2.24814895e-02 -3.10014089e-04 9.99747211e-01 7.82074799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.983617865 meters 0.015015799801198128 Centerline is valid? [True, True] Translation: X:48.72, Y:-3.03, Z:0.79 [[ 9.97451859e-01 6.81071815e-02 -2.12415014e-02 4.87176613e+01] [-6.80838899e-02 9.97677942e-01 1.81861717e-03 -3.03303796e+00] [ 2.13160383e-02 -3.67779037e-04 9.99772720e-01 7.85334011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.043617865 meters 0.01576118045679679 Centerline is valid? [True, True] Translation: X:48.78, Y:-3.05, Z:0.79 [[ 9.97683983e-01 6.48344917e-02 -2.05708204e-02 4.87792788e+01] [-6.48118511e-02 9.97895939e-01 1.76610380e-03 -3.04525777e+00] [ 2.06420426e-02 -4.28780529e-04 9.99786838e-01 7.86412194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.103617865000004 meters 0.0165331281533476 Centerline is valid? [True, True] Translation: X:48.84, Y:-3.06, Z:0.79 [[ 9.97777055e-01 6.32287838e-02 -2.10492297e-02 4.88400986e+01] [-6.32046227e-02 9.97998944e-01 1.81181102e-03 -3.05570983e+00] [ 2.11216676e-02 -4.77374845e-04 9.99776799e-01 7.87162398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.163617865 meters 0.01586142992381433 Centerline is valid? [True, True] Translation: X:48.90, Y:-3.06, Z:0.79 [[ 9.97673210e-01 6.53141340e-02 -1.95507186e-02 4.89025672e+01] [-6.52936479e-02 9.97864670e-01 1.68503021e-03 -3.05926478e+00] [ 1.96190277e-02 -4.04571763e-04 9.99807446e-01 7.88551612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.223617865 meters 0.015365469761764977 Centerline is valid? [True, True] Translation: X:48.96, Y:-3.07, Z:0.79 [[ 9.97536949e-01 6.71333776e-02 -2.03259526e-02 4.89642478e+01] [-6.71115609e-02 9.97743935e-01 1.75434098e-03 -3.06501868e+00] [ 2.03978708e-02 -3.85913538e-04 9.99791867e-01 7.89709009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.283617865000004 meters 0.014736084781044372 Centerline is valid? [True, True] Translation: X:49.03, Y:-3.07, Z:0.79 [[ 9.97363064e-01 6.96820367e-02 -2.02813116e-02 4.90262078e+01] [-6.96607421e-02 9.97569195e-01 1.75541422e-03 -3.06844102e+00] [ 2.03543325e-02 -3.37974090e-04 9.99792772e-01 7.91023607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.343617865 meters 0.014815128310472193 Centerline is valid? [True, True] Translation: X:49.09, Y:-3.07, Z:0.79 [[ 9.97319771e-01 7.03538845e-02 -2.00899379e-02 4.90867066e+01] [-7.03330291e-02 9.97522042e-01 1.74365824e-03 -3.07348768e+00] [ 2.01628290e-02 -3.25998651e-04 9.99796656e-01 7.92212910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.403617865 meters 0.0149485207212232 Centerline is valid? [True, True] Translation: X:49.15, Y:-3.08, Z:0.79 [[ 9.97340441e-01 7.00651450e-02 -2.00728615e-02 4.91496927e+01] [-7.00441714e-02 9.97542361e-01 1.74690759e-03 -3.07660790e+00] [ 2.01459270e-02 -3.36274633e-04 9.99796994e-01 7.92183671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.463617865 meters 0.015238898325959128 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.08, Z:0.79 [[ 9.97426478e-01 6.92481465e-02 -1.85772968e-02 4.92118013e+01] [-6.92299523e-02 9.97599411e-01 1.62147722e-03 -3.08353431e+00] [ 1.86449846e-02 -3.31198939e-04 9.99826112e-01 7.94783721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.523617865 meters 0.015323217066881641 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.09, Z:0.80 [[ 9.97460776e-01 6.90128571e-02 -1.75848175e-02 4.92749633e+01] [-6.89964466e-02 9.97615719e-01 1.53892984e-03 -3.08755367e+00] [ 1.76490963e-02 -3.21732227e-04 9.99844191e-01 7.95847163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.583617865 meters 0.015267544380761703 Centerline is valid? [True, True] Translation: X:49.34, Y:-3.09, Z:0.80 [[ 9.97424921e-01 6.96394172e-02 -1.71428611e-02 4.93372280e+01] [-6.96238346e-02 9.97572181e-01 1.50485653e-03 -3.09221864e+00] [ 1.72060387e-02 -3.07429684e-04 9.99851918e-01 7.95856858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.643617865 meters 0.015435422053207349 Centerline is valid? [True, True] Translation: X:49.40, Y:-3.10, Z:0.80 [[ 9.97376173e-01 7.01580437e-02 -1.78498652e-02 4.93997960e+01] [-7.01411413e-02 9.97535839e-01 1.57199220e-03 -3.09784803e+00] [ 1.79161681e-02 -3.15857646e-04 9.99839443e-01 7.96489113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.703617865 meters 0.015008698370974015 Centerline is valid? [True, True] Translation: X:49.46, Y:-3.10, Z:0.80 [[ 9.97294116e-01 7.12489498e-02 -1.81116700e-02 4.94623120e+01] [-7.12316449e-02 9.97458517e-01 1.59960001e-03 -3.10211245e+00] [ 1.81796093e-02 -3.05147638e-04 9.99834691e-01 7.97225691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.763617865 meters 0.015189575521085803 Centerline is valid? [True, True] Translation: X:49.52, Y:-3.11, Z:0.80 [[ 9.97169535e-01 7.30500246e-02 -1.77936247e-02 4.95233898e+01] [-7.30335772e-02 9.97328242e-01 1.57328639e-03 -3.10632393e+00] [ 1.78610131e-02 -2.69301194e-04 9.99840443e-01 7.97592700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.823617865 meters 0.014227800958633123 Centerline is valid? [True, True] Translation: X:49.59, Y:-3.11, Z:0.80 [[ 9.97116541e-01 7.39989164e-02 -1.68156084e-02 4.95854374e+01] [-7.39843024e-02 9.97258292e-01 1.49036363e-03 -3.10828686e+00] [ 1.68797902e-02 -2.41975175e-04 9.99857497e-01 7.98393284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.883617865 meters 0.01452708940922425 Centerline is valid? [True, True] Translation: X:49.65, Y:-3.11, Z:0.80 [[ 9.97087598e-01 7.44715298e-02 -1.64411996e-02 4.96474187e+01] [-7.44575585e-02 9.97223113e-01 1.46112313e-03 -3.11451171e+00] [ 1.65043563e-02 -2.32696169e-04 9.99863767e-01 7.99926706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.943617865 meters 0.014376312292346094 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.12, Z:0.80 [[ 9.97053640e-01 7.51424101e-02 -1.54161070e-02 4.97105552e+01] [-7.51301688e-02 9.97172790e-01 1.37249545e-03 -3.11811125e+00] [ 1.54756550e-02 -2.10236869e-04 9.99880223e-01 8.00469990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.003617865 meters 0.014659859501137924 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.12, Z:0.80 [[ 9.97023831e-01 7.54077725e-02 -1.60358424e-02 4.97725542e+01] [-7.53944862e-02 9.97152757e-01 1.43233991e-03 -3.12316368e+00] [ 1.60981940e-02 -2.19062922e-04 9.99870392e-01 8.00655810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.063617865 meters 0.014972863513866837 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.13, Z:0.80 [[ 9.97107789e-01 7.43614458e-02 -1.56981828e-02 4.98338675e+01] [-7.43485208e-02 9.97231327e-01 1.40616071e-03 -3.13034192e+00] [ 1.57592838e-02 -2.34957127e-04 9.99875787e-01 8.01775316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.123617865 meters 0.015431733788761602 Centerline is valid? [True, True] Translation: X:49.90, Y:-3.14, Z:0.80 [[ 9.97251111e-01 7.23668800e-02 -1.59140518e-02 4.98960248e+01] [-7.23532812e-02 9.97378042e-01 1.42937316e-03 -3.13671081e+00] [ 1.59757651e-02 -2.74010108e-04 9.99872342e-01 8.02342253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.183617865 meters 0.016903287902319843 Centerline is valid? [True, True] Translation: X:49.96, Y:-3.15, Z:0.80 [[ 9.97379114e-01 7.05397666e-02 -1.60948470e-02 4.99561992e+01] [-7.05255557e-02 9.97508920e-01 1.44953788e-03 -3.14546606e+00] [ 1.61570035e-02 -3.10640779e-04 9.99869419e-01 8.02914072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.243617865 meters 0.017044285830701934 Centerline is valid? [True, True] Translation: X:50.02, Y:-3.15, Z:0.80 [[ 9.97559759e-01 6.79751951e-02 -1.59342672e-02 5.00177747e+01] [-6.79608836e-02 9.97686949e-01 1.43855720e-03 -3.15271971e+00] [ 1.59951966e-02 -3.52139899e-04 9.99872007e-01 8.04705254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.303617865 meters 0.016917165201531675 Centerline is valid? [True, True] Translation: X:50.08, Y:-3.16, Z:0.81 [[ 9.97655484e-01 6.65472403e-02 -1.59687158e-02 5.00790173e+01] [-6.65326234e-02 9.97783203e-01 1.44544681e-03 -3.15924334e+00] [ 1.60295069e-02 -3.79617383e-04 9.99871447e-01 8.05609104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.363617865 meters 0.017437292328211687 Centerline is valid? [True, True] Translation: X:50.14, Y:-3.17, Z:0.81 [[ 9.97684005e-01 6.59184695e-02 -1.67744542e-02 5.01395521e+01] [-6.59022114e-02 9.97824927e-01 1.52075922e-03 -3.16549374e+00] [ 1.68382147e-02 -4.11763523e-04 9.99858142e-01 8.05671837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.423617865 meters 0.01719767773563725 Centerline is valid? [True, True] Translation: X:50.20, Y:-3.17, Z:0.81 [[ 9.97626075e-01 6.67327329e-02 -1.69987330e-02 5.02012717e+01] [-6.67160896e-02 9.97770804e-01 1.54493399e-03 -3.17118145e+00] [ 1.70639372e-02 -4.07177435e-04 9.99854318e-01 8.06215213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.483617865 meters 0.016849004119335653 Centerline is valid? [True, True] Translation: X:50.26, Y:-3.18, Z:0.81 [[ 9.97530441e-01 6.80597144e-02 -1.73463047e-02 5.02633102e+01] [-6.80425104e-02 9.97681171e-01 1.58075063e-03 -3.17629056e+00] [ 1.74136670e-02 -3.96560753e-04 9.99848292e-01 8.06669426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.543617865 meters 0.01661815787199699 Centerline is valid? [True, True] Translation: X:50.33, Y:-3.18, Z:0.81 [[ 9.97537474e-01 6.78843471e-02 -1.76268028e-02 5.03262973e+01] [-6.78664771e-02 9.97693113e-01 1.61069866e-03 -3.18207600e+00] [ 1.76954810e-02 -4.10463260e-04 9.99843338e-01 8.07871360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.603617865000004 meters 0.017322492999375293 Centerline is valid? [True, True] Translation: X:50.39, Y:-3.19, Z:0.81 [[ 9.97589804e-01 6.72556944e-02 -1.70661667e-02 5.03873593e+01] [-6.72387732e-02 9.97735687e-01 1.56402211e-03 -3.18990707e+00] [ 1.71327129e-02 -4.12744402e-04 9.99853139e-01 8.09717488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.663617865 meters 0.017046045752550143 Centerline is valid? [True, True] Translation: X:50.45, Y:-3.19, Z:0.81 [[ 9.97559234e-01 6.78314129e-02 -1.65672673e-02 5.04498783e+01] [-6.78154856e-02 9.97696719e-01 1.52192994e-03 -3.19333918e+00] [ 1.66323428e-02 -3.94697992e-04 9.99861595e-01 8.10842104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.723617865 meters 0.017622587174068442 Centerline is valid? [True, True] Translation: X:50.51, Y:-3.20, Z:0.81 [[ 9.97511060e-01 6.85154394e-02 -1.66529188e-02 5.05107345e+01] [-6.84993653e-02 9.97649980e-01 1.53439895e-03 -3.19915065e+00] [ 1.67189141e-02 -3.89865553e-04 9.99860153e-01 8.12039765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.783617865000004 meters 0.0174996227595757 Centerline is valid? [True, True] Translation: X:50.57, Y:-3.20, Z:0.81 [[ 9.97479606e-01 6.87364548e-02 -1.75993093e-02 5.05731903e+01] [-6.87184619e-02 9.97634768e-01 1.62579060e-03 -3.20280876e+00] [ 1.76694339e-02 -4.12295503e-04 9.99843798e-01 8.12049144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.843617865 meters 0.01700456590009067 Centerline is valid? [True, True] Translation: X:50.64, Y:-3.21, Z:0.81 [[ 9.97455596e-01 6.88155127e-02 -1.86214768e-02 5.06356572e+01] [-6.87952830e-02 9.97629306e-01 1.72554439e-03 -3.20578781e+00] [ 1.86960752e-02 -4.40084146e-04 9.99825116e-01 8.11742739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.903617865 meters 0.018207714045442438 Centerline is valid? [True, True] Translation: X:50.70, Y:-3.21, Z:0.81 [[ 9.97391018e-01 6.94953913e-02 -1.95332318e-02 5.06972855e+01] [-6.94731524e-02 9.97582169e-01 1.81562698e-03 -3.21141564e+00] [ 1.96121814e-02 -4.53854857e-04 9.99807560e-01 8.11918757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.963617865 meters 0.017701955113792158 Centerline is valid? [True, True] Translation: X:50.76, Y:-3.21, Z:0.81 [[ 9.97410330e-01 6.93109218e-02 -1.91997395e-02 5.07598601e+01] [-6.92893066e-02 9.97595003e-01 1.78955651e-03 -3.21357326e+00] [ 1.92776000e-02 -4.54585511e-04 9.99814066e-01 8.13487070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.023617865 meters 0.017706787429394515 Centerline is valid? [True, True] Translation: X:50.82, Y:-3.22, Z:0.81 [[ 9.97467167e-01 6.86500092e-02 -1.86125607e-02 5.08218988e+01] [-6.86294911e-02 9.97640700e-01 1.73963904e-03 -3.21856694e+00] [ 1.86880744e-02 -4.57862255e-04 9.99825258e-01 8.14978685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.083617865 meters 0.017805427126562023 Centerline is valid? [True, True] Translation: X:50.89, Y:-3.22, Z:0.82 [[ 9.97444151e-01 6.89998846e-02 -1.85521569e-02 5.08850851e+01] [-6.89794763e-02 9.97616564e-01 1.73848740e-03 -3.22259745e+00] [ 1.86278944e-02 -4.54326018e-04 9.99826382e-01 8.16189075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.143617865 meters 0.017295419110325897 Centerline is valid? [True, True] Translation: X:50.95, Y:-3.23, Z:0.82 [[ 9.97312821e-01 7.09249207e-02 -1.83518954e-02 5.09475648e+01] [-7.09051868e-02 9.97481569e-01 1.72457532e-03 -3.22521569e+00] [ 1.84279927e-02 -4.18696507e-04 9.99830102e-01 8.16880042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.203617865 meters 0.01649017809039491 Centerline is valid? [True, True] Translation: X:51.01, Y:-3.23, Z:0.82 [[ 9.97174235e-01 7.27634841e-02 -1.86820965e-02 5.10100463e+01] [-7.27432711e-02 9.97349146e-01 1.76013264e-03 -3.22810621e+00] [ 1.87606464e-02 -3.96162106e-04 9.99823925e-01 8.18128597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.263617865 meters 0.016161589073438953 Centerline is valid? [True, True] Translation: X:51.07, Y:-3.23, Z:0.82 [[ 9.96963282e-01 7.58112328e-02 -1.78008797e-02 5.10719993e+01] [-7.57932930e-02 9.97122134e-01 1.68127385e-03 -3.23170095e+00] [ 1.78771106e-02 -3.26981003e-04 9.99840138e-01 8.20615568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.323617865 meters 0.016213767566684485 Centerline is valid? [True, True] Translation: X:51.13, Y:-3.24, Z:0.82 [[ 9.96813836e-01 7.77825640e-02 -1.76649071e-02 5.11332422e+01] [-7.77651347e-02 9.96970304e-01 1.67248309e-03 -3.23590513e+00] [ 1.77414778e-02 -2.93440411e-04 9.99842565e-01 8.21607064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.383617865 meters 0.015892899531354497 Centerline is valid? [True, True] Translation: X:51.20, Y:-3.24, Z:0.82 [[ 9.96702215e-01 7.90739928e-02 -1.82208165e-02 5.11950381e+01] [-7.90556136e-02 9.96868710e-01 1.72791140e-03 -3.23924439e+00] [ 1.83003947e-02 -2.81755285e-04 9.99832494e-01 8.21659577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.443617865 meters 0.01638748153625548 Centerline is valid? [True, True] Translation: X:51.26, Y:-3.25, Z:0.82 [[ 9.96799228e-01 7.79563580e-02 -1.77230270e-02 5.12553316e+01] [-7.79387200e-02 9.96956728e-01 1.68479845e-03 -3.24598711e+00] [ 1.78004317e-02 -2.98095754e-04 9.99841515e-01 8.23112914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.503617865 meters 0.01702233115526246 Centerline is valid? [True, True] Translation: X:51.32, Y:-3.25, Z:0.83 [[ 9.96948376e-01 7.61987442e-02 -1.69613492e-02 5.13165700e+01] [-7.61822749e-02 9.97092598e-01 1.61594865e-03 -3.25269172e+00] [ 1.70351690e-02 -3.18863215e-04 9.99854840e-01 8.25188869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.563617865 meters 0.01673945029343822 Centerline is valid? [True, True] Translation: X:51.38, Y:-3.26, Z:0.83 [[ 9.97057399e-01 7.48504272e-02 -1.65516254e-02 5.13780267e+01] [-7.48344999e-02 9.97194715e-01 1.58042293e-03 -3.25710189e+00] [ 1.66234887e-02 -3.37139767e-04 9.99861763e-01 8.26916467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.623617865 meters 0.01663078356591093 Centerline is valid? [True, True] Translation: X:51.44, Y:-3.26, Z:0.83 [[ 9.97126710e-01 7.40396988e-02 -1.60139491e-02 5.14400435e+01] [-7.40246286e-02 9.97255236e-01 1.53259700e-03 -3.26248037e+00] [ 1.60834677e-02 -3.42766769e-04 9.99870594e-01 8.28908344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.683617865 meters 0.017316096368147432 Centerline is valid? [True, True] Translation: X:51.50, Y:-3.27, Z:0.83 [[ 9.97161616e-01 7.35025144e-02 -1.63123032e-02 5.15004836e+01] [-7.34867387e-02 9.97294966e-01 1.56522942e-03 -3.26719042e+00] [ 1.63832262e-02 -3.62048733e-04 9.99865720e-01 8.28863087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.743617865 meters 0.017188149911060786 Centerline is valid? [True, True] Translation: X:51.56, Y:-3.27, Z:0.83 [[ 9.97159916e-01 7.34193941e-02 -1.67837296e-02 5.15633900e+01] [-7.34026243e-02 9.97301083e-01 1.61385612e-03 -3.27127124e+00] [ 1.68569201e-02 -3.77302837e-04 9.99857841e-01 8.28951288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.803617865 meters 0.018131669324779505 Centerline is valid? [True, True] Translation: X:51.62, Y:-3.28, Z:0.83 [[ 9.97252970e-01 7.20541990e-02 -1.71670123e-02 5.16240171e+01] [-7.20363699e-02 9.97400632e-01 1.65548497e-03 -3.27785032e+00] [ 1.72416736e-02 -4.14288055e-04 9.99851265e-01 8.30182862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.863617865 meters 0.017801590109962368 Centerline is valid? [True, True] Translation: X:51.69, Y:-3.28, Z:0.83 [[ 9.97365877e-01 7.05530241e-02 -1.68397687e-02 5.16862956e+01] [-7.05355924e-02 9.97507935e-01 1.62759951e-03 -3.27983068e+00] [ 1.69126350e-02 -4.35509149e-04 9.99856876e-01 8.30860791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.923617865 meters 0.017981991322506913 Centerline is valid? [True, True] Translation: X:51.75, Y:-3.28, Z:0.83 [[ 9.97355361e-01 7.07304921e-02 -1.67177125e-02 5.17485694e+01] [-7.07132689e-02 9.97495368e-01 1.61986363e-03 -3.28451986e+00] [ 1.67904145e-02 -4.33415577e-04 9.99858937e-01 8.32131349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.983617865 meters 0.017765885772104577 Centerline is valid? [True, True] Translation: X:51.81, Y:-3.29, Z:0.83 [[ 9.97226521e-01 7.24778577e-02 -1.69182216e-02 5.18106720e+01] [-7.24603904e-02 9.97369936e-01 1.64398499e-03 -3.28557257e+00] [ 1.69928781e-02 -4.13524493e-04 9.99855525e-01 8.32524146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.043617865 meters 0.01760455897756608 Centerline is valid? [True, True] Translation: X:51.87, Y:-3.29, Z:0.83 [[ 9.97078713e-01 7.43075138e-02 -1.76758055e-02 5.18730664e+01] [-7.42886558e-02 9.97235293e-01 1.72201399e-03 -3.28903664e+00] [ 1.77548956e-02 -4.03871665e-04 9.99842288e-01 8.32236318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.103617865000004 meters 0.01635049306855388 Centerline is valid? [True, True] Translation: X:51.94, Y:-3.29, Z:0.83 [[ 9.96814705e-01 7.77616051e-02 -1.77080856e-02 5.19355060e+01] [-7.77431478e-02 9.96971921e-01 1.72937476e-03 -3.28952994e+00] [ 1.77889431e-02 -3.47183869e-04 9.99841704e-01 8.33701342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.163617865 meters 0.01605335261250918 Centerline is valid? [True, True] Translation: X:52.00, Y:-3.29, Z:0.83 [[ 9.96578743e-01 8.06349078e-02 -1.81334252e-02 5.19974888e+01] [-8.06159463e-02 9.96743657e-01 1.77542281e-03 -3.29003038e+00] [ 1.82175376e-02 -3.07505393e-04 9.99834000e-01 8.33533843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.223617865 meters 0.01588948568741201 Centerline is valid? [True, True] Translation: X:52.06, Y:-3.29, Z:0.83 [[ 9.96503412e-01 8.13470222e-02 -1.90685957e-02 5.20606918e+01] [-8.13260893e-02 9.96685789e-01 1.87195421e-03 -3.29428653e+00] [ 1.91576763e-02 -3.14634444e-04 9.99816425e-01 8.33656244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.283617865000004 meters 0.015951506169919482 Centerline is valid? [True, True] Translation: X:52.12, Y:-3.30, Z:0.83 [[ 9.96627948e-01 7.98382496e-02 -1.89363866e-02 5.21224787e+01] [-7.98172354e-02 9.96807772e-01 1.86414480e-03 -3.29971839e+00] [ 1.90247674e-02 -3.46408780e-04 9.99818953e-01 8.34761419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.343617865 meters 0.017022373639382617 Centerline is valid? [True, True] Translation: X:52.18, Y:-3.31, Z:0.84 [[ 9.96882631e-01 7.69657380e-02 -1.73578378e-02 5.21829757e+01] [-7.69475772e-02 9.97033669e-01 1.71270715e-03 -3.30527074e+00] [ 1.74381685e-02 -3.71724438e-04 9.99847874e-01 8.35499062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.403617865 meters 0.01689940935494038 Centerline is valid? [True, True] Translation: X:52.24, Y:-3.31, Z:0.84 [[ 9.96962355e-01 7.58525890e-02 -1.76761836e-02 5.22447157e+01] [-7.58335077e-02 9.97118961e-01 1.74824221e-03 -3.30985751e+00] [ 1.77578666e-02 -4.02484667e-04 9.99842236e-01 8.35639807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.463617865 meters 0.017751710246102215 Centerline is valid? [True, True] Translation: X:52.31, Y:-3.32, Z:0.84 [[ 9.96964556e-01 7.55379250e-02 -1.88598786e-02 5.23058568e+01] [-7.55160539e-02 9.97142832e-01 1.87017902e-03 -3.31704270e+00] [ 1.89472622e-02 -4.40278585e-04 9.99820388e-01 8.35103550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.523617865 meters 0.017177326463626023 Centerline is valid? [True, True] Translation: X:52.37, Y:-3.32, Z:0.84 [[ 9.96906941e-01 7.61292245e-02 -1.95164755e-02 5.23687908e+01] [-7.61058241e-02 9.97097859e-01 1.94002624e-03 -3.32062647e+00] [ 1.96075286e-02 -4.48708177e-04 9.99807653e-01 8.35315529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.583617865 meters 0.017501532020508886 Centerline is valid? [True, True] Translation: X:52.43, Y:-3.33, Z:0.84 [[ 9.96857273e-01 7.66880654e-02 -1.98624672e-02 5.24300049e+01] [-7.66638274e-02 9.97055032e-01 1.97999184e-03 -3.32660720e+00] [ 1.99558146e-02 -4.51036507e-04 9.99800761e-01 8.35456831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.643617865 meters 0.018333826662453083 Centerline is valid? [True, True] Translation: X:52.49, Y:-3.34, Z:0.84 [[ 9.96993789e-01 7.50330106e-02 -1.93243845e-02 5.24916901e+01] [-7.50096638e-02 9.97180937e-01 1.93117869e-03 -3.33640091e+00] [ 1.94148100e-02 -4.75857576e-04 9.99811402e-01 8.37989218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.703617865 meters 0.01919213645594392 Centerline is valid? [True, True] Translation: X:52.55, Y:-3.34, Z:0.84 [[ 9.97134857e-01 7.32120770e-02 -1.90280963e-02 5.25533009e+01] [-7.31890244e-02 9.97316266e-01 1.90601708e-03 -3.34472039e+00] [ 1.91165735e-02 -5.07908261e-04 9.99817133e-01 8.39102798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.763617865 meters 0.022131914984096387 Centerline is valid? [True, True] Translation: X:52.61, Y:-3.36, Z:0.84 [[ 9.97330393e-01 7.04822519e-02 -1.90876846e-02 5.26133339e+01] [-7.04584704e-02 9.97512873e-01 1.91639968e-03 -3.35765561e+00] [ 1.91752832e-02 -5.66394591e-04 9.99815977e-01 8.39434363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.823617865 meters 0.021269743218816636 Centerline is valid? [True, True] Translation: X:52.67, Y:-3.36, Z:0.84 [[ 9.97390225e-01 6.95023283e-02 -1.95490702e-02 5.26747496e+01] [-6.94771101e-02 9.97581607e-01 1.96704323e-03 -3.36392916e+00] [ 1.96385069e-02 -6.03696790e-04 9.99806964e-01 8.40395419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.883617865 meters 0.01916263301146133 Centerline is valid? [True, True] Translation: X:52.74, Y:-3.37, Z:0.84 [[ 9.97370718e-01 7.01238426e-02 -1.82838283e-02 5.27370833e+01] [-7.01018145e-02 9.97538138e-01 1.84372341e-03 -3.36822887e+00] [ 1.83681050e-02 -5.57146203e-04 9.99831137e-01 8.43099602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.943617865 meters 0.019315487012659015 Centerline is valid? [True, True] Translation: X:52.80, Y:-3.38, Z:0.84 [[ 9.97256967e-01 7.17603086e-02 -1.81383419e-02 5.27987940e+01] [-7.17388204e-02 9.97421766e-01 1.83342619e-03 -3.37534278e+00] [ 1.82231442e-02 -5.27173788e-04 9.99833806e-01 8.44155707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.003617865 meters 0.01819372272730558 Centerline is valid? [True, True] Translation: X:52.86, Y:-3.38, Z:0.85 [[ 9.97095129e-01 7.40567205e-02 -1.78018542e-02 5.28608828e+01] [-7.40363127e-02 9.97253915e-01 1.80361681e-03 -3.38126071e+00] [ 1.78865388e-02 -4.80393890e-04 9.99839908e-01 8.46271159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.063617865 meters 0.018272748883562635 Centerline is valid? [True, True] Translation: X:52.92, Y:-3.39, Z:0.85 [[ 9.97012680e-01 7.53028365e-02 -1.71813352e-02 5.29221803e+01] [-7.52839413e-02 9.97160611e-01 1.74482467e-03 -3.38942562e+00] [ 1.72639409e-02 -4.46133691e-04 9.99850868e-01 8.48561359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.123617865 meters 0.018825590976797486 Centerline is valid? [True, True] Translation: X:52.98, Y:-3.40, Z:0.85 [[ 9.96987081e-01 7.58437212e-02 -1.62631370e-02 5.29824752e+01] [-7.58268026e-02 9.97119630e-01 1.65530896e-03 -3.39759949e+00] [ 1.63418379e-02 -4.17139970e-04 9.99866376e-01 8.49275453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.183617865 meters 0.018472740541693972 Centerline is valid? [True, True] Translation: X:53.04, Y:-3.41, Z:0.85 [[ 9.96971554e-01 7.59241878e-02 -1.68296928e-02 5.30448533e+01] [-7.59060151e-02 9.97113499e-01 1.71688758e-03 -3.40541635e+00] [ 1.69114671e-02 -4.34213169e-04 9.99856897e-01 8.50092858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.243617865 meters 0.018848518000160474 Centerline is valid? [True, True] Translation: X:53.11, Y:-3.41, Z:0.85 [[ 9.96922187e-01 7.64808284e-02 -1.72289175e-02 5.31068181e+01] [-7.64617819e-02 9.97070955e-01 1.76248555e-03 -3.41416331e+00] [ 1.73132496e-02 -4.39707210e-04 9.99850018e-01 8.51179514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.303617865 meters 0.01829618625428712 Centerline is valid? [True, True] Translation: X:53.17, Y:-3.42, Z:0.85 [[ 9.96781380e-01 7.79714575e-02 -1.86368719e-02 5.31691139e+01] [-7.79493384e-02 9.96955489e-01 1.91145208e-03 -3.42036030e+00] [ 1.87291704e-02 -4.52568012e-04 9.99824491e-01 8.50992406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.363617865 meters 0.01797438366324214 Centerline is valid? [True, True] Translation: X:53.23, Y:-3.43, Z:0.85 [[ 9.96690446e-01 7.90023669e-02 -1.91515123e-02 5.32307181e+01] [-7.89791566e-02 9.96874328e-01 1.96645224e-03 -3.42681102e+00] [ 1.92470053e-02 -4.47373867e-04 9.99814659e-01 8.51683274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.423617865 meters 0.018666370151086627 Centerline is valid? [True, True] Translation: X:53.29, Y:-3.44, Z:0.85 [[ 9.96650984e-01 7.97324724e-02 -1.81534575e-02 5.32916876e+01] [-7.97116628e-02 9.96816212e-01 1.86817920e-03 -3.43604301e+00] [ 1.82446153e-02 -4.14880355e-04 9.99833467e-01 8.53310781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.483617865 meters 0.017964027766530423 Centerline is valid? [True, True] Translation: X:53.35, Y:-3.44, Z:0.85 [[ 9.96652324e-01 7.99190590e-02 -1.72362491e-02 5.33544677e+01] [-7.99002581e-02 9.96801278e-01 1.77777874e-03 -3.44232699e+00] [ 1.73231935e-02 -3.94646568e-04 9.99849864e-01 8.54757079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.543617865 meters 0.01763498870446455 Centerline is valid? [True, True] Translation: X:53.42, Y:-3.45, Z:0.85 [[ 9.96622332e-01 8.00945077e-02 -1.81327874e-02 5.34172636e+01] [-8.00736324e-02 9.96787187e-01 1.87554566e-03 -3.44961928e+00] [ 1.82247511e-02 -4.17252535e-04 9.99833828e-01 8.54575035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.603617865000004 meters 0.01795777548520958 Centerline is valid? [True, True] Translation: X:53.48, Y:-3.46, Z:0.86 [[ 9.96626274e-01 8.00896735e-02 -1.79364022e-02 5.34781575e+01] [-8.00691566e-02 9.96787575e-01 1.86025096e-03 -3.45928046e+00] [ 1.80277698e-02 -4.17822388e-04 9.99837399e-01 8.55669521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.663617865 meters 0.01776177557140063 Centerline is valid? [True, True] Translation: X:53.54, Y:-3.47, Z:0.86 [[ 9.96483684e-01 8.18218162e-02 -1.80404662e-02 5.35396119e+01] [-8.18012584e-02 9.96646896e-01 1.87577241e-03 -3.46641477e+00] [ 1.81334538e-02 -3.93443762e-04 9.99835498e-01 8.57169848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.723617865 meters 0.017254470233428906 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.47, Z:0.86 [[ 9.96114898e-01 8.61582958e-02 -1.82169624e-02 5.36007312e+01] [-8.61379765e-02 9.96281408e-01 1.89859487e-03 -3.47349018e+00] [ 1.83128007e-02 -3.22046357e-04 9.99832255e-01 8.57938213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.783617865000004 meters 0.016470437326628933 Centerline is valid? [True, True] Translation: X:53.66, Y:-3.48, Z:0.86 [[ 9.95761451e-01 9.01035553e-02 -1.84521333e-02 5.36628066e+01] [-9.00833015e-02 9.95932369e-01 1.92759031e-03 -3.47868668e+00] [ 1.85507596e-02 -2.57191042e-04 9.99827887e-01 8.58233406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.843617865 meters 0.01589156450716215 Centerline is valid? [True, True] Translation: X:53.72, Y:-3.49, Z:0.86 [[ 9.95273400e-01 9.49189219e-02 -2.05245597e-02 5.37246678e+01] [-9.48947743e-02 9.95484988e-01 2.14948240e-03 -3.48579857e+00] [ 2.06359177e-02 -1.91649194e-04 9.99787038e-01 8.57157303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.903617865 meters 0.016007694518708957 Centerline is valid? [True, True] Translation: X:53.79, Y:-3.50, Z:0.86 [[ 9.95105662e-01 9.64328183e-02 -2.15739186e-02 5.37861476e+01] [-9.64063738e-02 9.95339480e-01 2.26490335e-03 -3.49707995e+00] [ 2.16917839e-02 -1.73954884e-04 9.99764690e-01 8.57090207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.963617865 meters 0.015986813261621706 Centerline is valid? [True, True] Translation: X:53.85, Y:-3.51, Z:0.86 [[ 9.95172164e-01 9.57722887e-02 -2.14483595e-02 5.38480649e+01] [-9.57458771e-02 9.95403251e-01 2.25731979e-03 -3.50803037e+00] [ 2.15659554e-02 -1.92829836e-04 9.99767409e-01 8.58341793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.023617865 meters 0.01638279740344704 Centerline is valid? [True, True] Translation: X:53.91, Y:-3.52, Z:0.86 [[ 9.95344841e-01 9.40959080e-02 -2.08472622e-02 5.39091627e+01] [-9.40704746e-02 9.95563111e-01 2.19948956e-03 -3.52217941e+00] [ 2.09617282e-02 -2.28138735e-04 9.99780253e-01 8.59715115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.083617865 meters 0.016787163323435272 Centerline is valid? [True, True] Translation: X:53.97, Y:-3.53, Z:0.86 [[ 9.95445078e-01 9.30018382e-02 -2.09703358e-02 5.39695383e+01] [-9.29757575e-02 9.95665904e-01 2.21737193e-03 -3.53368588e+00] [ 2.10856680e-02 -2.57539114e-04 9.99777639e-01 8.60547019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.143617865 meters 0.01730565494229595 Centerline is valid? [True, True] Translation: X:54.03, Y:-3.55, Z:0.86 [[ 9.95584331e-01 9.14915644e-02 -2.10031867e-02 5.40299778e+01] [-9.14649682e-02 9.95805808e-01 2.22547220e-03 -3.54823497e+00] [ 2.11187072e-02 -2.94589455e-04 9.99776932e-01 8.62172448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.203617865 meters 0.016887093656330756 Centerline is valid? [True, True] Translation: X:54.09, Y:-3.55, Z:0.86 [[ 9.95390743e-01 9.40053146e-02 -1.89807639e-02 5.40917150e+01] [-9.39839750e-02 9.95571671e-01 2.01517050e-03 -3.55413246e+00] [ 1.90861476e-02 -2.21994420e-04 9.99817818e-01 8.64641489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.263617865 meters 0.016464312955571592 Centerline is valid? [True, True] Translation: X:54.15, Y:-3.56, Z:0.87 [[ 9.95257928e-01 9.52418677e-02 -1.97647246e-02 5.41537179e+01] [-9.52188759e-02 9.95454139e-01 2.10325452e-03 -3.56180574e+00] [ 1.98751948e-02 -2.11305882e-04 9.99802446e-01 8.65966115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.323617865 meters 0.016317964818204137 Centerline is valid? [True, True] Translation: X:54.22, Y:-3.57, Z:0.87 [[ 9.95153242e-01 9.63462561e-02 -1.96830689e-02 5.42153024e+01] [-9.63235650e-02 9.95347859e-01 2.09986595e-03 -3.56982422e+00] [ 1.97938147e-02 -1.93745041e-04 9.99804064e-01 8.67529401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.383617865 meters 0.01631093249045433 Centerline is valid? [True, True] Translation: X:54.28, Y:-3.58, Z:0.87 [[ 9.95165065e-01 9.64153797e-02 -1.87234598e-02 5.42777714e+01] [-9.63947757e-02 9.95341167e-01 2.00194606e-03 -3.57676633e+00] [ 1.88292488e-02 -1.87423074e-04 9.99822696e-01 8.69177486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.443617865 meters 0.01627430174188559 Centerline is valid? [True, True] Translation: X:54.34, Y:-3.58, Z:0.87 [[ 9.95119672e-01 9.68656782e-02 -1.88116613e-02 5.43405180e+01] [-9.68448609e-02 9.95297446e-01 2.01661363e-03 -3.58205665e+00] [ 1.89185391e-02 -1.84959165e-04 9.99821011e-01 8.69671461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.503617865 meters 0.016013338960216613 Centerline is valid? [True, True] Translation: X:54.40, Y:-3.59, Z:0.87 [[ 9.94944559e-01 9.86489721e-02 -1.88070662e-02 5.44029181e+01] [-9.86283964e-02 9.95122282e-01 2.02072751e-03 -3.58774507e+00] [ 1.89146733e-02 -1.55601063e-04 9.99821089e-01 8.70882598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.563617865 meters 0.015606790239649487 Centerline is valid? [True, True] Translation: X:54.47, Y:-3.59, Z:0.87 [[ 9.94553681e-01 1.02423105e-01 -1.92998100e-02 5.44654363e+01] [-1.02402113e-01 9.94740921e-01 2.07539274e-03 -3.59171472e+00] [ 1.94108790e-02 -8.77481500e-05 9.99811587e-01 8.72007966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.623617865 meters 0.015503488276506749 Centerline is valid? [True, True] Translation: X:54.53, Y:-3.59, Z:0.87 [[ 9.94395100e-01 1.04252349e-01 -1.76020440e-02 5.45273028e+01] [-1.04235145e-01 9.94550876e-01 1.89451098e-03 -3.59449584e+00] [ 1.77036355e-02 -4.91408318e-05 9.99843277e-01 8.73158471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.683617865 meters 0.01538361773251748 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.60, Z:0.87 [[ 9.94394951e-01 1.04284338e-01 -1.74200763e-02 5.45901601e+01] [-1.04267418e-01 9.94547522e-01 1.87922491e-03 -3.60167146e+00] [ 1.75210675e-02 -5.23453903e-05 9.99846493e-01 8.74695219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.743617865 meters 0.015444139473899438 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.61, Z:0.88 [[ 9.94570097e-01 1.02755170e-01 -1.64832530e-02 5.46519459e+01] [-1.02739739e-01 9.94706675e-01 1.78254917e-03 -3.61027148e+00] [ 1.65791679e-02 -7.93849990e-05 9.99862553e-01 8.76033531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.803617865 meters 0.015819444329760186 Centerline is valid? [True, True] Translation: X:54.71, Y:-3.62, Z:0.88 [[ 9.94894612e-01 9.96281061e-02 -1.60919430e-02 5.47129570e+01] [-9.96129232e-02 9.95024735e-01 1.74430557e-03 -3.61840719e+00] [ 1.61856632e-02 -1.32434734e-04 9.99868995e-01 8.75986268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.863617865 meters 0.01570563048336182 Centerline is valid? [True, True] Translation: X:54.77, Y:-3.63, Z:0.88 [[ 9.95111391e-01 9.73302514e-02 -1.67374175e-02 5.47743412e+01] [-9.73134360e-02 9.95252124e-01 1.81812885e-03 -3.62568750e+00] [ 1.68349093e-02 -1.80465120e-04 9.99858267e-01 8.76679718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.923617865 meters 0.017132576075955024 Centerline is valid? [True, True] Translation: X:54.83, Y:-3.64, Z:0.88 [[ 9.95559771e-01 9.25686910e-02 -1.70815438e-02 5.48342171e+01] [-9.25504030e-02 9.95706264e-01 1.85975710e-03 -3.63831582e+00] [ 1.71803555e-02 -2.70595587e-04 9.99852370e-01 8.78092046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.983617865 meters 0.016691447226679073 Centerline is valid? [True, True] Translation: X:54.90, Y:-3.64, Z:0.88 [[ 9.95603894e-01 9.21386107e-02 -1.68333547e-02 5.48975555e+01] [-9.21207248e-02 9.95746152e-01 1.83651617e-03 -3.64122618e+00] [ 1.69309622e-02 -2.77741817e-04 9.99856622e-01 8.78792413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.043617865 meters 0.017145323554652626 Centerline is valid? [True, True] Translation: X:54.96, Y:-3.65, Z:0.88 [[ 9.95585278e-01 9.21938266e-02 -1.76139742e-02 5.49596099e+01] [-9.21741632e-02 9.95741036e-01 1.92668273e-03 -3.64562427e+00] [ 1.77165852e-02 -2.94623631e-04 9.99843006e-01 8.78067218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.103617865000004 meters 0.017013153688125674 Centerline is valid? [True, True] Translation: X:55.02, Y:-3.65, Z:0.88 [[ 9.95586979e-01 9.18014945e-02 -1.94692995e-02 5.50209936e+01] [-9.17772911e-02 9.95777270e-01 2.13493079e-03 -3.65405868e+00] [ 1.95830757e-02 -3.38669725e-04 9.99808176e-01 8.78965832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.163617865 meters 0.016747017126380638 Centerline is valid? [True, True] Translation: X:55.08, Y:-3.66, Z:0.88 [[ 9.95615034e-01 9.11501853e-02 -2.10320527e-02 5.50825564e+01] [-9.11216813e-02 9.95837083e-01 2.31164948e-03 -3.65969574e+00] [ 2.11552053e-02 -3.85036967e-04 9.99776129e-01 8.78646098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.223617865 meters 0.01678011625539945 Centerline is valid? [True, True] Translation: X:55.14, Y:-3.66, Z:0.88 [[ 9.95368779e-01 9.38132605e-02 -2.09777445e-02 5.51432419e+01] [-9.37853881e-02 9.95589756e-01 2.31072451e-03 -3.66436808e+00] [ 2.11020041e-02 -3.32617131e-04 9.99777273e-01 8.77824153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.283617865000004 meters 0.01612280749545388 Centerline is valid? [True, True] Translation: X:55.20, Y:-3.67, Z:0.88 [[ 9.95038065e-01 9.74547755e-02 -2.00453311e-02 5.52047776e+01] [-9.74299760e-02 9.95239923e-01 2.21241051e-03 -3.66941416e+00] [ 2.01655238e-02 -2.48416548e-04 9.99796624e-01 8.79671640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.343617865 meters 0.015957291607918523 Centerline is valid? [True, True] Translation: X:55.27, Y:-3.68, Z:0.88 [[ 9.94817308e-01 9.96493891e-02 -2.02119273e-02 5.52664401e+01] [-9.96245317e-02 9.95022590e-01 2.23554973e-03 -3.67575820e+00] [ 2.03340954e-02 -2.10359776e-04 9.99793219e-01 8.80754815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.403617865 meters 0.01505695028387617 Centerline is valid? [True, True] Translation: X:55.33, Y:-3.68, Z:0.88 [[ 9.94283544e-01 1.04764146e-01 -2.06084390e-02 5.53290446e+01] [-1.04739316e-01 9.94497090e-01 2.28354540e-03 -3.67880929e+00] [ 2.07342662e-02 -1.11977812e-04 9.99785016e-01 8.81839106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.463617865 meters 0.01497824387998233 Centerline is valid? [True, True] Translation: X:55.39, Y:-3.69, Z:0.88 [[ 9.94044056e-01 1.07134252e-01 -1.99666592e-02 5.53909242e+01] [-1.07111376e-01 9.94244562e-01 2.21474521e-03 -3.68516059e+00] [ 2.00890174e-02 -6.28979768e-05 9.99798193e-01 8.82566736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.523617865 meters 0.014981419506426728 Centerline is valid? [True, True] Translation: X:55.45, Y:-3.69, Z:0.88 [[ 9.94175335e-01 1.06002883e-01 -1.94625929e-02 5.54532912e+01] [-1.05980839e-01 9.94365818e-01 2.16352781e-03 -3.69493025e+00] [ 1.95822773e-02 -8.82640686e-05 9.99808245e-01 8.83800197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.583617865 meters 0.015232139280206908 Centerline is valid? [True, True] Translation: X:55.51, Y:-3.71, Z:0.88 [[ 9.94521170e-01 1.02535027e-01 -2.03521532e-02 5.55141979e+01] [-1.02510080e-01 9.94729380e-01 2.26802955e-03 -3.70715255e+00] [ 2.04774372e-02 -1.69302562e-04 9.99790301e-01 8.84300829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.643617865 meters 0.015120343214402279 Centerline is valid? [True, True] Translation: X:55.58, Y:-3.71, Z:0.88 [[ 9.94490628e-01 1.02807523e-01 -2.04696036e-02 5.55753422e+01] [-1.02782241e-01 9.94701254e-01 2.28616916e-03 -3.71357886e+00] [ 2.05961758e-02 -1.69662070e-04 9.99787862e-01 8.84417253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.703617865 meters 0.015021903667889936 Centerline is valid? [True, True] Translation: X:55.64, Y:-3.72, Z:0.89 [[ 9.94564175e-01 1.02106022e-01 -2.04074028e-02 5.56376839e+01] [-1.02080636e-01 9.94773504e-01 2.28455945e-03 -3.72035517e+00] [ 2.05340109e-02 -1.88940319e-04 9.99789137e-01 8.85006153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.763617865 meters 0.015405841875672812 Centerline is valid? [True, True] Translation: X:55.70, Y:-3.73, Z:0.89 [[ 9.94866164e-01 9.87931601e-02 -2.19369145e-02 5.56990727e+01] [-9.87628810e-02 9.95107950e-01 2.46207849e-03 -3.73054540e+00] [ 2.20728345e-02 -2.82885709e-04 9.99756325e-01 8.85386725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.823617865 meters 0.015696699272212532 Centerline is valid? [True, True] Translation: X:55.76, Y:-3.74, Z:0.89 [[ 9.95146175e-01 9.57987849e-02 -2.25096333e-02 5.57608272e+01] [-9.57660105e-02 9.95400653e-01 2.53198326e-03 -3.73806067e+00] [ 2.26486646e-02 -3.64035682e-04 9.99743420e-01 8.85635877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.883617865 meters 0.016819798262075983 Centerline is valid? [True, True] Translation: X:55.82, Y:-3.75, Z:0.89 [[ 9.95527369e-01 9.18622661e-02 -2.20585878e-02 5.58214594e+01] [-9.18297103e-02 9.95771621e-01 2.48645868e-03 -3.74530860e+00] [ 2.21937274e-02 -4.49703943e-04 9.99753588e-01 8.85437029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.943617865 meters 0.017789409075215076 Centerline is valid? [True, True] Translation: X:55.88, Y:-3.75, Z:0.89 [[ 9.95801538e-01 8.86436582e-02 -2.28385254e-02 5.58825568e+01] [-8.86077929e-02 9.96063253e-01 2.57959341e-03 -3.75351321e+00] [ 2.29772805e-02 -5.45091753e-04 9.99735839e-01 8.86078590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.003617865 meters 0.017991843008884928 Centerline is valid? [True, True] Translation: X:55.94, Y:-3.76, Z:0.89 [[ 9.96079710e-01 8.53988463e-02 -2.30705041e-02 5.59437116e+01] [-8.53612593e-02 9.96346646e-01 2.61093586e-03 -3.76041368e+00] [ 2.32091903e-02 -6.31372952e-04 9.99730431e-01 8.87939204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.063617865 meters 0.01735455665082725 Centerline is valid? [True, True] Translation: X:56.01, Y:-3.76, Z:0.89 [[ 9.96155688e-01 8.45223126e-02 -2.30179059e-02 5.60056967e+01] [-8.44845394e-02 9.96421371e-01 2.61032320e-03 -3.76331062e+00] [ 2.31561639e-02 -6.55631126e-04 9.99731645e-01 8.89215979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.123617865 meters 0.018332133019591784 Centerline is valid? [True, True] Translation: X:56.07, Y:-3.77, Z:0.89 [[ 9.96234788e-01 8.38253072e-02 -2.21260977e-02 5.60666099e+01] [-8.37901166e-02 9.96480253e-01 2.51441801e-03 -3.76907393e+00] [ 2.22589912e-02 -6.51002395e-04 9.99752026e-01 8.91341575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.183617865 meters 0.017991614364911715 Centerline is valid? [True, True] Translation: X:56.13, Y:-3.77, Z:0.89 [[ 9.96329614e-01 8.28064328e-02 -2.16885868e-02 5.61281610e+01] [-8.27722703e-02 9.96565428e-01 2.46968473e-03 -3.77366405e+00] [ 2.18186016e-02 -6.65406467e-04 9.99761725e-01 8.93398217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.243617865 meters 0.018676836021811295 Centerline is valid? [True, True] Translation: X:56.19, Y:-3.78, Z:0.90 [[ 9.96451577e-01 8.16260433e-02 -2.05291034e-02 5.61896213e+01] [-8.15950860e-02 9.96662809e-01 2.34250531e-03 -3.77939967e+00] [ 2.06518033e-02 -6.59119150e-04 9.99786512e-01 8.96315384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.303617865 meters 0.019257644787365302 Centerline is valid? [True, True] Translation: X:56.25, Y:-3.78, Z:0.90 [[ 9.96469854e-01 8.18256256e-02 -1.87722491e-02 5.62509651e+01] [-8.17996951e-02 9.96646479e-01 2.14632847e-03 -3.78433703e+00] [ 1.88849207e-02 -6.03187362e-04 9.99821482e-01 8.99188942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.363617865 meters 0.018123033704451876 Centerline is valid? [True, True] Translation: X:56.31, Y:-3.79, Z:0.90 [[ 9.96354437e-01 8.31420462e-02 -1.91111646e-02 5.63127538e+01] [-8.31153173e-02 9.96537530e-01 2.19003771e-03 -3.78748986e+00] [ 1.92270770e-02 -5.93623278e-04 9.99814966e-01 9.00422296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.423617865 meters 0.018053116286613997 Centerline is valid? [True, True] Translation: X:56.37, Y:-3.79, Z:0.90 [[ 9.96115566e-01 8.56568507e-02 -2.04128149e-02 5.63736143e+01] [-8.56267775e-02 9.96324525e-01 2.34436410e-03 -3.79048836e+00] [ 2.05385989e-02 -5.87374018e-04 9.99788888e-01 9.00406402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.483617865 meters 0.01713465010905287 Centerline is valid? [True, True] Translation: X:56.44, Y:-3.79, Z:0.90 [[ 9.95994747e-01 8.70014568e-02 -2.06206345e-02 5.64364651e+01] [-8.69709729e-02 9.96208022e-01 2.37223290e-03 -3.79203901e+00] [ 2.07488292e-02 -5.69334861e-04 9.99784558e-01 9.01956219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.543617865 meters 0.016896427589317302 Centerline is valid? [True, True] Translation: X:56.50, Y:-3.80, Z:0.90 [[ 9.95912817e-01 8.76794795e-02 -2.16787910e-02 5.64996638e+01] [-8.76458790e-02 9.96148565e-01 2.49707162e-03 -3.79652722e+00] [ 2.18142385e-02 -5.86808933e-04 9.99761869e-01 9.02455620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.603617865 meters 0.017978590576492162 Centerline is valid? [True, True] Translation: X:56.56, Y:-3.80, Z:0.90 [[ 9.95986327e-01 8.67030422e-02 -2.22220569e-02 5.65601586e+01] [-8.66673590e-02 9.96234002e-01 2.56565540e-03 -3.80194556e+00] [ 2.23608188e-02 -6.29430714e-04 9.99749767e-01 9.03728533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.663617865 meters 0.017551896157433595 Centerline is valid? [True, True] Translation: X:56.62, Y:-3.81, Z:0.91 [[ 9.96078777e-01 8.56751753e-02 -2.20643327e-02 5.66225770e+01] [-8.56396326e-02 9.96322909e-01 2.55250935e-03 -3.80614548e+00] [ 2.22018868e-02 -6.52919040e-04 9.99753295e-01 9.06148807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.723617865 meters 0.017609216933115016 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.81, Z:0.91 [[ 9.96159382e-01 8.44610776e-02 -2.30827048e-02 5.66843455e+01] [-8.44217192e-02 9.96426521e-01 2.67603378e-03 -3.80796797e+00] [ 2.32262400e-02 -7.17074532e-04 9.99729977e-01 9.06717771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.783617865000004 meters 0.01812978041296385 Centerline is valid? [True, True] Translation: X:56.75, Y:-3.81, Z:0.91 [[ 9.96158975e-01 8.43262012e-02 -2.35878704e-02 5.67463689e+01] [-8.42849304e-02 9.96437927e-01 2.74018770e-03 -3.81262367e+00] [ 2.37349183e-02 -7.41560553e-04 9.99718012e-01 9.07596401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.843617865 meters 0.019456288504109978 Centerline is valid? [True, True] Translation: X:56.81, Y:-3.82, Z:0.91 [[ 9.96339768e-01 8.20674600e-02 -2.39164979e-02 5.68068115e+01] [-8.20242637e-02 9.96626446e-01 2.78323419e-03 -3.81718350e+00] [ 2.40642273e-02 -8.11313774e-04 9.99710085e-01 9.08968379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.903617865 meters 0.021338614949135606 Centerline is valid? [True, True] Translation: X:56.87, Y:-3.82, Z:0.91 [[ 9.96669548e-01 7.80894341e-02 -2.34915330e-02 5.68674556e+01] [-7.80466087e-02 9.96945958e-01 2.73577075e-03 -3.82201148e+00] [ 2.36334237e-02 -8.93224905e-04 9.99720293e-01 9.10611017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.963617865 meters 0.02057308298511195 Centerline is valid? [True, True] Translation: X:56.93, Y:-3.83, Z:0.91 [[ 9.96886117e-01 7.52899023e-02 -2.34414270e-02 5.69289040e+01] [-7.52464397e-02 9.97161226e-01 2.73191962e-03 -3.82546982e+00] [ 2.35805681e-02 -9.59528815e-04 9.99721479e-01 9.12791984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.023617865 meters 0.02139410193335439 Centerline is valid? [True, True] Translation: X:56.99, Y:-3.83, Z:0.91 [[ 9.97046430e-01 7.31710004e-02 -2.33328285e-02 5.69908448e+01] [-7.31272650e-02 9.97318899e-01 2.72333508e-03 -3.82991632e+00] [ 2.34695400e-02 -1.00902558e-03 9.99724043e-01 9.13668010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.083617865 meters 0.023594417107130033 Centerline is valid? [True, True] Translation: X:57.05, Y:-3.84, Z:0.92 [[ 9.97077487e-01 7.28785088e-02 -2.29174356e-02 5.70514157e+01] [-7.28361934e-02 9.97340325e-01 2.67686906e-03 -3.83663029e+00] [ 2.30515689e-02 -9.99827106e-04 9.99733777e-01 9.15054394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.143617865 meters 0.021649123332135475 Centerline is valid? [True, True] Translation: X:57.11, Y:-3.84, Z:0.92 [[ 9.96837682e-01 7.59260310e-02 -2.34493720e-02 5.71134519e+01] [-7.58825130e-02 9.97112997e-01 2.74139210e-03 -3.83587170e+00] [ 2.35898166e-02 -9.53325678e-04 9.99721267e-01 9.15659576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.203617865 meters 0.018943608469096193 Centerline is valid? [True, True] Translation: X:57.18, Y:-3.83, Z:0.92 [[ 9.96489856e-01 8.01357013e-02 -2.42123191e-02 5.71754235e+01] [-8.00905244e-02 9.96783573e-01 2.83143087e-03 -3.83475231e+00] [ 2.43613406e-02 -8.82314805e-04 9.99702829e-01 9.16983563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.263617865 meters 0.016954606500437206 Centerline is valid? [True, True] Translation: X:57.24, Y:-3.83, Z:0.92 [[ 9.96013912e-01 8.56465789e-02 -2.49188635e-02 5.72369061e+01] [-8.56004299e-02 9.96325283e-01 2.91477546e-03 -3.83472676e+00] [ 2.50769343e-02 -7.70091483e-04 9.99685228e-01 9.17601000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.323617865 meters 0.01526828595374988 Centerline is valid? [True, True] Translation: X:57.30, Y:-3.84, Z:0.92 [[ 9.95497265e-01 9.14045777e-02 -2.51077569e-02 5.72983412e+01] [-9.13595396e-02 9.95813640e-01 2.93747886e-03 -3.83587969e+00] [ 2.52711458e-02 -6.30419060e-04 9.99680435e-01 9.19157261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.383617865 meters 0.014416334147576822 Centerline is valid? [True, True] Translation: X:57.36, Y:-3.84, Z:0.92 [[ 9.94982909e-01 9.68841737e-02 -2.49492984e-02 5.73602501e+01] [-9.68413969e-02 9.95295543e-01 2.91997977e-03 -3.83659177e+00] [ 2.51148253e-02 -4.89205063e-04 9.99684453e-01 9.20081850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.443617865 meters 0.01444780307821985 Centerline is valid? [True, True] Translation: X:57.42, Y:-3.84, Z:0.92 [[ 9.94746118e-01 9.92556131e-02 -2.50695809e-02 5.74216011e+01] [-9.92131011e-02 9.95061875e-01 2.93699921e-03 -3.84135214e+00] [ 2.52372979e-02 -4.34337693e-04 9.99681394e-01 9.20564826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.503617865 meters 0.014165060788970594 Centerline is valid? [True, True] Translation: X:57.48, Y:-3.85, Z:0.92 [[ 9.94707606e-01 9.97339038e-02 -2.46967177e-02 5.74844055e+01] [-9.96926450e-02 9.95014055e-01 2.89933089e-03 -3.84679650e+00] [ 2.48627428e-02 -4.21905381e-04 9.99690785e-01 9.22182628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.563617865 meters 0.01475945471199436 Centerline is valid? [True, True] Translation: X:57.55, Y:-3.85, Z:0.92 [[ 9.94802276e-01 9.87555838e-02 -2.48146470e-02 5.75453087e+01] [-9.87134642e-02 9.95111616e-01 2.91963438e-03 -3.85397564e+00] [ 2.49816736e-02 -4.54919164e-04 9.99687806e-01 9.22192928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.623617865 meters 0.014935547938269872 Centerline is valid? [True, True] Translation: X:57.61, Y:-3.86, Z:0.92 [[ 9.94961325e-01 9.68695764e-02 -2.58504896e-02 5.76064875e+01] [-9.68230751e-02 9.95296943e-01 3.04745815e-03 -3.86167165e+00] [ 2.60241192e-02 -5.29179102e-04 9.99661175e-01 9.22952857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.683617865 meters 0.016121827479284947 Centerline is valid? [True, True] Translation: X:57.67, Y:-3.87, Z:0.92 [[ 9.95287975e-01 9.34441542e-02 -2.58850784e-02 5.76673000e+01] [-9.33962184e-02 9.95624326e-01 3.05735771e-03 -3.87212748e+00] [ 2.60575059e-02 -6.25382931e-04 9.99660250e-01 9.23964799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.743617865 meters 0.015901010882130345 Centerline is valid? [True, True] Translation: X:57.73, Y:-3.88, Z:0.93 [[ 9.95518025e-01 9.11847477e-02 -2.50839233e-02 5.77285766e+01] [-9.11389005e-02 9.95833769e-01 2.96734660e-03 -3.87925650e+00] [ 2.52499946e-02 -6.67925844e-04 9.99680945e-01 9.25901534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.803617865 meters 0.01714654562015764 Centerline is valid? [True, True] Translation: X:57.79, Y:-3.89, Z:0.93 [[ 9.95723067e-01 8.90517714e-02 -2.46039673e-02 5.77888774e+01] [-8.90069129e-02 9.96026744e-01 2.91455133e-03 -3.88874295e+00] [ 2.47657554e-02 -7.12162822e-04 9.99693028e-01 9.26887054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.863617865 meters 0.01716965736955767 Centerline is valid? [True, True] Translation: X:57.85, Y:-3.90, Z:0.93 [[ 9.95648588e-01 8.97049984e-02 -2.52369303e-02 5.78509333e+01] [-8.96578524e-02 9.95968119e-01 2.99578433e-03 -3.89652781e+00] [ 2.54039148e-02 -7.20059465e-04 9.99677009e-01 9.27566548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.923617865 meters 0.016447008693097454 Centerline is valid? [True, True] Translation: X:57.91, Y:-3.90, Z:0.93 [[ 9.95448691e-01 9.17930141e-02 -2.56114288e-02 5.79130439e+01] [-9.17449732e-02 9.95777875e-01 3.04703804e-03 -3.90281033e+00] [ 2.57829909e-02 -6.83450187e-04 9.99667330e-01 9.27924771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.983617865 meters 0.015028249223160513 Centerline is valid? [True, True] Translation: X:57.97, Y:-3.91, Z:0.93 [[ 9.95095298e-01 9.56910828e-02 -2.50711963e-02 5.79741095e+01] [-9.56461804e-02 9.95410914e-01 2.98684414e-03 -3.90737687e+00] [ 2.52419567e-02 -5.74230399e-04 9.99681206e-01 9.29525258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.043617865 meters 0.014493599818473007 Centerline is valid? [True, True] Translation: X:58.04, Y:-3.91, Z:0.93 [[ 9.94826598e-01 9.84532272e-02 -2.50400087e-02 5.80363864e+01] [-9.84092763e-02 9.95141551e-01 2.98449241e-03 -3.91381572e+00] [ 2.52121860e-02 -5.04883297e-04 9.99681995e-01 9.30517199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.103617865 meters 0.014192596850285706 Centerline is valid? [True, True] Translation: X:58.10, Y:-3.92, Z:0.93 [[ 9.94670406e-01 9.99388961e-02 -2.53574446e-02 5.80977248e+01] [-9.98942107e-02 9.94993462e-01 3.02605753e-03 -3.92238501e+00] [ 2.55329125e-02 -4.76867955e-04 9.99673868e-01 9.32082391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.163617865 meters 0.014617374781412272 Centerline is valid? [True, True] Translation: X:58.16, Y:-3.93, Z:0.93 [[ 9.94874695e-01 9.79488497e-02 -2.51070618e-02 5.81590153e+01] [-9.79042550e-02 9.95191310e-01 3.00227350e-03 -3.93311631e+00] [ 2.52803990e-02 -5.28797752e-04 9.99680260e-01 9.33532903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.223617865 meters 0.01449196614972024 Centerline is valid? [True, True] Translation: X:58.22, Y:-3.94, Z:0.94 [[ 9.95095534e-01 9.58545932e-02 -2.44289922e-02 5.82207912e+01] [-9.58115984e-02 9.95395183e-01 2.92712255e-03 -3.94116460e+00] [ 2.45970793e-02 -5.72185791e-04 9.99697282e-01 9.35159203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.283617865000004 meters 0.015490324377600655 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.95, Z:0.94 [[ 9.95358068e-01 9.34463664e-02 -2.30237396e-02 5.82809074e+01] [-9.34074073e-02 9.95624134e-01 2.76415168e-03 -3.95258687e+00] [ 2.31812907e-02 -6.00732851e-04 9.99731097e-01 9.36144701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.343617865 meters 0.015872229567637418 Centerline is valid? [True, True] Translation: X:58.34, Y:-3.96, Z:0.94 [[ 9.95482321e-01 9.22639724e-02 -2.24122266e-02 5.83424091e+01] [-9.22266396e-02 9.95734392e-01 2.69590431e-03 -3.96265878e+00] [ 2.25653597e-02 -6.16720734e-04 9.99745180e-01 9.37828479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.403617865 meters 0.016877643566585533 Centerline is valid? [True, True] Translation: X:58.40, Y:-3.97, Z:0.94 [[ 9.95642039e-01 9.07717909e-02 -2.13871939e-02 5.84028153e+01] [-9.07373441e-02 9.95871523e-01 2.57758435e-03 -3.97389535e+00] [ 2.15328693e-02 -6.25734170e-04 9.99767945e-01 9.38459718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.463617865 meters 0.016167865794040007 Centerline is valid? [True, True] Translation: X:58.46, Y:-3.98, Z:0.94 [[ 9.95505365e-01 9.23398521e-02 -2.10338004e-02 5.84644982e+01] [-9.23067829e-02 9.95727376e-01 2.53977125e-03 -3.98140176e+00] [ 2.11784530e-02 -5.86793455e-04 9.99775539e-01 9.40189594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.523617865 meters 0.015969172643755324 Centerline is valid? [True, True] Translation: X:58.52, Y:-3.99, Z:0.94 [[ 9.95145978e-01 9.58859704e-02 -2.21441492e-02 5.85246827e+01] [-9.58500985e-02 9.95392177e-01 2.67812607e-03 -3.98930310e+00] [ 2.22989076e-02 -5.42607508e-04 9.99751201e-01 9.40141404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.583617865 meters 0.014006263277234638 Centerline is valid? [True, True] Translation: X:58.59, Y:-3.99, Z:0.94 [[ 9.94462378e-01 1.02224418e-01 -2.43874479e-02 5.85856364e+01] [-1.02182789e-01 9.94761264e-01 2.95033424e-03 -3.99436554e+00] [ 2.45612847e-02 -4.42018949e-04 9.99698228e-01 9.38805876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.643617865 meters 0.013389376212353104 Centerline is valid? [True, True] Translation: X:58.65, Y:-4.00, Z:0.94 [[ 9.93963166e-01 1.06855942e-01 -2.48803669e-02 5.86467881e+01] [-1.06813994e-01 9.94274456e-01 3.01270987e-03 -4.00228227e+00] [ 2.50598392e-02 -3.36951273e-04 9.99685896e-01 9.39124417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.703617865 meters 0.012534400008393124 Centerline is valid? [True, True] Translation: X:58.71, Y:-4.01, Z:0.94 [[ 9.93387688e-01 1.12037861e-01 -2.50683055e-02 5.87082949e+01] [-1.11996772e-01 9.93703916e-01 3.04155818e-03 -4.01028607e+00] [ 2.52512430e-02 -2.13877152e-04 9.99681114e-01 9.40590598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.763617865 meters 0.01243182870442285 Centerline is valid? [True, True] Translation: X:58.77, Y:-4.02, Z:0.94 [[ 9.93239247e-01 1.13277150e-01 -2.53788439e-02 5.87699180e+01] [-1.13235273e-01 9.93563410e-01 3.08584140e-03 -4.02161596e+00] [ 2.55650460e-02 -1.91198484e-04 9.99673143e-01 9.42032477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.823617865 meters 0.01256639121832067 Centerline is valid? [True, True] Translation: X:58.83, Y:-4.04, Z:0.94 [[ 9.93428950e-01 1.11799574e-01 -2.44903248e-02 5.88318368e+01] [-1.11759963e-01 9.93730750e-01 2.98452888e-03 -4.03597286e+00] [ 2.46704579e-02 -2.27879602e-04 9.99695612e-01 9.43538152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.883617865 meters 0.013494571421322342 Centerline is valid? [True, True] Translation: X:58.89, Y:-4.05, Z:0.94 [[ 9.93933137e-01 1.07455688e-01 -2.34562043e-02 5.88912688e+01] [-1.07418018e-01 9.94209821e-01 2.86374044e-03 -4.05252674e+00] [ 2.36281139e-02 -3.26747530e-04 9.99720764e-01 9.44692521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.943617865 meters 0.014268769942894487 Centerline is valid? [True, True] Translation: X:58.95, Y:-4.07, Z:0.95 [[ 9.94283002e-01 1.04378947e-01 -2.25021589e-02 5.89518052e+01] [-1.04343411e-01 9.94537523e-01 2.75081174e-03 -4.06647993e+00] [ 2.26663682e-02 -3.87133343e-04 9.99743010e-01 9.46010482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.003617865 meters 0.015116408590400737 Centerline is valid? [True, True] Translation: X:59.01, Y:-4.08, Z:0.95 [[ 9.94750322e-01 1.00173961e-01 -2.09039144e-02 5.90118192e+01] [-1.00142268e-01 9.94969835e-01 2.56009233e-03 -4.08215595e+00] [ 2.10552188e-02 -4.53287284e-04 9.99778212e-01 9.47544921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.063617865 meters 0.016066458322012037 Centerline is valid? [True, True] Translation: X:59.07, Y:-4.10, Z:0.95 [[ 9.94976794e-01 9.77795611e-02 -2.14554502e-02 5.90723947e+01] [-9.77455088e-02 9.95207961e-01 2.63264262e-03 -4.09788005e+00] [ 2.16100535e-02 -5.22244420e-04 9.99766339e-01 9.47809008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.123617865 meters 0.01659335565899314 Centerline is valid? [True, True] Translation: X:59.13, Y:-4.11, Z:0.95 [[ 9.94957413e-01 9.80557111e-02 -2.10908601e-02 5.91329771e+01] [-9.80227607e-02 9.95180795e-01 2.59298186e-03 -4.10966639e+00] [ 2.12434756e-02 -5.12522190e-04 9.99774201e-01 9.48686450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.183617865 meters 0.016671325736468665 Centerline is valid? [True, True] Translation: X:59.20, Y:-4.12, Z:0.95 [[ 9.94902247e-01 9.86171015e-02 -2.10757020e-02 5.91956564e+01] [-9.85842091e-02 9.95125325e-01 2.59654108e-03 -4.11899828e+00] [ 2.12290282e-02 -5.05573134e-04 9.99774511e-01 9.49507787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.243617865 meters 0.01679843430796356 Centerline is valid? [True, True] Translation: X:59.26, Y:-4.13, Z:0.95 [[ 9.94754852e-01 1.00012056e-01 -2.14563129e-02 5.92554246e+01] [-9.99781698e-02 9.94986105e-01 2.64896148e-03 -4.13170687e+00] [ 2.16136612e-02 -4.89904390e-04 9.99766278e-01 9.48671383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.303617865 meters 0.01716616026140931 Centerline is valid? [True, True] Translation: X:59.32, Y:-4.14, Z:0.95 [[ 9.94733396e-01 1.00230640e-01 -2.14310593e-02 5.93170931e+01] [-1.00196779e-01 9.94964110e-01 2.65069875e-03 -4.14417129e+00] [ 2.15888161e-02 -4.89415457e-04 9.99766815e-01 9.49357660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.363617865 meters 0.015992345068861203 Centerline is valid? [True, True] Translation: X:59.38, Y:-4.15, Z:0.95 [[ 9.94910993e-01 9.87352971e-02 -2.00862364e-02 5.93779776e+01] [-9.87051490e-02 9.95113610e-01 2.48927100e-03 -4.15427111e+00] [ 2.02338661e-02 -4.93988129e-04 9.99795152e-01 9.51410142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.423617865 meters 0.017064842004323268 Centerline is valid? [True, True] Translation: X:59.44, Y:-4.17, Z:0.95 [[ 9.95098197e-01 9.67777162e-02 -2.03384352e-02 5.94374049e+01] [-9.67462973e-02 9.95305871e-01 2.52542143e-03 -4.16867081e+00] [ 2.04873685e-02 -5.45374015e-04 9.99789963e-01 9.51925333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.483617865 meters 0.017482889525490052 Centerline is valid? [True, True] Translation: X:59.50, Y:-4.18, Z:0.95 [[ 9.95208018e-01 9.59638927e-02 -1.87598723e-02 5.94984569e+01] [-9.59369432e-02 9.95384679e-01 2.33335089e-03 -4.18032322e+00] [ 1.88972068e-02 -5.22404712e-04 9.99821295e-01 9.53569446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.543617865 meters 0.016481239482111963 Centerline is valid? [True, True] Translation: X:59.56, Y:-4.19, Z:0.95 [[ 9.95235754e-01 9.59361187e-02 -1.73797528e-02 5.95602310e+01] [-9.59129161e-02 9.95387373e-01 2.16561595e-03 -4.18988642e+00] [ 1.75073472e-02 -4.88355657e-04 9.99846615e-01 9.54415394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.603617865 meters 0.01628986339687669 Centerline is valid? [True, True] Translation: X:59.62, Y:-4.20, Z:0.95 [[ 9.95157055e-01 9.67348319e-02 -1.74587668e-02 5.96218247e+01] [-9.67114547e-02 9.95310073e-01 2.18034827e-03 -4.19904817e+00] [ 1.75878021e-02 -4.81326220e-04 9.99845207e-01 9.54351874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.663617865 meters 0.01634591439937197 Centerline is valid? [True, True] Translation: X:59.68, Y:-4.21, Z:0.96 [[ 9.94953049e-01 9.87971042e-02 -1.75374500e-02 5.96823983e+01] [-9.87737589e-02 9.95107496e-01 2.19452533e-03 -4.21146871e+00] [ 1.76684607e-02 -4.51209814e-04 9.99843799e-01 9.55428149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.723617865 meters 0.01592335787271413 Centerline is valid? [True, True] Translation: X:59.74, Y:-4.22, Z:0.96 [[ 9.94611850e-01 1.02422042e-01 -1.60310223e-02 5.97433718e+01] [-1.02402949e-01 9.94740970e-01 2.00954250e-03 -4.21839865e+00] [ 1.61525362e-02 -3.57090823e-04 9.99869476e-01 9.56797858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.783617865000004 meters 0.014902126101707217 Centerline is valid? [True, True] Translation: X:59.81, Y:-4.22, Z:0.96 [[ 9.94209088e-01 1.06336311e-01 -1.55202277e-02 5.98059783e+01] [-1.06318884e-01 9.94330181e-01 1.94601647e-03 -4.22291434e+00] [ 1.56391630e-02 -2.84653978e-04 9.99877660e-01 9.57945795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.843617865 meters 0.014008447248534893 Centerline is valid? [True, True] Translation: X:59.87, Y:-4.23, Z:0.96 [[ 9.93633232e-01 1.11515905e-01 -1.60375889e-02 5.98680959e+01] [-1.11497947e-01 9.93762627e-01 2.01235263e-03 -4.22841932e+00] [ 1.61619658e-02 -2.11382222e-04 9.99869365e-01 9.58814666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.903617865 meters 0.01383752318197837 Centerline is valid? [True, True] Translation: X:59.93, Y:-4.23, Z:0.96 [[ 9.93332446e-01 1.14127018e-01 -1.62995776e-02 5.99300417e+01] [-1.14108754e-01 9.93466151e-01 2.04923877e-03 -4.23497475e+00] [ 1.64269521e-02 -1.75650871e-04 9.99865053e-01 9.58955530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.963617865 meters 0.013749570995086056 Centerline is valid? [True, True] Translation: X:59.99, Y:-4.24, Z:0.96 [[ 9.93063462e-01 1.16335068e-01 -1.70620371e-02 5.99911245e+01] [-1.16315307e-01 9.93210013e-01 2.14942553e-03 -4.24006770e+00] [ 1.71962396e-02 -1.49939883e-04 9.99852122e-01 9.58770109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.023617865 meters 0.01374725939867053 Centerline is valid? [True, True] Translation: X:60.05, Y:-4.25, Z:0.96 [[ 9.92853886e-01 1.17989162e-01 -1.78806722e-02 6.00517038e+01] [-1.17967651e-01 9.93014874e-01 2.25671065e-03 -4.24659261e+00] [ 1.80220409e-02 -1.31243036e-04 9.99837581e-01 9.59220499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.083617865 meters 0.01368975392056367 Centerline is valid? [True, True] Translation: X:60.11, Y:-4.26, Z:0.96 [[ 9.92911291e-01 1.17417438e-01 -1.84476154e-02 6.01134153e+01] [-1.17394363e-01 9.93082636e-01 2.33252670e-03 -4.25596616e+00] [ 1.85938858e-02 -1.50346034e-04 9.99827107e-01 9.60816344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.143617865 meters 0.014372231661773673 Centerline is valid? [True, True] Translation: X:60.17, Y:-4.27, Z:0.96 [[ 9.93219048e-01 1.14667168e-01 -1.91667383e-02 6.01740895e+01] [-1.14641650e-01 9.93403943e-01 2.42852620e-03 -4.26562242e+00] [ 1.93187856e-02 -2.14751979e-04 9.99813352e-01 9.60855003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.203617865 meters 0.014680422662938258 Centerline is valid? [True, True] Translation: X:60.24, Y:-4.27, Z:0.96 [[ 9.93431798e-01 1.12950715e-01 -1.83138964e-02 6.02356600e+01] [-1.12927052e-01 9.93600563e-01 2.32446038e-03 -4.27346619e+00] [ 1.84592472e-02 -2.41058529e-04 9.99829585e-01 9.61650392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.263617865 meters 0.015243279757251664 Centerline is valid? [True, True] Translation: X:60.30, Y:-4.28, Z:0.96 [[ 9.93815630e-01 1.09570300e-01 -1.80233740e-02 6.02971041e+01] [-1.09546747e-01 9.93979002e-01 2.29191051e-03 -4.28305213e+00] [ 1.81659806e-02 -3.03334496e-04 9.99834939e-01 9.63247224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.323617865 meters 0.017681588514381483 Centerline is valid? [True, True] Translation: X:60.36, Y:-4.30, Z:0.97 [[ 9.94502421e-01 1.03077130e-01 -1.84401896e-02 6.03560775e+01] [-1.03051284e-01 9.94673271e-01 2.34892844e-03 -4.29817529e+00] [ 1.85840845e-02 -4.35729809e-04 9.99827206e-01 9.65114977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.383617865 meters 0.018261017480958486 Centerline is valid? [True, True] Translation: X:60.42, Y:-4.31, Z:0.97 [[ 9.94855239e-01 9.98234569e-02 -1.72722680e-02 6.04176273e+01] [-9.98002851e-02 9.95005056e-01 2.20051363e-03 -4.30535457e+00] [ 1.74056569e-02 -4.65415244e-04 9.99848402e-01 9.65891514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.443617865 meters 0.01939198393991403 Centerline is valid? [True, True] Translation: X:60.48, Y:-4.31, Z:0.97 [[ 9.95237780e-01 9.58139155e-02 -1.79291862e-02 6.04785432e+01] [-9.57882755e-02 9.95399108e-01 2.28539838e-03 -4.31455526e+00] [ 1.80656689e-02 -5.57108977e-04 9.99836647e-01 9.65838294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.503617865 meters 0.01977527432422532 Centerline is valid? [True, True] Translation: X:60.54, Y:-4.32, Z:0.97 [[ 9.95369974e-01 9.42805292e-02 -1.87028741e-02 6.05401108e+01] [-9.42523342e-02 9.95545483e-01 2.38527553e-03 -4.32398726e+00] [ 1.88444468e-02 -6.11442097e-04 9.99822241e-01 9.66578121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.563617865 meters 0.019159275402800695 Centerline is valid? [True, True] Translation: X:60.60, Y:-4.33, Z:0.97 [[ 9.95219813e-01 9.57613738e-02 -1.91646084e-02 6.06021141e+01] [-9.57319530e-02 9.95404137e-01 2.44884991e-03 -4.32901257e+00] [ 1.93110357e-02 -6.02478560e-04 9.99813343e-01 9.67733328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.623617865 meters 0.018200132299719493 Centerline is valid? [True, True] Translation: X:60.66, Y:-4.33, Z:0.97 [[ 9.94918230e-01 9.85245168e-02 -2.07517636e-02 6.06647507e+01] [-9.84905250e-02 9.95134444e-01 2.65622632e-03 -4.33300552e+00] [ 2.09124981e-02 -5.98875895e-04 9.99781130e-01 9.66269152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.683617865 meters 0.017969997984611654 Centerline is valid? [True, True] Translation: X:60.73, Y:-4.34, Z:0.97 [[ 9.94674987e-01 1.00928909e-01 -2.08572800e-02 6.07265832e+01] [-1.00895044e-01 9.94893486e-01 2.67233577e-03 -4.34023411e+00] [ 2.10204879e-02 -5.53709366e-04 9.99778892e-01 9.66948867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.743617865 meters 0.017461199136455507 Centerline is valid? [True, True] Translation: X:60.79, Y:-4.35, Z:0.97 [[ 9.94413341e-01 1.03408763e-01 -2.11833754e-02 6.07880077e+01] [-1.03374283e-01 9.94638810e-01 2.71926751e-03 -4.34706784e+00] [ 2.13510034e-02 -5.14259651e-04 9.99771909e-01 9.67588554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.803617865 meters 0.017054961508360885 Centerline is valid? [True, True] Translation: X:60.85, Y:-4.35, Z:0.97 [[ 9.94265596e-01 1.04906682e-01 -2.07487742e-02 6.08502015e+01] [-1.04873826e-01 9.94481956e-01 2.66835894e-03 -4.35322342e+00] [ 2.09142102e-02 -4.77054157e-04 9.99781160e-01 9.68540877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.863617865 meters 0.01669501880912144 Centerline is valid? [True, True] Translation: X:60.91, Y:-4.36, Z:0.97 [[ 9.94222823e-01 1.05493881e-01 -1.97994718e-02 6.09119800e+01] [-1.05463988e-01 9.94419851e-01 2.55084087e-03 -4.36060264e+00] [ 1.99580859e-02 -4.47972947e-04 9.99800717e-01 9.69957145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.923617865 meters 0.016885123364131942 Centerline is valid? [True, True] Translation: X:60.97, Y:-4.37, Z:0.97 [[ 9.94319179e-01 1.04629393e-01 -1.95463493e-02 6.09734294e+01] [-1.04600001e-01 9.94511174e-01 2.52290742e-03 -4.36940965e+00] [ 1.97030331e-02 -4.64027073e-04 9.99805769e-01 9.71797884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.983617865 meters 0.018002924612764475 Centerline is valid? [True, True] Translation: X:61.03, Y:-4.38, Z:0.97 [[ 9.94622216e-01 1.01747254e-01 -1.93427983e-02 6.10342012e+01] [-1.01717844e-01 9.94810146e-01 2.50084129e-03 -4.38021419e+00] [ 1.94968658e-02 -5.19884559e-04 9.99809783e-01 9.73058689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.043617865 meters 0.01825304919353519 Centerline is valid? [True, True] Translation: X:61.10, Y:-4.39, Z:0.97 [[ 9.94811459e-01 9.98536721e-02 -1.94783088e-02 6.10953353e+01] [-9.98234332e-02 9.95001973e-01 2.52103362e-03 -4.38794989e+00] [ 1.96326901e-02 -5.63561480e-04 9.99807101e-01 9.73161084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.103617865 meters 0.018076448748414756 Centerline is valid? [True, True] Translation: X:61.16, Y:-4.40, Z:0.97 [[ 9.94810992e-01 9.98130173e-02 -1.97092028e-02 6.11574076e+01] [-9.97819557e-02 9.95006045e-01 2.55562399e-03 -4.39565219e+00] [ 1.98658604e-02 -5.75740039e-04 9.99802489e-01 9.73918076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.163617865 meters 0.018314141320632277 Centerline is valid? [True, True] Translation: X:61.22, Y:-4.40, Z:0.97 [[ 9.94739757e-01 1.00190124e-01 -2.13249947e-02 6.12197416e+01] [-1.00153711e-01 9.94968117e-01 2.77146307e-03 -4.40383700e+00] [ 2.14953630e-02 -6.21107144e-04 9.99768755e-01 9.73408802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.223617865 meters 0.018479188193657972 Centerline is valid? [True, True] Translation: X:61.28, Y:-4.41, Z:0.97 [[ 9.94639515e-01 1.00955776e-01 -2.23644162e-02 6.12813977e+01] [-1.00915779e-01 9.94890708e-01 2.91273019e-03 -4.41247126e+00] [ 2.25442068e-02 -6.40194059e-04 9.99745642e-01 9.73465041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.283617865000004 meters 0.018092529793691484 Centerline is valid? [True, True] Translation: X:61.34, Y:-4.42, Z:0.97 [[ 9.94405302e-01 1.03116060e-01 -2.29166670e-02 6.13432288e+01] [-1.03074507e-01 9.94669143e-01 2.99025655e-03 -4.41931874e+00] [ 2.31028450e-02 -6.11402806e-04 9.99732907e-01 9.73863949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.343617865 meters 0.017488901995639128 Centerline is valid? [True, True] Translation: X:61.40, Y:-4.43, Z:0.97 [[ 9.94136504e-01 1.05608795e-01 -2.32248541e-02 6.14046434e+01] [-1.05566665e-01 9.94407593e-01 3.03609273e-03 -4.42544979e+00] [ 2.34156093e-02 -5.66520232e-04 9.99725657e-01 9.74479287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.403617865 meters 0.01693834093019425 Centerline is valid? [True, True] Translation: X:61.47, Y:-4.43, Z:0.97 [[ 9.93771871e-01 1.08913713e-01 -2.35641851e-02 6.14665293e+01] [-1.08871135e-01 9.94051081e-01 3.08615789e-03 -4.43195462e+00] [ 2.37601285e-02 -5.01477329e-04 9.99717563e-01 9.74999442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.463617865 meters 0.016853188698725236 Centerline is valid? [True, True] Translation: X:61.53, Y:-4.44, Z:0.98 [[ 9.93635566e-01 1.10493888e-01 -2.18966573e-02 6.15278344e+01] [-1.10457398e-01 9.93876708e-01 2.87270601e-03 -4.44160723e+00] [ 2.20799942e-02 -4.35775072e-04 9.99756112e-01 9.78042088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.523617865 meters 0.017064759834546837 Centerline is valid? [True, True] Translation: X:61.59, Y:-4.45, Z:0.98 [[ 9.93634313e-01 1.10609341e-01 -2.13641319e-02 6.15897681e+01] [-1.10574521e-01 9.93863869e-01 2.80795681e-03 -4.45098677e+00] [ 2.15436250e-02 -4.27753589e-04 9.99767818e-01 9.79571042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.583617865 meters 0.017443266819224316 Centerline is valid? [True, True] Translation: X:61.65, Y:-4.46, Z:0.98 [[ 9.93714576e-01 1.10112726e-01 -2.01625880e-02 6.16524785e+01] [-1.10081507e-01 9.93919017e-01 2.65516235e-03 -4.45976786e+00] [ 2.03323469e-02 -4.18945460e-04 9.99793189e-01 9.81471576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.643617865 meters 0.016739385249532585 Centerline is valid? [True, True] Translation: X:61.71, Y:-4.47, Z:0.98 [[ 9.93858446e-01 1.08953247e-01 -1.93540710e-02 6.17144429e+01] [-1.08924166e-01 9.94046782e-01 2.55359367e-03 -4.46662009e+00] [ 1.95170743e-02 -4.29784602e-04 9.99809431e-01 9.83813732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.703617865 meters 0.017631878690607634 Centerline is valid? [True, True] Translation: X:61.78, Y:-4.48, Z:0.98 [[ 9.94292352e-01 1.04822835e-01 -1.98718942e-02 6.17757491e+01] [-1.04791267e-01 9.94490771e-01 2.62617859e-03 -4.47578171e+00] [ 2.00376989e-02 -5.28788315e-04 9.99799085e-01 9.83800156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.763617865 meters 0.019786047553186286 Centerline is valid? [True, True] Translation: X:61.84, Y:-4.49, Z:0.98 [[ 9.94872843e-01 9.90351170e-02 -2.04956524e-02 6.18351388e+01] [-9.90002822e-02 9.95083716e-01 2.70984166e-03 -4.48682978e+00] [ 2.06632595e-02 -6.66872498e-04 9.99786270e-01 9.84355869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.823617865 meters 0.021050437921126517 Centerline is valid? [True, True] Translation: X:61.90, Y:-4.50, Z:0.98 [[ 9.95201426e-01 9.55784823e-02 -2.09493672e-02 6.18952777e+01] [-9.55413114e-02 9.95421611e-01 2.77036902e-03 -4.49562085e+00] [ 2.11182405e-02 -7.55545180e-04 9.99776700e-01 9.84073630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.883617865 meters 0.021761754937696384 Centerline is valid? [True, True] Translation: X:61.96, Y:-4.50, Z:0.99 [[ 9.95523553e-01 9.22680661e-02 -2.04807019e-02 6.19556967e+01] [-9.22318225e-02 9.95733876e-01 2.70925063e-03 -4.50449669e+00] [ 2.06433060e-02 -8.08150357e-04 9.99786578e-01 9.86111892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.943617865 meters 0.025008671852101462 Centerline is valid? [True, True] Translation: X:62.02, Y:-4.52, Z:0.99 [[ 9.95545862e-01 9.19128626e-02 -2.09871814e-02 6.20152558e+01] [-9.18747062e-02 9.95766702e-01 2.77714777e-03 -4.51669639e+00] [ 2.11535920e-02 -8.36586844e-04 9.99775888e-01 9.86504366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.003617865 meters 0.021465532346510875 Centerline is valid? [True, True] Translation: X:62.08, Y:-4.52, Z:0.99 [[ 9.95371794e-01 9.37710089e-02 -2.10235487e-02 6.20775777e+01] [-9.37330669e-02 9.95593469e-01 2.78511639e-03 -4.51629490e+00] [ 2.11920710e-02 -8.01624597e-04 9.99775101e-01 9.87600660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.063617865 meters 0.02002833513083492 Centerline is valid? [True, True] Translation: X:62.14, Y:-4.52, Z:0.99 [[ 9.94875078e-01 9.88222601e-02 -2.13948689e-02 6.21384471e+01] [-9.87840453e-02 9.95104847e-01 2.83831066e-03 -4.51940578e+00] [ 2.15706260e-02 -7.10292844e-04 9.99767075e-01 9.89155733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.123617865 meters 0.02231403389141099 Centerline is valid? [True, True] Translation: X:62.20, Y:-4.53, Z:0.99 [[ 9.94537296e-01 1.02210723e-01 -2.11786224e-02 6.21984328e+01] [-1.02174034e-01 9.94762570e-01 2.81008149e-03 -4.52962051e+00] [ 2.13549213e-02 -6.30825563e-04 9.99771759e-01 9.89330768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.183617865 meters 0.018635611888519733 Centerline is valid? [True, True] Translation: X:62.26, Y:-4.53, Z:0.99 [[ 9.94134247e-01 1.05972979e-01 -2.16061853e-02 6.22607584e+01] [-1.05935665e-01 9.94368851e-01 2.86757304e-03 -4.52672559e+00] [ 2.17884029e-02 -5.61886968e-04 9.99762447e-01 9.90250837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.243617865 meters 0.01805395061976509 Centerline is valid? [True, True] Translation: X:62.32, Y:-4.53, Z:0.99 [[ 9.94019279e-01 1.07045278e-01 -2.16097324e-02 6.23233312e+01] [-1.07008182e-01 9.94254000e-01 2.86911215e-03 -4.53115950e+00] [ 2.17926878e-02 -5.39534626e-04 9.99762366e-01 9.90946741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.303617865 meters 0.018244789301434566 Centerline is valid? [True, True] Translation: X:62.39, Y:-4.54, Z:0.99 [[ 9.94049375e-01 1.07112483e-01 -1.98180853e-02 6.23858967e+01] [-1.07081248e-01 9.94246785e-01 2.63365673e-03 -4.53712065e+00] [ 1.99861652e-02 -4.95839503e-04 9.99800134e-01 9.93260666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.363617865 meters 0.01876580519969772 Centerline is valid? [True, True] Translation: X:62.45, Y:-4.54, Z:0.99 [[ 9.94228045e-01 1.05630941e-01 -1.87802955e-02 6.24475586e+01] [-1.05602534e-01 9.94405275e-01 2.50069821e-03 -4.54455587e+00] [ 1.89393760e-02 -5.03017504e-04 9.99820507e-01 9.94517929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.423617865 meters 0.01934088072392639 Centerline is valid? [True, True] Translation: X:62.51, Y:-4.55, Z:0.99 [[ 9.94334630e-01 1.04585382e-01 -1.89879044e-02 6.25088131e+01] [-1.04556070e-01 9.94515768e-01 2.53266748e-03 -4.55135435e+00] [ 1.91486504e-02 -5.33018312e-04 9.99816506e-01 9.94908663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.483617865 meters 0.01883453925437017 Centerline is valid? [True, True] Translation: X:62.57, Y:-4.56, Z:1.00 [[ 9.94382349e-01 1.04218835e-01 -1.84980635e-02 6.25708777e+01] [-1.04190903e-01 9.94554249e-01 2.47000783e-03 -4.55733012e+00] [ 1.86547490e-02 -5.28802240e-04 9.99825845e-01 9.96753883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.543617865 meters 0.018444144441682478 Centerline is valid? [True, True] Translation: X:62.63, Y:-4.56, Z:1.00 [[ 9.94092657e-01 1.06802310e-01 -1.93146668e-02 6.26334205e+01] [-1.06772259e-01 9.94280147e-01 2.58342247e-03 -4.56167144e+00] [ 1.94801052e-02 -5.05890710e-04 9.99810117e-01 9.96723624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.603617865 meters 0.017958395602605 Centerline is valid? [True, True] Translation: X:62.70, Y:-4.57, Z:1.00 [[ 9.93717421e-01 1.10188951e-01 -1.95980350e-02 6.26952758e+01] [-1.10158638e-01 9.93910557e-01 2.62292016e-03 -4.56644739e+00] [ 1.97677107e-02 -4.47548616e-04 9.99804500e-01 9.97416605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.663617865 meters 0.01801033228936587 Centerline is valid? [True, True] Translation: X:62.76, Y:-4.57, Z:1.00 [[ 9.93172130e-01 1.14707689e-01 -2.12430298e-02 6.27553057e+01] [-1.14673084e-01 9.93399212e-01 2.84405823e-03 -4.57271792e+00] [ 2.14290444e-02 -3.88635623e-04 9.99770296e-01 9.96487953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.723617865 meters 0.016450678064782873 Centerline is valid? [True, True] Translation: X:62.82, Y:-4.58, Z:1.00 [[ 9.92922769e-01 1.16708665e-01 -2.19877912e-02 6.28172352e+01] [-1.16672041e-01 9.93166128e-01 2.94555822e-03 -4.57653261e+00] [ 2.21813016e-02 -3.59351343e-04 9.99753900e-01 9.97661769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.783617865000004 meters 0.016403097630215746 Centerline is valid? [True, True] Translation: X:62.88, Y:-4.58, Z:1.00 [[ 9.92760659e-01 1.17994149e-01 -2.24422405e-02 6.28781407e+01] [-1.17956202e-01 9.93014231e-01 3.01183808e-03 -4.58306444e+00] [ 2.26408434e-02 -3.42832905e-04 9.99743604e-01 9.97608622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.843617865 meters 0.01623979399265154 Centerline is valid? [True, True] Translation: X:62.94, Y:-4.59, Z:1.00 [[ 9.92823032e-01 1.17534781e-01 -2.20907720e-02 6.29400228e+01] [-1.17497783e-01 9.93068704e-01 2.96988570e-03 -4.59158558e+00] [ 2.22867191e-02 -3.52954193e-04 9.99751558e-01 9.99101499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.903617865 meters 0.017271448096949193 Centerline is valid? [True, True] Translation: X:63.00, Y:-4.60, Z:1.00 [[ 9.93098837e-01 1.15384938e-01 -2.10003782e-02 6.30003321e+01] [-1.15350910e-01 9.93320777e-01 2.82864232e-03 -4.60411482e+00] [ 2.11864947e-02 -3.86708668e-04 9.99775466e-01 1.00124655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.963617865 meters 0.016921118729902918 Centerline is valid? [True, True] Translation: X:63.06, Y:-4.61, Z:1.00 [[ 9.93240887e-01 1.14311784e-01 -2.01334746e-02 6.30619917e+01] [-1.14280197e-01 9.93444844e-01 2.71631656e-03 -4.61277309e+00] [ 2.03120036e-02 -3.97099224e-04 9.99793611e-01 1.00385550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02361786499999 meters 0.017050962409996893 Centerline is valid? [True, True] Translation: X:63.12, Y:-4.62, Z:1.00 [[ 9.93254194e-01 1.14326399e-01 -1.93799134e-02 6.31238621e+01] [-1.14297043e-01 9.93443166e-01 2.61937258e-03 -4.62141178e+00] [ 1.95523060e-02 -3.86636011e-04 9.99808761e-01 1.00496895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.083617865 meters 0.017376908175611102 Centerline is valid? [True, True] Translation: X:63.19, Y:-4.63, Z:1.00 [[ 9.93262673e-01 1.14150135e-01 -1.99752047e-02 6.31860502e+01] [-1.14118797e-01 9.93463427e-01 2.70551045e-03 -4.63176980e+00] [ 2.01534697e-02 -4.07736201e-04 9.99796815e-01 1.00478640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.143617865 meters 0.017727916172934614 Centerline is valid? [True, True] Translation: X:63.25, Y:-4.64, Z:1.00 [[ 9.93313948e-01 1.13527065e-01 -2.09524536e-02 6.32471690e+01] [-1.13492324e-01 9.93534804e-01 2.84366876e-03 -4.64246526e+00] [ 2.11398253e-02 -4.46713192e-04 9.99776429e-01 1.00490903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.203617865 meters 0.018447806222001206 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.65, Z:1.00 [[ 9.93472558e-01 1.11841331e-01 -2.24453567e-02 6.33085867e+01] [-1.11800904e-01 9.93725940e-01 3.05192070e-03 -4.65355147e+00] [ 2.26458641e-02 -5.22588291e-04 9.99743413e-01 1.00444455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26361786499999 meters 0.01895890680728475 Centerline is valid? [True, True] Translation: X:63.37, Y:-4.66, Z:1.01 [[ 9.93647719e-01 1.10094088e-01 -2.33131172e-02 6.33696424e+01] [-1.10049860e-01 9.93920995e-01 3.17559052e-03 -4.66479796e+00] [ 2.35210103e-02 -5.89812998e-04 9.99723169e-01 1.00524642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32361786499999 meters 0.020229693083471476 Centerline is valid? [True, True] Translation: X:63.43, Y:-4.68, Z:1.01 [[ 9.94013897e-01 1.06592132e-01 -2.39685063e-02 6.34309321e+01] [-1.06544257e-01 9.94302586e-01 3.26927088e-03 -4.67764340e+00] [ 2.41804263e-02 -6.95993983e-04 9.99707368e-01 1.00606587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38361786499999 meters 0.0205609528779111 Centerline is valid? [True, True] Translation: X:63.49, Y:-4.69, Z:1.01 [[ 9.94126597e-01 1.05453739e-01 -2.43273106e-02 6.34919134e+01] [-1.05404004e-01 9.94423936e-01 3.32130466e-03 -4.68798689e+00] [ 2.45419040e-02 -7.37601362e-04 9.99698530e-01 1.00625592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.443617865 meters 0.021027988392850562 Centerline is valid? [True, True] Translation: X:63.55, Y:-4.70, Z:1.01 [[ 9.94085436e-01 1.05763493e-01 -2.46623168e-02 6.35527033e+01] [-1.05712325e-01 9.94391033e-01 3.37302247e-03 -4.69795217e+00] [ 2.48807294e-02 -7.45961669e-04 9.99690148e-01 1.00620616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.503617865 meters 0.01846088680936781 Centerline is valid? [True, True] Translation: X:63.61, Y:-4.70, Z:1.01 [[ 9.93803115e-01 1.08490208e-01 -2.41918156e-02 6.36145822e+01] [-1.08441636e-01 9.94097292e-01 3.31459303e-03 -4.70364451e+00] [ 2.44086192e-02 -6.70652814e-04 9.99701840e-01 1.00933157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.563617865 meters 0.0178403386188937 Centerline is valid? [True, True] Translation: X:63.68, Y:-4.71, Z:1.01 [[ 9.93512931e-01 1.11059938e-01 -2.44488577e-02 6.36762204e+01] [-1.11010956e-01 9.93813517e-01 3.35585297e-03 -4.71127225e+00] [ 2.46703060e-02 -6.19992243e-04 9.99695449e-01 1.01082041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.623617865 meters 0.017150314745126786 Centerline is valid? [True, True] Translation: X:63.74, Y:-4.72, Z:1.01 [[ 9.93094142e-01 1.14757795e-01 -2.43859388e-02 6.37377439e+01] [-1.14710032e-01 9.93393359e-01 3.35318031e-03 -4.71929503e+00] [ 2.46096332e-02 -5.32711914e-04 9.99696995e-01 1.01179062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68361786499999 meters 0.017564994253039805 Centerline is valid? [True, True] Translation: X:63.80, Y:-4.73, Z:1.01 [[ 9.92883289e-01 1.16519952e-01 -2.46145122e-02 6.37974294e+01] [-1.16471685e-01 9.93188226e-01 3.39047070e-03 -4.73049006e+00] [ 2.48419012e-02 -4.99447986e-04 9.99691268e-01 1.01253967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74361786499999 meters 0.0174314651245638 Centerline is valid? [True, True] Translation: X:63.86, Y:-4.74, Z:1.01 [[ 9.92838175e-01 1.16835540e-01 -2.49362058e-02 6.38594937e+01] [-1.16785950e-01 9.93151148e-01 3.44083859e-03 -4.74030659e+00] [ 2.51674337e-02 -5.03997423e-04 9.99683123e-01 1.01327841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80361786499999 meters 0.01693954976575202 Centerline is valid? [True, True] Translation: X:63.92, Y:-4.75, Z:1.01 [[ 9.92887554e-01 1.16410297e-01 -2.49589255e-02 6.39207214e+01] [-1.16360317e-01 9.93201073e-01 3.45049488e-03 -4.74938832e+00] [ 2.51909047e-02 -5.21724935e-04 9.99682523e-01 1.01498791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.863617865 meters 0.017233234502073584 Centerline is valid? [True, True] Translation: X:63.98, Y:-4.76, Z:1.02 [[ 9.92938045e-01 1.15905077e-01 -2.52992630e-02 6.39820037e+01] [-1.15853402e-01 9.93260144e-01 3.50375420e-03 -4.76080591e+00] [ 2.55348525e-02 -5.48005152e-04 9.99673782e-01 1.01571247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.923617865 meters 0.017493892919425477 Centerline is valid? [True, True] Translation: X:64.04, Y:-4.77, Z:1.02 [[ 9.93063893e-01 1.14498161e-01 -2.67259242e-02 6.40430246e+01] [-1.14439803e-01 9.93423264e-01 3.70802228e-03 -4.77343631e+00] [ 2.69747166e-02 -6.23793530e-04 9.99635921e-01 1.01635106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.983617865 meters 0.017116378282750897 Centerline is valid? [True, True] Translation: X:64.10, Y:-4.78, Z:1.02 [[ 9.93120736e-01 1.13835667e-01 -2.74343674e-02 6.41039574e+01] [-1.13773732e-01 9.93499370e-01 3.81314111e-03 -4.78385548e+00] [ 2.76900982e-02 -6.65599147e-04 9.99616334e-01 1.01749153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04361786499999 meters 0.017496259151945106 Centerline is valid? [True, True] Translation: X:64.16, Y:-4.79, Z:1.02 [[ 9.93040357e-01 1.14574527e-01 -2.72676960e-02 6.41643401e+01] [-1.14513441e-01 9.93414444e-01 3.79648293e-03 -4.79412992e+00] [ 2.75231033e-02 -6.47543056e-04 9.99620958e-01 1.01823557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10361786499999 meters 0.01702596367112611 Centerline is valid? [True, True] Translation: X:64.23, Y:-4.80, Z:1.02 [[ 9.92848685e-01 1.16203777e-01 -2.73527162e-02 6.42260881e+01] [-1.16142800e-01 9.93225207e-01 3.81292337e-03 -4.80490907e+00] [ 2.76104833e-02 -6.08834902e-04 9.99618573e-01 1.01959972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16361786499999 meters 0.01664962320635973 Centerline is valid? [True, True] Translation: X:64.29, Y:-4.81, Z:1.02 [[ 9.92617143e-01 1.17981815e-01 -2.81336001e-02 6.42873940e+01] [-1.17917894e-01 9.93015587e-01 3.92621212e-03 -4.81413138e+00] [ 2.84003250e-02 -5.79770593e-04 9.99596461e-01 1.02001685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.223617865 meters 0.01621369973638253 Centerline is valid? [True, True] Translation: X:64.35, Y:-4.82, Z:1.02 [[ 9.92304469e-01 1.20462980e-01 -2.86445586e-02 6.43491235e+01] [-1.20397543e-01 9.92717681e-01 4.00458802e-03 -4.82289739e+00] [ 2.89183644e-02 -5.25036115e-04 9.99581639e-01 1.02107593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.283617865 meters 0.015849415294994437 Centerline is valid? [True, True] Translation: X:64.41, Y:-4.83, Z:1.02 [[ 9.92219744e-01 1.21287368e-01 -2.80954386e-02 6.44108745e+01] [-1.21224554e-01 9.92617311e-01 3.93462538e-03 -4.83234035e+00] [ 2.83652390e-02 -4.98155968e-04 9.99597502e-01 1.02228234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.343617865 meters 0.015962706995957192 Centerline is valid? [True, True] Translation: X:64.47, Y:-4.84, Z:1.02 [[ 9.92299476e-01 1.20778185e-01 -2.74659637e-02 6.44725076e+01] [-1.20717764e-01 9.92679390e-01 3.85353800e-03 -4.84279445e+00] [ 2.77303195e-02 -5.08234013e-04 9.99615312e-01 1.02379055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40361786499999 meters 0.016362622912624386 Centerline is valid? [True, True] Translation: X:64.53, Y:-4.85, Z:1.03 [[ 9.92702713e-01 1.17822538e-01 -2.56743849e-02 6.45330545e+01] [-1.17768615e-01 9.93034510e-01 3.60761094e-03 -4.85440116e+00] [ 2.59206081e-02 -5.57648420e-04 9.99663849e-01 1.02623283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46361786499999 meters 0.01727040191294864 Centerline is valid? [True, True] Translation: X:64.59, Y:-4.86, Z:1.03 [[ 9.93041310e-01 1.15236525e-01 -2.42796145e-02 6.45932743e+01] [-1.15187455e-01 9.93337903e-01 3.41467263e-03 -4.86461154e+00] [ 2.45113564e-02 -5.94203963e-04 9.99699375e-01 1.02704600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52361786499999 meters 0.017390672188677302 Centerline is valid? [True, True] Translation: X:64.65, Y:-4.87, Z:1.03 [[ 9.93268217e-01 1.13306415e-01 -2.40812107e-02 6.46547241e+01] [-1.13257479e-01 9.93559885e-01 3.39080764e-03 -4.87387170e+00] [ 2.43103252e-02 -6.40604240e-04 9.99704255e-01 1.02812620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.583617865 meters 0.018068001441264376 Centerline is valid? [True, True] Translation: X:64.72, Y:-4.88, Z:1.03 [[ 9.93583984e-01 1.10478223e-01 -2.41956552e-02 6.47159377e+01] [-1.10427873e-01 9.93878286e-01 3.41140151e-03 -4.88365803e+00] [ 2.44244219e-02 -7.17639163e-04 9.99701422e-01 1.02942174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.643617865 meters 0.01869991734896138 Centerline is valid? [True, True] Translation: X:64.78, Y:-4.89, Z:1.03 [[ 9.93752798e-01 1.09053876e-01 -2.37197823e-02 6.47772957e+01] [-1.09005010e-01 9.94035564e-01 3.34733409e-03 -4.89174832e+00] [ 2.39433469e-02 -7.40847513e-04 9.99713042e-01 1.02993265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.703617865 meters 0.019511776341330143 Centerline is valid? [True, True] Translation: X:64.84, Y:-4.90, Z:1.03 [[ 9.93891921e-01 1.07826867e-01 -2.34992800e-02 6.48391858e+01] [-1.07778428e-01 9.94169390e-01 3.32189022e-03 -4.89874611e+00] [ 2.37204538e-02 -7.68884395e-04 9.99718335e-01 1.03112313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76361786499999 meters 0.019527109178794595 Centerline is valid? [True, True] Translation: X:64.90, Y:-4.90, Z:1.03 [[ 9.93955369e-01 1.07277461e-01 -2.33296034e-02 6.49014779e+01] [-1.07229436e-01 9.94228814e-01 3.30349562e-03 -4.90473620e+00] [ 2.35493545e-02 -7.81907003e-04 9.99722370e-01 1.03238585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82361786499999 meters 0.02105925654022823 Centerline is valid? [True, True] Translation: X:64.96, Y:-4.91, Z:1.03 [[ 9.94053535e-01 1.06646037e-01 -2.20043917e-02 6.49622160e+01] [-1.06603049e-01 9.94296762e-01 3.12080970e-03 -4.91146613e+00] [ 2.22117174e-02 -7.56516659e-04 9.99753003e-01 1.03475114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88361786499999 meters 0.020148142783043072 Centerline is valid? [True, True] Translation: X:65.02, Y:-4.92, Z:1.04 [[ 9.94004443e-01 1.07226955e-01 -2.13903624e-02 6.50241234e+01] [-1.07186365e-01 9.94234304e-01 3.03844346e-03 -4.91767448e+00] [ 2.15928351e-02 -7.27471106e-04 9.99766583e-01 1.03641704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.943617865 meters 0.020412789266070763 Centerline is valid? [True, True] Translation: X:65.09, Y:-4.92, Z:1.04 [[ 9.93702878e-01 1.09894810e-01 -2.18568169e-02 6.50858154e+01] [-1.09852959e-01 9.93942984e-01 3.10995296e-03 -4.92111392e+00] [ 2.20661975e-02 -6.89333191e-04 9.99756274e-01 1.03739077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.003617865 meters 0.01942255573796395 Centerline is valid? [True, True] Translation: X:65.15, Y:-4.92, Z:1.04 [[ 9.93271538e-01 1.13570200e-01 -2.26597006e-02 6.51475241e+01] [-1.13526080e-01 9.93529772e-01 3.22824175e-03 -4.92342102e+00] [ 2.28797193e-02 -6.34053665e-04 9.99738024e-01 1.03769753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.063617865 meters 0.01583572184541972 Centerline is valid? [True, True] Translation: X:65.21, Y:-4.92, Z:1.04 [[ 9.92710590e-01 1.18327849e-01 -2.28955185e-02 6.52099029e+01] [-1.18284051e-01 9.92974440e-01 3.26261657e-03 -4.92101399e+00] [ 2.31207231e-02 -5.30659332e-04 9.99732540e-01 1.04022003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.123617865 meters 0.015742353882503727 Centerline is valid? [True, True] Translation: X:65.27, Y:-4.93, Z:1.04 [[ 9.92433654e-01 1.20653998e-01 -2.27608081e-02 6.52707573e+01] [-1.20611277e-01 9.92694508e-01 3.24556260e-03 -4.92694681e+00] [ 2.29861193e-02 -4.75795425e-04 9.99735671e-01 1.04197364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18361786499999 meters 0.015257415678739774 Centerline is valid? [True, True] Translation: X:65.33, Y:-4.93, Z:1.04 [[ 9.92145332e-01 1.23090690e-01 -2.22782862e-02 6.53328229e+01] [-1.23050260e-01 9.92395339e-01 3.18185117e-03 -4.93026034e+00] [ 2.25005236e-02 -4.15509889e-04 9.99746745e-01 1.04431367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24361786499999 meters 0.01592173626496223 Centerline is valid? [True, True] Translation: X:65.39, Y:-4.94, Z:1.05 [[ 9.92159172e-01 1.23018831e-01 -2.20577540e-02 6.53946346e+01] [-1.22979058e-01 9.92404248e-01 3.15581838e-03 -4.93796179e+00] [ 2.22784339e-02 -4.18432344e-04 9.99751717e-01 1.04633767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30361786499999 meters 0.01651331291217172 Centerline is valid? [True, True] Translation: X:65.46, Y:-4.95, Z:1.05 [[ 9.92637045e-01 1.19174171e-01 -2.16613587e-02 6.54557418e+01] [-1.19134802e-01 9.92873238e-01 3.10353628e-03 -4.94824732e+00] [ 2.18768448e-02 -5.00063385e-04 9.99760548e-01 1.04874070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.363617865 meters 0.016862214182887216 Centerline is valid? [True, True] Translation: X:65.52, Y:-4.96, Z:1.05 [[ 9.93072680e-01 1.15404135e-01 -2.21028935e-02 6.55172917e+01] [-1.15362176e-01 9.93318443e-01 3.16837676e-03 -4.95807036e+00] [ 2.23208555e-02 -5.96590519e-04 9.99750681e-01 1.05015728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.423617865 meters 0.01899592052269045 Centerline is valid? [True, True] Translation: X:65.58, Y:-4.97, Z:1.05 [[ 9.93595177e-01 1.10655251e-01 -2.28919005e-02 6.55766597e+01] [-1.10608953e-01 9.93858583e-01 3.28276914e-03 -4.96910882e+00] [ 2.31145675e-02 -7.29694431e-04 9.99732556e-01 1.04988342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.483617865 meters 0.01871092692592897 Centerline is valid? [True, True] Translation: X:65.64, Y:-4.98, Z:1.05 [[ 9.94046244e-01 1.06409372e-01 -2.34331224e-02 6.56370753e+01] [-1.06359670e-01 9.94322043e-01 3.36080232e-03 -4.97786390e+00] [ 2.36576910e-02 -8.48453755e-04 9.99719758e-01 1.05129137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54361786499999 meters 0.020979368725586832 Centerline is valid? [True, True] Translation: X:65.70, Y:-4.99, Z:1.05 [[ 9.94226028e-01 1.04466213e-01 -2.45237704e-02 6.56965544e+01] [-1.04411170e-01 9.94527995e-01 3.51783272e-03 -4.99054155e+00] [ 2.47570709e-02 -9.36965287e-04 9.99693058e-01 1.05121976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60361786499999 meters 0.020828930818087125 Centerline is valid? [True, True] Translation: X:65.76, Y:-5.00, Z:1.05 [[ 9.94446178e-01 1.02427919e-01 -2.41934146e-02 6.57574627e+01] [-1.02373687e-01 9.94739949e-01 3.47292361e-03 -4.99897484e+00] [ 2.44218804e-02 -9.76866563e-04 9.99701264e-01 1.05270243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66361786499999 meters 0.022199829937665845 Centerline is valid? [True, True] Translation: X:65.82, Y:-5.01, Z:1.05 [[ 9.94507798e-01 1.01723568e-01 -2.46283571e-02 6.58175656e+01] [-1.01667012e-01 9.94812183e-01 3.54101684e-03 -5.00959689e+00] [ 2.48607946e-02 -1.01767740e-03 9.99690405e-01 1.05302089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.723617865 meters 0.02147942225086734 Centerline is valid? [True, True] Translation: X:65.88, Y:-5.02, Z:1.05 [[ 9.94365050e-01 1.02853702e-01 -2.56761207e-02 6.58791917e+01] [-1.02792447e-01 9.94695953e-01 3.69775906e-03 -5.01770053e+00] [ 2.59202615e-02 -1.03761110e-03 9.99663475e-01 1.05367235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.783617865 meters 0.019820078409216076 Centerline is valid? [True, True] Translation: X:65.94, Y:-5.02, Z:1.06 [[ 9.94163619e-01 1.04960750e-01 -2.49387129e-02 6.59408625e+01] [-1.04903520e-01 9.94475903e-01 3.59575650e-03 -5.02381323e+00] [ 2.51783624e-02 -9.58611525e-04 9.99682515e-01 1.05614523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.843617865 meters 0.01970666562466665 Centerline is valid? [True, True] Translation: X:66.00, Y:-5.03, Z:1.06 [[ 9.93760117e-01 1.08964190e-01 -2.38251000e-02 6.60001406e+01] [-1.08913087e-01 9.94045338e-01 3.43599379e-03 -5.03076695e+00] [ 2.40576299e-02 -8.19688400e-04 9.99710237e-01 1.05802683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90361786499999 meters 0.018308958827810154 Centerline is valid? [True, True] Translation: X:66.06, Y:-5.04, Z:1.06 [[ 9.93459311e-01 1.11753043e-01 -2.34490021e-02 6.60610746e+01] [-1.11704310e-01 9.93735734e-01 3.38202566e-03 -5.03617687e+00] [ 2.36800630e-02 -7.40550273e-04 9.99719314e-01 1.05947037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96361786499999 meters 0.01730201820589112 Centerline is valid? [True, True] Translation: X:66.12, Y:-5.04, Z:1.06 [[ 9.93002053e-01 1.15797494e-01 -2.31918928e-02 6.61218626e+01] [-1.15750907e-01 9.93272638e-01 3.34575732e-03 -5.04289607e+00] [ 2.34233029e-02 -6.37861263e-04 9.99725433e-01 1.06127456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02361786499999 meters 0.01676992834646561 Centerline is valid? [True, True] Translation: X:66.18, Y:-5.05, Z:1.06 [[ 9.92795704e-01 1.17380671e-01 -2.40513563e-02 6.61833323e+01] [-1.17330966e-01 9.93086797e-01 3.47238917e-03 -5.04978994e+00] [ 2.42926758e-02 -6.25404177e-04 9.99704694e-01 1.06201224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.083617865 meters 0.017713806963861305 Centerline is valid? [True, True] Translation: X:66.24, Y:-5.06, Z:1.06 [[ 9.92858408e-01 1.16787137e-01 -2.43505024e-02 6.62437264e+01] [-1.16735863e-01 9.93156754e-01 3.52150297e-03 -5.06070004e+00] [ 2.45951322e-02 -6.53776920e-04 9.99697280e-01 1.06315708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.143617865 meters 0.017549652520964836 Centerline is valid? [True, True] Translation: X:66.30, Y:-5.07, Z:1.06 [[ 9.92954498e-01 1.15818150e-01 -2.50503517e-02 6.63046418e+01] [-1.15763453e-01 9.93270186e-01 3.62763877e-03 -5.07043774e+00] [ 2.53019139e-02 -7.02165016e-04 9.99679609e-01 1.06467013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.203617865 meters 0.018122995067297358 Centerline is valid? [True, True] Translation: X:66.37, Y:-5.08, Z:1.06 [[ 9.92841487e-01 1.16337927e-01 -2.70419903e-02 6.63650833e+01] [-1.16274246e-01 9.93209407e-01 3.92087446e-03 -5.08088214e+00] [ 2.73145055e-02 -7.48519801e-04 9.99626609e-01 1.06445749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26361786499999 meters 0.01828458828209469 Centerline is valid? [True, True] Translation: X:66.43, Y:-5.09, Z:1.06 [[ 9.92667025e-01 1.17617000e-01 -2.79001749e-02 6.64266264e+01] [-1.17549531e-01 9.93058755e-01 4.05190354e-03 -5.09085424e+00] [ 2.81830856e-02 -7.42538573e-04 9.99602502e-01 1.06409307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32361786499999 meters 0.018240978127766067 Centerline is valid? [True, True] Translation: X:66.49, Y:-5.10, Z:1.07 [[ 9.92577945e-01 1.18267118e-01 -2.83180362e-02 6.64883363e+01] [-1.18197667e-01 9.92981540e-01 4.11989430e-03 -5.10188057e+00] [ 2.86065352e-02 -7.42190407e-04 9.99590474e-01 1.06572252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38361786499999 meters 0.018907359635840792 Centerline is valid? [True, True] Translation: X:66.55, Y:-5.11, Z:1.07 [[ 9.92678976e-01 1.17727348e-01 -2.69948661e-02 6.65501256e+01] [-1.17663841e-01 9.93045689e-01 3.93458754e-03 -5.11343046e+00] [ 2.72703439e-02 -7.29462701e-04 9.99627829e-01 1.06801795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.443617865 meters 0.01930734883168625 Centerline is valid? [True, True] Translation: X:66.61, Y:-5.12, Z:1.07 [[ 9.92755866e-01 1.17440075e-01 -2.53696618e-02 6.66118418e+01] [-1.17383769e-01 9.93079726e-01 3.70254378e-03 -5.12421187e+00] [ 2.56289238e-02 -6.97735540e-04 9.99671282e-01 1.07023656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.503617865 meters 0.019509889043727118 Centerline is valid? [True, True] Translation: X:66.67, Y:-5.13, Z:1.07 [[ 9.92568594e-01 1.19199952e-01 -2.44736159e-02 6.66723707e+01] [-1.19148011e-01 9.92870068e-01 3.57492226e-03 -5.13410320e+00] [ 2.47252512e-02 -6.32372916e-04 9.99694084e-01 1.07195116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.563617865 meters 0.01663343574544114 Centerline is valid? [True, True] Translation: X:66.73, Y:-5.14, Z:1.07 [[ 9.92123232e-01 1.23051810e-01 -2.34466551e-02 6.67337248e+01] [-1.23005127e-01 9.92400113e-01 3.42843198e-03 -5.13657607e+00] [ 2.36903379e-02 -5.17368215e-04 9.99719211e-01 1.07408211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.623617865 meters 0.016324199794925318 Centerline is valid? [True, True] Translation: X:66.80, Y:-5.14, Z:1.08 [[ 9.91831031e-01 1.25581077e-01 -2.23740918e-02 6.67954534e+01] [-1.25539163e-01 9.92083263e-01 3.27377149e-03 -5.14491491e+00] [ 2.26080858e-02 -4.38203398e-04 9.99744309e-01 1.07557218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68361786499999 meters 0.016167533299600103 Centerline is valid? [True, True] Translation: X:66.86, Y:-5.15, Z:1.08 [[ 9.91687437e-01 1.26661588e-01 -2.26466106e-02 6.68573605e+01] [-1.26618817e-01 9.91945897e-01 3.31851292e-03 -5.15438336e+00] [ 2.28845406e-02 -4.23440533e-04 9.99738025e-01 1.07677718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74361786499999 meters 0.01668069265685966 Centerline is valid? [True, True] Translation: X:66.92, Y:-5.17, Z:1.08 [[ 9.91889939e-01 1.24989254e-01 -2.30658688e-02 6.69187891e+01] [-1.24944340e-01 9.92157982e-01 3.38391048e-03 -5.16548495e+00] [ 2.33079382e-02 -4.74517017e-04 9.99728220e-01 1.07671913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80361786499999 meters 0.016811515489529433 Centerline is valid? [True, True] Translation: X:66.98, Y:-5.18, Z:1.08 [[ 9.92013626e-01 1.23935590e-01 -2.34293701e-02 6.69798658e+01] [-1.23888816e-01 9.92290132e-01 3.44309944e-03 -5.17535567e+00] [ 2.36754553e-02 -5.12964646e-04 9.99719566e-01 1.07735686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.863617865 meters 0.01828936467662986 Centerline is valid? [True, True] Translation: X:67.04, Y:-5.19, Z:1.08 [[ 9.92634205e-01 1.18790757e-01 -2.37926587e-02 6.70399684e+01] [-1.18740940e-01 9.92919097e-01 3.50074727e-03 -5.18879760e+00] [ 2.40400417e-02 -6.49798814e-04 9.99710785e-01 1.07773604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.923617865 meters 0.019852352585970463 Centerline is valid? [True, True] Translation: X:67.10, Y:-5.20, Z:1.08 [[ 9.93217283e-01 1.13985292e-01 -2.29517507e-02 6.70994252e+01] [-1.13937637e-01 9.93482162e-01 3.37767571e-03 -5.20149667e+00] [ 2.31871602e-02 -7.39697643e-04 9.99730868e-01 1.07881611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.983617865 meters 0.020334928186225083 Centerline is valid? [True, True] Translation: X:67.16, Y:-5.21, Z:1.08 [[ 9.93329518e-01 1.12990115e-01 -2.30152527e-02 6.71603376e+01] [-1.12941882e-01 9.93595816e-01 3.38905134e-03 -5.21182501e+00] [ 2.32507881e-02 -7.67058766e-04 9.99729370e-01 1.07908247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04361786499999 meters 0.019978094702454003 Centerline is valid? [True, True] Translation: X:67.22, Y:-5.22, Z:1.08 [[ 9.93080827e-01 1.15058278e-01 -2.34960226e-02 6.72220250e+01] [-1.15008450e-01 9.93358468e-01 3.46560108e-03 -5.22017813e+00] [ 2.37387191e-02 -7.39380845e-04 9.99717923e-01 1.08004723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10361786499999 meters 0.01951640852301551 Centerline is valid? [True, True] Translation: X:67.28, Y:-5.23, Z:1.08 [[ 9.92747706e-01 1.17888387e-01 -2.35440275e-02 6.72831865e+01] [-1.17839050e-01 9.93026621e-01 3.47688395e-03 -5.22832405e+00] [ 2.37897303e-02 -6.77262731e-04 9.99716755e-01 1.08130426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16361786499999 meters 0.018958698611418263 Centerline is valid? [True, True] Translation: X:67.34, Y:-5.24, Z:1.08 [[ 9.92211923e-01 1.22295664e-01 -2.36489122e-02 6.73427360e+01] [-1.22247114e-01 9.92493546e-01 3.49331988e-03 -5.23606576e+00] [ 2.38986106e-02 -5.75102368e-04 9.99714222e-01 1.08244999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.223617865 meters 0.01850365866052722 Centerline is valid? [True, True] Translation: X:67.40, Y:-5.24, Z:1.08 [[ 9.91740030e-01 1.26170802e-01 -2.30790225e-02 6.74028824e+01] [-1.26125600e-01 9.92008421e-01 3.40964182e-03 -5.24477758e+00] [ 2.33247819e-02 -4.70622717e-04 9.99727829e-01 1.08405302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.283617865 meters 0.018181122681547344 Centerline is valid? [True, True] Translation: X:67.46, Y:-5.25, Z:1.09 [[ 9.91607079e-01 1.27398989e-01 -2.20204187e-02 6.74642837e+01] [-1.27358099e-01 9.91851460e-01 3.25516254e-03 -5.25469188e+00] [ 2.22556888e-02 -4.23363553e-04 9.99752222e-01 1.08578815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.343617865 meters 0.017343634361397256 Centerline is valid? [True, True] Translation: X:67.53, Y:-5.26, Z:1.09 [[ 9.91663159e-01 1.26972841e-01 -2.19562484e-02 6.75259510e+01] [-1.26931973e-01 9.91906098e-01 3.25073141e-03 -5.26462060e+00] [ 2.21912912e-02 -4.36680643e-04 9.99753648e-01 1.08760692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40361786499999 meters 0.01783014591366928 Centerline is valid? [True, True] Translation: X:67.59, Y:-5.28, Z:1.09 [[ 9.91988081e-01 1.24491858e-01 -2.14808096e-02 6.75867059e+01] [-1.24452049e-01 9.92220510e-01 3.18544217e-03 -5.27727845e+00] [ 2.17102615e-02 -4.86589900e-04 9.99764186e-01 1.08840358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46361786499999 meters 0.019613541310450736 Centerline is valid? [True, True] Translation: X:67.65, Y:-5.29, Z:1.09 [[ 9.92181661e-01 1.22919183e-01 -2.15968954e-02 6.76457625e+01] [-1.22878458e-01 9.92416543e-01 3.20778446e-03 -5.29300686e+00] [ 2.18274145e-02 -5.28911712e-04 9.99761614e-01 1.08918975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52361786499999 meters 0.019556588160622567 Centerline is valid? [True, True] Translation: X:67.71, Y:-5.31, Z:1.09 [[ 9.92444320e-01 1.20776507e-01 -2.16172807e-02 6.77063447e+01] [-1.20735090e-01 9.92679554e-01 3.21568993e-03 -5.30686450e+00] [ 2.18474124e-02 -5.81428880e-04 9.99761148e-01 1.09026855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.583617865 meters 0.020432266397774037 Centerline is valid? [True, True] Translation: X:67.77, Y:-5.32, Z:1.09 [[ 9.92478163e-01 1.20279333e-01 -2.28030438e-02 6.77662996e+01] [-1.20232990e-01 9.92739888e-01 3.39753491e-03 -5.31960206e+00] [ 2.30461444e-02 -6.30301058e-04 9.99734204e-01 1.08990917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.643617865 meters 0.020062134955411943 Centerline is valid? [True, True] Translation: X:67.83, Y:-5.33, Z:1.09 [[ 9.92509533e-01 1.19679586e-01 -2.45280085e-02 6.78272667e+01] [-1.19625640e-01 9.92812323e-01 3.66030730e-03 -5.33216227e+00] [ 2.47897731e-02 -6.98711186e-04 9.99692442e-01 1.09000904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.703617865 meters 0.01947642325349231 Centerline is valid? [True, True] Translation: X:67.89, Y:-5.35, Z:1.09 [[ 9.92710265e-01 1.18176231e-01 -2.36792725e-02 6.78875878e+01] [-1.18125392e-01 9.92992379e-01 3.53924520e-03 -5.34682392e+00] [ 2.39315918e-02 -7.16321685e-04 9.99713342e-01 1.09289119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76361786499999 meters 0.02095164027571207 Centerline is valid? [True, True] Translation: X:67.95, Y:-5.36, Z:1.09 [[ 9.92786963e-01 1.17687270e-01 -2.28856475e-02 6.79467534e+01] [-1.17639529e-01 9.93050454e-01 3.42602005e-03 -5.36198328e+00] [ 2.31298016e-02 -7.09051250e-04 9.99732219e-01 1.09369907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82361786499999 meters 0.020689165622927944 Centerline is valid? [True, True] Translation: X:68.01, Y:-5.37, Z:1.09 [[ 9.92621697e-01 1.19257403e-01 -2.19052270e-02 6.80079485e+01] [-1.19213939e-01 9.92863158e-01 3.28412961e-03 -5.37493286e+00] [ 2.21405496e-02 -6.48489921e-04 9.99754658e-01 1.09490024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88361786499999 meters 0.01853062907783259 Centerline is valid? [True, True] Translation: X:68.07, Y:-5.38, Z:1.10 [[ 9.91910018e-01 1.25251565e-01 -2.06533833e-02 6.80687313e+01] [-1.25214149e-01 9.92124895e-01 3.10006052e-03 -5.38038886e+00] [ 2.08790232e-02 -4.88885274e-04 9.99781890e-01 1.09718596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.943617865 meters 0.018682405317600858 Centerline is valid? [True, True] Translation: X:68.13, Y:-5.39, Z:1.10 [[ 9.91458649e-01 1.28768033e-01 -2.07012130e-02 6.81289545e+01] [-1.28731181e-01 9.91674654e-01 3.10860981e-03 -5.39042005e+00] [ 2.09291578e-02 -4.17166479e-04 9.99780874e-01 1.09803331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.003617865 meters 0.01695038982186757 Centerline is valid? [True, True] Translation: X:68.19, Y:-5.40, Z:1.10 [[ 9.90999712e-01 1.32407220e-01 -1.96951363e-02 6.81913079e+01] [-1.32374496e-01 9.91195349e-01 2.96181799e-03 -5.39511342e+00] [ 1.99138936e-02 -3.28027034e-04 9.99801645e-01 1.09977460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.063617865 meters 0.017410559851160242 Centerline is valid? [True, True] Translation: X:68.25, Y:-5.41, Z:1.10 [[ 9.91019031e-01 1.32337563e-01 -1.91846140e-02 6.82522775e+01] [-1.32306416e-01 9.91204653e-01 2.88939388e-03 -5.40536951e+00] [ 1.93982540e-02 -3.25196789e-04 9.99811783e-01 1.10043337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.123617865 meters 0.017595466777050144 Centerline is valid? [True, True] Translation: X:68.31, Y:-5.41, Z:1.10 [[ 9.91403758e-01 1.29411748e-01 -1.92662521e-02 6.83140379e+01] [-1.29379714e-01 9.91590868e-01 2.90527344e-03 -5.41474969e+00] [ 1.94802161e-02 -3.87636831e-04 9.99810167e-01 1.10213898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18361786499999 meters 0.018847336883883528 Centerline is valid? [True, True] Translation: X:68.38, Y:-5.42, Z:1.10 [[ 9.91928671e-01 1.25383615e-01 -1.88801533e-02 6.83756263e+01] [-1.25352046e-01 9.92108228e-01 2.85099678e-03 -5.42415859e+00] [ 1.90886237e-02 -4.61319598e-04 9.99817689e-01 1.10319423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24361786499999 meters 0.019837490074041193 Centerline is valid? [True, True] Translation: X:68.44, Y:-5.43, Z:1.10 [[ 9.92255969e-01 1.22705699e-01 -1.92718385e-02 6.84370346e+01] [-1.22672276e-01 9.92442964e-01 2.91147850e-03 -5.43408718e+00] [ 1.94834555e-02 -5.24811620e-04 9.99810042e-01 1.10320158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30361786499999 meters 0.020011167297238872 Centerline is valid? [True, True] Translation: X:68.50, Y:-5.44, Z:1.10 [[ 9.92824843e-01 1.17678772e-01 -2.12258868e-02 6.84975526e+01] [-1.17637049e-01 9.93051476e-01 3.20804785e-03 -5.44372099e+00] [ 2.14559174e-02 -6.88078903e-04 9.99769559e-01 1.10365136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.363617865 meters 0.021993564435238033 Centerline is valid? [True, True] Translation: X:68.56, Y:-5.46, Z:1.10 [[ 9.93170588e-01 1.14610007e-01 -2.18341261e-02 6.85572947e+01] [-1.14565075e-01 9.93410258e-01 3.30190140e-03 -5.45627230e+00] [ 2.20686758e-02 -7.77923055e-04 9.99756154e-01 1.10357103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.423617865 meters 0.02199409445159633 Centerline is valid? [True, True] Translation: X:68.62, Y:-5.46, Z:1.10 [[ 9.93549037e-01 1.11151054e-01 -2.24889869e-02 6.86182527e+01] [-1.11102413e-01 9.93803130e-01 3.40478642e-03 -5.46381436e+00] [ 2.27280712e-02 -8.84241553e-04 9.99741293e-01 1.10418211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.483617865 meters 0.02289918232720814 Centerline is valid? [True, True] Translation: X:68.68, Y:-5.47, Z:1.11 [[ 9.93643888e-01 1.10474436e-01 -2.16153404e-02 6.86791875e+01] [-1.10429299e-01 9.93878588e-01 3.27444931e-03 -5.47370738e+00] [ 2.18447669e-02 -8.66669646e-04 9.99760999e-01 1.10587047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54361786499999 meters 0.022421152473081043 Centerline is valid? [True, True] Translation: X:68.74, Y:-5.48, Z:1.11 [[ 9.93686414e-01 1.10265225e-01 -2.07096946e-02 6.87405558e+01] [-1.10223646e-01 9.93901844e-01 3.14206953e-03 -5.48083468e+00] [ 2.09298647e-02 -8.39533756e-04 9.99780594e-01 1.10813434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60361786499999 meters 0.022939505489090607 Centerline is valid? [True, True] Translation: X:68.80, Y:-5.49, Z:1.11 [[ 9.93520760e-01 1.12037272e-01 -1.90826896e-02 6.88015147e+01] [-1.12002214e-01 9.93703727e-01 2.89946428e-03 -5.48806297e+00] [ 1.92873879e-02 -7.43374464e-04 9.99813705e-01 1.11005519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66361786499999 meters 0.022725159151281822 Centerline is valid? [True, True] Translation: X:68.86, Y:-5.50, Z:1.11 [[ 9.93366217e-01 1.13459413e-01 -1.87221790e-02 6.88634976e+01] [-1.13425842e-01 9.93542381e-01 2.84879500e-03 -5.49589724e+00] [ 1.89245009e-02 -7.06317807e-04 9.99820666e-01 1.11104318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.723617865 meters 0.019344220357553548 Centerline is valid? [True, True] Translation: X:68.92, Y:-5.50, Z:1.11 [[ 9.92824003e-01 1.18026227e-01 -1.92433924e-02 6.89249861e+01] [-1.17991541e-01 9.93010272e-01 2.93196708e-03 -5.49574902e+00] [ 1.94549353e-02 -6.40369764e-04 9.99810530e-01 1.11222997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.783617865 meters 0.020812791511777947 Centerline is valid? [True, True] Translation: X:68.99, Y:-5.50, Z:1.11 [[ 9.92328286e-01 1.22183798e-01 -1.88598036e-02 6.89850441e+01] [-1.22151224e-01 9.92507340e-01 2.87390310e-03 -5.50377390e+00] [ 1.90696379e-02 -5.48107246e-04 9.99818008e-01 1.11277428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.843617865 meters 0.0191588076013499 Centerline is valid? [True, True] Translation: X:69.05, Y:-5.51, Z:1.11 [[ 9.92280539e-01 1.22664091e-01 -1.82442313e-02 6.90470719e+01] [-1.22633669e-01 9.92448108e-01 2.78123153e-03 -5.50838421e+00] [ 1.84476101e-02 -5.22404900e-04 9.99829692e-01 1.11403904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90361786499999 meters 0.020129866862024323 Centerline is valid? [True, True] Translation: X:69.11, Y:-5.52, Z:1.11 [[ 9.92615723e-01 1.19695052e-01 -1.96753739e-02 6.91081959e+01] [-1.19658997e-01 9.92810506e-01 3.00391339e-03 -5.51787245e+00] [ 1.98934714e-02 -6.27396166e-04 9.99801908e-01 1.11425694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96361786499999 meters 0.021593804392625957 Centerline is valid? [True, True] Translation: X:69.17, Y:-5.53, Z:1.12 [[ 9.93089622e-01 1.15775294e-01 -1.92115826e-02 6.91684307e+01] [-1.15740150e-01 9.93275190e-01 2.93496414e-03 -5.52840032e+00] [ 1.94221847e-02 -6.91130966e-04 9.99811133e-01 1.11514020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02361786499999 meters 0.022901901088493465 Centerline is valid? [True, True] Translation: X:69.23, Y:-5.54, Z:1.12 [[ 9.93708405e-01 1.10488175e-01 -1.83294493e-02 6.92290490e+01] [-1.10455275e-01 9.93877149e-01 2.80079959e-03 -5.53809613e+00] [ 1.85266760e-02 -7.58593737e-04 9.99828079e-01 1.11704798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.083617865 meters 0.024444822350596494 Centerline is valid? [True, True] Translation: X:69.29, Y:-5.55, Z:1.12 [[ 9.94046697e-01 1.07620570e-01 -1.69993298e-02 6.92894000e+01] [-1.07591844e-01 9.94191755e-01 2.59811433e-03 -5.54741313e+00] [ 1.71802040e-02 -7.53657728e-04 9.99852125e-01 1.11915440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.143617865 meters 0.02520409481635768 Centerline is valid? [True, True] Translation: X:69.35, Y:-5.56, Z:1.12 [[ 9.94108016e-01 1.07072611e-01 -1.68733044e-02 6.93508894e+01] [-1.07044214e-01 9.94250914e-01 2.57987983e-03 -5.55509724e+00] [ 1.70525328e-02 -7.58489625e-04 9.99854307e-01 1.11992544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.203617865 meters 0.025137907603905517 Centerline is valid? [True, True] Translation: X:69.41, Y:-5.56, Z:1.12 [[ 9.93990978e-01 1.08125615e-01 -1.70524968e-02 6.94131537e+01] [-1.08096696e-01 9.94136955e-01 2.61130069e-03 -5.56069016e+00] [ 1.72348657e-02 -7.52290768e-04 9.99851186e-01 1.12039176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26361786499999 meters 0.020852537417278737 Centerline is valid? [True, True] Translation: X:69.48, Y:-5.56, Z:1.12 [[ 9.93832380e-01 1.09480714e-01 -1.76401089e-02 6.94764375e+01] [-1.09449910e-01 9.93988631e-01 2.70524268e-03 -5.56056074e+00] [ 1.78302396e-02 -7.57849444e-04 9.99840741e-01 1.12132244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32361786499999 meters 0.021410964821386814 Centerline is valid? [True, True] Translation: X:69.54, Y:-5.56, Z:1.12 [[ 9.93448498e-01 1.12978013e-01 -1.72061153e-02 6.95369473e+01] [-1.12949205e-01 9.93597256e-01 2.64008850e-03 -5.56493431e+00] [ 1.73942209e-02 -6.79374916e-04 9.99848478e-01 1.12178519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38361786499999 meters 0.019174329221803014 Centerline is valid? [True, True] Translation: X:69.60, Y:-5.57, Z:1.12 [[ 9.92600720e-01 1.20250079e-01 -1.68442520e-02 6.95981997e+01] [-1.20223510e-01 9.92743485e-01 2.58484642e-03 -5.56568849e+00] [ 1.70328495e-02 -5.40645308e-04 9.99854784e-01 1.12382668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.443617865 meters 0.017604012522812622 Centerline is valid? [True, True] Translation: X:69.66, Y:-5.57, Z:1.12 [[ 9.91920247e-01 1.25729146e-01 -1.69234928e-02 6.96593977e+01] [-1.25703121e-01 9.92064504e-01 2.59712057e-03 -5.56826204e+00] [ 1.71157302e-02 -4.48800622e-04 9.99853414e-01 1.12484269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.503617865 meters 0.01695708741699333 Centerline is valid? [True, True] Translation: X:69.72, Y:-5.57, Z:1.13 [[ 9.91257933e-01 1.30871692e-01 -1.67424656e-02 6.97198938e+01] [-1.30846949e-01 9.91399250e-01 2.56963096e-03 -5.56987792e+00] [ 1.69347597e-02 -3.56466542e-04 9.99856533e-01 1.12580384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.563617865 meters 0.016339997359762295 Centerline is valid? [True, True] Translation: X:69.78, Y:-5.58, Z:1.13 [[ 9.91169964e-01 1.31650327e-01 -1.58206872e-02 6.97823851e+01] [-1.31628328e-01 9.91296165e-01 2.42842490e-03 -5.57548376e+00] [ 1.60026895e-02 -3.24531219e-04 9.99871896e-01 1.12783319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62361786499999 meters 0.017400859554232675 Centerline is valid? [True, True] Translation: X:69.84, Y:-5.59, Z:1.13 [[ 9.91607417e-01 1.28376321e-01 -1.53052758e-02 6.98435365e+01] [-1.28355321e-01 9.91725459e-01 2.35061969e-03 -5.58577443e+00] [ 1.54803955e-02 -3.66378329e-04 9.99880104e-01 1.13015423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68361786499999 meters 0.018605467467599144 Centerline is valid? [True, True] Translation: X:69.90, Y:-5.60, Z:1.13 [[ 9.92323270e-01 1.22583074e-01 -1.63682061e-02 6.99041218e+01] [-1.22558249e-01 9.92458135e-01 2.51505781e-03 -5.59577170e+00] [ 1.65530628e-02 -4.89691714e-04 9.99862869e-01 1.13076112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74361786499999 meters 0.020489362550741057 Centerline is valid? [True, True] Translation: X:69.96, Y:-5.61, Z:1.13 [[ 9.92795092e-01 1.18628647e-01 -1.68863487e-02 6.99628520e+01] [-1.18601643e-01 9.92938525e-01 2.59524111e-03 -5.60684388e+00] [ 1.70749761e-02 -5.73793939e-04 9.99854047e-01 1.13182048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80361786499999 meters 0.02107190689068939 Centerline is valid? [True, True] Translation: X:70.02, Y:-5.62, Z:1.13 [[ 9.93243249e-01 1.14686385e-01 -1.77448785e-02 7.00229908e+01] [-1.14655936e-01 9.93401519e-01 2.72727793e-03 -5.61522447e+00] [ 1.79405709e-02 -6.74294740e-04 9.99838828e-01 1.13319248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.863617865 meters 0.022083914562539136 Centerline is valid? [True, True] Translation: X:70.08, Y:-5.62, Z:1.13 [[ 9.93358963e-01 1.13587453e-01 -1.83265181e-02 7.00842173e+01] [-1.13554763e-01 9.93527742e-01 2.81802385e-03 -5.62489340e+00] [ 1.85279963e-02 -7.18245840e-04 9.99828084e-01 1.13421788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.923617865 meters 0.020897088527574537 Centerline is valid? [True, True] Translation: X:70.15, Y:-5.63, Z:1.13 [[ 9.93245186e-01 1.14241217e-01 -2.03210589e-02 7.01474587e+01] [-1.14201047e-01 9.93452728e-01 3.13017801e-03 -5.63091101e+00] [ 2.05456068e-02 -7.88348044e-04 9.99788606e-01 1.13424786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.983617865 meters 0.02102672202855656 Centerline is valid? [True, True] Translation: X:70.21, Y:-5.64, Z:1.13 [[ 9.92897918e-01 1.16920342e-01 -2.19854021e-02 7.02088776e+01] [-1.16873837e-01 9.93140974e-01 3.39284415e-03 -5.63849582e+00] [ 2.22312961e-02 -7.99229594e-04 9.99752535e-01 1.13425287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04361786499999 meters 0.019019641726437674 Centerline is valid? [True, True] Translation: X:70.27, Y:-5.64, Z:1.14 [[ 9.92559201e-01 1.19660755e-01 -2.25285804e-02 7.02707292e+01] [-1.19612530e-01 9.92814547e-01 3.48093521e-03 -5.64341665e+00] [ 2.27832337e-02 -7.60333763e-04 9.99740139e-01 1.13508319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10361786499999 meters 0.018927772817974465 Centerline is valid? [True, True] Translation: X:70.33, Y:-5.65, Z:1.14 [[ 9.92043569e-01 1.23853103e-01 -2.25824509e-02 7.03309056e+01] [-1.23805707e-01 9.92300340e-01 3.49035447e-03 -5.65133905e+00] [ 2.28408649e-02 -6.66747414e-04 9.99738891e-01 1.13663223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16361786499999 meters 0.018915142705882373 Centerline is valid? [True, True] Translation: X:70.39, Y:-5.66, Z:1.14 [[ 9.91578364e-01 1.27614813e-01 -2.20637090e-02 7.03911536e+01] [-1.27570483e-01 9.91823642e-01 3.41094412e-03 -5.66046399e+00] [ 2.23185952e-02 -5.67540376e-04 9.99750748e-01 1.13843227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.223617865 meters 0.01774746394643791 Centerline is valid? [True, True] Translation: X:70.45, Y:-5.67, Z:1.14 [[ 9.91351077e-01 1.29374497e-01 -2.20290895e-02 7.04533918e+01] [-1.29330709e-01 9.91595664e-01 3.40698099e-03 -5.66734428e+00] [ 2.22847260e-02 -5.28476514e-04 9.99751525e-01 1.13995545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.283617865 meters 0.018041742352246856 Centerline is valid? [True, True] Translation: X:70.51, Y:-5.68, Z:1.14 [[ 9.90983494e-01 1.32132510e-01 -2.21971897e-02 7.05135389e+01] [-1.32088661e-01 9.91231948e-01 3.43655546e-03 -5.67842892e+00] [ 2.24566443e-02 -4.73572666e-04 9.99747706e-01 1.14065262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.343617865 meters 0.017856579261299105 Centerline is valid? [True, True] Translation: X:70.57, Y:-5.69, Z:1.14 [[ 9.90799601e-01 1.33545103e-01 -2.19512230e-02 7.05744571e+01] [-1.33502457e-01 9.91042638e-01 3.40344793e-03 -5.68833521e+00] [ 2.22091118e-02 -4.41592639e-04 9.99753250e-01 1.14232605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40361786499999 meters 0.017650432797857416 Centerline is valid? [True, True] Translation: X:70.64, Y:-5.70, Z:1.14 [[ 9.90557973e-01 1.35202241e-01 -2.26992521e-02 7.06357486e+01] [-1.35156947e-01 9.90817932e-01 3.52489871e-03 -5.69928026e+00] [ 2.29674002e-02 -4.23654892e-04 9.99736125e-01 1.14354276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46361786499999 meters 0.016969089284021275 Centerline is valid? [True, True] Translation: X:70.70, Y:-5.71, Z:1.14 [[ 9.90398425e-01 1.36066265e-01 -2.44321655e-02 7.06977916e+01] [-1.36013896e-01 9.90699640e-01 3.80040399e-03 -5.70962701e+00] [ 2.47220443e-02 -4.40800122e-04 9.99694266e-01 1.14385392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52361786499999 meters 0.01706741392349466 Centerline is valid? [True, True] Translation: X:70.76, Y:-5.72, Z:1.15 [[ 9.90403522e-01 1.35989672e-01 -2.46510237e-02 7.07599825e+01] [-1.35936163e-01 9.90710151e-01 3.84139967e-03 -5.72168054e+00] [ 2.49444101e-02 -4.53570196e-04 9.99688737e-01 1.14519345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.583617865 meters 0.01722227949817519 Centerline is valid? [True, True] Translation: X:70.82, Y:-5.73, Z:1.15 [[ 9.90394600e-01 1.35986234e-01 -2.50255876e-02 7.08214776e+01] [-1.35930905e-01 9.90710616e-01 3.90686284e-03 -5.73420591e+00] [ 2.53243949e-02 -4.67585099e-04 9.99679177e-01 1.14666181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.643617865 meters 0.01733590839000339 Centerline is valid? [True, True] Translation: X:70.88, Y:-5.75, Z:1.15 [[ 9.90384680e-01 1.35888288e-01 -2.59337288e-02 7.08818418e+01] [-1.35828650e-01 9.90724043e-01 4.05570399e-03 -5.74725434e+00] [ 2.62442913e-02 -4.94163727e-04 9.99655437e-01 1.14775126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.703617865 meters 0.017829629506243803 Centerline is valid? [True, True] Translation: X:70.94, Y:-5.76, Z:1.15 [[ 9.90394047e-01 1.35568308e-01 -2.72188573e-02 7.09425611e+01] [-1.35502303e-01 9.90767858e-01 4.26351486e-03 -5.76098170e+00] [ 2.75455665e-02 -5.34341872e-04 9.99620406e-01 1.14811475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76361786499999 meters 0.01813388196569566 Centerline is valid? [True, True] Translation: X:71.00, Y:-5.78, Z:1.15 [[ 9.90320833e-01 1.35807451e-01 -2.86528136e-02 7.10033939e+01] [-1.35734199e-01 9.90735091e-01 4.49525453e-03 -5.77628752e+00] [ 2.89978369e-02 -5.62577506e-04 9.99579316e-01 1.14859588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82361786499999 meters 0.018170068476718336 Centerline is valid? [True, True] Translation: X:71.06, Y:-5.79, Z:1.15 [[ 9.89931841e-01 1.38285339e-01 -3.02012340e-02 7.10635056e+01] [-1.38204880e-01 9.90392291e-01 4.74558705e-03 -5.79194062e+00] [ 3.05673145e-02 -5.23849805e-04 9.99532573e-01 1.14805807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88361786499999 meters 0.01787768813502171 Centerline is valid? [True, True] Translation: X:71.12, Y:-5.81, Z:1.15 [[ 9.89674801e-01 1.40182785e-01 -2.98759839e-02 7.11243912e+01] [-1.40104701e-01 9.90125532e-01 4.70152670e-03 -5.80638901e+00] [ 3.02400475e-02 -4.67216708e-04 9.99542556e-01 1.14983901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.943617865 meters 0.017842623423339102 Centerline is valid? [True, True] Translation: X:71.18, Y:-5.82, Z:1.15 [[ 9.89464427e-01 1.41803629e-01 -2.91869507e-02 7.11841115e+01] [-1.41729609e-01 9.89894721e-01 4.59990377e-03 -5.82339929e+00] [ 2.95442914e-02 -4.14786043e-04 9.99563386e-01 1.15090320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.003617865 meters 0.017206268158672846 Centerline is valid? [True, True] Translation: X:71.24, Y:-5.84, Z:1.15 [[ 9.89375911e-01 1.42539823e-01 -2.85955685e-02 7.12448637e+01] [-1.42468884e-01 9.89788990e-01 4.51347153e-03 -5.83739160e+00] [ 2.89469284e-02 -3.91541265e-04 9.99580873e-01 1.15344309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.063617865 meters 0.017319717858279737 Centerline is valid? [True, True] Translation: X:71.30, Y:-5.85, Z:1.15 [[ 9.89210120e-01 1.44176128e-01 -2.60111987e-02 7.13035583e+01] [-1.44117847e-01 9.89551991e-01 4.11137314e-03 -5.85483860e+00] [ 2.63321953e-02 -3.18333959e-04 9.99653197e-01 1.15491981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12361786499999 meters 0.017066005486392942 Centerline is valid? [True, True] Translation: X:71.36, Y:-5.87, Z:1.16 [[ 9.88659412e-01 1.48579172e-01 -2.18356639e-02 7.13642206e+01] [-1.48539079e-01 9.88900500e-01 3.45577770e-03 -5.86609453e+00] [ 2.21067556e-02 -1.73137746e-04 9.99755601e-01 1.15659958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18361786499999 meters 0.01689199536844621 Centerline is valid? [True, True] Translation: X:71.42, Y:-5.88, Z:1.16 [[ 9.87956468e-01 1.53208143e-01 -2.16629270e-02 7.14249597e+01] [-1.53169684e-01 9.88193938e-01 3.43344146e-03 -5.87643132e+00] [ 2.19332044e-02 -7.39870110e-05 9.99759436e-01 1.15637443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24361786499999 meters 0.016858190971335132 Centerline is valid? [True, True] Translation: X:71.49, Y:-5.89, Z:1.16 [[ 9.87888256e-01 1.53747501e-01 -2.09403596e-02 7.14869595e+01] [-1.53711587e-01 9.88110167e-01 3.32360812e-03 -5.88777666e+00] [ 2.12023786e-02 -6.45775350e-05 9.99775202e-01 1.15675624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30361786499999 meters 0.016895997511024687 Centerline is valid? [True, True] Translation: X:71.55, Y:-5.90, Z:1.16 [[ 9.88015109e-01 1.53169561e-01 -1.91109953e-02 7.15489516e+01] [-1.53139452e-01 9.88199919e-01 3.03783164e-03 -5.89737425e+00] [ 1.93507873e-02 -7.47762209e-05 9.99812753e-01 1.15893636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.363617865 meters 0.01696907096594163 Centerline is valid? [True, True] Translation: X:71.61, Y:-5.90, Z:1.16 [[ 9.87975029e-01 1.53512498e-01 -1.84188649e-02 7.16109220e+01] [-1.53484501e-01 9.88146704e-01 2.93261119e-03 -5.90486640e+00] [ 1.86507331e-02 -7.03363479e-05 9.99826057e-01 1.15894882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.423617865 meters 0.017110561087241502 Centerline is valid? [True, True] Translation: X:71.67, Y:-5.91, Z:1.16 [[ 9.88047766e-01 1.53030535e-01 -1.85274628e-02 7.16730660e+01] [-1.53002054e-01 9.88221457e-01 2.95346310e-03 -5.91437347e+00] [ 1.87612063e-02 -8.34227512e-05 9.99823990e-01 1.15766770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.483617865 meters 0.017425699785539445 Centerline is valid? [True, True] Translation: X:71.73, Y:-5.93, Z:1.16 [[ 9.88461028e-01 1.50547116e-01 -1.67440309e-02 7.17340553e+01] [-1.50523427e-01 9.88602828e-01 2.67335438e-03 -5.92574449e+00] [ 1.69556621e-02 -1.22137705e-04 9.99856235e-01 1.15859635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54361786499999 meters 0.017759504700242675 Centerline is valid? [True, True] Translation: X:71.80, Y:-5.94, Z:1.16 [[ 9.88920544e-01 1.47745495e-01 -1.44023300e-02 7.17954792e+01] [-1.47727630e-01 9.89025402e-01 2.30241219e-03 -5.93617499e+00] [ 1.45844413e-02 -1.49280639e-04 9.99893630e-01 1.15965606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60361786499999 meters 0.018309638739228355 Centerline is valid? [True, True] Translation: X:71.86, Y:-5.95, Z:1.16 [[ 9.89483116e-01 1.44185343e-01 -1.15649998e-02 7.18552310e+01] [-1.44173549e-01 9.89550686e-01 1.85143385e-03 -5.94928331e+00] [ 1.17111031e-02 -1.64595462e-04 9.99931409e-01 1.16097969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66361786499999 meters 0.018689254845529538 Centerline is valid? [True, True] Translation: X:71.92, Y:-5.96, Z:1.16 [[ 9.89688380e-01 1.42867433e-01 -1.02863083e-02 7.19158216e+01] [-1.42858027e-01 9.89741820e-01 1.64720703e-03 -5.96157040e+00] [ 1.04161217e-02 -1.60739946e-04 9.99945738e-01 1.16263120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.723617865 meters 0.019312230867511618 Centerline is valid? [True, True] Translation: X:71.98, Y:-5.97, Z:1.16 [[ 9.89866929e-01 1.41749617e-01 -8.39701326e-03 7.19760145e+01] [-1.41743296e-01 9.89902534e-01 1.34614217e-03 -5.97264375e+00] [ 8.50303983e-03 -1.42281276e-04 9.99963838e-01 1.16246275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.783617865 meters 0.019866063958583785 Centerline is valid? [True, True] Translation: X:72.04, Y:-5.98, Z:1.16 [[ 9.90048113e-01 1.40582764e-01 -6.42028678e-03 7.20368499e+01] [-1.40579041e-01 9.90068923e-01 1.02972156e-03 -5.98449123e+00] [ 6.50128752e-03 -1.16916130e-04 9.99978860e-01 1.16407768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.843617865 meters 0.019545729406701018 Centerline is valid? [True, True] Translation: X:72.10, Y:-5.99, Z:1.17 [[ 9.90213557e-01 1.39463016e-01 -5.21326194e-03 7.20983774e+01] [-1.39460544e-01 9.90227275e-01 8.36538711e-04 -5.99440845e+00] [ 5.27898038e-03 -1.01307626e-04 9.99986061e-01 1.16521033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90361786499999 meters 0.019999490607693644 Centerline is valid? [True, True] Translation: X:72.16, Y:-6.01, Z:1.17 [[ 9.90343976e-01 1.38499406e-01 -6.05997161e-03 7.21592093e+01] [-1.38496035e-01 9.90362509e-01 9.74552928e-04 -6.00500569e+00] [ 6.13654368e-03 -1.25860584e-04 9.99981163e-01 1.16529946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96361786499999 meters 0.020467206000255946 Centerline is valid? [True, True] Translation: X:72.22, Y:-6.02, Z:1.17 [[ 9.90495371e-01 1.37409903e-01 -6.11877322e-03 7.22207773e+01] [-1.37406435e-01 9.90514260e-01 9.85543140e-04 -6.01614070e+00] [ 6.19615552e-03 -1.35417101e-04 9.99980794e-01 1.16512365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02361786499999 meters 0.02059371453591592 Centerline is valid? [True, True] Translation: X:72.28, Y:-6.03, Z:1.16 [[ 9.90540364e-01 1.37045452e-01 -6.95207511e-03 7.22827810e+01] [-1.37040953e-01 9.90564748e-01 1.12163178e-03 -6.02553470e+00] [ 7.04019506e-03 -1.58302550e-04 9.99975205e-01 1.16497172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.083617865 meters 0.021169490317205733 Centerline is valid? [True, True] Translation: X:72.34, Y:-6.04, Z:1.17 [[ 9.90653667e-01 1.36173979e-01 -7.87149471e-03 7.23427326e+01] [-1.36168153e-01 9.90684920e-01 1.27391045e-03 -6.03612127e+00] [ 7.97164457e-03 -1.90157164e-04 9.99968208e-01 1.16534198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.143617865 meters 0.02245204971476108 Centerline is valid? [True, True] Translation: X:72.40, Y:-6.05, Z:1.17 [[ 9.90977645e-01 1.33816697e-01 -7.50991529e-03 7.24025489e+01] [-1.33811318e-01 9.91006080e-01 1.21638719e-03 -6.04831861e+00] [ 7.60514463e-03 -2.00500849e-04 9.99971060e-01 1.16779750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.203617865 meters 0.022389511246372625 Centerline is valid? [True, True] Translation: X:72.46, Y:-6.06, Z:1.17 [[ 9.91292043e-01 1.31539999e-01 -6.10857741e-03 7.24642619e+01] [-1.31536392e-01 9.91310848e-01 9.90276299e-04 -6.05807646e+00] [ 6.18575999e-03 -1.78152784e-04 9.99980852e-01 1.16919402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26361786499999 meters 0.024870939351498377 Centerline is valid? [True, True] Translation: X:72.52, Y:-6.07, Z:1.17 [[ 9.91571194e-01 1.29422901e-01 -6.02323102e-03 7.25243817e+01] [-1.29419362e-01 9.91589470e-01 9.75386014e-04 -6.07093703e+00] [ 6.09880974e-03 -1.87641961e-04 9.99981384e-01 1.17114743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32361786499999 meters 0.024280615512040204 Centerline is valid? [True, True] Translation: X:72.59, Y:-6.08, Z:1.17 [[ 9.91706207e-01 1.28396702e-01 -5.75204574e-03 7.25858370e+01] [-1.28393452e-01 9.91722871e-01 9.32420844e-04 -6.07872199e+00] [ 5.82415507e-03 -1.86162533e-04 9.99983022e-01 1.17165571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38361786499999 meters 0.024986534043050755 Centerline is valid? [True, True] Translation: X:72.65, Y:-6.09, Z:1.17 [[ 9.91847140e-01 1.27316742e-01 -5.44965270e-03 7.26470570e+01] [-1.27313802e-01 9.91862094e-01 8.84497433e-04 -6.08769885e+00] [ 5.51791527e-03 -1.83470245e-04 9.99984759e-01 1.17312547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.443617865 meters 0.022631353870339634 Centerline is valid? [True, True] Translation: X:72.71, Y:-6.09, Z:1.17 [[ 9.91768306e-01 1.27831719e-01 -7.39453022e-03 7.27099142e+01] [-1.27826298e-01 9.91795841e-01 1.20302992e-03 -6.09030436e+00] [ 7.48764970e-03 -2.47911526e-04 9.99971936e-01 1.17220369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.503617865 meters 0.02253173617449399 Centerline is valid? [True, True] Translation: X:72.77, Y:-6.10, Z:1.17 [[ 9.91708271e-01 1.28262398e-01 -7.96636305e-03 7.27713042e+01] [-1.28256102e-01 9.91740231e-01 1.29832824e-03 -6.09881268e+00] [ 8.06708943e-03 -2.65828182e-04 9.99967425e-01 1.17251778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.563617865 meters 0.02319661633942765 Centerline is valid? [True, True] Translation: X:72.83, Y:-6.11, Z:1.17 [[ 9.91563773e-01 1.29262518e-01 -9.61695405e-03 7.28319684e+01] [-1.29253353e-01 9.91610358e-01 1.57118795e-03 -6.10583411e+00] [ 9.73936696e-03 -3.14909493e-04 9.99952522e-01 1.17291215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62361786499999 meters 0.023552945766953996 Centerline is valid? [True, True] Translation: X:72.89, Y:-6.11, Z:1.17 [[ 9.91440968e-01 1.30163256e-01 -1.01159968e-02 7.28934852e+01] [-1.30153151e-01 9.91492523e-01 1.65370328e-03 -6.11377006e+00] [ 1.02451866e-02 -3.22920312e-04 9.99947465e-01 1.17373137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68361786499999 meters 0.0222634958115234 Centerline is valid? [True, True] Translation: X:72.96, Y:-6.12, Z:1.17 [[ 9.91273451e-01 1.31409693e-01 -1.04133307e-02 7.29557628e+01] [-1.31399027e-01 9.91328094e-01 1.70485505e-03 -6.11659817e+00] [ 1.05470618e-02 -3.21676020e-04 9.99944326e-01 1.17418653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74361786499999 meters 0.02160159386935688 Centerline is valid? [True, True] Translation: X:73.02, Y:-6.12, Z:1.18 [[ 9.91098208e-01 1.32720020e-01 -1.04755726e-02 7.30178083e+01] [-1.32709272e-01 9.91153519e-01 1.71765557e-03 -6.12244024e+00] [ 1.06108680e-02 -3.12159744e-04 9.99943654e-01 1.17526444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80361786499999 meters 0.021597533741931494 Centerline is valid? [True, True] Translation: X:73.08, Y:-6.13, Z:1.18 [[ 9.90727836e-01 1.35387124e-01 -1.13438334e-02 7.30790157e+01] [-1.35374657e-01 9.90792728e-01 1.86331764e-03 -6.12816915e+00] [ 1.14916568e-02 -3.10373108e-04 9.99933921e-01 1.17651372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.863617865 meters 0.02152593569675817 Centerline is valid? [True, True] Translation: X:73.14, Y:-6.13, Z:1.18 [[ 9.90431449e-01 1.37422824e-01 -1.26693404e-02 7.31400063e+01] [-1.37407393e-01 9.90512424e-01 2.08467350e-03 -6.13432132e+00] [ 1.28356208e-02 -3.23865162e-04 9.99917568e-01 1.17730282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.923617865 meters 0.02029841854946079 Centerline is valid? [True, True] Translation: X:73.20, Y:-6.14, Z:1.18 [[ 9.90275183e-01 1.38469930e-01 -1.34588442e-02 7.32021152e+01] [-1.38452589e-01 9.90366583e-01 2.21633635e-03 -6.13799092e+00] [ 1.36360855e-02 -3.31371061e-04 9.99906969e-01 1.17756215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.983617865 meters 0.0205222460237771 Centerline is valid? [True, True] Translation: X:73.26, Y:-6.14, Z:1.18 [[ 9.90146482e-01 1.39289456e-01 -1.44357583e-02 7.32629812e+01] [-1.39269534e-01 9.90251648e-01 2.38121317e-03 -6.14433500e+00] [ 1.46267113e-02 -3.47288511e-04 9.99892964e-01 1.17866406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04361786499999 meters 0.020817682669268943 Centerline is valid? [True, True] Translation: X:73.32, Y:-6.15, Z:1.18 [[ 9.90194396e-01 1.38948142e-01 -1.44385539e-02 7.33235632e+01] [-1.38928126e-01 9.90299595e-01 2.38505067e-03 -6.15296202e+00] [ 1.46298924e-02 -3.55742570e-04 9.99892914e-01 1.18042744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10361786499999 meters 0.02150222881643168 Centerline is valid? [True, True] Translation: X:73.39, Y:-6.16, Z:1.18 [[ 9.90407820e-01 1.37400526e-01 -1.46097669e-02 7.33852427e+01] [-1.37379814e-01 9.90515495e-01 2.41669275e-03 -6.15891744e+00] [ 1.48032554e-02 -3.86424327e-04 9.99890351e-01 1.18183498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16361786499999 meters 0.02234414573802569 Centerline is valid? [True, True] Translation: X:73.45, Y:-6.16, Z:1.18 [[ 9.90703638e-01 1.35178629e-01 -1.52656193e-02 7.34468507e+01] [-1.35155693e-01 9.90821146e-01 2.52905670e-03 -6.16492489e+00] [ 1.54673728e-02 -4.42310325e-04 9.99880275e-01 1.18198336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.223617865 meters 0.02190768433836383 Centerline is valid? [True, True] Translation: X:73.51, Y:-6.17, Z:1.18 [[ 9.90917458e-01 1.33516313e-01 -1.59995521e-02 7.35092498e+01] [-1.33490841e-01 9.91046492e-01 2.65438075e-03 -6.17030704e+00] [ 1.62107032e-02 -4.94478550e-04 9.99868476e-01 1.18355656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.283617865 meters 0.022871688015997992 Centerline is valid? [True, True] Translation: X:73.57, Y:-6.17, Z:1.18 [[ 9.91180529e-01 1.31351112e-01 -1.75512023e-02 7.35702174e+01] [-1.31320037e-01 9.91335736e-01 2.91646664e-03 -6.17456114e+00] [ 1.77822152e-02 -5.85920409e-04 9.99841712e-01 1.18364858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.343617865 meters 0.02408140353189511 Centerline is valid? [True, True] Translation: X:73.63, Y:-6.18, Z:1.18 [[ 9.91576383e-01 1.28124552e-01 -1.89835601e-02 7.36315603e+01] [-1.28087531e-01 9.91757838e-01 3.15841520e-03 -6.17858467e+00] [ 1.92317651e-02 -7.00252579e-04 9.99814807e-01 1.18419219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40361786499999 meters 0.024402412436753656 Centerline is valid? [True, True] Translation: X:73.69, Y:-6.18, Z:1.19 [[ 9.91935037e-01 1.25271333e-01 -1.92866659e-02 7.36925911e+01] [-1.25232569e-01 9.92122222e-01 3.20951416e-03 -6.18470147e+00] [ 1.95367899e-02 -7.68310842e-04 9.99808843e-01 1.18591811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46361786499999 meters 0.026713034843203656 Centerline is valid? [True, True] Translation: X:73.75, Y:-6.19, Z:1.19 [[ 9.92547942e-01 1.20267378e-01 -1.96045875e-02 7.37521170e+01] [-1.20226339e-01 9.92741145e-01 3.26296807e-03 -6.19130039e+00] [ 1.98547093e-02 -8.81664448e-04 9.99802487e-01 1.18832213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52361786499999 meters 0.025934802693926205 Centerline is valid? [True, True] Translation: X:73.81, Y:-6.19, Z:1.19 [[ 9.92756935e-01 1.18602430e-01 -1.91606841e-02 7.38149301e+01] [-1.18562915e-01 9.92941420e-01 3.18931471e-03 -6.19411069e+00] [ 1.94036973e-02 -8.94467740e-04 9.99811330e-01 1.19001677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.583617865 meters 0.02627279753901742 Centerline is valid? [True, True] Translation: X:73.88, Y:-6.20, Z:1.19 [[ 9.92612117e-01 1.19806431e-01 -1.91729884e-02 7.38780250e+01] [-1.19767062e-01 9.92796886e-01 3.19275374e-03 -6.19669732e+00] [ 1.94173957e-02 -8.72873557e-04 9.99811084e-01 1.19199808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.643617865 meters 0.02330227717113153 Centerline is valid? [True, True] Translation: X:73.94, Y:-6.19, Z:1.19 [[ 9.92054065e-01 1.24200130e-01 -2.00763675e-02 7.39403626e+01] [-1.24157830e-01 9.92256845e-01 3.34467536e-03 -6.19323344e+00] [ 2.03363222e-02 -8.25460561e-04 9.99792855e-01 1.19316452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.703617865 meters 0.022432343749836468 Centerline is valid? [True, True] Translation: X:74.00, Y:-6.20, Z:1.19 [[ 9.91565037e-01 1.27852398e-01 -2.12730228e-02 7.40022780e+01] [-1.27805728e-01 9.91792887e-01 3.54476112e-03 -6.19674691e+00] [ 2.15516389e-02 -7.96047036e-04 9.99767420e-01 1.19321624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76361786499999 meters 0.02202147657741178 Centerline is valid? [True, True] Translation: X:74.06, Y:-6.20, Z:1.19 [[ 9.90980213e-01 1.32290897e-01 -2.13854223e-02 7.40642666e+01] [-1.32244733e-01 9.91210685e-01 3.56490622e-03 -6.19832569e+00] [ 2.16690637e-02 -7.04642072e-04 9.99764950e-01 1.19371543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82361786499999 meters 0.022062315159808655 Centerline is valid? [True, True] Translation: X:74.13, Y:-6.21, Z:1.20 [[ 9.90776582e-01 1.33906064e-01 -2.07588806e-02 7.41266237e+01] [-1.33862900e-01 9.90993816e-01 3.46142384e-03 -6.20505927e+00] [ 2.10354280e-02 -6.50653718e-04 9.99778519e-01 1.19500393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88361786499999 meters 0.02246123258923237 Centerline is valid? [True, True] Translation: X:74.19, Y:-6.21, Z:1.20 [[ 9.90744381e-01 1.34263644e-01 -1.99710992e-02 7.41875883e+01] [-1.34223728e-01 9.90945452e-01 3.33195014e-03 -6.21170872e+00] [ 2.02376297e-02 -6.20515491e-04 9.99795006e-01 1.19660474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.943617865 meters 0.022259909372808657 Centerline is valid? [True, True] Translation: X:74.25, Y:-6.22, Z:1.20 [[ 9.90886489e-01 1.33109543e-01 -2.06353188e-02 7.42499117e+01] [-1.33066607e-01 9.91101106e-01 3.44615656e-03 -6.21758840e+00] [ 2.09104036e-02 -6.68878118e-04 9.99781130e-01 1.19712124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.003617865 meters 0.02266736063672288 Centerline is valid? [True, True] Translation: X:74.31, Y:-6.22, Z:1.20 [[ 9.91050280e-01 1.31860560e-01 -2.07878786e-02 7.43113089e+01] [-1.31816605e-01 9.91268024e-01 3.47670884e-03 -6.22481332e+00] [ 2.10648001e-02 -7.05405682e-04 9.99777864e-01 1.19732854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.063617865 meters 0.02295356845801497 Centerline is valid? [True, True] Translation: X:74.37, Y:-6.23, Z:1.20 [[ 9.91069832e-01 1.31764119e-01 -2.04647417e-02 7.43734838e+01] [-1.31721395e-01 9.91280851e-01 3.42772626e-03 -6.23431238e+00] [ 2.07379579e-02 -7.01471767e-04 9.99784699e-01 1.19864820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12361786499999 meters 0.022523724314268356 Centerline is valid? [True, True] Translation: X:74.44, Y:-6.24, Z:1.20 [[ 9.91046670e-01 1.31914194e-01 -2.06189858e-02 7.44361607e+01] [-1.31870736e-01 9.91260885e-01 3.45929630e-03 -6.24154870e+00] [ 2.08951244e-02 -7.09283249e-04 9.99781421e-01 1.19998881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18361786499999 meters 0.022409550847277148 Centerline is valid? [True, True] Translation: X:74.50, Y:-6.25, Z:1.20 [[ 9.90916029e-01 1.32841208e-01 -2.09436753e-02 7.44982173e+01] [-1.32796455e-01 9.91137082e-01 3.51949781e-03 -6.24920481e+00] [ 2.12255876e-02 -7.06280952e-04 9.99774462e-01 1.20028062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24361786499999 meters 0.02321674666288657 Centerline is valid? [True, True] Translation: X:74.56, Y:-6.26, Z:1.20 [[ 9.90749417e-01 1.34074215e-01 -2.09689486e-02 7.45590771e+01] [-1.34029522e-01 9.90971056e-01 3.52883896e-03 -6.25898411e+00] [ 2.12527474e-02 -6.85736988e-04 9.99773900e-01 1.20128792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30361786499999 meters 0.021598138428333264 Centerline is valid? [True, True] Translation: X:74.62, Y:-6.27, Z:1.20 [[ 9.90545849e-01 1.35535208e-01 -2.11926531e-02 7.46205139e+01] [-1.35489779e-01 9.90772306e-01 3.57164509e-03 -6.26624920e+00] [ 2.14811774e-02 -6.66490344e-04 9.99769031e-01 1.20277973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.363617865 meters 0.020982107149589962 Centerline is valid? [True, True] Translation: X:74.68, Y:-6.27, Z:1.20 [[ 9.89851638e-01 1.40434935e-01 -2.17201088e-02 7.46802868e+01] [-1.40388304e-01 9.90089741e-01 3.66460692e-03 -6.27429404e+00] [ 2.20194958e-02 -5.78167920e-04 9.99757374e-01 1.20456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.423617865 meters 0.020891314247571173 Centerline is valid? [True, True] Translation: X:74.74, Y:-6.28, Z:1.21 [[ 9.89481768e-01 1.42977161e-01 -2.19854994e-02 7.47411058e+01] [-1.42929970e-01 9.89725846e-01 3.71115911e-03 -6.28387394e+00] [ 2.22902280e-02 -5.29737499e-04 9.99751402e-01 1.20579359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.483617865 meters 0.01871435980573361 Centerline is valid? [True, True] Translation: X:74.80, Y:-6.29, Z:1.21 [[ 9.88144952e-01 1.52041399e-01 -2.12829980e-02 7.48020019e+01] [-1.51999194e-01 9.88374075e-01 3.59629161e-03 -6.28864795e+00] [ 2.15823487e-02 -3.18658843e-04 9.99767023e-01 1.20769646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54361786499999 meters 0.01754313698251199 Centerline is valid? [True, True] Translation: X:74.86, Y:-6.29, Z:1.21 [[ 9.86612727e-01 1.61625954e-01 -2.17342488e-02 7.48632438e+01] [-1.61584252e-01 9.86852085e-01 3.67302665e-03 -6.29389446e+00] [ 2.20421452e-02 -1.11942503e-04 9.99757036e-01 1.20920086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60361786499999 meters 0.01731683617382621 Centerline is valid? [True, True] Translation: X:74.93, Y:-6.30, Z:1.21 [[ 9.85714700e-01 1.67091909e-01 -2.11381985e-02 7.49251823e+01] [-1.67053677e-01 9.85941324e-01 3.57420511e-03 -6.30169161e+00] [ 2.14382441e-02 8.06726597e-06 9.99770174e-01 1.21105624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66361786499999 meters 0.017399295421369525 Centerline is valid? [True, True] Translation: X:74.99, Y:-6.31, Z:1.21 [[ 9.85015601e-01 1.71148325e-01 -2.12724375e-02 7.49863417e+01] [-1.71110433e-01 9.85245270e-01 3.60239729e-03 -6.31155939e+00] [ 2.15751127e-02 9.15184640e-05 9.99767226e-01 1.21186212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.723617865 meters 0.01732680737561178 Centerline is valid? [True, True] Translation: X:75.05, Y:-6.33, Z:1.21 [[ 9.85317102e-01 1.69397985e-01 -2.13197509e-02 7.50475212e+01] [-1.69359388e-01 9.85547726e-01 3.61623013e-03 -6.32775603e+00] [ 2.16242141e-02 4.75665722e-05 9.99766168e-01 1.21342383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.783617865 meters 0.017335590728393243 Centerline is valid? [True, True] Translation: X:75.11, Y:-6.34, Z:1.21 [[ 9.85845053e-01 1.66242908e-01 -2.17445726e-02 7.51090074e+01] [-1.66201852e-01 9.86084831e-01 3.69456280e-03 -6.34365742e+00] [ 2.20561880e-02 -2.82782351e-05 9.99756732e-01 1.21433655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.843617865 meters 0.017887297463114793 Centerline is valid? [True, True] Translation: X:75.17, Y:-6.36, Z:1.21 [[ 9.87041315e-01 1.59005633e-01 -2.16020873e-02 7.51678360e+01] [-1.58963252e-01 9.87277656e-01 3.67609754e-03 -6.36288764e+00] [ 2.19117783e-02 -1.94522107e-04 9.99759889e-01 1.21421085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90361786499999 meters 0.01866856088393986 Centerline is valid? [True, True] Translation: X:75.23, Y:-6.38, Z:1.22 [[ 9.87915571e-01 1.53427908e-01 -2.19704796e-02 7.52271435e+01] [-1.53382577e-01 9.88159789e-01 3.74381016e-03 -6.38135507e+00] [ 2.22847495e-02 -3.28679575e-04 9.99751610e-01 1.21505194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96361786499999 meters 0.01986985442907035 Centerline is valid? [True, True] Translation: X:75.28, Y:-6.40, Z:1.22 [[ 9.89146653e-01 1.45332921e-01 -2.16157564e-02 7.52849660e+01] [-1.45287029e-01 9.89382679e-01 3.68695722e-03 -6.40274425e+00] [ 2.19220913e-02 -5.06452367e-04 9.99759554e-01 1.21699131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02361786499999 meters 0.021995284891182534 Centerline is valid? [True, True] Translation: X:75.34, Y:-6.42, Z:1.22 [[ 9.89622728e-01 1.41982211e-01 -2.20886559e-02 7.53436255e+01] [-1.41933415e-01 9.89869031e-01 3.76935463e-03 -6.42275670e+00] [ 2.24000577e-02 -5.95120642e-04 9.99748910e-01 1.21664540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.083617865 meters 0.020488956121063946 Centerline is valid? [True, True] Translation: X:75.41, Y:-6.43, Z:1.22 [[ 9.89418119e-01 1.43311305e-01 -2.26639837e-02 7.54051907e+01] [-1.43260184e-01 9.89677487e-01 3.87180267e-03 -6.43426412e+00] [ 2.29849075e-02 -5.83985241e-04 9.99735642e-01 1.21832942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.143617865 meters 0.01974490206502129 Centerline is valid? [True, True] Translation: X:75.46, Y:-6.45, Z:1.22 [[ 9.88565180e-01 1.49064219e-01 -2.27759377e-02 7.54639370e+01] [-1.49014081e-01 9.88827413e-01 3.89244357e-03 -6.44705430e+00] [ 2.31016956e-02 -4.53998752e-04 9.99733017e-01 1.21940846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.203617865 meters 0.01867581820809447 Centerline is valid? [True, True] Translation: X:75.52, Y:-6.46, Z:1.22 [[ 9.87488979e-01 1.56165584e-01 -2.18592274e-02 7.55242558e+01] [-1.56121128e-01 9.87730851e-01 3.73625508e-03 -6.45887018e+00] [ 2.21745077e-02 -2.76823474e-04 9.99754077e-01 1.22180472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26361786499999 meters 0.01825623133985624 Centerline is valid? [True, True] Translation: X:75.58, Y:-6.47, Z:1.22 [[ 9.86811451e-01 1.60534851e-01 -2.07779204e-02 7.55843891e+01] [-1.60495616e-01 9.87030158e-01 3.55316442e-03 -6.47207233e+00] [ 2.10788408e-02 -1.71538191e-04 9.99777802e-01 1.22391605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32361786499999 meters 0.018039784093256676 Centerline is valid? [True, True] Translation: X:75.64, Y:-6.49, Z:1.23 [[ 9.86076832e-01 1.64980096e-01 -2.08338500e-02 7.56449748e+01] [-1.64941536e-01 9.86296893e-01 3.56770442e-03 -6.48714270e+00] [ 2.11369617e-02 -8.16634625e-05 9.99776586e-01 1.22617572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38361786499999 meters 0.01799495043989199 Centerline is valid? [True, True] Translation: X:75.71, Y:-6.50, Z:1.23 [[ 9.85871885e-01 1.66303716e-01 -1.99925012e-02 7.57057366e+01] [-1.66268382e-01 9.86074577e-01 3.42843768e-03 -6.50327930e+00] [ 2.02842591e-02 -5.58794926e-05 9.99794252e-01 1.22857077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.443617865 meters 0.018115757430299136 Centerline is valid? [True, True] Translation: X:75.77, Y:-6.52, Z:1.23 [[ 9.85957406e-01 1.65902964e-01 -1.90840331e-02 7.57659628e+01] [-1.65870594e-01 9.86142080e-01 3.27781393e-03 -6.51997424e+00] [ 1.93633672e-02 -6.63050222e-05 9.99812510e-01 1.23012877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.503617865 meters 0.018361823609870313 Centerline is valid? [True, True] Translation: X:75.83, Y:-6.54, Z:1.23 [[ 9.86344453e-01 1.63454402e-01 -2.01811631e-02 7.58251884e+01] [-1.63417578e-01 9.86550882e-01 3.47171434e-03 -6.53941660e+00] [ 2.04772112e-02 -1.26349388e-04 9.99790312e-01 1.23164142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.563617865 meters 0.018621298581081764 Centerline is valid? [True, True] Translation: X:75.89, Y:-6.56, Z:1.23 [[ 9.86654468e-01 1.61373569e-01 -2.17147777e-02 7.58852573e+01] [-1.61330308e-01 9.86893376e-01 3.74108316e-03 -6.55616136e+00] [ 2.20338822e-02 -1.87904648e-04 9.99757207e-01 1.23208285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62361786499999 meters 0.019013256222506023 Centerline is valid? [True, True] Translation: X:75.95, Y:-6.58, Z:1.23 [[ 9.87173791e-01 1.57904653e-01 -2.35377682e-02 7.59452821e+01] [-1.57852692e-01 9.87454320e-01 4.06116156e-03 -6.57530204e+00] [ 2.38837472e-02 -2.93572173e-04 9.99714700e-01 1.23225926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68361786499999 meters 0.019544276035230325 Centerline is valid? [True, True] Translation: X:76.01, Y:-6.59, Z:1.23 [[ 9.87522484e-01 1.55620347e-01 -2.41174471e-02 7.60054857e+01] [-1.55564968e-01 9.87816874e-01 4.16713428e-03 -6.59276541e+00] [ 2.44721121e-02 -3.63308909e-04 9.99700447e-01 1.23372563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74361786499999 meters 0.019786461222267793 Centerline is valid? [True, True] Translation: X:76.07, Y:-6.61, Z:1.24 [[ 9.88035537e-01 1.52231705e-01 -2.47241966e-02 7.60655504e+01] [-1.52172289e-01 9.88344723e-01 4.27810925e-03 -6.61107826e+00] [ 2.50872931e-02 -4.64586374e-04 9.99685156e-01 1.23625504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80361786499999 meters 0.020118797859574225 Centerline is valid? [True, True] Translation: X:76.13, Y:-6.63, Z:1.24 [[ 9.88201626e-01 1.50949782e-01 -2.59173784e-02 7.61256160e+01] [-1.50883877e-01 9.88541291e-01 4.49118104e-03 -6.62635077e+00] [ 2.62983415e-02 -5.27677852e-04 9.99654000e-01 1.23713513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.863617865 meters 0.020103522777945304 Centerline is valid? [True, True] Translation: X:76.19, Y:-6.64, Z:1.24 [[ 9.88128322e-01 1.51378004e-01 -2.62129609e-02 7.61868686e+01] [-1.51310555e-01 9.88475806e-01 4.54929048e-03 -6.64232792e+00] [ 2.65995402e-02 -5.28985118e-04 9.99646030e-01 1.23949742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.923617865 meters 0.01987681350548871 Centerline is valid? [True, True] Translation: X:76.25, Y:-6.66, Z:1.24 [[ 9.87962763e-01 1.52688461e-01 -2.48155957e-02 7.62472992e+01] [-1.52628262e-01 9.88274258e-01 4.31324609e-03 -6.65909912e+00] [ 2.51831974e-02 -4.73765277e-04 9.99682741e-01 1.24333093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.983617865 meters 0.019871313905543506 Centerline is valid? [True, True] Translation: X:76.31, Y:-6.67, Z:1.25 [[ 9.87748191e-01 1.54182149e-01 -2.41117246e-02 7.63066891e+01] [-1.54125624e-01 9.88042348e-01 4.19656861e-03 -6.67412775e+00] [ 2.44704410e-02 -4.28918456e-04 9.99700462e-01 1.24602631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04361786499999 meters 0.01943216142698221 Centerline is valid? [True, True] Translation: X:76.37, Y:-6.69, Z:1.25 [[ 9.87473443e-01 1.55938892e-01 -2.40678586e-02 7.63670738e+01] [-1.55882956e-01 9.87766627e-01 4.19455162e-03 -6.68793659e+00] [ 2.44275212e-02 -3.90239385e-04 9.99701527e-01 1.24863648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10361786499999 meters 0.019396133270233193 Centerline is valid? [True, True] Translation: X:76.43, Y:-6.70, Z:1.25 [[ 9.87187741e-01 1.57730457e-01 -2.41136103e-02 7.64273968e+01] [-1.57674696e-01 9.87482141e-01 4.20849519e-03 -6.70103172e+00] [ 2.44755674e-02 -3.52468677e-04 9.99700366e-01 1.25004817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16361786499999 meters 0.01905050445133841 Centerline is valid? [True, True] Translation: X:76.49, Y:-6.71, Z:1.25 [[ 9.86584381e-01 1.61461270e-01 -2.41146889e-02 7.64881654e+01] [-1.61406473e-01 9.86879014e-01 4.21459244e-03 -6.71226454e+00] [ 2.44787738e-02 -2.65784204e-04 9.99700315e-01 1.25201835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.223617865 meters 0.018738853423983074 Centerline is valid? [True, True] Translation: X:76.55, Y:-6.72, Z:1.25 [[ 9.86077379e-01 1.64456063e-01 -2.46090592e-02 7.65495355e+01] [-1.64399774e-01 9.86384389e-01 4.30715441e-03 -6.72280185e+00] [ 2.49823294e-02 -2.01463765e-04 9.99687873e-01 1.25344639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.283617865 meters 0.018903299860326 Centerline is valid? [True, True] Translation: X:76.61, Y:-6.74, Z:1.25 [[ 9.85860996e-01 1.65739516e-01 -2.46679699e-02 7.66106167e+01] [-1.65683200e-01 9.86169550e-01 4.32379711e-03 -6.73516872e+00] [ 2.50434249e-02 -1.75594714e-04 9.99686349e-01 1.25306221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.343617865 meters 0.018718315974841245 Centerline is valid? [True, True] Translation: X:76.67, Y:-6.75, Z:1.25 [[ 9.85403749e-01 1.68361778e-01 -2.51746453e-02 7.66714603e+01] [-1.68303815e-01 9.85725265e-01 4.41904681e-03 -6.74709259e+00] [ 2.55592825e-02 -1.17556462e-04 9.99673301e-01 1.25405230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40361786499999 meters 0.018609309798849137 Centerline is valid? [True, True] Translation: X:76.73, Y:-6.76, Z:1.26 [[ 9.85279772e-01 1.69218990e-01 -2.42632422e-02 7.67319627e+01] [-1.69165275e-01 9.85578472e-01 4.26450051e-03 -6.75878916e+00] [ 2.46349636e-02 -9.72280595e-05 9.99696509e-01 1.25549123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46361786499999 meters 0.018743896348403805 Centerline is valid? [True, True] Translation: X:76.79, Y:-6.77, Z:1.26 [[ 9.85503232e-01 1.67816141e-01 -2.49223384e-02 7.67920482e+01] [-1.67758872e-01 9.85818301e-01 4.38614052e-03 -6.77256248e+00] [ 2.53049624e-02 -1.41612298e-04 9.99679768e-01 1.25696516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52361786499999 meters 0.018932577229444608 Centerline is valid? [True, True] Translation: X:76.85, Y:-6.79, Z:1.26 [[ 9.85819739e-01 1.65885341e-01 -2.53277692e-02 7.68524629e+01] [-1.65825401e-01 9.86145027e-01 4.46352409e-03 -6.78715658e+00] [ 2.57172869e-02 -2.00242667e-04 9.99669236e-01 1.25834831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.583617865 meters 0.019319547247723067 Centerline is valid? [True, True] Translation: X:76.91, Y:-6.80, Z:1.26 [[ 9.86246741e-01 1.63292049e-01 -2.55553001e-02 7.69129663e+01] [-1.63229992e-01 9.86577737e-01 4.50989962e-03 -6.80243633e+00] [ 2.59487208e-02 -2.76482377e-04 9.99663237e-01 1.25929580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.643617865 meters 0.01948390826252868 Centerline is valid? [True, True] Translation: X:76.97, Y:-6.82, Z:1.26 [[ 9.86439945e-01 1.62021876e-01 -2.61753058e-02 7.69741035e+01] [-1.61956153e-01 9.86787113e-01 4.62576874e-03 -6.81537388e+00] [ 2.65789302e-02 -3.23791238e-04 9.99646665e-01 1.26068464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.703617865 meters 0.0199469552409182 Centerline is valid? [True, True] Translation: X:77.03, Y:-6.83, Z:1.26 [[ 9.86889905e-01 1.59177513e-01 -2.66614817e-02 7.70346795e+01] [-1.59108108e-01 9.87249891e-01 4.71828340e-03 -6.83109691e+00] [ 2.70725895e-02 -4.14368343e-04 9.99633384e-01 1.26322327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76361786499999 meters 0.020521623383322314 Centerline is valid? [True, True] Translation: X:77.09, Y:-6.85, Z:1.27 [[ 9.87302622e-01 1.56668378e-01 -2.62402771e-02 7.70940329e+01] [-1.56600099e-01 9.87651147e-01 4.64991958e-03 -6.84523484e+00] [ 2.66447351e-02 -4.81647809e-04 9.99644850e-01 1.26558706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82361786499999 meters 0.020983798239398964 Centerline is valid? [True, True] Translation: X:77.15, Y:-6.86, Z:1.27 [[ 9.87868223e-01 1.53152385e-01 -2.57044790e-02 7.71543292e+01] [-1.53085522e-01 9.88202419e-01 4.56089863e-03 -6.85890016e+00] [ 2.60997408e-02 -5.70583247e-04 9.99659181e-01 1.26818550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88361786499999 meters 0.022481439525603074 Centerline is valid? [True, True] Translation: X:77.21, Y:-6.88, Z:1.27 [[ 9.88251107e-01 1.50405382e-01 -2.71656024e-02 7.72132681e+01] [-1.50329478e-01 9.88624170e-01 4.82680549e-03 -6.87507593e+00] [ 2.75825487e-02 -6.86305050e-04 9.99619294e-01 1.26914401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.943617865 meters 0.0214920138398883 Centerline is valid? [True, True] Translation: X:77.27, Y:-6.89, Z:1.27 [[ 9.88338813e-01 1.49851652e-01 -2.70346547e-02 7.72741215e+01] [-1.49776097e-01 9.88708241e-01 4.80987146e-03 -6.88508621e+00] [ 2.74501530e-02 -7.04637577e-04 9.99622925e-01 1.27251105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.003617865 meters 0.022306724438784873 Centerline is valid? [True, True] Translation: X:77.33, Y:-6.90, Z:1.27 [[ 9.88078479e-01 1.51627120e-01 -2.66483894e-02 7.73333724e+01] [-1.51554182e-01 9.88437550e-01 4.74749642e-03 -6.89851173e+00] [ 2.70601180e-02 -6.52224179e-04 9.99633595e-01 1.27378075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.063617865 meters 0.021334270100468174 Centerline is valid? [True, True] Translation: X:77.40, Y:-6.91, Z:1.28 [[ 9.87716831e-01 1.53874044e-01 -2.71705694e-02 7.73953447e+01] [-1.53798941e-01 9.88090284e-01 4.84516918e-03 -6.90737983e+00] [ 2.75925214e-02 -6.06850353e-04 9.99619070e-01 1.27568223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12361786499999 meters 0.020876665214855067 Centerline is valid? [True, True] Translation: X:77.46, Y:-6.92, Z:1.28 [[ 9.86919174e-01 1.58881453e-01 -2.73354791e-02 7.74559184e+01] [-1.58807303e-01 9.87297555e-01 4.87635670e-03 -6.91642221e+00] [ 2.77630144e-02 -4.71496210e-04 9.99614422e-01 1.27604288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18361786499999 meters 0.020299704617534303 Centerline is valid? [True, True] Translation: X:77.52, Y:-6.93, Z:1.28 [[ 9.86187241e-01 1.63574740e-01 -2.60389975e-02 7.75175283e+01] [-1.63509013e-01 9.86530890e-01 4.64809954e-03 -6.92530252e+00] [ 2.64485870e-02 -3.26285695e-04 9.99650122e-01 1.27786024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24361786499999 meters 0.020122630613558106 Centerline is valid? [True, True] Translation: X:77.58, Y:-6.94, Z:1.28 [[ 9.85776638e-01 1.66202255e-01 -2.49244759e-02 7.75773643e+01] [-1.66142731e-01 9.86091653e-01 4.45482310e-03 -6.93546420e+00] [ 2.53182193e-02 -2.50440047e-04 9.99679411e-01 1.27898428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30361786499999 meters 0.02010942017613053 Centerline is valid? [True, True] Translation: X:77.64, Y:-6.94, Z:1.28 [[ 9.85279803e-01 1.69396039e-01 -2.29932897e-02 7.76386260e+01] [-1.69346137e-01 9.85548049e-01 4.11458144e-03 -6.94455312e+00] [ 2.33579856e-02 -1.60189213e-04 9.99727152e-01 1.28029832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.363617865 meters 0.02021952783075712 Centerline is valid? [True, True] Translation: X:77.70, Y:-6.95, Z:1.28 [[ 9.84951386e-01 1.71518476e-01 -2.12644964e-02 7.76994383e+01] [-1.71476189e-01 9.85180898e-01 3.80993180e-03 -6.95450334e+00] [ 2.16028494e-02 -1.06242796e-04 9.99766626e-01 1.28170005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.423617865 meters 0.020305400630722774 Centerline is valid? [True, True] Translation: X:77.76, Y:-6.96, Z:1.28 [[ 9.84838507e-01 1.72357309e-01 -1.96487593e-02 7.77607569e+01] [-1.72321285e-01 9.85034492e-01 3.52478185e-03 -6.96358318e+00] [ 1.99622276e-02 -8.54414437e-05 9.99800731e-01 1.28270917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.483617865 meters 0.02049314130054107 Centerline is valid? [True, True] Translation: X:77.82, Y:-6.98, Z:1.28 [[ 9.84837555e-01 1.72491000e-01 -1.84890421e-02 7.78222852e+01] [-1.72459044e-01 9.85011090e-01 3.32116639e-03 -6.97512890e+00] [ 1.87847828e-02 -8.22068664e-05 9.99823547e-01 1.28290457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54361786499999 meters 0.020564123979145726 Centerline is valid? [True, True] Translation: X:77.88, Y:-6.99, Z:1.28 [[ 9.84724580e-01 1.73142623e-01 -1.84155951e-02 7.78836046e+01] [-1.73110935e-01 9.84896759e-01 3.31320994e-03 -6.98686153e+00] [ 1.87111178e-02 -7.46583797e-05 9.99824929e-01 1.28335341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60361786499999 meters 0.020735951258938668 Centerline is valid? [True, True] Translation: X:77.94, Y:-7.00, Z:1.28 [[ 9.84748334e-01 1.73038505e-01 -1.81216804e-02 7.79448302e+01] [-1.73007710e-01 9.84915057e-01 3.26540190e-03 -6.99883095e+00] [ 1.84133561e-02 -8.04086593e-05 9.99830457e-01 1.28387959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66361786499999 meters 0.020792198766222635 Centerline is valid? [True, True] Translation: X:78.01, Y:-7.01, Z:1.28 [[ 9.85029449e-01 1.71475894e-01 -1.76918494e-02 7.80068570e+01] [-1.71446207e-01 9.85188310e-01 3.19257918e-03 -7.01144123e+00] [ 1.79772536e-02 -1.11584023e-04 9.99838390e-01 1.28460179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.723617865 meters 0.021058283488375983 Centerline is valid? [True, True] Translation: X:78.07, Y:-7.03, Z:1.29 [[ 9.85440355e-01 1.69236435e-01 -1.63197860e-02 7.80661304e+01] [-1.69210798e-01 9.85575470e-01 2.94922481e-03 -7.02664426e+00] [ 1.65834970e-02 -1.44801145e-04 9.99862474e-01 1.28620011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.783617865 meters 0.021199962395926895 Centerline is valid? [True, True] Translation: X:78.13, Y:-7.04, Z:1.29 [[ 9.85780904e-01 1.67367694e-01 -1.49687659e-02 7.81273473e+01] [-1.67345864e-01 9.85894532e-01 2.70815421e-03 -7.03868365e+00] [ 1.52108820e-02 -1.64685637e-04 9.99884294e-01 1.28812334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.843617865 meters 0.021584534574889215 Centerline is valid? [True, True] Translation: X:78.19, Y:-7.05, Z:1.29 [[ 9.86172298e-01 1.65205807e-01 -1.30858886e-02 7.81878955e+01] [-1.65188897e-01 9.86259099e-01 2.37022888e-03 -7.05298633e+00] [ 1.32976522e-02 -1.75810568e-04 9.99911567e-01 1.28938244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90361786499999 meters 0.021853867380959496 Centerline is valid? [True, True] Translation: X:78.25, Y:-7.07, Z:1.29 [[ 9.86300972e-01 1.64423230e-01 -1.32436378e-02 7.82473490e+01] [-1.64405795e-01 9.86389864e-01 2.40209721e-03 -7.06640386e+00] [ 1.34583507e-02 -1.91860023e-04 9.99909414e-01 1.29095767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96361786499999 meters 0.021967647391302147 Centerline is valid? [True, True] Translation: X:78.31, Y:-7.08, Z:1.29 [[ 9.86086492e-01 1.65680174e-01 -1.35466121e-02 7.83070681e+01] [-1.65662008e-01 9.86179521e-01 2.46012907e-03 -7.07778280e+00] [ 1.37669860e-02 -1.81741086e-04 9.99905214e-01 1.29166660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02361786499999 meters 0.021443527985398093 Centerline is valid? [True, True] Translation: X:78.37, Y:-7.08, Z:1.29 [[ 9.85451091e-01 1.69431900e-01 -1.33783220e-02 7.83691855e+01] [-1.69414489e-01 9.85541889e-01 2.43236545e-03 -7.08464902e+00] [ 1.35970170e-02 -1.30495588e-04 9.99907548e-01 1.29224654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.083617865 meters 0.021407021993612697 Centerline is valid? [True, True] Translation: X:78.43, Y:-7.09, Z:1.29 [[ 9.84751246e-01 1.73438899e-01 -1.35621299e-02 7.84310977e+01] [-1.73421341e-01 9.84844628e-01 2.46909499e-03 -7.09278783e+00] [ 1.37848279e-02 -7.94816135e-05 9.99904982e-01 1.29351106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.143617865 meters 0.021428126349673508 Centerline is valid? [True, True] Translation: X:78.49, Y:-7.10, Z:1.29 [[ 9.84429517e-01 1.75265117e-01 -1.34411420e-02 7.84932300e+01] [-1.75247999e-01 9.84521272e-01 2.45020814e-03 -7.10272287e+00] [ 1.36625263e-02 -5.65239803e-05 9.99906662e-01 1.29482370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.203617865 meters 0.021410170376866537 Centerline is valid? [True, True] Translation: X:78.56, Y:-7.11, Z:1.30 [[ 9.84254539e-01 1.76226283e-01 -1.36857658e-02 7.85557484e+01] [-1.76208575e-01 9.84349681e-01 2.49860405e-03 -7.11292988e+00] [ 1.39118989e-02 -4.77130837e-05 9.99903224e-01 1.29585386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26361786499999 meters 0.02163807231057574 Centerline is valid? [True, True] Translation: X:78.62, Y:-7.12, Z:1.30 [[ 9.84240712e-01 1.76356117e-01 -1.29900247e-02 7.86180811e+01] [-1.76340129e-01 9.84326428e-01 2.37508977e-03 -7.12394333e+00] [ 1.32052862e-02 -4.69974108e-05 9.99912805e-01 1.29736210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32361786499999 meters 0.021816743268631467 Centerline is valid? [True, True] Translation: X:78.68, Y:-7.13, Z:1.30 [[ 9.84267444e-01 1.76307869e-01 -1.15383571e-02 7.86791885e+01] [-1.76295218e-01 9.84335072e-01 2.11253425e-03 -7.13427697e+00] [ 1.17300660e-02 -4.51415104e-05 9.99931199e-01 1.30036969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38361786499999 meters 0.022025920975517907 Centerline is valid? [True, True] Translation: X:78.74, Y:-7.14, Z:1.30 [[ 9.84360079e-01 1.75819861e-01 -1.10729829e-02 7.87408925e+01] [-1.75808150e-01 9.84422355e-01 2.02996406e-03 -7.14425518e+00] [ 1.12573999e-02 -5.14949461e-05 9.99936632e-01 1.30156915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.443617865 meters 0.02204349812195329 Centerline is valid? [True, True] Translation: X:78.80, Y:-7.15, Z:1.30 [[ 9.84345526e-01 1.75871513e-01 -1.15367774e-02 7.88026272e+01] [-1.75858763e-01 9.84413129e-01 2.11847336e-03 -7.15443238e+00] [ 1.17295342e-02 -5.64663818e-05 9.99931205e-01 1.30142662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.503617865 meters 0.02215732971865443 Centerline is valid? [True, True] Translation: X:78.86, Y:-7.16, Z:1.30 [[ 9.84524311e-01 1.74772746e-01 -1.28984030e-02 7.88645137e+01] [-1.74756659e-01 9.84608796e-01 2.37265334e-03 -7.16393987e+00] [ 1.31145562e-02 -8.18530823e-05 9.99913997e-01 1.30056285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.563617865 meters 0.022261722737210974 Centerline is valid? [True, True] Translation: X:78.93, Y:-7.17, Z:1.30 [[ 9.84876832e-01 1.72719002e-01 -1.36298300e-02 7.89252002e+01] [-1.72700783e-01 9.84971133e-01 2.51150275e-03 -7.17438707e+00] [ 1.38587734e-02 -1.19638559e-04 9.99903955e-01 1.30103031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62361786499999 meters 0.022401998884384156 Centerline is valid? [True, True] Translation: X:78.99, Y:-7.19, Z:1.30 [[ 9.85313566e-01 1.70151141e-01 -1.43445424e-02 7.89853962e+01] [-1.70130636e-01 9.85417963e-01 2.64676628e-03 -7.18585708e+00] [ 1.45857200e-02 -1.67448600e-04 9.99893609e-01 1.30168101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68361786499999 meters 0.022983590301038845 Centerline is valid? [True, True] Translation: X:79.05, Y:-7.20, Z:1.30 [[ 9.86097845e-01 1.65654620e-01 -1.30225773e-02 7.90458447e+01] [-1.65637289e-01 9.86183807e-01 2.40579872e-03 -7.19858817e+00] [ 1.32411866e-02 -2.15328528e-04 9.99912308e-01 1.30373580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74361786499999 meters 0.02362002635202687 Centerline is valid? [True, True] Translation: X:79.11, Y:-7.21, Z:1.30 [[ 9.86706187e-01 1.62002402e-01 -1.28888697e-02 7.91069568e+01] [-1.61985096e-01 9.86790329e-01 2.38239251e-03 -7.21012756e+00] [ 1.31045653e-02 -2.62916633e-04 9.99914097e-01 1.30484645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80361786499999 meters 0.02421102804561849 Centerline is valid? [True, True] Translation: X:79.17, Y:-7.22, Z:1.31 [[ 9.86991123e-01 1.60245552e-01 -1.30340224e-02 7.91680993e+01] [-1.60227660e-01 9.87077139e-01 2.41233761e-03 -7.22168734e+00] [ 1.32521519e-02 -2.92544894e-04 9.99912144e-01 1.30568229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.863617865 meters 0.024694804739600194 Centerline is valid? [True, True] Translation: X:79.23, Y:-7.23, Z:1.31 [[ 9.87183457e-01 1.59055116e-01 -1.30496316e-02 7.92290269e+01] [-1.59037036e-01 9.87269655e-01 2.41840587e-03 -7.23366330e+00] [ 1.32681651e-02 -3.12035540e-04 9.99911925e-01 1.30833016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.923617865 meters 0.02496654784555938 Centerline is valid? [True, True] Translation: X:79.29, Y:-7.24, Z:1.31 [[ 9.87177123e-01 1.59066278e-01 -1.33883308e-02 7.92915941e+01] [-1.59047203e-01 9.87267854e-01 2.48441159e-03 -7.24322109e+00] [ 1.36130547e-02 -3.23177722e-04 9.99907286e-01 1.30904356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.983617865 meters 0.025140622498804638 Centerline is valid? [True, True] Translation: X:79.35, Y:-7.25, Z:1.31 [[ 9.87045096e-01 1.59856553e-01 -1.37062627e-02 7.93531794e+01] [-1.59836583e-01 9.87140202e-01 2.54732734e-03 -7.25417617e+00] [ 1.39372099e-02 -3.23564764e-04 9.99902820e-01 1.30977032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04361786499999 meters 0.024802158329645527 Centerline is valid? [True, True] Translation: X:79.41, Y:-7.26, Z:1.31 [[ 9.86928786e-01 1.60506112e-01 -1.44692901e-02 7.94147451e+01] [-1.60483873e-01 9.87034789e-01 2.69272464e-03 -7.26412693e+00] [ 1.47138915e-02 -3.35439738e-04 9.99891689e-01 1.31064473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10361786499999 meters 0.024671471913343294 Centerline is valid? [True, True] Translation: X:79.48, Y:-7.27, Z:1.31 [[ 9.86846985e-01 1.60981991e-01 -1.47589321e-02 7.94766133e+01] [-1.60958854e-01 9.86957286e-01 2.75018073e-03 -7.27386433e+00] [ 1.50091651e-02 -3.38426779e-04 9.99887299e-01 1.31096881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16361786499999 meters 0.0253874492300707 Centerline is valid? [True, True] Translation: X:79.54, Y:-7.29, Z:1.31 [[ 9.86856378e-01 1.60915708e-01 -1.48534529e-02 7.95376829e+01] [-1.60892202e-01 9.86968092e-01 2.77200735e-03 -7.28640633e+00] [ 1.51059436e-02 -3.45768390e-04 9.99885839e-01 1.31215161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.223617865 meters 0.025075616193231117 Centerline is valid? [True, True] Translation: X:79.60, Y:-7.30, Z:1.31 [[ 9.86851250e-01 1.60952785e-01 -1.47922539e-02 7.95992932e+01] [-1.60929440e-01 9.86962046e-01 2.76300770e-03 -7.29711691e+00] [ 1.50441070e-02 -3.46168465e-04 9.99886771e-01 1.31369646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.283617865 meters 0.023896526120515068 Centerline is valid? [True, True] Translation: X:79.66, Y:-7.30, Z:1.31 [[ 9.86674400e-01 1.61870723e-01 -1.64771856e-02 7.96615029e+01] [-1.61841801e-01 9.86811901e-01 3.08265200e-03 -7.30443626e+00] [ 1.67588740e-02 -3.74876415e-04 9.99859490e-01 1.31468430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.343617865 meters 0.02441795432401916 Centerline is valid? [True, True] Translation: X:79.72, Y:-7.32, Z:1.32 [[ 9.86157830e-01 1.64950291e-01 -1.68563032e-02 7.97211731e+01] [-1.64920398e-01 9.86301825e-01 3.15793732e-03 -7.31599077e+00] [ 1.71463053e-02 -3.34276385e-04 9.99852935e-01 1.31599005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40361786499999 meters 0.02458420193309092 Centerline is valid? [True, True] Translation: X:79.78, Y:-7.33, Z:1.32 [[ 9.85833770e-01 1.66899302e-01 -1.66253001e-02 7.97812686e+01] [-1.66870435e-01 9.85973901e-01 3.11846356e-03 -7.32723870e+00] [ 1.69125814e-02 -3.00015629e-04 9.99856927e-01 1.31783238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46361786499999 meters 0.0245099832771756 Centerline is valid? [True, True] Translation: X:79.84, Y:-7.34, Z:1.32 [[ 9.85523968e-01 1.68586410e-01 -1.79201511e-02 7.98420669e+01] [-1.68553074e-01 9.85686834e-01 3.36552331e-03 -7.33703527e+00] [ 1.82310385e-02 -2.96307331e-04 9.99833757e-01 1.31809004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52361786499999 meters 0.023541431749183606 Centerline is valid? [True, True] Translation: X:79.90, Y:-7.34, Z:1.32 [[ 9.85503470e-01 1.68562331e-01 -1.92263202e-02 7.99043228e+01] [-1.68523861e-01 9.85690943e-01 3.61557552e-03 -7.34494507e+00] [ 1.95606595e-02 -3.23068518e-04 9.99808620e-01 1.31946742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.583617865 meters 0.024021945055172418 Centerline is valid? [True, True] Translation: X:79.97, Y:-7.36, Z:1.32 [[ 9.85541128e-01 1.68300498e-01 -1.95864064e-02 7.99651057e+01] [-1.68260411e-01 9.85735678e-01 3.68881059e-03 -7.35756885e+00] [ 1.99278483e-02 -3.39857766e-04 9.99801363e-01 1.32066989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.643617865 meters 0.024174831783116944 Centerline is valid? [True, True] Translation: X:80.03, Y:-7.37, Z:1.32 [[ 9.85861756e-01 1.66412886e-01 -1.95793045e-02 8.00267957e+01] [-1.66372356e-01 9.86056086e-01 3.69248697e-03 -7.36752309e+00] [ 1.99207698e-02 -3.82826665e-04 9.99801488e-01 1.32252821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.703617865 meters 0.023900185606668792 Centerline is valid? [True, True] Translation: X:80.09, Y:-7.38, Z:1.32 [[ 9.86004427e-01 1.65506610e-01 -2.00706648e-02 8.00875657e+01] [-1.65463742e-01 9.86208593e-01 3.78959025e-03 -7.37763639e+00] [ 2.04210643e-02 -4.15585468e-04 9.99791382e-01 1.32427259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76361786499999 meters 0.024029652721250485 Centerline is valid? [True, True] Translation: X:80.15, Y:-7.39, Z:1.33 [[ 9.85981198e-01 1.65578026e-01 -2.06154139e-02 8.01493606e+01] [-1.65532739e-01 9.86196600e-01 3.89600359e-03 -7.38796974e+00] [ 2.09759436e-02 -4.28860361e-04 9.99779889e-01 1.32571144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82361786499999 meters 0.023478019616456174 Centerline is valid? [True, True] Translation: X:80.21, Y:-7.40, Z:1.33 [[ 9.85776623e-01 1.66814217e-01 -2.04319879e-02 8.02109394e+01] [-1.66769882e-01 9.85988262e-01 3.86688742e-03 -7.39607245e+00] [ 2.07907520e-02 -4.04447008e-04 9.99783767e-01 1.32705213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88361786499999 meters 0.02319157243113943 Centerline is valid? [True, True] Translation: X:80.27, Y:-7.40, Z:1.33 [[ 9.85110693e-01 1.70698566e-01 -2.04675993e-02 8.02727141e+01] [-1.70654806e-01 9.85323242e-01 3.87880730e-03 -7.40363448e+00] [ 2.08293082e-02 -3.28160358e-04 9.99782993e-01 1.32882394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.943617865 meters 0.022952215221332194 Centerline is valid? [True, True] Translation: X:80.34, Y:-7.41, Z:1.33 [[ 9.84330433e-01 1.75079634e-01 -2.09933459e-02 8.03351384e+01] [-1.75034496e-01 9.84554245e-01 3.98295610e-03 -7.41036507e+00] [ 2.13664223e-02 -2.45985195e-04 9.99771682e-01 1.33073965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.003617865 meters 0.02284488958936076 Centerline is valid? [True, True] Translation: X:80.40, Y:-7.42, Z:1.33 [[ 9.83978297e-01 1.76999058e-01 -2.14019581e-02 8.03971822e+01] [-1.76952557e-01 9.84210998e-01 4.06240986e-03 -7.41937425e+00] [ 2.17830852e-02 -2.10191925e-04 9.99762698e-01 1.33180569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.063617865 meters 0.02278258986225078 Centerline is valid? [True, True] Translation: X:80.46, Y:-7.43, Z:1.33 [[ 9.83797728e-01 1.77957635e-01 -2.17511095e-02 8.04594610e+01] [-1.77909769e-01 9.84038130e-01 4.13179731e-03 -7.42922862e+00] [ 2.21392060e-02 -1.95117935e-04 9.99754879e-01 1.33345641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12361786499999 meters 0.022840896506505667 Centerline is valid? [True, True] Translation: X:80.52, Y:-7.44, Z:1.33 [[ 9.83872002e-01 1.77539722e-01 -2.18066651e-02 8.05215777e+01] [-1.77491374e-01 9.84113613e-01 4.14844815e-03 -7.44068963e+00] [ 2.21967503e-02 -2.11047033e-04 9.99753600e-01 1.33437568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18361786499999 meters 0.023241144101879115 Centerline is valid? [True, True] Translation: X:80.58, Y:-7.45, Z:1.34 [[ 9.84518934e-01 1.73945338e-01 -2.15751713e-02 8.05815412e+01] [-1.73897024e-01 9.84755265e-01 4.11003213e-03 -7.45322182e+00] [ 2.19611844e-02 -2.94546372e-04 9.99758781e-01 1.33618002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24361786499999 meters 0.02390725720770666 Centerline is valid? [True, True] Translation: X:80.64, Y:-7.47, Z:1.34 [[ 9.85081382e-01 1.70796602e-01 -2.10521190e-02 8.06416176e+01] [-1.70749785e-01 9.85306242e-01 4.01496722e-03 -7.46684382e+00] [ 2.14285271e-02 -3.60424654e-04 9.99770318e-01 1.33835374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30361786499999 meters 0.025081676384947984 Centerline is valid? [True, True] Translation: X:80.70, Y:-7.48, Z:1.34 [[ 9.85887731e-01 1.66159122e-01 -2.04090267e-02 8.07021500e+01] [-1.66114053e-01 9.86098850e-01 3.89595150e-03 -7.48088967e+00] [ 2.07726657e-02 -4.50744634e-04 9.99784123e-01 1.33997196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.363617865 meters 0.02476038836256663 Centerline is valid? [True, True] Translation: X:80.76, Y:-7.49, Z:1.34 [[ 9.86255203e-01 1.63900792e-01 -2.09094276e-02 8.07630471e+01] [-1.63852941e-01 9.86476694e-01 3.99320700e-03 -7.49018326e+00] [ 2.12811528e-02 -5.12249986e-04 9.99773399e-01 1.34142369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.423617865 meters 0.026920674581325615 Centerline is valid? [True, True] Translation: X:80.82, Y:-7.51, Z:1.34 [[ 9.86605943e-01 1.61664615e-01 -2.17546810e-02 8.08222351e+01] [-1.61612197e-01 9.86845585e-01 4.15806293e-03 -7.50646486e+00] [ 2.21407225e-02 -5.86547798e-04 9.99754692e-01 1.34257811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.483617865 meters 0.025256774171912712 Centerline is valid? [True, True] Translation: X:80.89, Y:-7.51, Z:1.35 [[ 9.86515529e-01 1.62074825e-01 -2.27785528e-02 8.08854579e+01] [-1.62017334e-01 9.86778283e-01 4.35941442e-03 -7.51327411e+00] [ 2.31839325e-02 -6.10109619e-04 9.99731030e-01 1.34574547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54361786499999 meters 0.025434691693298928 Centerline is valid? [True, True] Translation: X:80.95, Y:-7.52, Z:1.35 [[ 9.86272605e-01 1.63507821e-01 -2.30551907e-02 8.09457083e+01] [-1.63449175e-01 9.86541862e-01 4.41841552e-03 -7.52477404e+00] [ 2.34673563e-02 -5.89410290e-04 9.99724430e-01 1.34766544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60361786499999 meters 0.025042368499864392 Centerline is valid? [True, True] Translation: X:81.01, Y:-7.53, Z:1.35 [[ 9.85818486e-01 1.66173425e-01 -2.34159362e-02 8.10071970e+01] [-1.66113551e-01 9.86096396e-01 4.49292756e-03 -7.53435237e+00] [ 2.38369754e-02 -5.39506721e-04 9.99715713e-01 1.35003204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66361786499999 meters 0.02466656313536158 Centerline is valid? [True, True] Translation: X:81.07, Y:-7.54, Z:1.35 [[ 9.85177390e-01 1.69826847e-01 -2.41733827e-02 8.10676215e+01] [-1.69763995e-01 9.85473805e-01 4.64393266e-03 -7.54305802e+00] [ 2.46108998e-02 -4.71327446e-04 9.99696995e-01 1.35057457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.723617865 meters 0.023162520126283975 Centerline is valid? [True, True] Translation: X:81.13, Y:-7.55, Z:1.35 [[ 9.84584218e-01 1.73132112e-01 -2.48835189e-02 8.11294976e+01] [-1.73066419e-01 9.84898526e-01 4.78619416e-03 -7.54834989e+00] [ 2.53363850e-02 -4.05909721e-04 9.99678900e-01 1.35244420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.783617865 meters 0.02279917007776786 Centerline is valid? [True, True] Translation: X:81.19, Y:-7.56, Z:1.35 [[ 9.83779113e-01 1.77663169e-01 -2.47882152e-02 8.11910033e+01] [-1.77599257e-01 9.84091313e-01 4.77411690e-03 -7.55716306e+00] [ 2.52420520e-02 -2.94307889e-04 9.99681325e-01 1.35364870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.843617865 meters 0.022502543126461324 Centerline is valid? [True, True] Translation: X:81.25, Y:-7.57, Z:1.35 [[ 9.83050027e-01 1.81609209e-01 -2.51145222e-02 8.12528859e+01] [-1.81544728e-01 9.83370761e-01 4.84328463e-03 -7.56510658e+00] [ 2.55764719e-02 -2.01781995e-04 9.99672848e-01 1.35306989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90361786499999 meters 0.02238422045472414 Centerline is valid? [True, True] Translation: X:81.31, Y:-7.57, Z:1.35 [[ 9.82628127e-01 1.83911074e-01 -2.48732908e-02 8.13145694e+01] [-1.83848406e-01 9.82942875e-01 4.80292270e-03 -7.57397155e+00] [ 2.53323346e-02 -1.46572070e-04 9.99679074e-01 1.35366604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96361786499999 meters 0.02206787652221886 Centerline is valid? [True, True] Translation: X:81.38, Y:-7.58, Z:1.35 [[ 9.82302236e-01 1.85636872e-01 -2.49252808e-02 8.13766097e+01] [-1.85574330e-01 9.82618410e-01 4.81957167e-03 -7.58444148e+00] [ 2.53867300e-02 -1.08783739e-04 9.99677699e-01 1.35411208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02361786499999 meters 0.022090329935374436 Centerline is valid? [True, True] Translation: X:81.44, Y:-7.60, Z:1.35 [[ 9.82243729e-01 1.85949248e-01 -2.49024933e-02 8.14390491e+01] [-1.85886739e-01 9.82559345e-01 4.82232747e-03 -7.59556792e+00] [ 2.53648856e-02 -1.07657655e-04 9.99678254e-01 1.35425777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.083617865 meters 0.02207820524860959 Centerline is valid? [True, True] Translation: X:81.50, Y:-7.61, Z:1.36 [[ 9.82334999e-01 1.85630118e-01 -2.36518233e-02 8.14995828e+01] [-1.85573488e-01 9.82619685e-01 4.58636172e-03 -7.60752470e+00] [ 2.40921140e-02 -1.16192296e-04 9.99709736e-01 1.35630015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.143617865 meters 0.022075251346570453 Centerline is valid? [True, True] Translation: X:81.56, Y:-7.62, Z:1.36 [[ 9.82360494e-01 1.85569004e-01 -2.30652417e-02 8.15609060e+01] [-1.85514994e-01 9.82631228e-01 4.47846228e-03 -7.61947432e+00] [ 2.34956906e-02 -1.20516231e-04 9.99723931e-01 1.35868671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.203617865 meters 0.02194693412580691 Centerline is valid? [True, True] Translation: X:81.62, Y:-7.63, Z:1.36 [[ 9.82403804e-01 1.85339339e-01 -2.30671708e-02 8.16228284e+01] [-1.85285104e-01 9.82674571e-01 4.48532816e-03 -7.63165278e+00] [ 2.34988299e-02 -1.32400303e-04 9.99723856e-01 1.36086879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26361786499999 meters 0.021956554208585097 Centerline is valid? [True, True] Translation: X:81.69, Y:-7.64, Z:1.36 [[ 9.82434786e-01 1.85181051e-01 -2.30189062e-02 8.16851043e+01] [-1.85126847e-01 9.82704410e-01 4.48243119e-03 -7.64326193e+00] [ 2.34508420e-02 -1.42278789e-04 9.99724981e-01 1.36244422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32361786499999 meters 0.021881517995946512 Centerline is valid? [True, True] Translation: X:81.75, Y:-7.65, Z:1.36 [[ 9.82545847e-01 1.84695048e-01 -2.21674842e-02 8.17467090e+01] [-1.84644520e-01 9.82795867e-01 4.32268922e-03 -7.65444245e+00] [ 2.25844911e-02 -1.54135871e-04 9.99744926e-01 1.36377377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38361786499999 meters 0.021953160851920436 Centerline is valid? [True, True] Translation: X:81.81, Y:-7.67, Z:1.36 [[ 9.82598561e-01 1.84438590e-01 -2.19653122e-02 8.18070067e+01] [-1.84388781e-01 9.82844026e-01 4.28930618e-03 -7.66657928e+00] [ 2.23795894e-02 -1.64508952e-04 9.99749532e-01 1.36386840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.443617865 meters 0.02210317250838042 Centerline is valid? [True, True] Translation: X:81.87, Y:-7.68, Z:1.36 [[ 9.82963032e-01 1.82542554e-01 -2.14917196e-02 8.18680708e+01] [-1.82494298e-01 9.83197932e-01 4.20221873e-03 -7.67964233e+00] [ 2.18976980e-02 -2.08509375e-04 9.99760195e-01 1.36319398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.503617865 meters 0.022110554359227024 Centerline is valid? [True, True] Translation: X:81.93, Y:-7.69, Z:1.36 [[ 9.83065847e-01 1.81980785e-01 -2.15530718e-02 8.19299319e+01] [-1.81931999e-01 9.83302061e-01 4.21964797e-03 -7.69202138e+00] [ 2.19610747e-02 -2.26998368e-04 9.99758801e-01 1.36357839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.563617865 meters 0.02208015747143079 Centerline is valid? [True, True] Translation: X:81.99, Y:-7.70, Z:1.36 [[ 9.83142792e-01 1.81704155e-01 -2.03433298e-02 8.19917593e+01] [-1.81660518e-01 9.83353217e-01 3.98836848e-03 -7.70459864e+00] [ 2.07293819e-02 -2.25555895e-04 9.99785098e-01 1.36338461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62361786499999 meters 0.021897686947208825 Centerline is valid? [True, True] Translation: X:82.05, Y:-7.72, Z:1.36 [[ 9.83126946e-01 1.81872853e-01 -1.95875971e-02 8.20533901e+01] [-1.81832323e-01 9.83322031e-01 3.84562773e-03 -7.71658925e+00] [ 1.99603310e-02 -2.19081974e-04 9.99800749e-01 1.36427885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68361786499999 meters 0.021836639301425174 Centerline is valid? [True, True] Translation: X:82.11, Y:-7.73, Z:1.37 [[ 9.83091975e-01 1.82142718e-01 -1.88201782e-02 8.21145508e+01] [-1.82105253e-01 9.83272081e-01 3.70011493e-03 -7.72951568e+00] [ 1.91793047e-02 -2.10299992e-04 9.99816038e-01 1.36574467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74361786499999 meters 0.021710487141221358 Centerline is valid? [True, True] Translation: X:82.18, Y:-7.74, Z:1.37 [[ 9.83198221e-01 1.81607002e-01 -1.84432753e-02 8.21757338e+01] [-1.81570833e-01 9.83371165e-01 3.63110487e-03 -7.74374105e+00] [ 1.87960191e-02 -2.21334997e-04 9.99823315e-01 1.36769955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80361786499999 meters 0.021614110073365438 Centerline is valid? [True, True] Translation: X:82.24, Y:-7.76, Z:1.37 [[ 9.83416704e-01 1.80425415e-01 -1.83917405e-02 8.22364814e+01] [-1.80389145e-01 9.83588638e-01 3.62607471e-03 -7.75800393e+00] [ 1.87441431e-02 -2.48272091e-04 9.99824282e-01 1.36923575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.863617865 meters 0.02158195561150514 Centerline is valid? [True, True] Translation: X:82.30, Y:-7.77, Z:1.37 [[ 9.83403315e-01 1.80500837e-01 -1.83675644e-02 8.22977165e+01] [-1.80464587e-01 9.83574799e-01 3.62601331e-03 -7.77162686e+00] [ 1.87203719e-02 -2.51138576e-04 9.99824727e-01 1.37103168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.923617865 meters 0.021449217479484584 Centerline is valid? [True, True] Translation: X:82.36, Y:-7.79, Z:1.37 [[ 9.83337203e-01 1.80880407e-01 -1.81720458e-02 8.23593137e+01] [-1.80844893e-01 9.83505068e-01 3.59260942e-03 -7.78613085e+00] [ 1.85221318e-02 -2.46424807e-04 9.99828420e-01 1.37158221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.983617865 meters 0.02133492816587093 Centerline is valid? [True, True] Translation: X:82.42, Y:-7.80, Z:1.37 [[ 9.83119358e-01 1.81895196e-01 -1.97602000e-02 8.24202733e+01] [-1.81853287e-01 9.83317890e-01 3.91261458e-03 -7.80053418e+00] [ 2.01422440e-02 -2.53109816e-04 9.99797092e-01 1.37214753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04361786499999 meters 0.02126233193038431 Centerline is valid? [True, True] Translation: X:82.48, Y:-7.81, Z:1.37 [[ 9.82999642e-01 1.82509745e-01 -2.00473878e-02 8.24820295e+01] [-1.82466617e-01 9.83204013e-01 3.97528377e-03 -7.81331226e+00] [ 2.04362002e-02 -2.49723481e-04 9.99791128e-01 1.37295412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10361786499999 meters 0.021104340942107037 Centerline is valid? [True, True] Translation: X:82.54, Y:-7.83, Z:1.37 [[ 9.82663183e-01 1.84217816e-01 -2.09013118e-02 8.25419617e+01] [-1.84171206e-01 9.82885417e-01 4.15003780e-03 -7.82608446e+00] [ 2.13081055e-02 -2.28669541e-04 9.99772930e-01 1.37366226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16361786499999 meters 0.02061368700103663 Centerline is valid? [True, True] Translation: X:82.60, Y:-7.84, Z:1.38 [[ 9.82139766e-01 1.87102033e-01 -1.98572394e-02 8.26025819e+01] [-1.87060489e-01 9.82340472e-01 3.94588198e-03 -7.83777802e+00] [ 2.02448525e-02 -1.60902684e-04 9.99795039e-01 1.37516368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.223617865 meters 0.020517885908034758 Centerline is valid? [True, True] Translation: X:82.66, Y:-7.85, Z:1.38 [[ 9.81841154e-01 1.88681096e-01 -1.96822878e-02 8.26623187e+01] [-1.88640502e-01 9.82038404e-01 3.91593278e-03 -7.85117056e+00] [ 2.00676250e-02 -1.31947319e-04 9.99798616e-01 1.37664147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.283617865 meters 0.020369290727169777 Centerline is valid? [True, True] Translation: X:82.72, Y:-7.87, Z:1.38 [[ 9.81686811e-01 1.89441223e-01 -2.00755785e-02 8.27236115e+01] [-1.89399048e-01 9.81892055e-01 3.99910586e-03 -7.86625371e+00] [ 2.04696465e-02 -1.23574023e-04 9.99790467e-01 1.37818677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.343617865 meters 0.020322331321804877 Centerline is valid? [True, True] Translation: X:82.79, Y:-7.88, Z:1.38 [[ 9.81738640e-01 1.89091726e-01 -2.08221428e-02 8.27850845e+01] [-1.89046148e-01 9.81959418e-01 4.15389081e-03 -7.88188879e+00] [ 2.12319656e-02 -1.41689210e-04 9.99774566e-01 1.38026692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40361786499999 meters 0.020247770341256376 Centerline is valid? [True, True] Translation: X:82.85, Y:-7.90, Z:1.38 [[ 9.81661506e-01 1.89495365e-01 -2.07893009e-02 8.28466072e+01] [-1.89449898e-01 9.81881606e-01 4.15315327e-03 -7.89733677e+00] [ 2.11996354e-02 -1.38459760e-04 9.99775253e-01 1.38280091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46361786499999 meters 0.02020300067564564 Centerline is valid? [True, True] Translation: X:82.91, Y:-7.91, Z:1.38 [[ 9.81517644e-01 1.90172798e-01 -2.13874274e-02 8.29081242e+01] [-1.90124706e-01 9.81750625e-01 4.27867662e-03 -7.91207317e+00] [ 2.18108081e-02 -1.33318246e-04 9.99762107e-01 1.38436555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52361786499999 meters 0.02001460493447369 Centerline is valid? [True, True] Translation: X:82.97, Y:-7.93, Z:1.38 [[ 9.81432566e-01 1.90460613e-01 -2.26908070e-02 8.29669446e+01] [-1.90406432e-01 9.81694828e-01 4.54479682e-03 -7.92721471e+00] [ 2.31410527e-02 -1.39935996e-04 9.99732200e-01 1.38470738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.583617865 meters 0.01985096778308938 Centerline is valid? [True, True] Translation: X:83.03, Y:-7.94, Z:1.39 [[ 9.81317736e-01 1.90902961e-01 -2.39073340e-02 8.30281493e+01] [-1.90842841e-01 9.81608904e-01 4.79276764e-03 -7.94076706e+00] [ 2.43826054e-02 -1.40684365e-04 9.99702690e-01 1.38632112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.643617865 meters 0.019727432396537087 Centerline is valid? [True, True] Translation: X:83.09, Y:-7.96, Z:1.39 [[ 9.80968693e-01 1.92639455e-01 -2.42994699e-02 8.30895335e+01] [-1.92577704e-01 9.81269601e-01 4.87836939e-03 -7.95567964e+00] [ 2.47840976e-02 -1.05991511e-04 9.99692821e-01 1.38767586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.703617865 meters 0.01969071711500158 Centerline is valid? [True, True] Translation: X:83.15, Y:-7.97, Z:1.39 [[ 9.80725229e-01 1.93813652e-01 -2.47849489e-02 8.31507438e+01] [-1.93749605e-01 9.81038359e-01 4.98290405e-03 -7.97093744e+00] [ 2.52807404e-02 -8.47856476e-05 9.99680387e-01 1.38898703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76361786499999 meters 0.019693884735201738 Centerline is valid? [True, True] Translation: X:83.21, Y:-7.99, Z:1.39 [[ 9.80683456e-01 1.94023227e-01 -2.47981248e-02 8.32119521e+01] [-1.93959002e-01 9.80996932e-01 4.99254441e-03 -7.98605472e+00] [ 2.52955539e-02 -8.62861741e-05 9.99680013e-01 1.39148971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82361786499999 meters 0.019850209095460303 Centerline is valid? [True, True] Translation: X:83.27, Y:-8.00, Z:1.40 [[ 9.80783382e-01 1.93683100e-01 -2.34694125e-02 8.32724868e+01] [-1.93625328e-01 9.81064140e-01 4.73127627e-03 -8.00136652e+00] [ 2.39413672e-02 -9.60844602e-05 9.99713360e-01 1.39522623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88361786499999 meters 0.02000671996635905 Centerline is valid? [True, True] Translation: X:83.33, Y:-8.02, Z:1.40 [[ 9.80770429e-01 1.93640154e-01 -2.43486476e-02 8.33333542e+01] [-1.93577792e-01 9.81072617e-01 4.91519412e-03 -8.01659069e+00] [ 2.48395704e-02 -1.07319595e-04 9.99691445e-01 1.39696108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.943617865 meters 0.02011593813061601 Centerline is valid? [True, True] Translation: X:83.39, Y:-8.03, Z:1.40 [[ 9.80822395e-01 1.93326917e-01 -2.47413181e-02 8.33940558e+01] [-1.93262249e-01 9.81134388e-01 5.00156261e-03 -8.03129787e+00] [ 2.52414947e-02 -1.24081839e-04 9.99681375e-01 1.39827474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.003617865 meters 0.020543059688517457 Centerline is valid? [True, True] Translation: X:83.45, Y:-8.05, Z:1.40 [[ 9.80867039e-01 1.92977863e-01 -2.56787207e-02 8.34545783e+01] [-1.92907898e-01 9.81203100e-01 5.19800440e-03 -8.04743625e+00] [ 2.61991401e-02 -1.44923144e-04 9.99656733e-01 1.40031715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.063617865 meters 0.020643427453487895 Centerline is valid? [True, True] Translation: X:83.51, Y:-8.06, Z:1.40 [[ 9.81120527e-01 1.91650402e-01 -2.59351988e-02 8.35143589e+01] [-1.91578393e-01 9.81463238e-01 5.25657331e-03 -8.06341420e+00] [ 2.64618686e-02 -1.88708274e-04 9.99649806e-01 1.40237113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12361786499999 meters 0.020916824705489882 Centerline is valid? [True, True] Translation: X:83.58, Y:-8.08, Z:1.40 [[ 9.81242519e-01 1.91064031e-01 -2.56448013e-02 8.35755711e+01] [-1.90993246e-01 9.81577553e-01 5.20457190e-03 -8.07853650e+00] [ 2.61667678e-02 -2.08963399e-04 9.99657570e-01 1.40359937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18361786499999 meters 0.02134241019216959 Centerline is valid? [True, True] Translation: X:83.64, Y:-8.09, Z:1.40 [[ 9.81507810e-01 1.89708384e-01 -2.55567653e-02 8.36354083e+01] [-1.89637441e-01 9.81840448e-01 5.19372276e-03 -8.09488085e+00] [ 2.60779587e-02 -2.51159868e-04 9.99659881e-01 1.40429265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24361786499999 meters 0.02167882684128674 Centerline is valid? [True, True] Translation: X:83.70, Y:-8.11, Z:1.41 [[ 9.81776515e-01 1.88279976e-01 -2.57977559e-02 8.36957921e+01] [-1.88207024e-01 9.82115350e-01 5.24925354e-03 -8.11123698e+00] [ 2.63247014e-02 -2.98274994e-04 9.99653400e-01 1.40501670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30361786499999 meters 0.02239959619166797 Centerline is valid? [True, True] Translation: X:83.75, Y:-8.13, Z:1.41 [[ 9.82226566e-01 1.86075131e-01 -2.46377469e-02 8.37548754e+01] [-1.86007773e-01 9.82535458e-01 5.01823317e-03 -8.12947677e+00] [ 2.51412283e-02 -3.46229488e-04 9.99683849e-01 1.40538716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.363617865 meters 0.022511314773473665 Centerline is valid? [True, True] Translation: X:83.82, Y:-8.14, Z:1.41 [[ 9.82404210e-01 1.85396710e-01 -2.25838182e-02 8.38156583e+01] [-1.85339845e-01 9.82663700e-01 4.60386972e-03 -8.14428505e+00] [ 2.30458407e-02 -3.37179627e-04 9.99734352e-01 1.40850001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.423617865 meters 0.022808865055618334 Centerline is valid? [True, True] Translation: X:83.88, Y:-8.16, Z:1.41 [[ 9.82417521e-01 1.85393736e-01 -2.20221999e-02 8.38768908e+01] [-1.85339523e-01 9.82664261e-01 4.49563782e-03 -8.15937482e+00] [ 2.24738919e-02 -3.35009322e-04 9.99747374e-01 1.40969868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48361786499999 meters 0.023186520746439072 Centerline is valid? [True, True] Translation: X:83.94, Y:-8.17, Z:1.41 [[ 9.82385942e-01 1.85554182e-01 -2.20795264e-02 8.39375481e+01] [-1.85499584e-01 9.82633976e-01 4.51369527e-03 -8.17479520e+00] [ 2.25336278e-02 -3.38447823e-04 9.99746028e-01 1.41049970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54361786499999 meters 0.02345905262681514 Centerline is valid? [True, True] Translation: X:84.00, Y:-8.19, Z:1.41 [[ 9.82227828e-01 1.86529894e-01 -2.08588837e-02 8.39967627e+01] [-1.86481281e-01 9.82449239e-01 4.26913153e-03 -8.18873849e+00] [ 2.12891150e-02 -3.03468446e-04 9.99773315e-01 1.41032636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60361786499999 meters 0.023700403256673257 Centerline is valid? [True, True] Translation: X:84.06, Y:-8.20, Z:1.41 [[ 9.82192166e-01 1.86804165e-01 -2.00687280e-02 8.40568618e+01] [-1.86759155e-01 9.82397130e-01 4.11069004e-03 -8.20335628e+00] [ 2.04833548e-02 -2.89468855e-04 9.99790152e-01 1.41151489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66361786499999 meters 0.02374034474099212 Centerline is valid? [True, True] Translation: X:84.12, Y:-8.22, Z:1.41 [[ 9.82342967e-01 1.86180008e-01 -1.84200924e-02 8.41178651e+01] [-1.86141896e-01 9.82515611e-01 3.77748560e-03 -8.21757507e+00] [ 1.88013206e-02 -2.82035491e-04 9.99823200e-01 1.41281923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.723617865 meters 0.023922133893255416 Centerline is valid? [True, True] Translation: X:84.18, Y:-8.23, Z:1.41 [[ 9.82430750e-01 1.85798320e-01 -1.75728611e-02 8.41792001e+01] [-1.85763488e-01 9.82587861e-01 3.60846079e-03 -8.23173208e+00] [ 1.79373259e-02 -2.80666870e-04 9.99839074e-01 1.41378377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.783617865 meters 0.024061060733779435 Centerline is valid? [True, True] Translation: X:84.24, Y:-8.25, Z:1.41 [[ 9.82390386e-01 1.86104082e-01 -1.65650342e-02 8.42393033e+01] [-1.86073099e-01 9.82530000e-01 3.40597978e-03 -8.24643972e+00] [ 1.69095098e-02 -2.63694530e-04 9.99856989e-01 1.41464601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.843617865 meters 0.023937761475081296 Centerline is valid? [True, True] Translation: X:84.30, Y:-8.26, Z:1.42 [[ 9.81986733e-01 1.88261782e-01 -1.61107910e-02 8.42998440e+01] [-1.88232697e-01 9.82118858e-01 3.31671503e-03 -8.25835966e+00] [ 1.64471223e-02 -2.24392509e-04 9.99864712e-01 1.41558900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90361786499999 meters 0.023812667213214275 Centerline is valid? [True, True] Translation: X:84.36, Y:-8.27, Z:1.42 [[ 9.81735255e-01 1.89548907e-01 -1.63432333e-02 8.43605215e+01] [-1.89519088e-01 9.81871258e-01 3.36856073e-03 -8.26967254e+00] [ 1.66854580e-02 -2.09680151e-04 9.99860766e-01 1.41601688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96361786499999 meters 0.023505415929392176 Centerline is valid? [True, True] Translation: X:84.42, Y:-8.28, Z:1.42 [[ 9.81035760e-01 1.93180751e-01 -1.58124845e-02 8.44220216e+01] [-1.93153247e-01 9.81163175e-01 3.26298945e-03 -8.27992807e+00] [ 1.61449742e-02 -1.46876611e-04 9.99869651e-01 1.41749087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02361786499999 meters 0.023464667817260625 Centerline is valid? [True, True] Translation: X:84.48, Y:-8.29, Z:1.42 [[ 9.80373171e-01 1.96576300e-01 -1.50400841e-02 8.44825957e+01] [-1.96551761e-01 9.80488526e-01 3.10721840e-03 -8.29093688e+00] [ 1.53574354e-02 -9.00785376e-05 9.99882064e-01 1.41916349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.083617865 meters 0.02351311009261826 Centerline is valid? [True, True] Translation: X:84.54, Y:-8.30, Z:1.42 [[ 9.79872914e-01 1.99143563e-01 -1.38171190e-02 8.45438615e+01] [-1.99123065e-01 9.79970325e-01 2.85768122e-03 -8.30000125e+00] [ 1.41094554e-02 -4.88573542e-05 9.99900455e-01 1.42015035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.143617865 meters 0.02366622551044319 Centerline is valid? [True, True] Translation: X:84.61, Y:-8.31, Z:1.42 [[ 9.79148983e-01 2.02764777e-01 -1.23981633e-02 8.46053289e+01] [-2.02748529e-01 9.79227474e-01 2.56691190e-03 -8.30868032e+00] [ 1.26611015e-02 3.20200699e-07 9.99919845e-01 1.42204556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.203617865 meters 0.023664569709671554 Centerline is valid? [True, True] Translation: X:84.67, Y:-8.32, Z:1.42 [[ 9.79019500e-01 2.03428067e-01 -1.17404948e-02 8.46658128e+01] [-2.03413509e-01 9.79089894e-01 2.43370334e-03 -8.32040862e+00] [ 1.19900834e-02 5.53221371e-06 9.99928116e-01 1.42360640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26361786499999 meters 0.023490281194503682 Centerline is valid? [True, True] Translation: X:84.73, Y:-8.33, Z:1.42 [[ 9.79337264e-01 2.01906482e-01 -1.15020331e-02 8.47269360e+01] [-2.01892370e-01 9.79404805e-01 2.38712166e-03 -8.33359278e+00] [ 1.17471218e-02 -1.56244638e-05 9.99931000e-01 1.42464583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32361786499999 meters 0.023481487351978046 Centerline is valid? [True, True] Translation: X:84.79, Y:-8.35, Z:1.43 [[ 9.79989878e-01 1.98695590e-01 -1.18280260e-02 8.47867123e+01] [-1.98680390e-01 9.80061253e-01 2.45842394e-03 -8.34824813e+00] [ 1.20806680e-02 -5.92337587e-05 9.99927024e-01 1.42583845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38361786499999 meters 0.02365247832137599 Centerline is valid? [True, True] Translation: X:84.85, Y:-8.36, Z:1.43 [[ 9.80972381e-01 1.93714212e-01 -1.29611370e-02 8.48470897e+01] [-1.93695473e-01 9.81057993e-01 2.69786279e-03 -8.36421176e+00] [ 1.32382414e-02 -1.36015326e-04 9.99912361e-01 1.42574041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.443617865 meters 0.02405143674914574 Centerline is valid? [True, True] Translation: X:84.91, Y:-8.38, Z:1.43 [[ 9.81802837e-01 1.89422938e-01 -1.34958868e-02 8.49060963e+01] [-1.89402164e-01 9.81895569e-01 2.81279443e-03 -8.38123886e+00] [ 1.37843592e-02 -2.05459384e-04 9.99904970e-01 1.42634274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.503617865 meters 0.025361270365714072 Centerline is valid? [True, True] Translation: X:84.96, Y:-8.40, Z:1.43 [[ 9.82995971e-01 1.83139934e-01 -1.33673319e-02 8.49631806e+01] [-1.83118924e-01 9.83086811e-01 2.78957029e-03 -8.40051127e+00] [ 1.36521294e-02 -2.94324931e-04 9.99906762e-01 1.42774158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.563617865 meters 0.02516836353895114 Centerline is valid? [True, True] Translation: X:85.02, Y:-8.41, Z:1.43 [[ 9.83792086e-01 1.78881022e-01 -1.24382997e-02 8.50236688e+01] [-1.78862493e-01 9.83870658e-01 2.59547049e-03 -8.41378912e+00] [ 1.27019585e-02 -3.28658032e-04 9.99919273e-01 1.42943835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62361786499999 meters 0.025367223071351162 Centerline is valid? [True, True] Translation: X:85.08, Y:-8.43, Z:1.43 [[ 9.83843636e-01 1.78574379e-01 -1.27628544e-02 8.50844100e+01] [-1.78554839e-01 9.83926356e-01 2.66363780e-03 -8.42802091e+00] [ 1.30333663e-02 -3.41733681e-04 9.99915004e-01 1.43048444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68361786499999 meters 0.02465552508210723 Centerline is valid? [True, True] Translation: X:85.15, Y:-8.44, Z:1.43 [[ 9.83217254e-01 1.82036049e-01 -1.21123110e-02 8.51458503e+01] [-1.82018679e-01 9.83291817e-01 2.53063647e-03 -8.43606329e+00] [ 1.23706033e-02 -2.83498599e-04 9.99923441e-01 1.43207252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74361786499999 meters 0.024288767236927935 Centerline is valid? [True, True] Translation: X:85.21, Y:-8.45, Z:1.43 [[ 9.82723549e-01 1.84581853e-01 -1.35633979e-02 8.52067188e+01] [-1.84560259e-01 9.82817103e-01 2.83767586e-03 -8.44784437e+00] [ 1.38541229e-02 -2.85386659e-04 9.99903986e-01 1.43303633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80361786499999 meters 0.024245815021787145 Centerline is valid? [True, True] Translation: X:85.27, Y:-8.46, Z:1.43 [[ 9.82191590e-01 1.87301438e-01 -1.47597808e-02 8.52667545e+01] [-1.87276113e-01 9.82302447e-01 3.09204768e-03 -8.46012878e+00] [ 1.50777138e-02 -2.72828858e-04 9.99886288e-01 1.43391053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.863617865 meters 0.024321604170302612 Centerline is valid? [True, True] Translation: X:85.33, Y:-8.47, Z:1.44 [[ 9.81932497e-01 1.88664590e-01 -1.46370466e-02 8.53281911e+01] [-1.88639786e-01 9.82041551e-01 3.06966130e-03 -8.47149295e+00] [ 1.49533243e-02 -2.53070856e-04 9.99888161e-01 1.43561566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.923617865 meters 0.0239074784200931 Centerline is valid? [True, True] Translation: X:85.39, Y:-8.48, Z:1.44 [[ 9.81763643e-01 1.89521324e-01 -1.48935329e-02 8.53890522e+01] [-1.89495687e-01 9.81876574e-01 3.12705487e-03 -8.48160183e+00] [ 1.52162547e-02 -2.47768532e-04 9.99884195e-01 1.43633331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98361786499999 meters 0.023926945952850304 Centerline is valid? [True, True] Translation: X:85.45, Y:-8.50, Z:1.44 [[ 9.81675806e-01 1.89970655e-01 -1.49586453e-02 8.54509313e+01] [-1.89944788e-01 9.81789738e-01 3.14446961e-03 -8.49512366e+00] [ 1.52836014e-02 -2.45533032e-04 9.99883169e-01 1.43676237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04361786499999 meters 0.023921839644392245 Centerline is valid? [True, True] Translation: X:85.51, Y:-8.51, Z:1.44 [[ 9.81522356e-01 1.90768636e-01 -1.48725119e-02 8.55110635e+01] [-1.90743093e-01 9.81634999e-01 3.13059329e-03 -8.50675546e+00] [ 1.51965973e-02 -2.35918373e-04 9.99884497e-01 1.43636399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10361786499999 meters 0.023778980593333228 Centerline is valid? [True, True] Translation: X:85.57, Y:-8.52, Z:1.44 [[ 9.81252049e-01 1.92157746e-01 -1.48262010e-02 8.55723225e+01] [-1.92132470e-01 9.81364027e-01 3.12417938e-03 -8.51822219e+00] [ 1.51502356e-02 -2.17012800e-04 9.99885205e-01 1.43668549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16361786499999 meters 0.023450940438022195 Centerline is valid? [True, True] Translation: X:85.63, Y:-8.53, Z:1.44 [[ 9.80922066e-01 1.93745750e-01 -1.59525474e-02 8.56333311e+01] [-1.93716629e-01 9.81051752e-01 3.36569682e-03 -8.53006396e+00] [ 1.63023640e-02 -2.11212557e-04 9.99867085e-01 1.43708375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.223617865 meters 0.02326958233129936 Centerline is valid? [True, True] Translation: X:85.69, Y:-8.54, Z:1.44 [[ 9.80509157e-01 1.95810701e-01 -1.61233280e-02 8.56943837e+01] [-1.95781166e-01 9.80641696e-01 3.40572158e-03 -8.54181510e+00] [ 1.64780844e-02 -1.82697248e-04 9.99864210e-01 1.43859080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.283617865 meters 0.023056595281634385 Centerline is valid? [True, True] Translation: X:85.76, Y:-8.55, Z:1.44 [[ 9.80063611e-01 1.98030746e-01 -1.60978595e-02 8.57556124e+01] [-1.98001540e-01 9.80195797e-01 3.40422285e-03 -8.55224877e+00] [ 1.64531950e-02 -1.48953964e-04 9.99864626e-01 1.44029811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.343617865 meters 0.022828959714072432 Centerline is valid? [True, True] Translation: X:85.82, Y:-8.56, Z:1.44 [[ 9.79898410e-01 1.98818227e-01 -1.64444163e-02 8.58170693e+01] [-1.98787792e-01 9.80036373e-01 3.48154893e-03 -8.56339681e+00] [ 1.68083215e-02 -1.42615041e-04 9.99858720e-01 1.44139684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40361786499999 meters 0.02286894981531344 Centerline is valid? [True, True] Translation: X:85.88, Y:-8.58, Z:1.44 [[ 9.80029711e-01 1.98160120e-01 -1.65629655e-02 8.58773912e+01] [-1.98129071e-01 9.80169649e-01 3.51142411e-03 -8.57604968e+00] [ 1.69303403e-02 -1.59694992e-04 9.99856659e-01 1.44156326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46361786499999 meters 0.022885579227247623 Centerline is valid? [True, True] Translation: X:85.94, Y:-8.59, Z:1.44 [[ 9.80302134e-01 1.96782568e-01 -1.68626046e-02 8.59386086e+01] [-1.96750103e-01 9.80447135e-01 3.57948722e-03 -8.58869904e+00] [ 1.72372730e-02 -1.91259771e-04 9.99851409e-01 1.44285227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52361786499999 meters 0.022853163974495532 Centerline is valid? [True, True] Translation: X:86.00, Y:-8.60, Z:1.44 [[ 9.80575330e-01 1.95427753e-01 -1.67336734e-02 8.59990474e+01] [-1.95395513e-01 9.80718077e-01 3.55631679e-03 -8.60150610e+00] [ 1.71060190e-02 -2.17551807e-04 9.99853658e-01 1.44395852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.583617865 meters 0.02300571430261382 Centerline is valid? [True, True] Translation: X:86.06, Y:-8.62, Z:1.45 [[ 9.81091106e-01 1.92804348e-01 -1.69329314e-02 8.60596770e+01] [-1.92770870e-01 9.81237183e-01 3.60303336e-03 -8.61503647e+00] [ 1.73099025e-02 -2.70728066e-04 9.99850136e-01 1.44632181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.643617865 meters 0.02348075727597155 Centerline is valid? [True, True] Translation: X:86.12, Y:-8.63, Z:1.45 [[ 9.81647397e-01 1.89925878e-01 -1.72205822e-02 8.61185344e+01] [-1.89890735e-01 9.81798376e-01 3.66849558e-03 -8.62942409e+00] [ 1.76038818e-02 -3.31140140e-04 9.99844985e-01 1.44709753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.703617865 meters 0.023561999267219524 Centerline is valid? [True, True] Translation: X:86.18, Y:-8.64, Z:1.45 [[ 9.81988934e-01 1.88137045e-01 -1.73834970e-02 8.61787057e+01] [-1.88100910e-01 9.82142717e-01 3.70559713e-03 -8.64278646e+00] [ 1.77702350e-02 -3.69003769e-04 9.99842029e-01 1.44747315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76361786499999 meters 0.02460248408527934 Centerline is valid? [True, True] Translation: X:86.24, Y:-8.66, Z:1.45 [[ 9.82430608e-01 1.85727398e-01 -1.83148641e-02 8.62376822e+01] [-1.85686785e-01 9.82601212e-01 3.90856048e-03 -8.65891895e+00] [ 1.87221344e-02 -4.39061200e-04 9.99824629e-01 1.44780040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82361786499999 meters 0.024465686554555607 Centerline is valid? [True, True] Translation: X:86.30, Y:-8.67, Z:1.45 [[ 9.82461171e-01 1.85496741e-01 -1.90002000e-02 8.62980663e+01] [-1.85452901e-01 9.82644770e-01 4.05933225e-03 -8.67179918e+00] [ 1.94234401e-02 -4.64494106e-04 9.99811239e-01 1.44827193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88361786499999 meters 0.024164302324693375 Centerline is valid? [True, True] Translation: X:86.36, Y:-8.68, Z:1.45 [[ 9.82472117e-01 1.85424022e-01 -1.91434547e-02 8.63598615e+01] [-1.85379410e-01 9.82658490e-01 4.09473158e-03 -8.68402551e+00] [ 1.95707398e-02 -4.74157263e-04 9.99808362e-01 1.44892836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.943617865 meters 0.024035148799383767 Centerline is valid? [True, True] Translation: X:86.42, Y:-8.70, Z:1.45 [[ 9.82197234e-01 1.86863917e-01 -1.92475955e-02 8.64206996e+01] [-1.86818989e-01 9.82385704e-01 4.12236720e-03 -8.69512490e+00] [ 1.96788843e-02 -4.53161325e-04 9.99806249e-01 1.44976490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.003617865 meters 0.023633912551000023 Centerline is valid? [True, True] Translation: X:86.48, Y:-8.71, Z:1.45 [[ 9.81461887e-01 1.90639234e-01 -1.97293193e-02 8.64816601e+01] [-1.90592707e-01 9.81660089e-01 4.22973171e-03 -8.70601328e+00] [ 2.01738381e-02 -3.91056101e-04 9.99796411e-01 1.45155534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.063617865 meters 0.023550857478535022 Centerline is valid? [True, True] Translation: X:86.54, Y:-8.72, Z:1.45 [[ 9.80894299e-01 1.93521130e-01 -1.98983787e-02 8.65418080e+01] [-1.93474358e-01 9.81096050e-01 4.26778155e-03 -8.71748102e+00] [ 2.03481267e-02 -3.36416554e-04 9.99792899e-01 1.45226426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12361786499999 meters 0.023041885218691063 Centerline is valid? [True, True] Translation: X:86.60, Y:-8.73, Z:1.46 [[ 9.79995416e-01 1.98035630e-01 -1.97705338e-02 8.66033515e+01] [-1.97990282e-01 9.80194791e-01 4.24488483e-03 -8.72602842e+00] [ 2.02196127e-02 -2.45594104e-04 9.99795533e-01 1.45525986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18361786499999 meters 0.022792053362314938 Centerline is valid? [True, True] Translation: X:86.66, Y:-8.74, Z:1.46 [[ 9.79081958e-01 2.02411796e-01 -2.06878046e-02 8.66633456e+01] [-2.02363009e-01 9.79300483e-01 4.44702085e-03 -8.73608902e+00] [ 2.11597065e-02 -1.67551507e-04 9.99776094e-01 1.45776237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24361786499999 meters 0.022517491116288632 Centerline is valid? [True, True] Translation: X:86.73, Y:-8.75, Z:1.46 [[ 9.78303337e-01 2.05984679e-01 -2.22011808e-02 8.67250856e+01] [-2.05929288e-01 9.78555211e-01 4.77774587e-03 -8.74507568e+00] [ 2.27092236e-02 -1.02211384e-04 9.99742107e-01 1.45884833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30361786499999 meters 0.022492877435871937 Centerline is valid? [True, True] Translation: X:86.79, Y:-8.76, Z:1.46 [[ 9.77956337e-01 2.07524596e-01 -2.31288803e-02 8.67861426e+01] [-2.07464784e-01 9.78229797e-01 4.98268903e-03 -8.75604681e+00] [ 2.36593904e-02 -7.44241629e-05 9.99720075e-01 1.45919040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.363617865 meters 0.02246312793331996 Centerline is valid? [True, True] Translation: X:86.85, Y:-8.77, Z:1.46 [[ 9.77875493e-01 2.07798649e-01 -2.40674432e-02 8.68477008e+01] [-2.07733839e-01 9.78171619e-01 5.19002938e-03 -8.76796361e+00] [ 2.46205710e-02 -7.55801581e-05 9.99696865e-01 1.45991690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.423617865 meters 0.022520103874925212 Centerline is valid? [True, True] Translation: X:86.91, Y:-8.78, Z:1.46 [[ 9.78079469e-01 2.06805086e-01 -2.43353186e-02 8.69088467e+01] [-2.06738348e-01 9.78382157e-01 5.25459486e-03 -8.78092302e+00] [ 2.48959185e-02 -1.08367776e-04 9.99690043e-01 1.46248905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48361786499999 meters 0.022682002070753597 Centerline is valid? [True, True] Translation: X:86.97, Y:-8.79, Z:1.46 [[ 9.78710433e-01 2.03940890e-01 -2.31084571e-02 8.69701477e+01] [-2.03879765e-01 9.78983188e-01 4.99600447e-03 -8.79402923e+00] [ 2.36416806e-02 -1.78294907e-04 9.99720481e-01 1.46451137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54361786499999 meters 0.02277796269362878 Centerline is valid? [True, True] Translation: X:87.03, Y:-8.80, Z:1.47 [[ 9.79034535e-01 2.02352693e-01 -2.33402298e-02 8.70314676e+01] [-2.02289730e-01 9.79312686e-01 5.05253701e-03 -8.80458098e+00] [ 2.38797776e-02 -2.25119443e-04 9.99714812e-01 1.46522167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60361786499999 meters 0.02293020077986046 Centerline is valid? [True, True] Translation: X:87.09, Y:-8.82, Z:1.47 [[ 9.79256408e-01 2.01269718e-01 -2.33963346e-02 8.70924062e+01] [-2.01206000e-01 9.79535826e-01 5.07064557e-03 -8.81631348e+00] [ 2.39381153e-02 -2.57979272e-04 9.99713409e-01 1.46568283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66361786499999 meters 0.022937308614184596 Centerline is valid? [True, True] Translation: X:87.15, Y:-8.83, Z:1.47 [[ 9.79652462e-01 1.99475671e-01 -2.21474785e-02 8.71538637e+01] [-1.99417994e-01 9.79902736e-01 4.80541470e-03 -8.82756369e+00] [ 2.26609381e-02 -2.91030605e-04 9.99743166e-01 1.46713993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.723617865 meters 0.023609766135356744 Centerline is valid? [True, True] Translation: X:87.21, Y:-8.84, Z:1.47 [[ 9.80386650e-01 1.95886356e-01 -2.16922008e-02 8.72136539e+01] [-1.95830029e-01 9.80626533e-01 4.71195948e-03 -8.84160852e+00] [ 2.21949563e-02 -3.71557856e-04 9.99753593e-01 1.46804855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.783617865 meters 0.023723870837995008 Centerline is valid? [True, True] Translation: X:87.27, Y:-8.85, Z:1.47 [[ 9.80871229e-01 1.93505761e-01 -2.11460067e-02 8.72740734e+01] [-1.93451576e-01 9.81099049e-01 4.59814588e-03 -8.85354205e+00] [ 2.16360947e-02 -4.19460675e-04 9.99765824e-01 1.46957297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.843617865 meters 0.023595513636297877 Centerline is valid? [True, True] Translation: X:87.34, Y:-8.87, Z:1.47 [[ 9.81253596e-01 1.91556886e-01 -2.11504197e-02 8.73352132e+01] [-1.91502118e-01 9.81481401e-01 4.60411682e-03 -8.86514994e+00] [ 2.16406938e-02 -4.67456019e-04 9.99765703e-01 1.47175032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90361786499999 meters 0.024293504070660835 Centerline is valid? [True, True] Translation: X:87.39, Y:-8.88, Z:1.47 [[ 9.81791550e-01 1.88882126e-01 -2.02211547e-02 8.73945491e+01] [-1.88831397e-01 9.81999636e-01 4.40672714e-03 -8.87862298e+00] [ 2.06895185e-02 -5.08098581e-04 9.99785820e-01 1.47256817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96361786499999 meters 0.024688875016375338 Centerline is valid? [True, True] Translation: X:87.46, Y:-8.89, Z:1.47 [[ 9.82157205e-01 1.87185513e-01 -1.81330893e-02 8.74553309e+01] [-1.87144360e-01 9.82324459e-01 3.95558724e-03 -8.89090185e+00] [ 1.85530058e-02 -4.91503112e-04 9.99827757e-01 1.47428276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02361786499999 meters 0.02469357772611591 Centerline is valid? [True, True] Translation: X:87.52, Y:-8.90, Z:1.48 [[ 9.82157715e-01 1.87236763e-01 -1.75675025e-02 8.75166537e+01] [-1.87198067e-01 9.82314697e-01 3.83655031e-03 -8.90341091e+00] [ 1.79751591e-02 -4.79494980e-04 9.99838319e-01 1.47519740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.083617865 meters 0.0250167083715664 Centerline is valid? [True, True] Translation: X:87.58, Y:-8.92, Z:1.48 [[ 9.81928069e-01 1.88467779e-01 -1.72384323e-02 8.75761793e+01] [-1.88430625e-01 9.82079269e-01 3.76943877e-03 -8.91607394e+00] [ 1.76399247e-02 -4.53069164e-04 9.99844302e-01 1.47573287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.143617865 meters 0.024390582311648062 Centerline is valid? [True, True] Translation: X:87.64, Y:-8.92, Z:1.48 [[ 9.81190254e-01 1.92319415e-01 -1.67011213e-02 8.76379446e+01] [-1.92285038e-01 9.81332309e-01 3.65545718e-03 -8.92311442e+00] [ 1.70923653e-02 -3.75323216e-04 9.99853844e-01 1.47553297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.203617865 meters 0.023941731872005816 Centerline is valid? [True, True] Translation: X:87.70, Y:-8.93, Z:1.48 [[ 9.80279251e-01 1.96839954e-01 -1.75106384e-02 8.76979650e+01] [-1.96802867e-01 9.80435585e-01 3.83353438e-03 -8.93030781e+00] [ 1.79226457e-02 -3.11790369e-04 9.99839328e-01 1.47503313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26361786499999 meters 0.02333535502744133 Centerline is valid? [True, True] Translation: X:87.76, Y:-8.94, Z:1.48 [[ 9.79644744e-01 1.99991236e-01 -1.73113206e-02 8.77602253e+01] [-1.99955468e-01 9.79797654e-01 3.79060549e-03 -8.93672696e+00] [ 1.77196792e-02 -2.51953544e-04 9.99842962e-01 1.47541570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32361786499999 meters 0.023293785799495925 Centerline is valid? [True, True] Translation: X:87.82, Y:-8.95, Z:1.48 [[ 9.79490300e-01 2.00818568e-01 -1.64515682e-02 8.78220030e+01] [-2.00786316e-01 9.79628424e-01 3.60629165e-03 -8.94675248e+00] [ 1.68406342e-02 -2.29077926e-04 9.99858160e-01 1.47609095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38361786499999 meters 0.023344715501976674 Centerline is valid? [True, True] Translation: X:87.88, Y:-8.96, Z:1.48 [[ 9.79578445e-01 2.00510395e-01 -1.48879808e-02 8.78845415e+01] [-2.00483895e-01 9.79691551e-01 3.26691073e-03 -8.95646881e+00] [ 1.52406786e-02 -2.15394948e-04 9.99883831e-01 1.47814493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.443617865 meters 0.023782532298571395 Centerline is valid? [True, True] Translation: X:87.94, Y:-8.97, Z:1.48 [[ 9.79879875e-01 1.99123688e-01 -1.36083886e-02 8.79442904e+01] [-1.99101363e-01 9.79974341e-01 2.98977507e-03 -8.96751615e+00] [ 1.39312067e-02 -2.20171704e-04 9.99902932e-01 1.47908421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.503617865 meters 0.02371492866896797 Centerline is valid? [True, True] Translation: X:88.01, Y:-8.98, Z:1.48 [[ 9.79964520e-01 1.98753775e-01 -1.29025834e-02 8.80059964e+01] [-1.98733638e-01 9.80049432e-01 2.83743484e-03 -8.97785807e+00] [ 1.32091204e-02 -2.16408136e-04 9.99912732e-01 1.48006951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.563617865 meters 0.02384759850169713 Centerline is valid? [True, True] Translation: X:88.07, Y:-8.99, Z:1.48 [[ 9.79891652e-01 1.99126583e-01 -1.26868010e-02 8.80682768e+01] [-1.99107106e-01 9.79973754e-01 2.79302003e-03 -8.98717801e+00] [ 1.29888966e-02 -2.10824775e-04 9.99915618e-01 1.48019393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62361786499999 meters 0.02376702321861799 Centerline is valid? [True, True] Translation: X:88.13, Y:-9.00, Z:1.48 [[ 9.79722407e-01 1.99913224e-01 -1.33681600e-02 8.81298749e+01] [-1.99891615e-01 9.79813583e-01 2.94714671e-03 -8.99746197e+00] [ 1.36874783e-02 -2.15202582e-04 9.99906299e-01 1.48100458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68361786499999 meters 0.023410781578969083 Centerline is valid? [True, True] Translation: X:88.19, Y:-9.01, Z:1.48 [[ 9.79404810e-01 2.01447639e-01 -1.36039360e-02 8.81912916e+01] [-2.01425361e-01 9.79499264e-01 3.00255207e-03 -9.00545169e+00] [ 1.39299024e-02 -2.00536208e-04 9.99902954e-01 1.48180532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74361786499999 meters 0.02329271534240388 Centerline is valid? [True, True] Translation: X:88.25, Y:-9.02, Z:1.48 [[ 9.79308503e-01 2.01890236e-01 -1.39710279e-02 8.82536489e+01] [-2.01866733e-01 9.79408133e-01 3.08717119e-03 -9.01656571e+00] [ 1.43066081e-02 -2.03007233e-04 9.99897635e-01 1.48250309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80361786499999 meters 0.02323291442266986 Centerline is valid? [True, True] Translation: X:88.31, Y:-9.03, Z:1.48 [[ 9.79262098e-01 2.02112632e-01 -1.40080866e-02 8.83146524e+01] [-2.02088968e-01 9.79362263e-01 3.09948483e-03 -9.02760930e+00] [ 1.43454364e-02 -2.04328262e-04 9.99897078e-01 1.48352510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.863617865 meters 0.023063476884732193 Centerline is valid? [True, True] Translation: X:88.38, Y:-9.04, Z:1.48 [[ 9.79047720e-01 2.03204006e-01 -1.31792687e-02 8.83757812e+01] [-2.03183113e-01 9.79136405e-01 2.91944569e-03 -9.03669126e+00] [ 1.34975448e-02 -1.80471812e-04 9.99908888e-01 1.48399521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.923617865 meters 0.02251243081170114 Centerline is valid? [True, True] Translation: X:88.44, Y:-9.05, Z:1.48 [[ 9.78571680e-01 2.05484551e-01 -1.31744979e-02 8.84376785e+01] [-2.05463836e-01 9.78660348e-01 2.92161865e-03 -9.04580668e+00] [ 1.34937062e-02 -1.52130388e-04 9.99908944e-01 1.48470839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98361786499999 meters 0.022236682809263133 Centerline is valid? [True, True] Translation: X:88.50, Y:-9.06, Z:1.49 [[ 9.78054601e-01 2.07931878e-01 -1.31731246e-02 8.84991394e+01] [-2.07911345e-01 9.78143302e-01 2.92465480e-03 -9.05592988e+00] [ 1.34933326e-02 -1.21630024e-04 9.99908953e-01 1.48539120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04361786499999 meters 0.021790318540421714 Centerline is valid? [True, True] Translation: X:88.56, Y:-9.06, Z:1.49 [[ 9.77169048e-01 2.12035241e-01 -1.34799360e-02 8.85604994e+01] [-2.12014082e-01 9.77262018e-01 2.99626237e-03 -9.06478042e+00] [ 1.38087426e-02 -6.99186030e-05 9.99904652e-01 1.48657977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10361786499999 meters 0.021540346634231898 Centerline is valid? [True, True] Translation: X:88.62, Y:-9.08, Z:1.49 [[ 9.76622977e-01 2.14555441e-01 -1.31728403e-02 8.86219812e+01] [-2.14535421e-01 9.76711811e-01 2.93118546e-03 -9.07629513e+00] [ 1.34949705e-02 -3.66222415e-05 9.99908938e-01 1.48827139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16361786499999 meters 0.021225975433110833 Centerline is valid? [True, True] Translation: X:88.68, Y:-9.09, Z:1.49 [[ 9.75835600e-01 2.18172978e-01 -1.20595721e-02 8.86835701e+01] [-2.18156444e-01 9.75910114e-01 2.68601204e-03 -9.08736093e+00] [ 1.23550736e-02 9.76719013e-06 9.99923673e-01 1.48948410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.223617865 meters 0.02098733120103233 Centerline is valid? [True, True] Translation: X:88.75, Y:-9.10, Z:1.49 [[ 9.74839302e-01 2.22518338e-01 -1.31880267e-02 8.87455153e+01] [-2.22498903e-01 9.74928502e-01 2.94164128e-03 -9.09844306e+00] [ 1.35119523e-02 6.66939420e-05 9.99908707e-01 1.49020576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.283617865 meters 0.02096682712519567 Centerline is valid? [True, True] Translation: X:88.81, Y:-9.11, Z:1.49 [[ 9.74185997e-01 2.25317762e-01 -1.39122202e-02 8.88057618e+01] [-2.25296356e-01 9.74285325e-01 3.10758955e-03 -9.10915525e+00] [ 1.42546671e-02 1.07002279e-04 9.99898391e-01 1.49071121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.343617865 meters 0.020910992940650353 Centerline is valid? [True, True] Translation: X:88.87, Y:-9.12, Z:1.49 [[ 9.73381614e-01 2.28699102e-01 -1.49984839e-02 8.88669780e+01] [-2.28674566e-01 9.73497146e-01 3.35401355e-03 -9.12195211e+00] [ 1.53680411e-02 1.65036665e-04 9.99881891e-01 1.49117219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40361786499999 meters 0.02095522479045382 Centerline is valid? [True, True] Translation: X:88.93, Y:-9.14, Z:1.49 [[ 9.73013849e-01 2.30264297e-01 -1.49132174e-02 8.89264694e+01] [-2.30240165e-01 9.73128111e-01 3.33872537e-03 -9.13511896e+00] [ 1.52812603e-02 1.84995604e-04 9.99883218e-01 1.49163170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46361786499999 meters 0.020733145741387217 Centerline is valid? [True, True] Translation: X:88.99, Y:-9.15, Z:1.49 [[ 9.72986880e-01 2.30393901e-01 -1.46690486e-02 8.89877738e+01] [-2.30370518e-01 9.73097435e-01 3.28736542e-03 -9.14996262e+00] [ 1.50318025e-02 1.80752901e-04 9.99887000e-01 1.49179251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52361786499999 meters 0.020372886021528022 Centerline is valid? [True, True] Translation: X:89.05, Y:-9.17, Z:1.49 [[ 9.73332501e-01 2.28913273e-01 -1.49183158e-02 8.90474105e+01] [-2.28888847e-01 9.73446808e-01 3.34763656e-03 -9.16797206e+00] [ 1.52885054e-02 1.56272656e-04 9.99883112e-01 1.49286997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.583617865 meters 0.02014245187807298 Centerline is valid? [True, True] Translation: X:89.11, Y:-9.19, Z:1.49 [[ 9.73671170e-01 2.27463596e-01 -1.49921621e-02 8.91071634e+01] [-2.27438697e-01 9.73786576e-01 3.36801746e-03 -9.18523809e+00] [ 1.53652676e-02 1.30456314e-04 9.99881939e-01 1.49401273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.643617865 meters 0.019810744872084434 Centerline is valid? [True, True] Translation: X:89.17, Y:-9.20, Z:1.49 [[ 9.74090499e-01 2.25647291e-01 -1.51986557e-02 8.91659281e+01] [-2.25621418e-01 9.74209059e-01 3.41841030e-03 -9.20207122e+00] [ 1.55780231e-02 9.93012643e-05 9.99878650e-01 1.49403812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.703617865 meters 0.019637644840482155 Centerline is valid? [True, True] Translation: X:89.22, Y:-9.22, Z:1.49 [[ 9.74506305e-01 2.23822877e-01 -1.55171259e-02 8.92243803e+01] [-2.23795617e-01 9.74629835e-01 3.49379421e-03 -9.22025981e+00] [ 1.59054449e-02 6.79402851e-05 9.99873498e-01 1.49467110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76361786499999 meters 0.019410310330307705 Centerline is valid? [True, True] Translation: X:89.28, Y:-9.24, Z:1.50 [[ 9.75101508e-01 2.21173338e-01 -1.61059825e-02 8.92843680e+01] [-2.21143544e-01 9.75234512e-01 3.63029940e-03 -9.23847865e+00] [ 1.65100354e-02 2.18236253e-05 9.99863700e-01 1.49505310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82361786499999 meters 0.019199624649188732 Centerline is valid? [True, True] Translation: X:89.34, Y:-9.26, Z:1.50 [[ 9.76308345e-01 2.15748563e-01 -1.65702182e-02 8.93440115e+01] [-2.15716162e-01 9.76448950e-01 3.73975001e-03 -9.25940914e+00] [ 1.69868179e-02 -7.66852613e-05 9.99855711e-01 1.49540245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88361786499999 meters 0.019642754369741205 Centerline is valid? [True, True] Translation: X:89.40, Y:-9.28, Z:1.50 [[ 9.77620424e-01 2.09730117e-01 -1.64798185e-02 8.94015773e+01] [-2.09697138e-01 9.77759298e-01 3.72377199e-03 -9.28095662e+00] [ 1.68942829e-02 -1.84664776e-04 9.99857264e-01 1.49672598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.943617865 meters 0.020486692904162537 Centerline is valid? [True, True] Translation: X:89.46, Y:-9.30, Z:1.50 [[ 9.78356383e-01 2.06345407e-01 -1.55035434e-02 8.94597082e+01] [-2.06315766e-01 9.78479187e-01 3.50500012e-03 -9.30076680e+00] [ 1.58931353e-02 -2.30513803e-04 9.99873670e-01 1.49828923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.003617865 meters 0.02085335333315747 Centerline is valid? [True, True] Translation: X:89.52, Y:-9.32, Z:1.50 [[ 9.79158187e-01 2.02511228e-01 -1.54417251e-02 8.95186121e+01] [-2.02481316e-01 9.79279897e-01 3.49292000e-03 -9.31915592e+00] [ 1.58291265e-02 -2.93460389e-04 9.99874668e-01 1.49913125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.063617865 meters 0.021816696191571918 Centerline is valid? [True, True] Translation: X:89.58, Y:-9.34, Z:1.50 [[ 9.79682065e-01 1.99933632e-01 -1.57985623e-02 8.95767292e+01] [-1.99901929e-01 9.79809381e-01 3.57712378e-03 -9.33935065e+00] [ 1.61947669e-02 -3.46280937e-04 9.99868796e-01 1.49905026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12361786499999 meters 0.022168939486476538 Centerline is valid? [True, True] Translation: X:89.64, Y:-9.36, Z:1.50 [[ 9.79698289e-01 1.99846796e-01 -1.58908802e-02 8.96367022e+01] [-1.99814678e-01 9.79827094e-01 3.59997209e-03 -9.35611976e+00] [ 1.62897579e-02 -3.51655376e-04 9.99867251e-01 1.50006183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18361786499999 meters 0.019890060539324544 Centerline is valid? [True, True] Translation: X:89.70, Y:-9.37, Z:1.50 [[ 9.79069074e-01 2.02840746e-01 -1.67146652e-02 8.96980784e+01] [-2.02805575e-01 9.79211687e-01 3.79084979e-03 -9.36733561e+00] [ 1.71361343e-02 -3.21676514e-04 9.99853114e-01 1.50054266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24361786499999 meters 0.019480778382860272 Centerline is valid? [True, True] Translation: X:89.76, Y:-9.38, Z:1.50 [[ 9.78555857e-01 2.05254886e-01 -1.72877361e-02 8.97582008e+01] [-2.05217560e-01 9.78708509e-01 3.92520520e-03 -9.38188973e+00] [ 1.77253220e-02 -2.93285522e-04 9.99842851e-01 1.50127196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30361786499999 meters 0.01878391861816682 Centerline is valid? [True, True] Translation: X:89.82, Y:-9.40, Z:1.50 [[ 9.77870176e-01 2.08574249e-01 -1.63310010e-02 8.98190052e+01] [-2.08541342e-01 9.78006509e-01 3.71163445e-03 -9.39685071e+00] [ 1.67459766e-02 -2.23807787e-04 9.99859751e-01 1.50404874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.363617865 meters 0.018399918545619516 Centerline is valid? [True, True] Translation: X:89.88, Y:-9.41, Z:1.51 [[ 9.77186103e-01 2.11868932e-01 -1.47944434e-02 8.98780857e+01] [-2.11842287e-01 9.77298078e-01 3.36349932e-03 -9.41267219e+00] [ 1.51712021e-02 -1.52676071e-04 9.99884899e-01 1.50661187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.423617865 meters 0.01822790601303857 Centerline is valid? [True, True] Translation: X:89.94, Y:-9.43, Z:1.51 [[ 9.76633222e-01 2.14429057e-01 -1.44128408e-02 8.99376195e+01] [-2.14404000e-01 9.76739559e-01 3.27994281e-03 -9.42779861e+00] [ 1.47809068e-02 -1.13130391e-04 9.99890750e-01 1.50833224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48361786499999 meters 0.017772261107715803 Centerline is valid? [True, True] Translation: X:90.00, Y:-9.44, Z:1.51 [[ 9.75678990e-01 2.18723825e-01 -1.45050813e-02 8.99982227e+01] [-2.18698872e-01 9.75786803e-01 3.30417996e-03 -9.44143812e+00] [ 1.48765698e-02 -5.15740638e-05 9.99889336e-01 1.50873081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54361786499999 meters 0.017795057545719944 Centerline is valid? [True, True] Translation: X:90.06, Y:-9.46, Z:1.51 [[ 9.74592441e-01 2.23458570e-01 -1.53571325e-02 9.00594501e+01] [-2.23431121e-01 9.74713428e-01 3.50241846e-03 -9.45604711e+00] [ 1.57514487e-02 1.78307688e-05 9.99875938e-01 1.50860714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60361786499999 meters 0.017872997383216627 Centerline is valid? [True, True] Translation: X:90.12, Y:-9.47, Z:1.51 [[ 9.74047588e-01 2.25752983e-01 -1.63366545e-02 9.01196641e+01] [-2.25722159e-01 9.74184576e-01 3.73087605e-03 -9.47108492e+00] [ 1.67571732e-02 5.34940906e-05 9.99859587e-01 1.50888879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66361786499999 meters 0.01788117374675083 Centerline is valid? [True, True] Translation: X:90.18, Y:-9.49, Z:1.51 [[ 9.73907496e-01 2.26350626e-01 -1.64190082e-02 9.01800874e+01] [-2.26319499e-01 9.74045887e-01 3.75417176e-03 -9.48771898e+00] [ 1.68426266e-02 5.97256931e-05 9.99858151e-01 1.50928025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.723617865 meters 0.01789807622809387 Centerline is valid? [True, True] Translation: X:90.24, Y:-9.51, Z:1.51 [[ 9.74199230e-01 2.25066607e-01 -1.67595265e-02 9.02403614e+01] [-2.25033901e-01 9.74343380e-01 3.83697668e-03 -9.50637333e+00] [ 1.71931090e-02 3.34818762e-05 9.99852187e-01 1.51024668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.783617865 meters 0.01809276315348161 Centerline is valid? [True, True] Translation: X:90.30, Y:-9.53, Z:1.51 [[ 9.75463686e-01 2.19558194e-01 -1.62726100e-02 9.02993443e+01] [-2.19526517e-01 9.75599403e-01 3.73005338e-03 -9.53172549e+00] [ 1.66945124e-02 -6.62622344e-05 9.99860635e-01 1.51264756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.843617865 meters 0.018330853318462886 Centerline is valid? [True, True] Translation: X:90.36, Y:-9.55, Z:1.51 [[ 9.76529912e-01 2.14811010e-01 -1.56703683e-02 9.03582461e+01] [-2.14780952e-01 9.76655624e-01 3.59642542e-03 -9.55287675e+00] [ 1.60771051e-02 -1.46320370e-04 9.99870744e-01 1.51411574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90361786499999 meters 0.019671602318713937 Centerline is valid? [True, True] Translation: X:90.41, Y:-9.58, Z:1.52 [[ 9.77906406e-01 2.08565868e-01 -1.41187807e-02 9.04147847e+01] [-2.08540768e-01 9.78008296e-01 3.24363292e-03 -9.57834881e+00] [ 1.44847958e-02 -2.27628044e-04 9.99895064e-01 1.51616375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96361786499999 meters 0.01987756660371325 Centerline is valid? [True, True] Translation: X:90.47, Y:-9.60, Z:1.52 [[ 9.78575583e-01 2.05465515e-01 -1.31814382e-02 9.04739264e+01] [-2.05443318e-01 9.78664322e-01 3.03113773e-03 -9.59928159e+00] [ 1.35229975e-02 -2.58158978e-04 9.99908527e-01 1.51814519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02361786499999 meters 0.021031024578623384 Centerline is valid? [True, True] Translation: X:90.53, Y:-9.62, Z:1.52 [[ 9.78592062e-01 2.05387457e-01 -1.31745186e-02 9.05329361e+01] [-2.05365231e-01 9.78680706e-01 3.03285521e-03 -9.62018183e+00] [ 1.35165575e-02 -2.62339980e-04 9.99908613e-01 1.51940744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.083617865 meters 0.020205753117517527 Centerline is valid? [True, True] Translation: X:90.59, Y:-9.64, Z:1.52 [[ 9.78222366e-01 2.07055204e-01 -1.44618617e-02 9.05928849e+01] [-2.07028540e-01 9.78329224e-01 3.33350794e-03 -9.63560174e+00] [ 1.48386821e-02 -2.66893907e-04 9.99889865e-01 1.51831048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.143617865 meters 0.01999762672960739 Centerline is valid? [True, True] Translation: X:90.65, Y:-9.65, Z:1.52 [[ 9.77545403e-01 2.10240510e-01 -1.42798055e-02 9.06516440e+01] [-2.10214802e-01 9.77649671e-01 3.29507110e-03 -9.65289568e+00] [ 1.46534046e-02 -2.19255129e-04 9.99892609e-01 1.51962009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.203617865 meters 0.019717087144572633 Centerline is valid? [True, True] Translation: X:90.71, Y:-9.67, Z:1.52 [[ 9.77099948e-01 2.12329753e-01 -1.38480403e-02 9.07116030e+01] [-2.12305742e-01 9.77198057e-01 3.19845584e-03 -9.66834215e+00] [ 1.42114054e-02 -1.85192554e-04 9.99898996e-01 1.52139274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26361786499999 meters 0.019696879912197655 Centerline is valid? [True, True] Translation: X:90.77, Y:-9.69, Z:1.52 [[ 9.76761207e-01 2.13947288e-01 -1.28102866e-02 9.07717684e+01] [-2.13926837e-01 9.76845195e-01 2.96203836e-03 -9.68592147e+00] [ 1.31473870e-02 -1.52740073e-04 9.99913558e-01 1.52356622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32361786499999 meters 0.019593333883673958 Centerline is valid? [True, True] Translation: X:90.83, Y:-9.70, Z:1.52 [[ 9.76461127e-01 2.15345779e-01 -1.22418263e-02 9.08322120e+01] [-2.15327207e-01 9.76537853e-01 2.83107478e-03 -9.70149230e+00] [ 1.25642668e-02 -1.28436203e-04 9.99921058e-01 1.52483906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38361786499999 meters 0.019682817620476464 Centerline is valid? [True, True] Translation: X:90.89, Y:-9.72, Z:1.53 [[ 9.76014125e-01 2.17365240e-01 -1.21975132e-02 9.08906442e+01] [-2.17346918e-01 9.76090335e-01 2.82415897e-03 -9.71804011e+00] [ 1.25197487e-02 -1.05327152e-04 9.99921619e-01 1.52650278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.443617865 meters 0.019711448813969534 Centerline is valid? [True, True] Translation: X:90.95, Y:-9.73, Z:1.53 [[ 9.75549052e-01 2.19442692e-01 -1.22046257e-02 9.09506243e+01] [-2.19424494e-01 9.75625388e-01 2.82713247e-03 -9.73298840e+00] [ 1.25275363e-02 -8.00125741e-05 9.99921524e-01 1.52673600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.503617865 meters 0.01969328148375613 Centerline is valid? [True, True] Translation: X:91.01, Y:-9.75, Z:1.53 [[ 9.75008886e-01 2.21801375e-01 -1.27208997e-02 9.10102790e+01] [-2.21781763e-01 9.75091866e-01 2.95003750e-03 -9.74846812e+00] [ 1.30583682e-02 -5.50492149e-05 9.99914734e-01 1.52723117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.563617865 meters 0.019691108756861277 Centerline is valid? [True, True] Translation: X:91.07, Y:-9.76, Z:1.53 [[ 9.74454009e-01 2.24255341e-01 -1.22035581e-02 9.10714185e+01] [-2.24237449e-01 9.74530421e-01 2.83280528e-03 -9.76216171e+00] [ 1.25280103e-02 -2.39437125e-05 9.99921521e-01 1.52904722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62361786499999 meters 0.019596220004477128 Centerline is valid? [True, True] Translation: X:91.13, Y:-9.77, Z:1.53 [[ 9.73743383e-01 2.27298404e-01 -1.26198319e-02 9.11330544e+01] [-2.27279479e-01 9.73825156e-01 2.93309575e-03 -9.77456407e+00] [ 1.29561978e-02 1.21462431e-05 9.99916065e-01 1.52998929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68361786499999 meters 0.019574845013576408 Centerline is valid? [True, True] Translation: X:91.19, Y:-9.79, Z:1.53 [[ 9.73545200e-01 2.28135450e-01 -1.28047071e-02 9.11930724e+01] [-2.28115989e-01 9.73629404e-01 2.97986338e-03 -9.78905633e+00] [ 1.31468518e-02 1.99267416e-05 9.99913576e-01 1.53162530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74361786499999 meters 0.019550676360055443 Centerline is valid? [True, True] Translation: X:91.25, Y:-9.80, Z:1.53 [[ 9.73571593e-01 2.28048819e-01 -1.23324522e-02 9.12544042e+01] [-2.28030721e-01 9.73649699e-01 2.87302164e-03 -9.80411146e+00] [ 1.26626775e-02 1.50857092e-05 9.99919825e-01 1.53329486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80361786499999 meters 0.019734984087911744 Centerline is valid? [True, True] Translation: X:91.31, Y:-9.82, Z:1.54 [[ 9.73730809e-01 2.27360210e-01 -1.24758530e-02 9.13149382e+01] [-2.27341585e-01 9.73810728e-01 2.91016020e-03 -9.81848452e+00] [ 1.28107742e-02 2.56756062e-06 9.99917939e-01 1.53504309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.863617865 meters 0.019774194086104462 Centerline is valid? [True, True] Translation: X:91.38, Y:-9.83, Z:1.54 [[ 9.73854123e-01 2.26837787e-01 -1.23598053e-02 9.13757963e+01] [-2.26819423e-01 9.73932553e-01 2.88630005e-03 -9.83289263e+00] [ 1.26923386e-02 -7.39129086e-06 9.99919449e-01 1.53641448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.923617865 meters 0.01994041782180028 Centerline is valid? [True, True] Translation: X:91.44, Y:-9.85, Z:1.54 [[ 9.74360579e-01 2.24645112e-01 -1.24914260e-02 9.14369268e+01] [-2.24626129e-01 9.74440646e-01 2.92062982e-03 -9.84811369e+00] [ 1.28282584e-02 -3.98458796e-05 9.99917714e-01 1.53752073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98361786499999 meters 0.020075748532323853 Centerline is valid? [True, True] Translation: X:91.50, Y:-9.86, Z:1.54 [[ 9.74900428e-01 2.22199495e-01 -1.40192930e-02 9.14977303e+01] [-2.22175266e-01 9.75001219e-01 3.28237918e-03 -9.86316497e+00] [ 1.43981707e-02 -8.52527278e-05 9.99896337e-01 1.53747951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04361786499999 meters 0.020387073648580226 Centerline is valid? [True, True] Translation: X:91.56, Y:-9.88, Z:1.54 [[ 9.75245511e-01 2.20641344e-01 -1.46147622e-02 9.15580862e+01] [-2.20614772e-01 9.75355004e-01 3.42621487e-03 -9.87709334e+00] [ 1.50105461e-02 -1.17168249e-04 9.99887329e-01 1.53880108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10361786499999 meters 0.02058841669029219 Centerline is valid? [True, True] Translation: X:91.62, Y:-9.89, Z:1.54 [[ 9.75582782e-01 2.19112907e-01 -1.50920567e-02 9.16179899e+01] [-2.19084328e-01 9.75699499e-01 3.54200085e-03 -9.89143600e+00] [ 1.55014103e-02 -1.49081940e-04 9.99879835e-01 1.53926328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16361786499999 meters 0.02093212737940275 Centerline is valid? [True, True] Translation: X:91.68, Y:-9.91, Z:1.54 [[ 9.76227628e-01 2.16266317e-01 -1.44394399e-02 9.16781582e+01] [-2.16239798e-01 9.76334392e-01 3.39199415e-03 -9.90565076e+00] [ 1.48312959e-02 -1.88976841e-04 9.99889992e-01 1.54063136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.223617865 meters 0.021460276760747323 Centerline is valid? [True, True] Translation: X:91.74, Y:-9.92, Z:1.54 [[ 9.76581739e-01 2.14717218e-01 -1.35876334e-02 9.17371887e+01] [-2.14693538e-01 9.76676239e-01 3.19524248e-03 -9.92033106e+00] [ 1.39567923e-02 -2.03238364e-04 9.99902579e-01 1.54250001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.283617865 meters 0.021698374638804224 Centerline is valid? [True, True] Translation: X:91.80, Y:-9.93, Z:1.54 [[ 9.76814051e-01 2.13662821e-01 -1.35095567e-02 9.17978388e+01] [-2.13639290e-01 9.76907442e-01 3.17843579e-03 -9.93257634e+00] [ 1.38767000e-02 -2.18568641e-04 9.99903690e-01 1.54334710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.343617865 meters 0.021480324483384845 Centerline is valid? [True, True] Translation: X:91.86, Y:-9.94, Z:1.54 [[ 9.76787310e-01 2.13794115e-01 -1.33651489e-02 9.18591084e+01] [-2.13771054e-01 9.76878718e-01 3.14759806e-03 -9.94478639e+00] [ 1.37290674e-02 -2.17451874e-04 9.99905728e-01 1.54420561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40361786499999 meters 0.021646266881460756 Centerline is valid? [True, True] Translation: X:91.92, Y:-9.96, Z:1.55 [[ 9.76510630e-01 2.15076107e-01 -1.30098762e-02 9.19186711e+01] [-2.15054319e-01 9.76597271e-01 3.06765861e-03 -9.95628049e+00] [ 1.33651897e-02 -1.97771172e-04 9.99910662e-01 1.54565262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46361786499999 meters 0.02153080736989624 Centerline is valid? [True, True] Translation: X:91.98, Y:-9.97, Z:1.55 [[ 9.76110175e-01 2.16878373e-01 -1.31414210e-02 9.19795887e+01] [-2.16856266e-01 9.76198617e-01 3.10167147e-03 -9.96782379e+00] [ 1.35013225e-02 -1.77773602e-04 9.99908837e-01 1.54720316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52361786499999 meters 0.021321474653492076 Centerline is valid? [True, True] Translation: X:92.04, Y:-9.98, Z:1.55 [[ 9.75932476e-01 2.17662977e-01 -1.33652971e-02 9.20415133e+01] [-2.17640139e-01 9.76023974e-01 3.15771666e-03 -9.98013688e+00] [ 1.37321684e-02 -1.72893123e-04 9.99905694e-01 1.54791236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.583617865 meters 0.021496775839475523 Centerline is valid? [True, True] Translation: X:92.10, Y:-9.99, Z:1.55 [[ 9.75535673e-01 2.19412646e-01 -1.37201344e-02 9.21008655e+01] [-2.19388693e-01 9.75632137e-01 3.24574327e-03 -9.99264198e+00] [ 1.40979611e-02 -1.56295991e-04 9.99900607e-01 1.54857337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.643617865 meters 0.021172342401661527 Centerline is valid? [True, True] Translation: X:92.16, Y:-10.01, Z:1.55 [[ 9.75397880e-01 2.19966921e-01 -1.46126265e-02 9.21627167e+01] [-2.19939759e-01 9.75507318e-01 3.46043600e-03 -1.00052873e+01] [ 1.50159055e-02 -1.61404387e-04 9.99887242e-01 1.54947903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.703617865 meters 0.021750753663962147 Centerline is valid? [True, True] Translation: X:92.22, Y:-10.02, Z:1.55 [[ 9.75642825e-01 2.18837850e-01 -1.52010814e-02 9.22211756e+01] [-2.18808247e-01 9.75761220e-01 3.60442473e-03 -1.00223846e+01] [ 1.56214103e-02 -1.90509158e-04 9.99877960e-01 1.55117861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76361786499999 meters 0.021790622604003884 Centerline is valid? [True, True] Translation: X:92.28, Y:-10.04, Z:1.55 [[ 9.76074099e-01 2.16885832e-01 -1.54883493e-02 9.22816646e+01] [-2.16854795e-01 9.76196949e-01 3.67621748e-03 -1.00378384e+01] [ 1.59169988e-02 -2.29537839e-04 9.99873290e-01 1.55238640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82361786499999 meters 0.0217207145271461 Centerline is valid? [True, True] Translation: X:92.34, Y:-10.05, Z:1.55 [[ 9.76404535e-01 2.15462780e-01 -1.44905090e-02 9.23425280e+01] [-2.15435408e-01 9.76512024e-01 3.44272820e-03 -1.00521154e+01] [ 1.48919361e-02 -2.39726718e-04 9.99889080e-01 1.55363123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88361786499999 meters 0.022120125458195784 Centerline is valid? [True, True] Translation: X:92.40, Y:-10.07, Z:1.56 [[ 9.76583184e-01 2.14698726e-01 -1.37746573e-02 9.24010513e+01] [-2.14673866e-01 9.76680295e-01 3.27606952e-03 -1.00684196e+01] [ 1.41568043e-02 -2.42295460e-04 9.99899758e-01 1.55608375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.943617865 meters 0.022498566634409318 Centerline is valid? [True, True] Translation: X:92.46, Y:-10.08, Z:1.56 [[ 9.76581079e-01 2.14705646e-01 -1.38160277e-02 9.24612446e+01] [-2.14680592e-01 9.76678773e-01 3.28914936e-03 -1.00842438e+01] [ 1.42000199e-02 -2.46088030e-04 9.99899144e-01 1.55803901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.003617865 meters 0.022587388837614342 Centerline is valid? [True, True] Translation: X:92.52, Y:-10.10, Z:1.56 [[ 9.76440850e-01 2.15259816e-01 -1.50492111e-02 9.25220615e+01] [-2.15230087e-01 9.76556779e-01 3.58711602e-03 -1.00986537e+01] [ 1.54685710e-02 -2.63563590e-04 9.99880320e-01 1.55926556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.063617865 meters 0.0226176222691574 Centerline is valid? [True, True] Translation: X:92.58, Y:-10.11, Z:1.56 [[ 9.76111576e-01 2.16589735e-01 -1.71778110e-02 9.25819515e+01] [-2.16551111e-01 9.76262673e-01 4.09989573e-03 -1.01133118e+01] [ 1.76580510e-02 -2.82081626e-04 9.99844045e-01 1.55899242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12361786499999 meters 0.022443394298685606 Centerline is valid? [True, True] Translation: X:92.64, Y:-10.13, Z:1.56 [[ 9.75905026e-01 2.17432403e-01 -1.82354001e-02 9.26434032e+01] [-2.17388933e-01 9.76075339e-01 4.35711881e-03 -1.01267058e+01] [ 1.87465032e-02 -2.87959964e-04 9.99824227e-01 1.55962424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18361786499999 meters 0.02252808561045546 Centerline is valid? [True, True] Translation: X:92.70, Y:-10.14, Z:1.56 [[ 9.75751092e-01 2.18152339e-01 -1.78707634e-02 9.27043004e+01] [-2.18110617e-01 9.75914690e-01 4.27508471e-03 -1.01420702e+01] [ 1.83729602e-02 -2.73615339e-04 9.99831165e-01 1.56151950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24361786499999 meters 0.02275208864520453 Centerline is valid? [True, True] Translation: X:92.76, Y:-10.16, Z:1.56 [[ 9.75534785e-01 2.19178700e-01 -1.71049650e-02 9.27639443e+01] [-2.19140553e-01 9.75684701e-01 4.09659697e-03 -1.01587060e+01] [ 1.75869395e-02 -2.47981346e-04 9.99845307e-01 1.56472064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30361786499999 meters 0.022903811414237103 Centerline is valid? [True, True] Translation: X:92.82, Y:-10.17, Z:1.57 [[ 9.75435731e-01 2.19657064e-01 -1.66105334e-02 9.28240249e+01] [-2.19621090e-01 9.75577121e-01 3.98228772e-03 -1.01742662e+01] [ 1.70795940e-02 -2.36442278e-04 9.99854105e-01 1.56629017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.363617865 meters 0.023230701868386387 Centerline is valid? [True, True] Translation: X:92.88, Y:-10.19, Z:1.57 [[ 9.75321026e-01 2.20189749e-01 -1.62901929e-02 9.28834952e+01] [-2.20155153e-01 9.75457033e-01 3.90966117e-03 -1.01895476e+01] [ 1.67512506e-02 -2.26804825e-04 9.99859662e-01 1.56727678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.423617865 meters 0.023411951170866894 Centerline is valid? [True, True] Translation: X:92.94, Y:-10.21, Z:1.57 [[ 9.75288316e-01 2.20325163e-01 -1.64171461e-02 9.29444689e+01] [-2.20290005e-01 9.75426456e-01 3.94253992e-03 -1.02063870e+01] [ 1.68823594e-02 -2.28579913e-04 9.99857457e-01 1.56841696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48361786499999 meters 0.023218014277868074 Centerline is valid? [True, True] Translation: X:93.01, Y:-10.22, Z:1.57 [[ 9.75099869e-01 2.21096066e-01 -1.72271820e-02 9.30052022e+01] [-2.21057384e-01 9.75252007e-01 4.14202707e-03 -1.02208161e+01] [ 1.77166297e-02 -2.30694262e-04 9.99843022e-01 1.56888140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54361786499999 meters 0.023026792309355316 Centerline is valid? [True, True] Translation: X:93.07, Y:-10.23, Z:1.57 [[ 9.74744292e-01 2.22547748e-01 -1.86028343e-02 9.30659349e+01] [-2.22502802e-01 9.74921765e-01 4.47824632e-03 -1.02337666e+01] [ 1.91329317e-02 -2.25962295e-04 9.99816923e-01 1.56832517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60361786499999 meters 0.02317035148687778 Centerline is valid? [True, True] Translation: X:93.13, Y:-10.25, Z:1.57 [[ 9.74585980e-01 2.23234316e-01 -1.86710125e-02 9.31265482e+01] [-2.23189075e-01 9.74764788e-01 4.49937352e-03 -1.02482346e+01] [ 1.92042601e-02 -2.17860348e-04 9.99815557e-01 1.56866078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66361786499999 meters 0.023286936449884707 Centerline is valid? [True, True] Translation: X:93.19, Y:-10.26, Z:1.57 [[ 9.74432707e-01 2.23942284e-01 -1.81865959e-02 9.31868030e+01] [-2.23899396e-01 9.74602387e-01 4.38731151e-03 -1.02632017e+01] [ 1.87072044e-02 -2.03171988e-04 9.99824984e-01 1.57086317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.723617865 meters 0.023314903496935182 Centerline is valid? [True, True] Translation: X:93.25, Y:-10.28, Z:1.57 [[ 9.74418839e-01 2.24062965e-01 -1.74273690e-02 9.32475472e+01] [-2.24023525e-01 9.74574650e-01 4.20851153e-03 -1.02775335e+01] [ 1.79272437e-02 -1.96712286e-04 9.99839275e-01 1.57296105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.783617865 meters 0.023145277678678362 Centerline is valid? [True, True] Translation: X:93.31, Y:-10.29, Z:1.57 [[ 9.74397764e-01 2.24218810e-01 -1.65807765e-02 9.33090935e+01] [-2.24183058e-01 9.74538809e-01 4.00837555e-03 -1.02897829e+01] [ 1.70573634e-02 -1.88622995e-04 9.99854495e-01 1.57419273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.843617865 meters 0.023397099649338445 Centerline is valid? [True, True] Translation: X:93.37, Y:-10.30, Z:1.57 [[ 9.74639907e-01 2.23106638e-01 -1.73343370e-02 9.33696307e+01] [-2.23067294e-01 9.74794019e-01 4.19570535e-03 -1.03044461e+01] [ 1.78334977e-02 -2.22578237e-04 9.99840946e-01 1.57406868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90361786499999 meters 0.023858070883810378 Centerline is valid? [True, True] Translation: X:93.43, Y:-10.32, Z:1.57 [[ 9.75085794e-01 2.21090157e-01 -1.80786264e-02 9.34281764e+01] [-2.21046932e-01 9.75253335e-01 4.38029090e-03 -1.03206497e+01] [ 1.85996799e-02 -2.74934530e-04 9.99826973e-01 1.57462974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96361786499999 meters 0.0241341422655469 Centerline is valid? [True, True] Translation: X:93.49, Y:-10.33, Z:1.57 [[ 9.75315340e-01 2.20065857e-01 -1.81935624e-02 9.34887311e+01] [-2.20021851e-01 9.75484971e-01 4.41089615e-03 -1.03349592e+01] [ 1.87182344e-02 -2.99033406e-04 9.99824754e-01 1.57480842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02361786499999 meters 0.024192766167471257 Centerline is valid? [True, True] Translation: X:93.55, Y:-10.35, Z:1.58 [[ 9.75535785e-01 2.19114259e-01 -1.78570597e-02 9.35491874e+01] [-2.19071632e-01 9.75699156e-01 4.33334725e-03 -1.03470647e+01] [ 1.83726162e-02 -3.15360101e-04 9.99831160e-01 1.57595785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.083617865 meters 0.02428970863884977 Centerline is valid? [True, True] Translation: X:93.61, Y:-10.36, Z:1.58 [[ 9.75602287e-01 2.18850646e-01 -1.74520105e-02 9.36101953e+01] [-2.18809842e-01 9.75758318e-01 4.23769961e-03 -1.03621816e+01] [ 1.79563677e-02 -3.15637776e-04 9.99838722e-01 1.57744971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.143617865 meters 0.02450386272551692 Centerline is valid? [True, True] Translation: X:93.67, Y:-10.38, Z:1.58 [[ 9.75816114e-01 2.17939145e-01 -1.68949754e-02 9.36696038e+01] [-2.17900688e-01 9.75962306e-01 4.10701384e-03 -1.03764132e+01] [ 1.73839382e-02 -3.26263531e-04 9.99848835e-01 1.57857794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.203617865 meters 0.024289465107324597 Centerline is valid? [True, True] Translation: X:93.73, Y:-10.39, Z:1.58 [[ 9.75765350e-01 2.18176631e-01 -1.67612496e-02 9.37311299e+01] [-2.18138749e-01 9.75909244e-01 4.07834972e-03 -1.03879503e+01] [ 1.72472591e-02 -3.23234313e-04 9.99851203e-01 1.57859289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26361786499999 meters 0.024449620249293445 Centerline is valid? [True, True] Translation: X:93.79, Y:-10.40, Z:1.58 [[ 9.75647020e-01 2.18755467e-01 -1.60915228e-02 9.37908104e+01] [-2.18720559e-01 9.75779664e-01 3.91972161e-03 -1.04025987e+01] [ 1.65592412e-02 -3.04717858e-04 9.99862840e-01 1.58086072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32361786499999 meters 0.02381652467592212 Centerline is valid? [True, True] Translation: X:93.85, Y:-10.41, Z:1.58 [[ 9.75523892e-01 2.19327577e-01 -1.57655038e-02 9.38524587e+01] [-2.19294079e-01 9.75651233e-01 3.84427336e-03 -1.04139831e+01] [ 1.62247884e-02 -2.92898866e-04 9.99868327e-01 1.58350163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38361786499999 meters 0.02315704921691532 Centerline is valid? [True, True] Translation: X:93.91, Y:-10.42, Z:1.58 [[ 9.75258523e-01 2.20486913e-01 -1.60104575e-02 9.39139073e+01] [-2.20452486e-01 9.75389893e-01 3.90624897e-03 -1.04239745e+01] [ 1.64777152e-02 -2.80057436e-04 9.99864194e-01 1.58376249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.443617865 meters 0.02358143152804222 Centerline is valid? [True, True] Translation: X:93.97, Y:-10.44, Z:1.58 [[ 9.75130295e-01 2.21067029e-01 -1.58201559e-02 9.39727266e+01] [-2.21033426e-01 9.75258579e-01 3.86381433e-03 -1.04387536e+01] [ 1.62829047e-02 -2.70939142e-04 9.99867388e-01 1.58482967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.503617865 meters 0.022830783629198305 Centerline is valid? [True, True] Translation: X:94.03, Y:-10.45, Z:1.59 [[ 9.74669138e-01 2.23046659e-01 -1.64395354e-02 9.40339472e+01] [-2.23010612e-01 9.74807738e-01 4.01763759e-03 -1.04494756e+01] [ 1.69215069e-02 -2.49676514e-04 9.99856790e-01 1.58622832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.563617865 meters 0.022717629353762234 Centerline is valid? [True, True] Translation: X:94.09, Y:-10.46, Z:1.59 [[ 9.74504675e-01 2.23657289e-01 -1.78341385e-02 9.40946490e+01] [-2.23614878e-01 9.74667814e-01 4.36336097e-03 -1.04617253e+01] [ 1.83582583e-02 -2.64136950e-04 9.99831438e-01 1.58626618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62361786499999 meters 0.022650970641770397 Centerline is valid? [True, True] Translation: X:94.16, Y:-10.47, Z:1.59 [[ 9.74346958e-01 2.24333626e-01 -1.79563411e-02 9.41561962e+01] [-2.24290657e-01 9.74512369e-01 4.39814305e-03 -1.04748530e+01] [ 1.84853279e-02 -2.57877755e-04 9.99829098e-01 1.58713081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68361786499999 meters 0.022420482668499803 Centerline is valid? [True, True] Translation: X:94.22, Y:-10.49, Z:1.59 [[ 9.74300258e-01 2.24581696e-01 -1.73801407e-02 9.42173988e+01] [-2.24541394e-01 9.74455232e-01 4.26177800e-03 -1.04873645e+01] [ 1.78932863e-02 -2.49690394e-04 9.99839871e-01 1.58919222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74361786499999 meters 0.022350523620659424 Centerline is valid? [True, True] Translation: X:94.28, Y:-10.50, Z:1.59 [[ 9.74358774e-01 2.24270432e-01 -1.81039280e-02 9.42789562e+01] [-2.24226551e-01 9.74526911e-01 4.44459336e-03 -1.05012154e+01] [ 1.86395559e-02 -2.71247206e-04 9.99826232e-01 1.59105301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80361786499999 meters 0.022271441990270757 Centerline is valid? [True, True] Translation: X:94.34, Y:-10.51, Z:1.59 [[ 9.74452438e-01 2.23779994e-01 -1.91039206e-02 9.43391494e+01] [-2.23730934e-01 9.74639638e-01 4.69523827e-03 -1.05145104e+01] [ 1.96701387e-02 -3.01148361e-04 9.99806479e-01 1.59131293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.863617865 meters 0.02258041577368762 Centerline is valid? [True, True] Translation: X:94.40, Y:-10.53, Z:1.59 [[ 9.74494469e-01 2.23494963e-01 -2.02615938e-02 9.43984127e+01] [-2.23439646e-01 9.74705029e-01 4.98309773e-03 -1.05274562e+01] [ 2.08627746e-02 -3.28757829e-04 9.99782295e-01 1.59199874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.923617865 meters 0.023101589578619353 Centerline is valid? [True, True] Translation: X:94.46, Y:-10.54, Z:1.59 [[ 9.74720587e-01 2.22490945e-01 -2.04342040e-02 9.44569944e+01] [-2.22434366e-01 9.74934691e-01 5.03002542e-03 -1.05429656e+01] [ 2.10411495e-02 -3.57600117e-04 9.99778547e-01 1.59318328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98361786499999 meters 0.022499371677674674 Centerline is valid? [True, True] Translation: X:94.52, Y:-10.55, Z:1.60 [[ 9.75552116e-01 2.18884851e-01 -1.96847976e-02 9.45179504e+01] [-2.18831534e-01 9.75750605e-01 4.84945536e-03 -1.05548462e+01] [ 2.02689255e-02 -4.23241984e-04 9.99794475e-01 1.59592421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04361786499999 meters 0.025943433882431838 Centerline is valid? [True, True] Translation: X:94.58, Y:-10.58, Z:1.60 [[ 9.76601327e-01 2.14158162e-01 -1.96502012e-02 9.45752869e+01] [-2.14103975e-01 9.76798856e-01 4.84586555e-03 -1.05766819e+01] [ 2.02320757e-02 -5.25292549e-04 9.99795173e-01 1.59638723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10361786499999 meters 0.023764811929412512 Centerline is valid? [True, True] Translation: X:94.64, Y:-10.59, Z:1.60 [[ 9.77162233e-01 2.11680180e-01 -1.85868836e-02 9.46368549e+01] [-2.11631170e-01 9.77338836e-01 4.58785770e-03 -1.05867178e+01] [ 1.91368418e-02 -5.49517346e-04 9.99816723e-01 1.59860182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16361786499999 meters 0.025081778474797947 Centerline is valid? [True, True] Translation: X:94.70, Y:-10.60, Z:1.60 [[ 9.77691553e-01 2.09273912e-01 -1.79904558e-02 9.46954349e+01] [-2.09227510e-01 9.77856887e-01 4.44498642e-03 -1.06030598e+01] [ 1.85223108e-02 -5.81727421e-04 9.99828278e-01 1.59918961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.223617865 meters 0.02433715789939106 Centerline is valid? [True, True] Translation: X:94.76, Y:-10.61, Z:1.60 [[ 9.77542742e-01 2.09950998e-01 -1.81869739e-02 9.47568454e+01] [-2.09903612e-01 9.77711738e-01 4.49789126e-03 -1.06149587e+01] [ 1.87259546e-02 -5.79369449e-04 9.99824486e-01 1.59989771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.283617865 meters 0.024286958361210736 Centerline is valid? [True, True] Translation: X:94.82, Y:-10.63, Z:1.60 [[ 9.76807780e-01 2.13380056e-01 -1.77626576e-02 9.48165402e+01] [-2.13335350e-01 9.76969138e-01 4.39687096e-03 -1.06263399e+01] [ 1.82917728e-02 -5.05495003e-04 9.99832564e-01 1.60036135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.343617865 meters 0.022325198459002223 Centerline is valid? [True, True] Translation: X:94.88, Y:-10.63, Z:1.60 [[ 9.75766056e-01 2.18150800e-01 -1.70537841e-02 9.48782253e+01] [-2.18110307e-01 9.75914990e-01 4.22202265e-03 -1.06335880e+01] [ 1.75640812e-02 -4.00100303e-04 9.99845660e-01 1.60100532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40361786499999 meters 0.022392460389959876 Centerline is valid? [True, True] Translation: X:94.94, Y:-10.65, Z:1.60 [[ 9.75087767e-01 2.21152489e-01 -1.71878504e-02 9.49383642e+01] [-2.21111801e-01 9.75239178e-01 4.25648362e-03 -1.06464102e+01] [ 1.77035971e-02 -3.50008543e-04 9.99843218e-01 1.60082065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46361786499999 meters 0.021866764549798776 Centerline is valid? [True, True] Translation: X:95.00, Y:-10.66, Z:1.60 [[ 9.74272042e-01 2.24749589e-01 -1.67812447e-02 9.49995270e+01] [-2.24711269e-01 9.74416514e-01 4.15967024e-03 -1.06569269e+01] [ 1.72868062e-02 -2.81715611e-04 9.99850532e-01 1.60078850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52361786499999 meters 0.021732500948182423 Centerline is valid? [True, True] Translation: X:95.06, Y:-10.67, Z:1.60 [[ 9.73780164e-01 2.26890242e-01 -1.65229984e-02 9.50590206e+01] [-2.26853333e-01 9.73920304e-01 4.09956920e-03 -1.06696988e+01] [ 1.70222358e-02 -2.43781914e-04 9.99855082e-01 1.60244564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.583617865 meters 0.021721538660707595 Centerline is valid? [True, True] Translation: X:95.12, Y:-10.68, Z:1.60 [[ 9.73465494e-01 2.28312619e-01 -1.54363474e-02 9.51189672e+01] [-2.28280552e-01 9.73587852e-01 3.83197167e-03 -1.06817187e+01] [ 1.59035278e-02 -2.06474297e-04 9.99873510e-01 1.60401856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.643617865 meters 0.021747350921313073 Centerline is valid? [True, True] Translation: X:95.18, Y:-10.70, Z:1.61 [[ 9.73299444e-01 2.29016076e-01 -1.54864355e-02 9.51806316e+01] [-2.28983857e-01 9.73422620e-01 3.84650539e-03 -1.06952024e+01] [ 1.59557582e-02 -1.97657830e-04 9.99872679e-01 1.60508820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.703617865 meters 0.021148283679366588 Centerline is valid? [True, True] Translation: X:95.24, Y:-10.71, Z:1.61 [[ 9.73213276e-01 2.29390101e-01 -1.53655956e-02 9.52426430e+01] [-2.29358364e-01 9.73334549e-01 3.82056911e-03 -1.07072368e+01] [ 1.58322658e-02 -1.94000705e-04 9.99874643e-01 1.60594939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76361786499999 meters 0.02122203081345879 Centerline is valid? [True, True] Translation: X:95.30, Y:-10.72, Z:1.61 [[ 9.73108712e-01 2.29827340e-01 -1.54540427e-02 9.53045318e+01] [-2.29795220e-01 9.73231399e-01 3.84711438e-03 -1.07201089e+01] [ 1.59245317e-02 -1.92395385e-04 9.99873178e-01 1.60562267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82361786499999 meters 0.02123226829901534 Centerline is valid? [True, True] Translation: X:95.37, Y:-10.73, Z:1.60 [[ 9.73172402e-01 2.29487669e-01 -1.64585797e-02 9.53661307e+01] [-2.29451102e-01 9.73311545e-01 4.10227866e-03 -1.07336726e+01] [ 1.69607480e-02 -2.15785136e-04 9.99856133e-01 1.60465235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88361786499999 meters 0.02122579639029711 Centerline is valid? [True, True] Translation: X:95.43, Y:-10.75, Z:1.60 [[ 9.73126499e-01 2.29682088e-01 -1.64607102e-02 9.54273389e+01] [-2.29645457e-01 9.73265684e-01 4.10765829e-03 -1.07472695e+01] [ 1.69640999e-02 -2.17143824e-04 9.99856076e-01 1.60392918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.943617865 meters 0.020882872242792307 Centerline is valid? [True, True] Translation: X:95.49, Y:-10.76, Z:1.60 [[ 9.72672516e-01 2.31662442e-01 -1.55141774e-02 9.54885964e+01] [-2.31630087e-01 9.72796218e-01 3.87572504e-03 -1.07586018e+01] [ 1.59899930e-02 -1.76260971e-04 9.99872136e-01 1.60391461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.003617865 meters 0.020761188209035258 Centerline is valid? [True, True] Translation: X:95.55, Y:-10.77, Z:1.60 [[ 9.72176865e-01 2.33780750e-01 -1.47886689e-02 9.55494351e+01] [-2.33751539e-01 9.72289330e-01 3.69814788e-03 -1.07709612e+01] [ 1.52434208e-02 -1.38379683e-04 9.99883803e-01 1.60469620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.063617865 meters 0.020727310918000733 Centerline is valid? [True, True] Translation: X:95.61, Y:-10.78, Z:1.61 [[ 9.71763259e-01 2.35598022e-01 -1.30284374e-02 9.56093466e+01] [-2.35575475e-01 9.71850586e-01 3.26091339e-03 -1.07830040e+01] [ 1.34299592e-02 -9.96555098e-05 9.99909809e-01 1.60661215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12361786499999 meters 0.020873824491247462 Centerline is valid? [True, True] Translation: X:95.67, Y:-10.80, Z:1.61 [[ 9.71809202e-01 2.35461839e-01 -1.20248749e-02 9.56707068e+01] [-2.35442592e-01 9.71883590e-01 3.01208800e-03 -1.07973342e+01] [ 1.23960104e-02 -9.60071295e-05 9.99923162e-01 1.60832405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18361786499999 meters 0.021145526004745167 Centerline is valid? [True, True] Translation: X:95.73, Y:-10.81, Z:1.61 [[ 9.72062706e-01 2.34456154e-01 -1.11537838e-02 9.57299048e+01] [-2.34439491e-01 9.72126690e-01 2.79709059e-03 -1.08140653e+01] [ 1.14986860e-02 -1.04060053e-04 9.99933883e-01 1.60951045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24361786499999 meters 0.021091509886980837 Centerline is valid? [True, True] Translation: X:95.79, Y:-10.83, Z:1.61 [[ 9.72578636e-01 2.32291433e-01 -1.14667547e-02 9.57902671e+01] [-2.32273640e-01 9.72646221e-01 2.87827110e-03 -1.08297331e+01] [ 1.18216933e-02 -1.35920129e-04 9.99930112e-01 1.60946208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30361786499999 meters 0.021511247990195364 Centerline is valid? [True, True] Translation: X:95.85, Y:-10.85, Z:1.61 [[ 9.72877791e-01 2.31033508e-01 -1.15031454e-02 9.58495655e+01] [-2.31015478e-01 9.72945782e-01 2.89041748e-03 -1.08468218e+01] [ 1.18597200e-02 -1.54618348e-04 9.99929659e-01 1.61005643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.363617865 meters 0.021628871451811006 Centerline is valid? [True, True] Translation: X:95.91, Y:-10.86, Z:1.61 [[ 9.72768610e-01 2.31503402e-01 -1.12874555e-02 9.59104193e+01] [-2.31486042e-01 9.72834083e-01 2.83889557e-03 -1.08631795e+01] [ 1.16380354e-02 -1.48700093e-04 9.99932265e-01 1.61146781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.423617865 meters 0.022080451035693418 Centerline is valid? [True, True] Translation: X:95.97, Y:-10.88, Z:1.61 [[ 9.72876447e-01 2.31044920e-01 -1.13870248e-02 9.59697260e+01] [-2.31027182e-01 9.72943071e-01 2.86735032e-03 -1.08802305e+01] [ 1.17414136e-02 -1.58865331e-04 9.99931055e-01 1.61136538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48361786499999 meters 0.022231722191110585 Centerline is valid? [True, True] Translation: X:96.03, Y:-10.90, Z:1.61 [[ 9.72941855e-01 2.30791705e-01 -1.09240725e-02 9.60302527e+01] [-2.30775333e-01 9.73003168e-01 2.75342681e-03 -1.08980143e+01] [ 1.12646252e-02 -1.57917711e-04 9.99936540e-01 1.61247477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54361786499999 meters 0.022452739160086273 Centerline is valid? [True, True] Translation: X:96.09, Y:-10.92, Z:1.61 [[ 9.73146843e-01 2.29899885e-01 -1.14571126e-02 9.60894057e+01] [-2.29881772e-01 9.73214268e-01 2.89140909e-03 -1.09166012e+01] [ 1.18149601e-02 -1.79984272e-04 9.99930185e-01 1.61317845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60361786499999 meters 0.022635554565304656 Centerline is valid? [True, True] Translation: X:96.15, Y:-10.93, Z:1.61 [[ 9.73125424e-01 2.29993970e-01 -1.13878827e-02 9.61498078e+01] [-2.29976050e-01 9.73192037e-01 2.87665075e-03 -1.09338728e+01] [ 1.17442091e-02 -1.80401700e-04 9.99931018e-01 1.61417702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66361786499999 meters 0.02281775279618279 Centerline is valid? [True, True] Translation: X:96.21, Y:-10.95, Z:1.62 [[ 9.72967775e-01 2.30726210e-01 -9.95615053e-03 9.62098858e+01] [-2.30712528e-01 9.73018701e-01 2.51731898e-03 -1.09515684e+01] [ 1.02683321e-02 -1.52261593e-04 9.99947268e-01 1.61567939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.723617865 meters 0.02258985012643662 Centerline is valid? [True, True] Translation: X:96.27, Y:-10.97, Z:1.62 [[ 9.72395902e-01 2.33105940e-01 -1.03841911e-02 9.62691791e+01] [-2.33091155e-01 9.72451337e-01 2.62887911e-03 -1.09685660e+01] [ 1.07109278e-02 -1.35848178e-04 9.99942627e-01 1.61630567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.783617865 meters 0.022547096515532234 Centerline is valid? [True, True] Translation: X:96.33, Y:-10.99, Z:1.62 [[ 9.71818840e-01 2.35490996e-01 -1.05892411e-02 9.63292778e+01] [-2.35475733e-01 9.71876524e-01 2.68357978e-03 -1.09852670e+01] [ 1.09233937e-02 -1.14444078e-04 9.99940331e-01 1.61716884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.843617865 meters 0.02244928504694767 Centerline is valid? [True, True] Translation: X:96.39, Y:-11.00, Z:1.62 [[ 9.70953464e-01 2.38994438e-01 -1.14468072e-02 9.63887968e+01] [-2.38976807e-01 9.71020933e-01 2.90416334e-03 -1.10018107e+01] [ 1.18091682e-02 -8.42860406e-05 9.99930266e-01 1.61745896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90361786499999 meters 0.02248284335245135 Centerline is valid? [True, True] Translation: X:96.45, Y:-11.02, Z:1.62 [[ 9.70136929e-01 2.42260459e-01 -1.20087290e-02 9.64478671e+01] [-2.42241264e-01 9.70211249e-01 3.04996048e-03 -1.10204584e+01] [ 1.23898887e-02 -4.98696082e-05 9.99923241e-01 1.61923458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96361786499999 meters 0.02253930102050167 Centerline is valid? [True, True] Translation: X:96.51, Y:-11.04, Z:1.62 [[ 9.69540125e-01 2.44631761e-01 -1.21345419e-02 9.65086007e+01] [-2.44612309e-01 9.69616059e-01 3.08500491e-03 -1.10382435e+01] [ 1.25205369e-02 -2.27777212e-05 9.99921615e-01 1.62082061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02361786499999 meters 0.022789138363956015 Centerline is valid? [True, True] Translation: X:96.57, Y:-11.06, Z:1.62 [[ 9.69038173e-01 2.46614634e-01 -1.20930142e-02 9.65672550e+01] [-2.46595424e-01 9.69113627e-01 3.07808243e-03 -1.10573849e+01] [ 1.24786050e-02 -6.97418083e-07 9.99922139e-01 1.62124400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.083617865 meters 0.022873827837785177 Centerline is valid? [True, True] Translation: X:96.63, Y:-11.08, Z:1.62 [[ 9.69082098e-01 2.46412261e-01 -1.26840177e-02 9.66268756e+01] [-2.46391062e-01 9.69165103e-01 3.23212831e-03 -1.10766180e+01] [ 1.30893434e-02 -6.96907801e-06 9.99914331e-01 1.62159695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.143617865 meters 0.02318192723588526 Centerline is valid? [True, True] Translation: X:96.69, Y:-11.10, Z:1.62 [[ 9.69468780e-01 2.44874708e-01 -1.29097649e-02 9.66858758e+01] [-2.44852561e-01 9.69554731e-01 3.29350703e-03 -1.10996330e+01] [ 1.33232202e-02 -3.19632564e-05 9.99911241e-01 1.62348479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.203617865 meters 0.023222136971902535 Centerline is valid? [True, True] Translation: X:96.75, Y:-11.12, Z:1.62 [[ 9.69743300e-01 2.43757982e-01 -1.34155903e-02 9.67453600e+01] [-2.43733902e-01 9.69836091e-01 3.42660000e-03 -1.11191010e+01] [ 1.38461848e-02 -5.30882126e-05 9.99904136e-01 1.62461945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26361786499999 meters 0.023393089103295885 Centerline is valid? [True, True] Translation: X:96.81, Y:-11.14, Z:1.63 [[ 9.70016498e-01 2.42592991e-01 -1.47185336e-02 9.68051126e+01] [-2.42563801e-01 9.70128154e-01 3.76403198e-03 -1.11395438e+01] [ 1.51919916e-02 -8.09896504e-05 9.99884592e-01 1.62520424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32361786499999 meters 0.023879786868890324 Centerline is valid? [True, True] Translation: X:96.86, Y:-11.16, Z:1.63 [[ 9.70474538e-01 2.40680043e-01 -1.58835914e-02 9.68619119e+01] [-2.40645711e-01 9.70604503e-01 4.06695945e-03 -1.11620395e+01] [ 1.63955213e-02 -1.24562440e-04 9.99865577e-01 1.62643869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38361786499999 meters 0.024077895893678165 Centerline is valid? [True, True] Translation: X:96.92, Y:-11.18, Z:1.63 [[ 9.70895669e-01 2.38977079e-01 -1.58605086e-02 9.69211474e+01] [-2.38942568e-01 9.71025196e-01 4.06423675e-03 -1.11809701e+01] [ 1.63722129e-02 -1.56199209e-04 9.99865954e-01 1.62774277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.443617865 meters 0.02450809733255504 Centerline is valid? [True, True] Translation: X:96.98, Y:-11.20, Z:1.63 [[ 9.71625533e-01 2.35986571e-01 -1.59424553e-02 9.69797406e+01] [-2.35951232e-01 9.71756293e-01 4.08931868e-03 -1.12022204e+01] [ 1.64572056e-02 -2.11644478e-04 9.99864549e-01 1.62844284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.503617865 meters 0.025223309853201103 Centerline is valid? [True, True] Translation: X:97.04, Y:-11.22, Z:1.63 [[ 9.72357428e-01 2.33041186e-01 -1.45889608e-02 9.70366024e+01] [-2.33011206e-01 9.72466836e-01 3.74579862e-03 -1.12248714e+01] [ 1.50602059e-02 -2.42863753e-04 9.99886559e-01 1.63153607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.563617865 meters 0.025155281522234056 Centerline is valid? [True, True] Translation: X:97.10, Y:-11.24, Z:1.63 [[ 9.71688761e-01 2.35911621e-01 -1.29096340e-02 9.70964784e+01] [-2.35888401e-01 9.71774499e-01 3.31448460e-03 -1.12394755e+01] [ 1.33271785e-02 -1.75414510e-04 9.99911174e-01 1.63360046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62361786499999 meters 0.025126376486017434 Centerline is valid? [True, True] Translation: X:97.16, Y:-11.25, Z:1.63 [[ 9.70969362e-01 2.38822676e-01 -1.34991588e-02 9.71558437e+01] [-2.38797517e-01 9.71063185e-01 3.46951561e-03 -1.12545999e+01] [ 1.39371352e-02 -1.45227751e-04 9.99902863e-01 1.63352251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68361786499999 meters 0.024787338491232293 Centerline is valid? [True, True] Translation: X:97.22, Y:-11.27, Z:1.63 [[ 9.69664612e-01 2.44027404e-01 -1.41833122e-02 9.72169585e+01] [-2.44000135e-01 9.69768333e-01 3.64883851e-03 -1.12652069e+01] [ 1.46449436e-02 -7.74194811e-05 9.99892754e-01 1.63263007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74361786499999 meters 0.024798566245095643 Centerline is valid? [True, True] Translation: X:97.28, Y:-11.28, Z:1.63 [[ 9.69245972e-01 2.45699900e-01 -1.39214083e-02 9.72786715e+01] [-2.45673754e-01 9.69345942e-01 3.58479385e-03 -1.12792304e+01] [ 1.43754441e-02 -5.44223744e-05 9.99896666e-01 1.63256550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80361786499999 meters 0.024871736593179462 Centerline is valid? [True, True] Translation: X:97.34, Y:-11.29, Z:1.63 [[ 9.69271209e-01 2.45604692e-01 -1.38441163e-02 9.73395890e+01] [-2.45578767e-01 9.69370070e-01 3.56892382e-03 -1.12935346e+01] [ 1.42966164e-02 -5.94340943e-05 9.99897796e-01 1.63241647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.863617865 meters 0.025016143748772982 Centerline is valid? [True, True] Translation: X:97.40, Y:-11.31, Z:1.63 [[ 9.69589671e-01 2.44373433e-01 -1.33227544e-02 9.74003462e+01] [-2.44349257e-01 9.69681195e-01 3.43821513e-03 -1.13092956e+01] [ 1.37590328e-02 -7.82527470e-05 9.99905337e-01 1.63296381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.923617865 meters 0.025308341331047708 Centerline is valid? [True, True] Translation: X:97.46, Y:-11.33, Z:1.63 [[ 9.70332231e-01 2.41465293e-01 -1.22422772e-02 9.74606547e+01] [-2.41444607e-01 9.70409449e-01 3.16266241e-03 -1.13257044e+01] [ 1.26436947e-02 -1.13001472e-04 9.99920059e-01 1.63381061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98361786499999 meters 0.02548099041370606 Centerline is valid? [True, True] Translation: X:97.52, Y:-11.34, Z:1.63 [[ 9.71158884e-01 2.38113244e-01 -1.23492894e-02 9.75204679e+01] [-2.38091884e-01 9.71237385e-01 3.19339293e-03 -1.13423179e+01] [ 1.27544807e-02 -1.61026327e-04 9.99918645e-01 1.63333263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04361786499999 meters 0.025883280251707007 Centerline is valid? [True, True] Translation: X:97.58, Y:-11.36, Z:1.63 [[ 9.71768349e-01 2.35598458e-01 -1.26349650e-02 9.75795901e+01] [-2.35575842e-01 9.71850465e-01 3.27062632e-03 -1.13590878e+01] [ 1.30498511e-02 -2.01798641e-04 9.99914827e-01 1.63338861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10361786499999 meters 0.02584988982697047 Centerline is valid? [True, True] Translation: X:97.64, Y:-11.37, Z:1.63 [[ 9.72013862e-01 2.34548562e-01 -1.32674344e-02 9.76399612e+01] [-2.34523483e-01 9.72104377e-01 3.43755078e-03 -1.13728218e+01] [ 1.37036036e-02 -2.29822098e-04 9.99906075e-01 1.63290635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16361786499999 meters 0.02624381539965843 Centerline is valid? [True, True] Translation: X:97.70, Y:-11.39, Z:1.63 [[ 9.72068037e-01 2.34289510e-01 -1.38620916e-02 9.76997144e+01] [-2.34262051e-01 9.72166840e-01 3.59546337e-03 -1.13895245e+01] [ 1.43186451e-02 -2.47673010e-04 9.99897452e-01 1.63385109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.223617865 meters 0.02561889752383954 Centerline is valid? [True, True] Translation: X:97.76, Y:-11.40, Z:1.63 [[ 9.72034617e-01 2.34441647e-01 -1.36314762e-02 9.77610594e+01] [-2.34415078e-01 9.72130163e-01 3.53785352e-03 -1.14029387e+01] [ 1.40809894e-02 -2.43492529e-04 9.99900828e-01 1.63342354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.283617865 meters 0.025793008331881508 Centerline is valid? [True, True] Translation: X:97.82, Y:-11.42, Z:1.63 [[ 9.72118699e-01 2.34073725e-01 -1.39544174e-02 9.78222146e+01] [-2.34045783e-01 9.72218815e-01 3.62594720e-03 -1.14195530e+01] [ 1.44154861e-02 -2.58878534e-04 9.99896058e-01 1.63415043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.343617865 meters 0.02565826363322802 Centerline is valid? [True, True] Translation: X:97.88, Y:-11.44, Z:1.63 [[ 9.72298029e-01 2.33364661e-01 -1.33221011e-02 9.78824211e+01] [-2.33339075e-01 9.72389257e-01 3.46542291e-03 -1.14353371e+01] [ 1.37629752e-02 -2.60857116e-04 9.99905252e-01 1.63470530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40361786499999 meters 0.026261576105036266 Centerline is valid? [True, True] Translation: X:97.94, Y:-11.45, Z:1.64 [[ 9.72396522e-01 2.33002039e-01 -1.24520922e-02 9.79404504e+01] [-2.32979617e-01 9.72476214e-01 3.24215603e-03 -1.14538507e+01] [ 1.28647925e-02 -2.51577571e-04 9.99917213e-01 1.63659380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46361786499999 meters 0.025644107940243997 Centerline is valid? [True, True] Translation: X:98.00, Y:-11.47, Z:1.64 [[ 9.72184904e-01 2.33931970e-01 -1.15042074e-02 9.80015091e+01] [-2.33912868e-01 9.72252942e-01 2.99774238e-03 -1.14673728e+01] [ 1.18862672e-02 -2.23377741e-04 9.99929331e-01 1.63688076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52361786499999 meters 0.0252840333822106 Centerline is valid? [True, True] Translation: X:98.06, Y:-11.48, Z:1.64 [[ 9.71978074e-01 2.34782830e-01 -1.16467289e-02 9.80614793e+01] [-2.34763277e-01 9.72047826e-01 3.03788502e-03 -1.14821362e+01] [ 1.20344207e-02 -2.18533396e-04 9.99927560e-01 1.63681207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.583617865 meters 0.025480834516031264 Centerline is valid? [True, True] Translation: X:98.12, Y:-11.50, Z:1.64 [[ 9.71815370e-01 2.35439549e-01 -1.19627137e-02 9.81201101e+01] [-2.35418929e-01 9.71888970e-01 3.12358771e-03 -1.14985550e+01] [ 1.23618455e-02 -2.19301306e-04 9.99923565e-01 1.63727924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.643617865 meters 0.025623944122402497 Centerline is valid? [True, True] Translation: X:98.18, Y:-11.52, Z:1.64 [[ 9.71949860e-01 2.34892628e-01 -1.17865280e-02 9.81804365e+01] [-2.34872539e-01 9.72021297e-01 3.08027619e-03 -1.15151725e+01] [ 1.21802904e-02 -2.25542273e-04 9.99925792e-01 1.63714540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.703617865 meters 0.026877535189100788 Centerline is valid? [True, True] Translation: X:98.24, Y:-11.53, Z:1.63 [[ 9.72100313e-01 2.34264361e-01 -1.18823715e-02 9.82406803e+01] [-2.34243860e-01 9.72172903e-01 3.10831882e-03 -1.15322911e+01] [ 1.22798879e-02 -2.38225130e-04 9.99924571e-01 1.63136202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76361786499999 meters 0.025434503191679076 Centerline is valid? [True, True] Translation: X:98.30, Y:-11.55, Z:1.64 [[ 9.72106324e-01 2.34185027e-01 -1.29099807e-02 9.83009385e+01] [-2.34160773e-01 9.72192010e-01 3.38058098e-03 -1.15490924e+01] [ 1.33426616e-02 -2.63273079e-04 9.99910948e-01 1.63804709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82361786499999 meters 0.025235126996901266 Centerline is valid? [True, True] Translation: X:98.36, Y:-11.56, Z:1.64 [[ 9.71780145e-01 2.35520857e-01 -1.31634060e-02 9.83611805e+01] [-2.35495710e-01 9.71869262e-01 3.45098213e-03 -1.15635548e+01] [ 1.36058879e-02 -2.53670276e-04 9.99907403e-01 1.63891692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88361786499999 meters 0.02472546988617326 Centerline is valid? [True, True] Translation: X:98.42, Y:-11.58, Z:1.64 [[ 9.70894060e-01 2.39176700e-01 -1.26186216e-02 9.84223627e+01] [-2.39153860e-01 9.70976038e-01 3.31122805e-03 -1.15755448e+01] [ 1.30443478e-02 -1.97059574e-04 9.99914899e-01 1.63845039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.943617865 meters 0.024365097349465955 Centerline is valid? [True, True] Translation: X:98.48, Y:-11.59, Z:1.64 [[ 9.70134641e-01 2.42233098e-01 -1.27241887e-02 9.84833362e+01] [-2.42210092e-01 9.70218069e-01 3.34227473e-03 -1.15888130e+01] [ 1.31548473e-02 -1.60529597e-04 9.99913458e-01 1.63937571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.003617865 meters 0.024197848501877773 Centerline is valid? [True, True] Translation: X:98.54, Y:-11.60, Z:1.64 [[ 9.69571773e-01 2.44461745e-01 -1.30012681e-02 9.85441714e+01] [-2.44437881e-01 9.69658928e-01 3.41847514e-03 -1.16020606e+01] [ 1.34424821e-02 -1.36454577e-04 9.99909636e-01 1.63938484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.063617865 meters 0.023993317465980803 Centerline is valid? [True, True] Translation: X:98.60, Y:-11.61, Z:1.64 [[ 9.69266846e-01 2.45622669e-01 -1.38305886e-02 9.86047099e+01] [-2.45595726e-01 9.69365508e-01 3.64035224e-03 -1.16144696e+01] [ 1.43010486e-02 -1.31739279e-04 9.99897726e-01 1.63839747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12361786499999 meters 0.02392508268651023 Centerline is valid? [True, True] Translation: X:98.67, Y:-11.63, Z:1.64 [[ 9.69401341e-01 2.45060546e-01 -1.43655568e-02 9.86659200e+01] [-2.45031359e-01 9.69507765e-01 3.78500273e-03 -1.16303509e+01] [ 1.48550737e-02 -1.49174810e-04 9.99889646e-01 1.63961865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18361786499999 meters 0.02396828000502942 Centerline is valid? [True, True] Translation: X:98.72, Y:-11.65, Z:1.64 [[ 9.69689303e-01 2.43924928e-01 -1.42578066e-02 9.87249081e+01] [-2.43895991e-01 9.69794102e-01 3.76095955e-03 -1.16462138e+01] [ 1.47445286e-02 -1.69540368e-04 9.99891279e-01 1.64088284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24361786499999 meters 0.023971614508488386 Centerline is valid? [True, True] Translation: X:98.79, Y:-11.66, Z:1.64 [[ 9.70125109e-01 2.42168969e-01 -1.45417820e-02 9.87854947e+01] [-2.42138641e-01 9.70234069e-01 3.83784447e-03 -1.16604038e+01] [ 1.50383392e-02 -2.02061953e-04 9.99886897e-01 1.64078910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30361786499999 meters 0.024048307789450028 Centerline is valid? [True, True] Translation: X:98.85, Y:-11.68, Z:1.64 [[ 9.70449372e-01 2.40838491e-01 -1.49946045e-02 9.88455099e+01] [-2.40806025e-01 9.70565179e-01 3.96125926e-03 -1.16763462e+01] [ 1.55072647e-02 -2.33410469e-04 9.99879728e-01 1.64231915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.363617865 meters 0.024005124299686084 Centerline is valid? [True, True] Translation: X:98.91, Y:-11.69, Z:1.64 [[ 9.70819274e-01 2.39402513e-01 -1.40133375e-02 9.89059681e+01] [-2.39373960e-01 9.70920377e-01 3.70530301e-03 -1.16919667e+01] [ 1.44928938e-02 -2.42751492e-04 9.99894943e-01 1.64414221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.423617865 meters 0.024151334913436483 Centerline is valid? [True, True] Translation: X:98.97, Y:-11.71, Z:1.64 [[ 9.71178379e-01 2.37908584e-01 -1.45623584e-02 9.89656143e+01] [-2.37877523e-01 9.71287510e-01 3.85438804e-03 -1.17078684e+01] [ 1.50612288e-02 -2.79240583e-04 9.99886534e-01 1.64428173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48361786499999 meters 0.02395786153409273 Centerline is valid? [True, True] Translation: X:99.03, Y:-11.72, Z:1.65 [[ 9.71649870e-01 2.35930670e-01 -1.52724956e-02 9.90256992e+01] [-2.35896197e-01 9.71769834e-01 4.04641782e-03 -1.17223850e+01] [ 1.57960246e-02 -3.28977720e-04 9.99875181e-01 1.64509847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54361786499999 meters 0.024173638414992395 Centerline is valid? [True, True] Translation: X:99.09, Y:-11.74, Z:1.65 [[ 9.71964330e-01 2.34636902e-01 -1.51942500e-02 9.90854437e+01] [-2.34602562e-01 9.72083021e-01 4.02962097e-03 -1.17397242e+01] [ 1.57155703e-02 -3.52037862e-04 9.99876441e-01 1.64554076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60361786499999 meters 0.02460889494717331 Centerline is valid? [True, True] Translation: X:99.15, Y:-11.76, Z:1.65 [[ 9.72741223e-01 2.31364937e-01 -1.56454023e-02 9.91454723e+01] [-2.31328038e-01 9.72866943e-01 4.15336801e-03 -1.17569949e+01] [ 1.61818384e-02 -4.20932061e-04 9.99868977e-01 1.64603845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66361786499999 meters 0.025571900037636857 Centerline is valid? [True, True] Translation: X:99.20, Y:-11.78, Z:1.65 [[ 9.73323457e-01 2.28919658e-01 -1.54025698e-02 9.92035266e+01] [-2.28883571e-01 9.73445213e-01 4.09001625e-03 -1.17751978e+01] [ 1.59298429e-02 -4.55513577e-04 9.99873008e-01 1.64746145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.723617865 meters 0.02524806609318008 Centerline is valid? [True, True] Translation: X:99.26, Y:-11.79, Z:1.65 [[ 9.73686122e-01 2.27385065e-01 -1.52108145e-02 9.92638616e+01] [-2.27349676e-01 9.73804809e-01 4.03960308e-03 -1.17905747e+01] [ 1.57309097e-02 -4.75131719e-04 9.99876149e-01 1.64915434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.783617865 meters 0.02620246848552818 Centerline is valid? [True, True] Translation: X:99.32, Y:-11.81, Z:1.65 [[ 9.73861661e-01 2.26613158e-01 -1.54900527e-02 9.93230397e+01] [-2.26576295e-01 9.73984716e-01 4.11776521e-03 -1.18073884e+01] [ 1.60202143e-02 -5.00454918e-04 9.99871543e-01 1.64973074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.843617865 meters 0.024940135330372606 Centerline is valid? [True, True] Translation: X:99.38, Y:-11.82, Z:1.65 [[ 9.73920171e-01 2.26320926e-01 -1.60729105e-02 9.93836409e+01] [-2.26281133e-01 9.74052647e-01 4.27659309e-03 -1.18199050e+01] [ 1.66237435e-02 -5.28063886e-04 9.99861677e-01 1.65074600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90361786499999 meters 0.0254852816333924 Centerline is valid? [True, True] Translation: X:99.44, Y:-11.84, Z:1.65 [[ 9.73944632e-01 2.26127602e-01 -1.72673316e-02 9.94422289e+01] [-2.26081561e-01 9.74097519e-01 4.59901582e-03 -1.18354753e+01] [ 1.78600293e-02 -5.75361490e-04 9.99840331e-01 1.65138875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96361786499999 meters 0.024535765483727292 Centerline is valid? [True, True] Translation: X:99.50, Y:-11.85, Z:1.65 [[ 9.73473272e-01 2.28081224e-01 -1.81313094e-02 9.95041540e+01] [-2.28030734e-01 9.73641942e-01 4.83260283e-03 -1.18464719e+01] [ 1.87556293e-02 -5.69913891e-04 9.99823935e-01 1.65263498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02361786499999 meters 0.02423308546276129 Centerline is valid? [True, True] Translation: X:99.57, Y:-11.86, Z:1.65 [[ 9.73082718e-01 2.29730992e-01 -1.82673261e-02 9.95651729e+01] [-2.29679992e-01 9.73254014e-01 4.87098480e-03 -1.18599767e+01] [ 1.88977646e-02 -5.44231823e-04 9.99821273e-01 1.65324197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.083617865 meters 0.023940439891105548 Centerline is valid? [True, True] Translation: X:99.63, Y:-11.87, Z:1.65 [[ 9.72654201e-01 2.31477189e-01 -1.90293591e-02 9.96266340e+01] [-2.31422081e-01 9.72840184e-01 5.07912888e-03 -1.18718104e+01] [ 1.96882277e-02 -5.36422170e-04 9.99806024e-01 1.65239151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.143617865 meters 0.02285763888431523 Centerline is valid? [True, True] Translation: X:99.69, Y:-11.89, Z:1.66 [[ 9.72407119e-01 2.32450180e-01 -1.97815194e-02 9.96867706e+01] [-2.32390723e-01 9.72608153e-01 5.28506819e-03 -1.18856766e+01] [ 2.04681821e-02 -5.42196336e-04 9.99790358e-01 1.65511815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.203617865 meters 0.022295097477633467 Centerline is valid? [True, True] Translation: X:99.75, Y:-11.90, Z:1.66 [[ 9.72004452e-01 2.34111705e-01 -1.99763698e-02 9.97482979e+01] [-2.34051330e-01 9.72209567e-01 5.34155082e-03 -1.18977505e+01] [ 2.06717374e-02 -5.16515260e-04 9.99786183e-01 1.65588121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26361786499999 meters 0.022502107458507732 Centerline is valid? [True, True] Translation: X:99.81, Y:-11.91, Z:1.65 [[ 9.71765585e-01 2.35032959e-01 -2.07642787e-02 9.98089499e+01] [-2.34967875e-01 9.71987263e-01 5.55508543e-03 -1.19117154e+01] [ 2.14882426e-02 -5.19302399e-04 9.99768966e-01 1.65433038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32361786499999 meters 0.021704913771902538 Centerline is valid? [True, True] Translation: X:99.87, Y:-11.93, Z:1.66 [[ 9.71780875e-01 2.34968520e-01 -2.07780085e-02 9.98704465e+01] [-2.34903217e-01 9.72002838e-01 5.56431024e-03 -1.19264036e+01] [ 2.15037209e-02 -5.26469248e-04 9.99768630e-01 1.65675959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38361786499999 meters 0.022471911283093227 Centerline is valid? [True, True] Translation: X:99.93, Y:-11.94, Z:1.66 [[ 9.72120381e-01 2.33544996e-01 -2.09451537e-02 9.99298376e+01] [-2.33478179e-01 9.72345829e-01 5.61499872e-03 -1.19420853e+01] [ 2.16772877e-02 -5.68218366e-04 9.99764859e-01 1.65658452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.443617865 meters 0.021796993830872753 Centerline is valid? [True, True] Translation: X:99.99, Y:-11.95, Z:1.66 [[ 9.72463608e-01 2.32091939e-01 -2.11627582e-02 9.99903979e+01] [-2.32023268e-01 9.72693661e-01 5.67852335e-03 -1.19546360e+01] [ 2.19028203e-02 -6.11904993e-04 9.99759917e-01 1.65781732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.503617865 meters 0.023972022405954 Centerline is valid? [True, True] Translation: X:100.05, Y:-11.97, Z:1.66 [[ 9.73084487e-01 2.29496491e-01 -2.09270725e-02 1.00048788e+02] [-2.29428651e-01 9.73309260e-01 5.61943055e-03 -1.19711113e+01] [ 2.16581530e-02 -6.66910679e-04 9.99765212e-01 1.65777726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.563617865 meters 0.023721200245114028 Centerline is valid? [True, True] Translation: X:100.11, Y:-11.98, Z:1.66 [[ 9.73623614e-01 2.27125649e-01 -2.17024588e-02 1.00109451e+02] [-2.27052054e-01 9.73865175e-01 5.82969712e-03 -1.19833300e+01] [ 2.24593425e-02 -7.48342941e-04 9.99747477e-01 1.65762063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62361786499999 meters 0.02260075417384823 Centerline is valid? [True, True] Translation: X:100.17, Y:-12.00, Z:1.66 [[ 9.73885058e-01 2.25966955e-01 -2.20642205e-02 1.00170483e+02] [-2.25890466e-01 9.74134645e-01 5.93224787e-03 -1.19952072e+01] [ 2.28340136e-02 -7.93230497e-04 9.99738955e-01 1.65812297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68361786499999 meters 0.023248882534551176 Centerline is valid? [True, True] Translation: X:100.23, Y:-12.01, Z:1.66 [[ 9.74029531e-01 2.25354354e-01 -2.19519350e-02 1.00229725e+02] [-2.25278360e-01 9.74276532e-01 5.90760110e-03 -1.20086209e+01] [ 2.27185588e-02 -8.08882007e-04 9.99741573e-01 1.65741659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74361786499999 meters 0.02261395214446074 Centerline is valid? [True, True] Translation: X:100.29, Y:-12.02, Z:1.66 [[ 9.73878258e-01 2.26085652e-01 -2.11285898e-02 1.00290639e+02] [-2.26015315e-01 9.74107124e-01 5.69103644e-03 -1.20210166e+01] [ 2.18681715e-02 -7.66991781e-04 9.99760569e-01 1.65864141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80361786499999 meters 0.021930071219738355 Centerline is valid? [True, True] Translation: X:100.35, Y:-12.03, Z:1.66 [[ 9.73758470e-01 2.26665919e-01 -2.04206742e-02 1.00351777e+02] [-2.26600234e-01 9.73972291e-01 5.50553763e-03 -1.20344936e+01] [ 2.11370886e-02 -7.33734325e-04 9.99776318e-01 1.65985406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.863617865 meters 0.02219861800056566 Centerline is valid? [True, True] Translation: X:100.41, Y:-12.05, Z:1.66 [[ 9.73244416e-01 2.28963155e-01 -1.92660655e-02 1.00411116e+02] [-2.28905044e-01 9.73434873e-01 5.19900283e-03 -1.20487070e+01] [ 1.99446401e-02 -6.49800914e-04 9.99800875e-01 1.66133792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.923617865 meters 0.020911332293924317 Centerline is valid? [True, True] Translation: X:100.47, Y:-12.06, Z:1.66 [[ 9.72698607e-01 2.31334371e-01 -1.84885970e-02 1.00472129e+02] [-2.31281200e-01 9.72874129e-01 4.99357086e-03 -1.20605329e+01] [ 1.91422623e-02 -5.81174514e-04 9.99816601e-01 1.66271672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98361786499999 meters 0.020625798682528944 Centerline is valid? [True, True] Translation: X:100.53, Y:-12.07, Z:1.66 [[ 9.71904557e-01 2.34709014e-01 -1.76977579e-02 1.00531435e+02] [-2.34660780e-01 9.72065549e-01 4.78394440e-03 -1.20744310e+01] [ 1.83262156e-02 -4.96567703e-04 9.99831937e-01 1.66467194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04361786499999 meters 0.020346670887265023 Centerline is valid? [True, True] Translation: X:100.59, Y:-12.09, Z:1.67 [[ 9.71512930e-01 2.36362041e-01 -1.71933624e-02 1.00591766e+02] [-2.36316758e-01 9.71664953e-01 4.64862747e-03 -1.20880987e+01] [ 1.78049468e-02 -4.53122032e-04 9.99841377e-01 1.66535540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10361786499999 meters 0.02009404625303003 Centerline is valid? [True, True] Translation: X:100.65, Y:-12.10, Z:1.67 [[ 9.71652881e-01 2.35774682e-01 -1.73487252e-02 1.00651922e+02] [-2.35728402e-01 9.71807633e-01 4.69515002e-03 -1.21032264e+01] [ 1.79666211e-02 -4.72468765e-04 9.99838476e-01 1.66528747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16361786499999 meters 0.020290282399782752 Centerline is valid? [True, True] Translation: X:100.71, Y:-12.12, Z:1.66 [[ 9.72060827e-01 2.34047698e-01 -1.78724541e-02 1.00711729e+02] [-2.33998200e-01 9.72224974e-01 4.84169144e-03 -1.21193674e+01] [ 1.85092329e-02 -5.24296494e-04 9.99828552e-01 1.66452668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.223617865 meters 0.021713022629553692 Centerline is valid? [True, True] Translation: X:100.77, Y:-12.14, Z:1.67 [[ 9.72521639e-01 2.32076455e-01 -1.84981426e-02 1.00769467e+02] [-2.32022992e-01 9.72697371e-01 5.01547075e-03 -1.21381297e+01] [ 1.91570674e-02 -5.85659427e-04 9.99816315e-01 1.66539597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.283617865 meters 0.021505536658131163 Centerline is valid? [True, True] Translation: X:100.83, Y:-12.15, Z:1.67 [[ 9.72888645e-01 2.30641200e-01 -1.70974008e-02 1.00829355e+02] [-2.30595290e-01 9.73038701e-01 4.63665106e-03 -1.21537089e+01] [ 1.77058354e-02 -5.68365070e-04 9.99843078e-01 1.66656086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34361786499998 meters 0.02183544665456182 Centerline is valid? [True, True] Translation: X:100.89, Y:-12.17, Z:1.67 [[ 9.73286572e-01 2.28999915e-01 -1.65011289e-02 1.00889270e+02] [-2.28956846e-01 9.73426269e-01 4.47903821e-03 -1.21710018e+01] [ 1.70883317e-02 -5.81341327e-04 9.99853815e-01 1.66827806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40361786499999 meters 0.021929141116743208 Centerline is valid? [True, True] Translation: X:100.95, Y:-12.19, Z:1.67 [[ 9.73297555e-01 2.29037758e-01 -1.52831847e-02 1.00950082e+02] [-2.29000760e-01 9.73417389e-01 4.15205894e-03 -1.21865240e+01] [ 1.58278960e-02 -5.41327910e-04 9.99874584e-01 1.66956637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46361786499999 meters 0.022024559047570072 Centerline is valid? [True, True] Translation: X:101.01, Y:-12.20, Z:1.67 [[ 9.72686482e-01 2.31600026e-01 -1.55703605e-02 1.01009462e+02] [-2.31561878e-01 9.72810960e-01 4.23468856e-03 -1.22020958e+01] [ 1.61277713e-02 -5.13522412e-04 9.99869807e-01 1.67036756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52361786499999 meters 0.019960832039738124 Centerline is valid? [True, True] Translation: X:101.07, Y:-12.21, Z:1.67 [[ 9.71350587e-01 2.37072909e-01 -1.65672317e-02 1.01069305e+02] [-2.37030448e-01 9.71491755e-01 4.50961327e-03 -1.22128938e+01] [ 1.71640361e-02 -4.53477147e-04 9.99852584e-01 1.67102316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.583617865 meters 0.0181545561809767 Centerline is valid? [True, True] Translation: X:101.13, Y:-12.22, Z:1.67 [[ 9.70040720e-01 2.42415244e-01 -1.59953405e-02 1.01130249e+02] [-2.42376388e-01 9.70172526e-01 4.35399484e-03 -1.22234941e+01] [ 1.65737146e-02 -3.46659443e-04 9.99862586e-01 1.67261645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.643617865 meters 0.017598493569148967 Centerline is valid? [True, True] Translation: X:101.19, Y:-12.24, Z:1.67 [[ 9.68928145e-01 2.46893589e-01 -1.48931072e-02 1.01190302e+02] [-2.46860416e-01 9.69042565e-01 4.05500292e-03 -1.22364300e+01] [ 1.54332090e-02 -2.52487824e-04 9.99880869e-01 1.67392865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.703617865 meters 0.016990509325824122 Centerline is valid? [True, True] Translation: X:101.25, Y:-12.25, Z:1.68 [[ 9.68392237e-01 2.49008774e-01 -1.45294660e-02 1.01250626e+02] [-2.48977388e-01 9.68501205e-01 3.95934194e-03 -1.22505321e+01] [ 1.50577162e-02 -2.16687507e-04 9.99886603e-01 1.67514316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76361786499999 meters 0.017385405657225423 Centerline is valid? [True, True] Translation: X:101.31, Y:-12.27, Z:1.68 [[ 9.68319758e-01 2.49280702e-01 -1.46961737e-02 1.01310278e+02] [-2.49248564e-01 9.68431249e-01 4.00867410e-03 -1.22671520e+01] [ 1.52315190e-02 -2.18678132e-04 9.99883970e-01 1.67517929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82361786499999 meters 0.01757672280804308 Centerline is valid? [True, True] Translation: X:101.37, Y:-12.28, Z:1.68 [[ 9.68801538e-01 2.47394374e-01 -1.48190276e-02 1.01369937e+02] [-2.47361435e-01 9.68914836e-01 4.04487958e-03 -1.22840476e+01] [ 1.53590561e-02 -2.53029631e-04 9.99882011e-01 1.67558178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88361786499999 meters 0.017948907506035644 Centerline is valid? [True, True] Translation: X:101.43, Y:-12.30, Z:1.68 [[ 9.69873626e-01 2.43122541e-01 -1.53811121e-02 1.01428937e+02] [-2.43086454e-01 9.69995524e-01 4.20230599e-03 -1.23019221e+01] [ 1.59412852e-02 -3.36765745e-04 9.99872873e-01 1.67651366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.943617865 meters 0.019066370437539833 Centerline is valid? [True, True] Translation: X:101.49, Y:-12.32, Z:1.68 [[ 9.70681624e-01 2.39873327e-01 -1.54263205e-02 1.01486811e+02] [-2.39836557e-01 9.70804116e-01 4.21839033e-03 -1.23207407e+01] [ 1.59878148e-02 -3.94918382e-04 9.99872109e-01 1.67715701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.003617865 meters 0.01973449836876972 Centerline is valid? [True, True] Translation: X:101.55, Y:-12.34, Z:1.68 [[ 9.70846067e-01 2.39183166e-01 -1.57901210e-02 1.01545569e+02] [-2.39144516e-01 9.70974376e-01 4.31999024e-03 -1.23378859e+01] [ 1.63650718e-02 -4.17924691e-04 9.99865996e-01 1.67727009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.063617865 meters 0.01901628732598469 Centerline is valid? [True, True] Translation: X:101.61, Y:-12.35, Z:1.68 [[ 9.70931528e-01 2.38802069e-01 -1.62953671e-02 1.01605999e+02] [-2.38760785e-01 9.71068163e-01 4.46216520e-03 -1.23532830e+01] [ 1.68894865e-02 -4.41762230e-04 9.99857265e-01 1.67806403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12361786499999 meters 0.019302494024941042 Centerline is valid? [True, True] Translation: X:101.67, Y:-12.37, Z:1.68 [[ 9.70866573e-01 2.39037923e-01 -1.67023758e-02 1.01666819e+02] [-2.38994508e-01 9.71010127e-01 4.57810665e-03 -1.23705334e+01] [ 1.73125172e-02 -4.52954620e-04 9.99850025e-01 1.67917790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18361786499999 meters 0.01955187365056777 Centerline is valid? [True, True] Translation: X:101.73, Y:-12.39, Z:1.68 [[ 9.70565035e-01 2.40268823e-01 -1.65652030e-02 1.01725738e+02] [-2.40226215e-01 9.70706292e-01 4.54529069e-03 -1.23876494e+01] [ 1.71720384e-02 -4.32104192e-04 9.99852456e-01 1.68025843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24361786499999 meters 0.020133635774539114 Centerline is valid? [True, True] Translation: X:101.78, Y:-12.40, Z:1.68 [[ 9.70253614e-01 2.41480490e-01 -1.71783847e-02 1.01784161e+02] [-2.41434784e-01 9.70405579e-01 4.71772169e-03 -1.24047536e+01] [ 1.78092381e-02 -4.29926932e-04 9.99841311e-01 1.68104090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30361786499999 meters 0.018792999001322797 Centerline is valid? [True, True] Translation: X:101.85, Y:-12.42, Z:1.68 [[ 9.69892823e-01 2.42912563e-01 -1.73608160e-02 1.01845158e+02] [-2.42866036e-01 9.70048100e-01 4.77195418e-03 -1.24184991e+01] [ 1.79999942e-02 -4.11931544e-04 9.99837902e-01 1.68178113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.363617865 meters 0.018772828548884672 Centerline is valid? [True, True] Translation: X:101.90, Y:-12.44, Z:1.68 [[ 9.69421371e-01 2.44800843e-01 -1.71683663e-02 1.01904889e+02] [-2.44755559e-01 9.69573311e-01 4.72349090e-03 -1.24350209e+01] [ 1.78023043e-02 -3.76999934e-04 9.99841455e-01 1.68354441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.423617865 meters 0.018738707737858563 Centerline is valid? [True, True] Translation: X:101.97, Y:-12.45, Z:1.68 [[ 9.69250357e-01 2.45421263e-01 -1.79485336e-02 1.01965037e+02] [-2.45371784e-01 9.69416450e-01 4.94306098e-03 -1.24522752e+01] [ 1.86127360e-02 -3.86999910e-04 9.99826693e-01 1.68470887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48361786499999 meters 0.019478886883883564 Centerline is valid? [True, True] Translation: X:102.02, Y:-12.47, Z:1.69 [[ 9.69796810e-01 2.43198533e-01 -1.86714075e-02 1.02023453e+02] [-2.43144468e-01 9.69976427e-01 5.14769175e-03 -1.24721095e+01] [ 1.93627362e-02 -4.52365601e-04 9.99812422e-01 1.68552470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54361786499999 meters 0.02060947391510157 Centerline is valid? [True, True] Translation: X:102.08, Y:-12.49, Z:1.69 [[ 9.70580397e-01 2.40041213e-01 -1.88124901e-02 1.02080678e+02] [-2.39985653e-01 9.70762557e-01 5.19075531e-03 -1.24927739e+01] [ 1.95084562e-02 -5.23317631e-04 9.99809555e-01 1.68696672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60361786499999 meters 0.021105419024056552 Centerline is valid? [True, True] Translation: X:102.14, Y:-12.51, Z:1.69 [[ 9.71906395e-01 2.34706182e-01 -1.76342848e-02 1.02138713e+02] [-2.34656451e-01 9.72066179e-01 4.86758791e-03 -1.25126868e+01] [ 1.82841448e-02 -5.92841127e-04 9.99832655e-01 1.68909276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66361786499999 meters 0.022070511303020506 Centerline is valid? [True, True] Translation: X:102.20, Y:-12.53, Z:1.69 [[ 9.73048751e-01 2.29984081e-01 -1.68360060e-02 1.02196251e+02] [-2.29938034e-01 9.73194173e-01 4.64781563e-03 -1.25329908e+01] [ 1.74536266e-02 -6.51313064e-04 9.99847462e-01 1.69075271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.723617865 meters 0.023332966018243567 Centerline is valid? [True, True] Translation: X:102.25, Y:-12.55, Z:1.69 [[ 9.73636617e-01 2.27520774e-01 -1.63106171e-02 1.02254755e+02] [-2.27477203e-01 9.73772993e-01 4.50328450e-03 -1.25532760e+01] [ 1.69074293e-02 -6.74269121e-04 9.99856832e-01 1.69094069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.783617865 meters 0.02381769461867614 Centerline is valid? [True, True] Translation: X:102.31, Y:-12.57, Z:1.69 [[ 9.73638997e-01 2.27466247e-01 -1.69177448e-02 1.02314214e+02] [-2.27419289e-01 9.73785711e-01 4.67513760e-03 -1.25713287e+01] [ 1.75376942e-02 -7.04474780e-04 9.99845955e-01 1.69142901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84361786499998 meters 0.02293479269436 Centerline is valid? [True, True] Translation: X:102.37, Y:-12.59, Z:1.69 [[ 9.73115689e-01 2.29670985e-01 -1.72364093e-02 1.02373501e+02] [-2.29622513e-01 9.73268090e-01 4.76727872e-03 -1.25862304e+01] [ 1.78705527e-02 -6.81246105e-04 9.99840077e-01 1.69316235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90361786499999 meters 0.022347911200650925 Centerline is valid? [True, True] Translation: X:102.43, Y:-12.60, Z:1.69 [[ 9.72356937e-01 2.32916293e-01 -1.64920203e-02 1.02433133e+02] [-2.32872373e-01 9.72496605e-01 4.56198420e-03 -1.26006009e+01] [ 1.71009942e-02 -5.95341077e-04 9.99853590e-01 1.69432317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96361786499999 meters 0.022805141732794902 Centerline is valid? [True, True] Translation: X:102.49, Y:-12.62, Z:1.70 [[ 9.71045761e-01 2.38402447e-01 -1.53102287e-02 1.02490584e+02] [-2.38365269e-01 9.71166339e-01 4.23561143e-03 -1.26157040e+01] [ 1.58785589e-02 -4.63545740e-04 9.99873820e-01 1.69548219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02361786499999 meters 0.02067890272513129 Centerline is valid? [True, True] Translation: X:102.55, Y:-12.63, Z:1.70 [[ 9.69491965e-01 2.44689778e-01 -1.45685689e-02 1.02551088e+02] [-2.44656827e-01 9.69601359e-01 4.03014920e-03 -1.26267156e+01] [ 1.51118406e-02 -3.42897425e-04 9.99885751e-01 1.69633023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.083617865 meters 0.01964466664129005 Centerline is valid? [True, True] Translation: X:102.61, Y:-12.64, Z:1.70 [[ 9.68336483e-01 2.49234502e-01 -1.43742334e-02 1.02611477e+02] [-2.49202921e-01 9.68443127e-01 3.97660824e-03 -1.26398210e+01] [ 1.49117355e-02 -2.68593893e-04 9.99888778e-01 1.69691391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.143617865 meters 0.0189979568021604 Centerline is valid? [True, True] Translation: X:102.67, Y:-12.65, Z:1.70 [[ 9.66762493e-01 2.55317605e-01 -1.35352369e-02 1.02670693e+02] [-2.55290188e-01 9.66857225e-01 3.74524724e-03 -1.26531819e+01] [ 1.40428691e-02 -1.65351395e-04 9.99901380e-01 1.69833799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.203617865 meters 0.018774014359302788 Centerline is valid? [True, True] Translation: X:102.73, Y:-12.67, Z:1.70 [[ 9.65874675e-01 2.58685340e-01 -1.29617642e-02 1.02730475e+02] [-2.58660500e-01 9.65961636e-01 3.58650411e-03 -1.26693697e+01] [ 1.34483430e-02 -1.11417059e-04 9.99909561e-01 1.69947511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26361786499999 meters 0.01879808379239621 Centerline is valid? [True, True] Translation: X:102.79, Y:-12.69, Z:1.70 [[ 9.65733399e-01 2.59202666e-01 -1.31522247e-02 1.02790813e+02] [-2.59177094e-01 9.65822948e-01 3.64252340e-03 -1.26872055e+01] [ 1.36468722e-02 -1.08951130e-04 9.99906871e-01 1.69948057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32361786499999 meters 0.01919489292394855 Centerline is valid? [True, True] Translation: X:102.85, Y:-12.71, Z:1.70 [[ 9.66295932e-01 2.57080428e-01 -1.34842839e-02 1.02848223e+02] [-2.57053281e-01 9.66390000e-01 3.73878104e-03 -1.27070063e+01] [ 1.39922446e-02 -1.46589488e-04 9.99902093e-01 1.70013622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38361786499999 meters 0.019694479855139876 Centerline is valid? [True, True] Translation: X:102.91, Y:-12.73, Z:1.70 [[ 9.66895149e-01 2.54834276e-01 -1.31629186e-02 1.02907117e+02] [-2.54808182e-01 9.66984726e-01 3.65099767e-03 -1.27262412e+01] [ 1.36587406e-02 -1.76112579e-04 9.99906700e-01 1.70131134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.443617865 meters 0.02061888724068354 Centerline is valid? [True, True] Translation: X:102.96, Y:-12.75, Z:1.70 [[ 9.67799501e-01 2.51395535e-01 -1.28222838e-02 1.02964229e+02] [-2.51370424e-01 9.67884412e-01 3.56006643e-03 -1.27476433e+01] [ 1.33054735e-02 -2.22287579e-04 9.99911454e-01 1.70264640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.503617865 meters 0.021133236776228106 Centerline is valid? [True, True] Translation: X:103.02, Y:-12.77, Z:1.70 [[ 9.68588405e-01 2.48258462e-01 -1.42911680e-02 1.03022913e+02] [-2.48226922e-01 9.68693785e-01 3.96822805e-03 -1.27683106e+01] [ 1.48289118e-02 -2.96127037e-04 9.99890002e-01 1.70265662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.563617865 meters 0.02120643318810312 Centerline is valid? [True, True] Translation: X:103.08, Y:-12.79, Z:1.70 [[ 9.69471013e-01 2.44723101e-01 -1.53804478e-02 1.03081757e+02] [-2.44686059e-01 9.69592935e-01 4.27475825e-03 -1.27862881e+01] [ 1.59589056e-02 -3.80873058e-04 9.99872576e-01 1.70284611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62361786499999 meters 0.021029969486905786 Centerline is valid? [True, True] Translation: X:103.14, Y:-12.80, Z:1.70 [[ 9.69770885e-01 2.43522348e-01 -1.55337454e-02 1.03141348e+02] [-2.43484349e-01 9.69895200e-01 4.32115164e-03 -1.28039413e+01] [ 1.61184021e-02 -4.08303177e-04 9.99870007e-01 1.70329523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68361786499999 meters 0.021572211594017468 Centerline is valid? [True, True] Translation: X:103.20, Y:-12.82, Z:1.70 [[ 9.69716450e-01 2.43723660e-01 -1.57728791e-02 1.03200053e+02] [-2.43684439e-01 9.69844629e-01 4.39196133e-03 -1.28246543e+01] [ 1.63676669e-02 -4.15351973e-04 9.99865954e-01 1.70482297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74361786499999 meters 0.021722326036830872 Centerline is valid? [True, True] Translation: X:103.26, Y:-12.84, Z:1.71 [[ 9.69383640e-01 2.45076398e-01 -1.52616540e-02 1.03258549e+02] [-2.45039779e-01 9.69503694e-01 4.25379633e-03 -1.28420975e+01] [ 1.58387350e-02 -3.83848239e-04 9.99874486e-01 1.70590284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80361786499999 meters 0.020897716783464356 Centerline is valid? [True, True] Translation: X:103.32, Y:-12.86, Z:1.71 [[ 9.68446777e-01 2.48789308e-01 -1.46533180e-02 1.03318951e+02] [-2.48755945e-01 9.68557578e-01 4.08622019e-03 -1.28571948e+01] [ 1.52091900e-02 -3.12186824e-04 9.99884285e-01 1.70714792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.863617865 meters 0.02020399938917227 Centerline is valid? [True, True] Translation: X:103.38, Y:-12.87, Z:1.71 [[ 9.67228280e-01 2.53514896e-01 -1.41298006e-02 1.03377946e+02] [-2.53484322e-01 9.67331455e-01 3.94401377e-03 -1.28736950e+01] [ 1.46680668e-02 -2.33078718e-04 9.99892391e-01 1.70842601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.923617865 meters 0.019827839556870914 Centerline is valid? [True, True] Translation: X:103.44, Y:-12.89, Z:1.71 [[ 9.66445582e-01 2.56504686e-01 -1.37216021e-02 1.03438249e+02] [-2.56476152e-01 9.66542970e-01 3.83020346e-03 -1.28895395e+01] [ 1.42449832e-02 -1.82419491e-04 9.99898518e-01 1.70968194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98361786499999 meters 0.019759132480412254 Centerline is valid? [True, True] Translation: X:103.50, Y:-12.91, Z:1.71 [[ 9.66084097e-01 2.57848308e-01 -1.39916999e-02 1.03498002e+02] [-2.57818726e-01 9.66185397e-01 3.90932839e-03 -1.29061124e+01] [ 1.45265899e-02 -1.69417735e-04 9.99894469e-01 1.71044277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04361786499999 meters 0.019568045964390518 Centerline is valid? [True, True] Translation: X:103.56, Y:-12.92, Z:1.71 [[ 9.65434036e-01 2.60228185e-01 -1.47788692e-02 1.03557151e+02] [-2.60195397e-01 9.65547135e-01 4.13335350e-03 -1.29237343e+01] [ 1.53453099e-02 -1.45086410e-04 9.99882243e-01 1.71076304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10361786499999 meters 0.019907010770277192 Centerline is valid? [True, True] Translation: X:103.62, Y:-12.94, Z:1.71 [[ 9.65646093e-01 2.59396248e-01 -1.55309002e-02 1.03615738e+02] [-2.59359863e-01 9.65770965e-01 4.34790873e-03 -1.29449010e+01] [ 1.61271237e-02 -1.70448919e-04 9.99869935e-01 1.71163873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16361786499999 meters 0.020057251832285412 Centerline is valid? [True, True] Translation: X:103.68, Y:-12.96, Z:1.71 [[ 9.66248216e-01 2.57137226e-01 -1.56470950e-02 1.03675117e+02] [-2.57099928e-01 9.66374876e-01 4.38474485e-03 -1.29645806e+01] [ 1.62484406e-02 -2.13884908e-04 9.99867962e-01 1.71254980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.223617865 meters 0.02170162151691993 Centerline is valid? [True, True] Translation: X:103.73, Y:-12.98, Z:1.71 [[ 9.66808327e-01 2.55021213e-01 -1.56792700e-02 1.03733976e+02] [-2.54983417e-01 9.66935425e-01 4.39782249e-03 -1.29844496e+01] [ 1.62823797e-02 -2.53897561e-04 9.99867401e-01 1.71012979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.283617865 meters 0.020448122739654104 Centerline is valid? [True, True] Translation: X:103.79, Y:-13.01, Z:1.71 [[ 9.67154983e-01 2.53700750e-01 -1.57215721e-02 1.03792029e+02] [-2.53662507e-01 9.67282715e-01 4.41380998e-03 -1.30057169e+01] [ 1.63269918e-02 -2.80864933e-04 9.99866666e-01 1.71429722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34361786499998 meters 0.020559681373590422 Centerline is valid? [True, True] Translation: X:103.85, Y:-13.03, Z:1.71 [[ 9.67301315e-01 2.52997199e-01 -1.79048371e-02 1.03851000e+02] [-2.52947379e-01 9.67466952e-01 5.03197870e-03 -1.30258564e+01] [ 1.85954147e-02 -3.38457988e-04 9.99827033e-01 1.71337273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40361786499999 meters 0.02066820465312241 Centerline is valid? [True, True] Translation: X:103.91, Y:-13.05, Z:1.71 [[ 9.67212001e-01 2.53293450e-01 -1.85303089e-02 1.03911178e+02] [-2.53240045e-01 9.67389428e-01 5.21284583e-03 -1.30453973e+01] [ 1.92464046e-02 -3.49310801e-04 9.99814710e-01 1.71307915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46361786499999 meters 0.022180270932441706 Centerline is valid? [True, True] Translation: X:103.97, Y:-13.07, Z:1.71 [[ 9.67170823e-01 2.53414324e-01 -1.90205129e-02 1.03970384e+02] [-2.53357966e-01 9.67357767e-01 5.35646161e-03 -1.30662338e+01] [ 1.97570450e-02 -3.61614934e-04 9.99804745e-01 1.71114355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52361786499999 meters 0.02045216080169029 Centerline is valid? [True, True] Translation: X:104.03, Y:-13.09, Z:1.72 [[ 9.66830248e-01 2.54724121e-01 -1.88386098e-02 1.04029170e+02] [-2.54668979e-01 9.67013707e-01 5.31058552e-03 -1.30857545e+01] [ 1.95699281e-02 -3.36825206e-04 9.99808434e-01 1.71518483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.583617865 meters 0.02040363706539829 Centerline is valid? [True, True] Translation: X:104.09, Y:-13.10, Z:1.72 [[ 9.66539154e-01 2.55906545e-01 -1.77173250e-02 1.04087095e+02] [-2.55857891e-01 9.66701480e-01 4.99882200e-03 -1.31043470e+01] [ 1.84065955e-02 -2.98439792e-04 9.99830540e-01 1.71638198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.643617865 meters 0.02029864939678599 Centerline is valid? [True, True] Translation: X:104.15, Y:-13.12, Z:1.72 [[ 9.66236447e-01 2.57106312e-01 -1.68366432e-02 1.04145303e+02] [-2.57062490e-01 9.66383089e-01 4.75416074e-03 -1.31234989e+01] [ 1.74929720e-02 -2.65573950e-04 9.99846951e-01 1.71852849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.703617865 meters 0.020043542813267732 Centerline is valid? [True, True] Translation: X:104.21, Y:-13.14, Z:1.72 [[ 9.65675225e-01 2.59200408e-01 -1.69265529e-02 1.04205086e+02] [-2.59156368e-01 9.65823532e-01 4.78355179e-03 -1.31414558e+01] [ 1.75879617e-02 -2.32733480e-04 9.99845293e-01 1.71962849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76361786499999 meters 0.01968670563773748 Centerline is valid? [True, True] Translation: X:104.26, Y:-13.16, Z:1.72 [[ 9.64990757e-01 2.61730545e-01 -1.70282397e-02 1.04264970e+02] [-2.61686292e-01 9.65140966e-01 4.81659624e-03 -1.31570947e+01] [ 1.76953020e-02 -1.91913956e-04 9.99843407e-01 1.72019631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82361786499999 meters 0.01950386052239933 Centerline is valid? [True, True] Translation: X:104.33, Y:-13.17, Z:1.72 [[ 9.64084276e-01 2.65017618e-01 -1.75262838e-02 1.04325550e+02] [-2.64971197e-01 9.64243560e-01 4.96207332e-03 -1.31722170e+01] [ 1.82146431e-02 -1.39896479e-04 9.99834090e-01 1.72037177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88361786499999 meters 0.01938497880466902 Centerline is valid? [True, True] Translation: X:104.39, Y:-13.19, Z:1.72 [[ 9.63371893e-01 2.67603454e-01 -1.74065400e-02 1.04385945e+02] [-2.67558005e-01 9.63529129e-01 4.93265191e-03 -1.31864841e+01] [ 1.80917030e-02 -9.47190875e-05 9.99836327e-01 1.72082963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.943617865 meters 0.019369854252102844 Centerline is valid? [True, True] Translation: X:104.45, Y:-13.20, Z:1.72 [[ 9.63102600e-01 2.68577175e-01 -1.73113718e-02 1.04447170e+02] [-2.68532298e-01 9.63258166e-01 4.91018241e-03 -1.32026879e+01] [ 1.79940831e-02 -8.03469927e-05 9.99838090e-01 1.72153219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.003617865 meters 0.01942058450682455 Centerline is valid? [True, True] Translation: X:104.51, Y:-13.22, Z:1.72 [[ 9.63439646e-01 2.67336566e-01 -1.77541270e-02 1.04508021e+02] [-2.67289056e-01 9.63603211e-01 5.04106905e-03 -1.32194434e+01] [ 1.84555959e-02 -1.11281932e-04 9.99829675e-01 1.72177398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.063617865 meters 0.019646661166124763 Centerline is valid? [True, True] Translation: X:104.57, Y:-13.24, Z:1.72 [[ 9.64081626e-01 2.65015151e-01 -1.77084192e-02 1.04566120e+02] [-2.64967400e-01 9.64244235e-01 5.03318381e-03 -1.32372076e+01] [ 1.84091110e-02 -1.60246258e-04 9.99830525e-01 1.72229482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12361786499999 meters 0.021120114978494937 Centerline is valid? [True, True] Translation: X:104.63, Y:-13.26, Z:1.72 [[ 9.64567455e-01 2.63225555e-01 -1.79424383e-02 1.04625171e+02] [-2.63176144e-01 9.64734298e-01 5.10400629e-03 -1.32555728e+01] [ 1.86531905e-02 -2.01136642e-04 9.99825994e-01 1.72009815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18361786499999 meters 0.02014856215501631 Centerline is valid? [True, True] Translation: X:104.68, Y:-13.27, Z:1.72 [[ 9.65379864e-01 2.60249033e-01 -1.76680101e-02 1.04684760e+02] [-2.60200544e-01 9.65541493e-01 5.03020557e-03 -1.32724925e+01] [ 1.83683030e-02 -2.58833332e-04 9.99831255e-01 1.72397380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24361786499999 meters 0.0205310141786518 Centerline is valid? [True, True] Translation: X:104.74, Y:-13.29, Z:1.72 [[ 9.65832371e-01 2.58550793e-01 -1.78695160e-02 1.04744424e+02] [-2.58500817e-01 9.65997618e-01 5.09207776e-03 -1.32912009e+01] [ 1.85784706e-02 -2.98809048e-04 9.99827361e-01 1.72457706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30361786499999 meters 0.02032852079252864 Centerline is valid? [True, True] Translation: X:104.80, Y:-13.31, Z:1.73 [[ 9.66512516e-01 2.55987054e-01 -1.80051242e-02 1.04803824e+02] [-2.55935788e-01 9.66680145e-01 5.13524179e-03 -1.33085757e+01] [ 1.87197515e-02 -3.55119807e-04 9.99824707e-01 1.72525830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.363617865 meters 0.020793038445494152 Centerline is valid? [True, True] Translation: X:104.86, Y:-13.33, Z:1.73 [[ 9.66890209e-01 2.54568437e-01 -1.78391293e-02 1.04861601e+02] [-2.54517787e-01 9.67054685e-01 5.09237231e-03 -1.33268464e+01] [ 1.85477709e-02 -3.83389202e-04 9.99827902e-01 1.72603039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.423617865 meters 0.02077398308548171 Centerline is valid? [True, True] Translation: X:104.92, Y:-13.34, Z:1.73 [[ 9.66869288e-01 2.54710981e-01 -1.69143487e-02 1.04921971e+02] [-2.54665409e-01 9.67017158e-01 4.83180061e-03 -1.33441370e+01] [ 1.75871781e-02 -3.64220095e-04 9.99845267e-01 1.72798879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48361786499999 meters 0.020497586004478895 Centerline is valid? [True, True] Translation: X:104.98, Y:-13.36, Z:1.73 [[ 9.66783771e-01 2.54996914e-01 -1.74846557e-02 1.04982361e+02] [-2.54948167e-01 9.66941794e-01 5.00001017e-03 -1.33611874e+01] [ 1.81816315e-02 -3.76247770e-04 9.99834630e-01 1.72889161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54361786499999 meters 0.020320523418090975 Centerline is valid? [True, True] Translation: X:105.04, Y:-13.38, Z:1.73 [[ 9.66538985e-01 2.55883986e-01 -1.80492797e-02 1.05041811e+02] [-2.55832092e-01 9.66707424e-01 5.16688146e-03 -1.33775589e+01] [ 1.87704949e-02 -3.76407361e-04 9.99823748e-01 1.72869541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60361786499999 meters 0.02005159171912293 Centerline is valid? [True, True] Translation: X:105.10, Y:-13.39, Z:1.73 [[ 9.66106826e-01 2.57500491e-01 -1.81960855e-02 1.05101550e+02] [-2.57447946e-01 9.66278103e-01 5.21362665e-03 -1.33936867e+01] [ 1.89249904e-02 -3.52375456e-04 9.99820844e-01 1.72896756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66361786499999 meters 0.019368090677516915 Centerline is valid? [True, True] Translation: X:105.16, Y:-13.41, Z:1.73 [[ 9.65217624e-01 2.60867359e-01 -1.74114676e-02 1.05161976e+02] [-2.60819717e-01 9.65374613e-01 4.99312778e-03 -1.34073100e+01] [ 1.81111328e-02 -2.78200885e-04 9.99835941e-01 1.72942827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.723617865 meters 0.019136166718086364 Centerline is valid? [True, True] Translation: X:105.22, Y:-13.42, Z:1.73 [[ 9.64332996e-01 2.64172311e-01 -1.65789767e-02 1.05221485e+02] [-2.64129534e-01 9.64475477e-01 4.75849527e-03 -1.34225354e+01] [ 1.72470792e-02 -2.09776607e-04 9.99851236e-01 1.72947235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.783617865 meters 0.018661546744643726 Centerline is valid? [True, True] Translation: X:105.28, Y:-13.44, Z:1.73 [[ 9.64023973e-01 2.65359783e-01 -1.55552356e-02 1.05282012e+02] [-2.65322224e-01 9.64149446e-01 4.46815051e-03 -1.34365577e+01] [ 1.61832392e-02 -1.80254525e-04 9.99869027e-01 1.72923964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84361786499998 meters 0.018805240801840165 Centerline is valid? [True, True] Translation: X:105.34, Y:-13.45, Z:1.73 [[ 9.64183776e-01 2.64829091e-01 -1.46696791e-02 1.05341163e+02] [-2.64795571e-01 9.64295349e-01 4.21731915e-03 -1.34534549e+01] [ 1.52627721e-02 -1.81804650e-04 9.99883501e-01 1.72901733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90361786499999 meters 0.018526687685014417 Centerline is valid? [True, True] Translation: X:105.40, Y:-13.47, Z:1.73 [[ 9.64351888e-01 2.64262005e-01 -1.38212988e-02 1.05402067e+02] [-2.64232142e-01 9.64450911e-01 3.97690141e-03 -1.34697982e+01] [ 1.43809082e-02 -1.83100984e-04 9.99896573e-01 1.72976670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96361786499999 meters 0.018962775472274505 Centerline is valid? [True, True] Translation: X:105.46, Y:-13.49, Z:1.73 [[ 9.64886699e-01 2.62343781e-01 -1.30153030e-02 1.05460600e+02] [-2.62317074e-01 9.64974455e-01 3.74875955e-03 -1.34887492e+01] [ 1.35428987e-02 -2.02992023e-04 9.99908270e-01 1.73068430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02361786499999 meters 0.018781285162543206 Centerline is valid? [True, True] Translation: X:105.52, Y:-13.51, Z:1.73 [[ 9.65485025e-01 2.60189745e-01 -1.18305819e-02 1.05520147e+02] [-2.60167487e-01 9.65557482e-01 3.40994567e-03 -1.35054533e+01] [ 1.23103398e-02 -2.14318716e-04 9.99924202e-01 1.73130409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.083617865 meters 0.019267587438498608 Centerline is valid? [True, True] Translation: X:105.58, Y:-13.52, Z:1.73 [[ 9.65819207e-01 2.58971037e-01 -1.12810093e-02 1.05577949e+02] [-2.58950677e-01 9.65885062e-01 3.25487537e-03 -1.35239392e+01] [ 1.17390768e-02 -2.22396141e-04 9.99931070e-01 1.73237995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.143617865 meters 0.019297667931061174 Centerline is valid? [True, True] Translation: X:105.64, Y:-13.54, Z:1.73 [[ 9.66172907e-01 2.57619988e-01 -1.19103255e-02 1.05638044e+02] [-2.57597175e-01 9.66246282e-01 3.43767324e-03 -1.35410486e+01] [ 1.23939210e-02 -2.53320544e-04 9.99923160e-01 1.73190253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.203617865 meters 0.019254519443352353 Centerline is valid? [True, True] Translation: X:105.70, Y:-13.56, Z:1.73 [[ 9.66334050e-01 2.57011853e-01 -1.19754309e-02 1.05697410e+02] [-2.56988704e-01 9.66408214e-01 3.45962145e-03 -1.35581262e+01] [ 1.24623185e-02 -2.65599537e-04 9.99922307e-01 1.73234901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26361786499999 meters 0.019282141259977466 Centerline is valid? [True, True] Translation: X:105.76, Y:-13.58, Z:1.73 [[ 9.66442517e-01 2.56629434e-01 -1.14103506e-02 1.05757155e+02] [-2.56608358e-01 9.66509838e-01 3.29916717e-03 -1.35756577e+01] [ 1.18748795e-02 -2.60464094e-04 9.99929457e-01 1.73340135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32361786499999 meters 0.019370341748316467 Centerline is valid? [True, True] Translation: X:105.82, Y:-13.59, Z:1.73 [[ 9.66242607e-01 2.57339921e-01 -1.23040066e-02 1.05815750e+02] [-2.57315427e-01 9.66320904e-01 3.56114243e-03 -1.35933246e+01] [ 1.28060429e-02 -2.74916827e-04 9.99917961e-01 1.73402756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38361786499999 meters 0.018997584781904584 Centerline is valid? [True, True] Translation: X:105.88, Y:-13.61, Z:1.73 [[ 9.66081330e-01 2.57919563e-01 -1.28204198e-02 1.05875529e+02] [-2.57892978e-01 9.66166352e-01 3.71376229e-03 -1.36095486e+01] [ 1.33445102e-02 -2.81500174e-04 9.99910918e-01 1.73376880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.443617865 meters 0.018746825253195622 Centerline is valid? [True, True] Translation: X:105.94, Y:-13.63, Z:1.73 [[ 9.65809216e-01 2.58936235e-01 -1.28290249e-02 1.05935855e+02] [-2.58909654e-01 9.65894380e-01 3.72002201e-03 -1.36265243e+01] [ 1.33547316e-02 -2.71273138e-04 9.99910785e-01 1.73431958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.503617865 meters 0.01888703388015543 Centerline is valid? [True, True] Translation: X:105.99, Y:-13.64, Z:1.74 [[ 9.65336574e-01 2.60696897e-01 -1.27446431e-02 1.05994422e+02] [-2.60670804e-01 9.65420669e-01 3.69660232e-03 -1.36436541e+01] [ 1.32676346e-02 -2.46309060e-04 9.99911951e-01 1.73574795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.563617865 meters 0.018693707206695376 Centerline is valid? [True, True] Translation: X:106.05, Y:-13.66, Z:1.74 [[ 9.64808950e-01 2.62625373e-01 -1.30997207e-02 1.06054648e+02] [-2.62597959e-01 9.64897850e-01 3.80137576e-03 -1.36599398e+01] [ 1.36382301e-02 -2.27641428e-04 9.99906969e-01 1.73629434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62361786499999 meters 0.01825334112399712 Centerline is valid? [True, True] Translation: X:106.11, Y:-13.67, Z:1.74 [[ 9.64315725e-01 2.64436213e-01 -1.29873518e-02 1.06114950e+02] [-2.64409388e-01 9.64403156e-01 3.77198521e-03 -1.36742044e+01] [ 1.35224925e-02 -2.03406929e-04 9.99908546e-01 1.73697385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68361786499999 meters 0.01806209528114491 Centerline is valid? [True, True] Translation: X:106.18, Y:-13.69, Z:1.74 [[ 9.64106398e-01 2.65151765e-01 -1.39066445e-02 1.06175129e+02] [-2.65121027e-01 9.64206667e-01 4.04282492e-03 -1.36900987e+01] [ 1.44808415e-02 -2.10769514e-04 9.99895125e-01 1.73800513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74361786499999 meters 0.01833125663232189 Centerline is valid? [True, True] Translation: X:106.23, Y:-13.71, Z:1.74 [[ 9.64111299e-01 2.65131778e-01 -1.39478586e-02 1.06234031e+02] [-2.65100801e-01 9.64212162e-01 4.05842811e-03 -1.37078043e+01] [ 1.45247131e-02 -2.15187916e-04 9.99894488e-01 1.73910647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80361786499999 meters 0.018065145909279278 Centerline is valid? [True, True] Translation: X:106.29, Y:-13.72, Z:1.74 [[ 9.64497477e-01 2.63693978e-01 -1.44949309e-02 1.06294231e+02] [-2.63660299e-01 9.64606357e-01 4.22177829e-03 -1.37241167e+01] [ 1.50951600e-02 -2.50156688e-04 9.99886030e-01 1.73956669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.863617865 meters 0.018105469137265375 Centerline is valid? [True, True] Translation: X:106.36, Y:-13.74, Z:1.74 [[ 9.64587496e-01 2.63328888e-01 -1.51280979e-02 1.06355040e+02] [-2.63292092e-01 9.64706081e-01 4.41032410e-03 -1.37418590e+01] [ 1.57555338e-02 -2.71034937e-04 9.99875837e-01 1.74034657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.923617865 meters 0.017804942413792713 Centerline is valid? [True, True] Translation: X:106.42, Y:-13.76, Z:1.74 [[ 9.64415308e-01 2.63947234e-01 -1.53287587e-02 1.06416019e+02] [-2.63909460e-01 9.64537083e-01 4.47343778e-03 -1.37583835e+01] [ 1.59659078e-02 -2.68847437e-04 9.99872501e-01 1.74198621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98361786499999 meters 0.01814256343596252 Centerline is valid? [True, True] Translation: X:106.48, Y:-13.78, Z:1.74 [[ 9.64076781e-01 2.65183043e-01 -1.52942300e-02 1.06475019e+02] [-2.65145522e-01 9.64198055e-01 4.46791522e-03 -1.37756466e+01] [ 1.59314822e-02 -2.52216731e-04 9.99873054e-01 1.74386559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04361786499999 meters 0.01787718788512446 Centerline is valid? [True, True] Translation: X:106.54, Y:-13.79, Z:1.74 [[ 9.63647672e-01 2.66692719e-01 -1.60673041e-02 1.06535186e+02] [-2.66651451e-01 9.63781580e-01 4.69777252e-03 -1.37905594e+01] [ 1.67382334e-02 -2.42627609e-04 9.99859877e-01 1.74433660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10361786499999 meters 0.017301745477832725 Centerline is valid? [True, True] Translation: X:106.60, Y:-13.81, Z:1.75 [[ 9.63551217e-01 2.67000697e-01 -1.67236104e-02 1.06596493e+02] [-2.66955960e-01 9.63696303e-01 4.89393854e-03 -1.38056557e+01] [ 1.74231665e-02 -2.51092965e-04 9.99848174e-01 1.74506657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16361786499999 meters 0.017627388491760664 Centerline is valid? [True, True] Translation: X:106.66, Y:-13.82, Z:1.75 [[ 9.64052661e-01 2.65149372e-01 -1.72706793e-02 1.06656164e+02] [-2.65101272e-01 9.64207302e-01 5.05910360e-03 -1.38224922e+01] [ 1.79939332e-02 -2.98763243e-04 9.99838051e-01 1.74524585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.223617865 meters 0.017914208983181096 Centerline is valid? [True, True] Translation: X:106.72, Y:-13.84, Z:1.75 [[ 9.64851890e-01 2.62184945e-01 -1.78852976e-02 1.06715148e+02] [-2.62132764e-01 9.65017573e-01 5.24378264e-03 -1.38400877e+01] [ 1.86344673e-02 -3.71151098e-04 9.99826294e-01 1.74573915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.283617865 meters 0.01889844756534292 Centerline is valid? [True, True] Translation: X:106.77, Y:-13.86, Z:1.75 [[ 9.66263814e-01 2.56960596e-01 -1.74783912e-02 1.06773214e+02] [-2.56909841e-01 9.66421769e-01 5.12811003e-03 -1.38584060e+01] [ 1.82092199e-02 -4.64736461e-04 9.99834090e-01 1.74706196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34361786499998 meters 0.01929154622458588 Centerline is valid? [True, True] Translation: X:106.83, Y:-13.88, Z:1.75 [[ 9.67068167e-01 2.53914639e-01 -1.75076243e-02 1.06833171e+02] [-2.53863207e-01 9.67226490e-01 5.13714134e-03 -1.38759189e+01] [ 1.82382333e-02 -5.23424226e-04 9.99833533e-01 1.74774259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40361786499999 meters 0.021316376529215156 Centerline is valid? [True, True] Translation: X:106.89, Y:-13.90, Z:1.75 [[ 9.68077092e-01 2.50101251e-01 -1.66165225e-02 1.06889807e+02] [-2.50054338e-01 9.68219523e-01 4.87689320e-03 -1.38952770e+01] [ 1.73081586e-02 -5.66175043e-04 9.99850042e-01 1.74858800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46361786499999 meters 0.021873840124959198 Centerline is valid? [True, True] Translation: X:106.95, Y:-13.91, Z:1.75 [[ 9.68389502e-01 2.48896837e-01 -1.64966031e-02 1.06949262e+02] [-2.48850395e-01 9.68529825e-01 4.84341262e-03 -1.39121570e+01] [ 1.71829622e-02 -5.85123724e-04 9.99852191e-01 1.74990054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52361786499999 meters 0.02209413559980152 Centerline is valid? [True, True] Translation: X:107.01, Y:-13.93, Z:1.75 [[ 9.68088184e-01 2.50039569e-01 -1.68962366e-02 1.07009647e+02] [-2.49990946e-01 9.68235444e-01 4.96513642e-03 -1.39272412e+01] [ 1.76010157e-02 -5.82783746e-04 9.99844920e-01 1.74967203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.583617865 meters 0.022173758980195687 Centerline is valid? [True, True] Translation: X:107.07, Y:-13.94, Z:1.75 [[ 9.67665318e-01 2.51612497e-01 -1.77478014e-02 1.07070022e+02] [-2.51559032e-01 9.67827881e-01 5.21975499e-03 -1.39436250e+01] [ 1.84901726e-02 -5.86356113e-04 9.99828870e-01 1.74944305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.643617865 meters 0.02028031535821924 Centerline is valid? [True, True] Translation: X:107.13, Y:-13.96, Z:1.75 [[ 9.67028046e-01 2.54021116e-01 -1.81667636e-02 1.07131680e+02] [-2.53965476e-01 9.67198513e-01 5.34535059e-03 -1.39557943e+01] [ 1.89286987e-02 -5.55373169e-04 9.99820682e-01 1.74994452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.703617865 meters 0.019054762525606152 Centerline is valid? [True, True] Translation: X:107.19, Y:-13.97, Z:1.75 [[ 9.66634691e-01 2.55536805e-01 -1.78413978e-02 1.07193086e+02] [-2.55483368e-01 9.66799190e-01 5.25124801e-03 -1.39687520e+01] [ 1.85909361e-02 -5.17858101e-04 9.99827040e-01 1.75129477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76361786499999 meters 0.021958903946319847 Centerline is valid? [True, True] Translation: X:107.25, Y:-13.99, Z:1.75 [[ 9.66312710e-01 2.56772792e-01 -1.75351090e-02 1.07250958e+02] [-2.56721344e-01 9.66471674e-01 5.16287942e-03 -1.39898843e+01] [ 1.82728731e-02 -4.87319258e-04 9.99832918e-01 1.75197230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82361786499999 meters 0.019822781859461545 Centerline is valid? [True, True] Translation: X:107.31, Y:-14.00, Z:1.75 [[ 9.65942222e-01 2.58165770e-01 -1.74945464e-02 1.07311876e+02] [-2.58114736e-01 9.66100523e-01 5.15380705e-03 -1.40018828e+01] [ 1.82320270e-02 -4.62679589e-04 9.99833676e-01 1.75371464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88361786499999 meters 0.019166136659817593 Centerline is valid? [True, True] Translation: X:107.37, Y:-14.02, Z:1.75 [[ 9.65487432e-01 2.59880704e-01 -1.72057756e-02 1.07372832e+02] [-2.59831536e-01 9.65640636e-01 5.07304848e-03 -1.40154461e+01] [ 1.79329835e-02 -4.27361451e-04 9.99839100e-01 1.75451143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.943617865 meters 0.01887977314686636 Centerline is valid? [True, True] Translation: X:107.43, Y:-14.03, Z:1.76 [[ 9.65062246e-01 2.61448108e-01 -1.73132378e-02 1.07433509e+02] [-2.61398495e-01 9.65217448e-01 5.10922542e-03 -1.40291254e+01] [ 1.80468365e-02 -4.05066252e-04 9.99837061e-01 1.75520298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.003617865 meters 0.018901585112104706 Centerline is valid? [True, True] Translation: X:107.49, Y:-14.04, Z:1.76 [[ 9.64778034e-01 2.62473870e-01 -1.76298876e-02 1.07493999e+02] [-2.62422511e-01 9.64939019e-01 5.20731180e-03 -1.40449190e+01] [ 1.83785497e-02 -3.97420675e-04 9.99831021e-01 1.75569340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.063617865 meters 0.01939207246837761 Centerline is valid? [True, True] Translation: X:107.55, Y:-14.06, Z:1.76 [[ 9.64481949e-01 2.63587380e-01 -1.72122891e-02 1.07553123e+02] [-2.63538525e-01 9.64635452e-01 5.08826422e-03 -1.40611430e+01] [ 1.79447865e-02 -3.71437721e-04 9.99838910e-01 1.75646803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12361786499999 meters 0.01896630083069482 Centerline is valid? [True, True] Translation: X:107.61, Y:-14.07, Z:1.76 [[ 9.64073827e-01 2.65089390e-01 -1.70079869e-02 1.07613644e+02] [-2.65041852e-01 9.64223780e-01 5.03186772e-03 -1.40746572e+01] [ 1.77334002e-02 -3.43263616e-04 9.99842692e-01 1.75748879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18361786499999 meters 0.018909167707494665 Centerline is valid? [True, True] Translation: X:107.67, Y:-14.09, Z:1.76 [[ 9.63860666e-01 2.65906817e-01 -1.63150485e-02 1.07673882e+02] [-2.65863122e-01 9.63998684e-01 4.83082319e-03 -1.40896038e+01] [ 1.70122341e-02 -3.18670716e-04 9.99855231e-01 1.75822310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24361786499999 meters 0.01856918127638587 Centerline is valid? [True, True] Translation: X:107.74, Y:-14.10, Z:1.76 [[ 9.63770349e-01 2.66280686e-01 -1.55341695e-02 1.07735118e+02] [-2.66241062e-01 9.63895485e-01 4.60337285e-03 -1.41043109e+01] [ 1.61991051e-02 -3.00760466e-04 9.99868741e-01 1.75887576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30361786499999 meters 0.018696768606686943 Centerline is valid? [True, True] Translation: X:107.79, Y:-14.12, Z:1.76 [[ 9.63950163e-01 2.65673156e-01 -1.47600007e-02 1.07794785e+02] [-2.65637247e-01 9.64063112e-01 4.37816934e-03 -1.41215134e+01] [ 1.53927343e-02 -2.99531083e-04 9.99881480e-01 1.75969885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.363617865 meters 0.019170117604459948 Centerline is valid? [True, True] Translation: X:107.85, Y:-14.14, Z:1.76 [[ 9.64316195e-01 2.64331575e-01 -1.49363140e-02 1.07854196e+02] [-2.64294581e-01 9.64431807e-01 4.43441603e-03 -1.41384919e+01] [ 1.55772125e-02 -3.28592351e-04 9.99878614e-01 1.75953752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.423617865 meters 0.01950407867069677 Centerline is valid? [True, True] Translation: X:107.91, Y:-14.16, Z:1.76 [[ 9.64574249e-01 2.63370217e-01 -1.52527659e-02 1.07913321e+02] [-2.63331454e-01 9.64694772e-01 4.53241415e-03 -1.41561163e+01] [ 1.59079664e-02 -3.55316959e-04 9.99873397e-01 1.75987139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48361786499999 meters 0.019087264607816644 Centerline is valid? [True, True] Translation: X:107.97, Y:-14.17, Z:1.76 [[ 9.64146269e-01 2.64955944e-01 -1.48431820e-02 1.07973596e+02] [-2.64919365e-01 9.64260464e-01 4.41443911e-03 -1.41723141e+01] [ 1.54823254e-02 -3.23918646e-04 9.99880089e-01 1.76096702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54361786499999 meters 0.018943813916307242 Centerline is valid? [True, True] Translation: X:108.03, Y:-14.19, Z:1.76 [[ 9.63868425e-01 2.65947399e-01 -1.51538573e-02 1.08033416e+02] [-2.65909330e-01 9.63987489e-01 4.51094386e-03 -1.41897506e+01] [ 1.58078027e-02 -3.18404302e-04 9.99874998e-01 1.76153946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60361786499999 meters 0.018986258468276628 Centerline is valid? [True, True] Translation: X:108.09, Y:-14.21, Z:1.76 [[ 9.63361228e-01 2.67805206e-01 -1.46804408e-02 1.08091852e+02] [-2.67769637e-01 9.63473036e-01 4.37379038e-03 -1.42080858e+01] [ 1.53155327e-02 -2.82563761e-04 9.99882670e-01 1.76245995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66361786499999 meters 0.018856958177576922 Centerline is valid? [True, True] Translation: X:108.15, Y:-14.23, Z:1.76 [[ 9.62911023e-01 2.69441067e-01 -1.42783955e-02 1.08151268e+02] [-2.69407549e-01 9.63016847e-01 4.25735157e-03 -1.42270843e+01] [ 1.48974408e-02 -2.52743214e-04 9.99888995e-01 1.76321822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.723617865 meters 0.01825736718788969 Centerline is valid? [True, True] Translation: X:108.21, Y:-14.25, Z:1.76 [[ 9.62379739e-01 2.71357308e-01 -1.38003636e-02 1.08210391e+02] [-2.71326145e-01 9.62478656e-01 4.11819656e-03 -1.42458821e+01] [ 1.44000581e-02 -2.18869483e-04 9.99896290e-01 1.76426692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.783617865 meters 0.018316201471459403 Centerline is valid? [True, True] Translation: X:108.27, Y:-14.27, Z:1.77 [[ 9.62146350e-01 2.72211559e-01 -1.32388840e-02 1.08270389e+02] [-2.72182917e-01 9.62237407e-01 3.95388643e-03 -1.42658972e+01] [ 1.38152430e-02 -2.00819341e-04 9.99904545e-01 1.76531146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84361786499998 meters 0.018243174406104394 Centerline is valid? [True, True] Translation: X:108.33, Y:-14.29, Z:1.76 [[ 9.62027683e-01 2.72603866e-01 -1.37793003e-02 1.08329384e+02] [-2.72572816e-01 9.62126337e-01 4.11955944e-03 -1.42874162e+01] [ 1.43804356e-02 -2.07267538e-04 9.99896575e-01 1.76493421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90361786499999 meters 0.018252421736500844 Centerline is valid? [True, True] Translation: X:108.39, Y:-14.31, Z:1.77 [[ 9.62374839e-01 2.71325936e-01 -1.47277085e-02 1.08387481e+02] [-2.71290243e-01 9.62487494e-01 4.40782116e-03 -1.43110545e+01] [ 1.53711915e-02 -2.46492554e-04 9.99881826e-01 1.76501044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96361786499999 meters 0.018581360220307278 Centerline is valid? [True, True] Translation: X:108.45, Y:-14.33, Z:1.77 [[ 9.62688639e-01 2.70190758e-01 -1.50843791e-02 1.08446022e+02] [-2.70153110e-01 9.62806771e-01 4.51864356e-03 -1.43335065e+01] [ 1.57442380e-02 -2.74954898e-04 9.99876014e-01 1.76581568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02361786499999 meters 0.019154023788184905 Centerline is valid? [True, True] Translation: X:108.50, Y:-14.36, Z:1.77 [[ 9.63248542e-01 2.68200237e-01 -1.48620185e-02 1.08503320e+02] [-2.68163395e-01 9.63363140e-01 4.45584303e-03 -1.43577437e+01] [ 1.55125790e-02 -3.06634967e-04 9.99879626e-01 1.76702121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.083617865 meters 0.01966947014163605 Centerline is valid? [True, True] Translation: X:108.56, Y:-14.38, Z:1.77 [[ 9.63529545e-01 2.67176364e-01 -1.50866085e-02 1.08559207e+02] [-2.67138213e-01 9.63647591e-01 4.52712198e-03 -1.43824226e+01] [ 1.57477140e-02 -3.31806136e-04 9.99875942e-01 1.76848418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.143617865 meters 0.01908304124583237 Centerline is valid? [True, True] Translation: X:108.62, Y:-14.40, Z:1.77 [[ 9.63428043e-01 2.67563509e-01 -1.47028735e-02 1.08618367e+02] [-2.67527277e-01 9.63540174e-01 4.41477531e-03 -1.44037511e+01] [ 1.53480420e-02 -3.19898642e-04 9.99882161e-01 1.76945120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.203617865 meters 0.01888678966379803 Centerline is valid? [True, True] Translation: X:108.68, Y:-14.42, Z:1.77 [[ 9.63074834e-01 2.68847796e-01 -1.44127310e-02 1.08676843e+02] [-2.68813058e-01 9.63182628e-01 4.33191386e-03 -1.44237600e+01] [ 1.50467177e-02 -2.97626910e-04 9.99886747e-01 1.77114727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26361786499999 meters 0.018425608871531454 Centerline is valid? [True, True] Translation: X:108.74, Y:-14.44, Z:1.77 [[ 9.62163103e-01 2.72095765e-01 -1.43547023e-02 1.08735536e+02] [-2.72061611e-01 9.62270145e-01 4.31823318e-03 -1.44449581e+01] [ 1.49880745e-02 -2.49481189e-04 9.99887641e-01 1.77315483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32361786499999 meters 0.017798887691263796 Centerline is valid? [True, True] Translation: X:108.79, Y:-14.46, Z:1.77 [[ 9.61094183e-01 2.75829346e-01 -1.47018535e-02 1.08794426e+02] [-2.75793895e-01 9.61206602e-01 4.42661882e-03 -1.44645010e+01] [ 1.53525100e-02 -1.99716155e-04 9.99882123e-01 1.77371893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38361786499999 meters 0.017525932017329743 Centerline is valid? [True, True] Translation: X:108.85, Y:-14.48, Z:1.77 [[ 9.60342691e-01 2.78439616e-01 -1.46046860e-02 1.08853208e+02] [-2.78404877e-01 9.60453723e-01 4.40112484e-03 -1.44832444e+01] [ 1.52525726e-02 -1.60572262e-04 9.99883660e-01 1.77400807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.443617865 meters 0.017118450348684207 Centerline is valid? [True, True] Translation: X:108.91, Y:-14.50, Z:1.78 [[ 9.59605261e-01 2.80987435e-01 -1.42760306e-02 1.08911873e+02] [-2.80954470e-01 9.59711439e-01 4.30563868e-03 -1.45032035e+01] [ 1.49107002e-02 -1.20798915e-04 9.99888822e-01 1.77566317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.503617865 meters 0.017145734411535656 Centerline is valid? [True, True] Translation: X:108.97, Y:-14.53, Z:1.78 [[ 9.59386420e-01 2.81702723e-01 -1.48752150e-02 1.08970274e+02] [-2.81666956e-01 9.59501726e-01 4.49048842e-03 -1.45253106e+01] [ 1.55377772e-02 -1.18257097e-04 9.99879274e-01 1.77724021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.563617865 meters 0.01730354612263657 Centerline is valid? [True, True] Translation: X:109.03, Y:-14.55, Z:1.78 [[ 9.59553954e-01 2.81143201e-01 -1.46529451e-02 1.09030187e+02] [-2.81108367e-01 9.59665819e-01 4.42744514e-03 -1.45461671e+01] [ 1.53066766e-02 -1.29307032e-04 9.99882838e-01 1.77855427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62361786499999 meters 0.017533365703846004 Centerline is valid? [True, True] Translation: X:109.09, Y:-14.57, Z:1.78 [[ 9.59919062e-01 2.79876136e-01 -1.49914153e-02 1.09087951e+02] [-2.79839448e-01 9.60036105e-01 4.53430063e-03 -1.45687283e+01] [ 1.56613425e-02 -1.57372220e-04 9.99877341e-01 1.77953027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68361786499999 meters 0.01763016597675962 Centerline is valid? [True, True] Translation: X:109.15, Y:-14.59, Z:1.78 [[ 9.59886977e-01 2.79996235e-01 -1.48020423e-02 1.09148195e+02] [-2.79960423e-01 9.60001085e-01 4.48078821e-03 -1.45875663e+01] [ 1.54645805e-02 -1.57064208e-04 9.99880404e-01 1.78092731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74361786499999 meters 0.017696935145400976 Centerline is valid? [True, True] Translation: X:109.21, Y:-14.61, Z:1.78 [[ 9.59578038e-01 2.81080098e-01 -1.42816914e-02 1.09208722e+02] [-2.81046820e-01 9.59684302e-01 4.32731228e-03 -1.46056448e+01] [ 1.49222364e-02 -1.38569876e-04 9.99888648e-01 1.78163547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80361786499999 meters 0.017653073395810886 Centerline is valid? [True, True] Translation: X:109.27, Y:-14.62, Z:1.78 [[ 9.59153888e-01 2.82436227e-01 -1.59247208e-02 1.09268143e+02] [-2.82394953e-01 9.59286067e-01 4.83026940e-03 -1.46224264e+01] [ 1.66406059e-02 -1.35910896e-04 9.99861526e-01 1.78141884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.863617865 meters 0.018628828636503284 Centerline is valid? [True, True] Translation: X:109.33, Y:-14.64, Z:1.78 [[ 9.59732520e-01 2.80479776e-01 -1.56392392e-02 1.09325803e+02] [-2.80439644e-01 9.59859920e-01 4.74763503e-03 -1.46442381e+01] [ 1.63430945e-02 -1.70597049e-04 9.99866428e-01 1.78276553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.923617865 meters 0.018989505147204728 Centerline is valid? [True, True] Translation: X:109.39, Y:-14.66, Z:1.78 [[ 9.60838560e-01 2.76703141e-01 -1.49877934e-02 1.09385295e+02] [-2.76665770e-01 9.60955420e-01 4.55326423e-03 -1.46608309e+01] [ 1.56625038e-02 -2.28342432e-04 9.99877309e-01 1.78400586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98361786499999 meters 0.019790341202789715 Centerline is valid? [True, True] Translation: X:109.44, Y:-14.68, Z:1.78 [[ 9.61685920e-01 2.73785450e-01 -1.42027665e-02 1.09443901e+02] [-2.73751523e-01 9.61790755e-01 4.31815522e-03 -1.46795663e+01] [ 1.48423376e-02 -2.64680121e-04 9.99889811e-01 1.78438845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04361786499999 meters 0.021261737950643407 Centerline is valid? [True, True] Translation: X:109.50, Y:-14.70, Z:1.79 [[ 9.62872842e-01 2.69611740e-01 -1.36161220e-02 1.09502482e+02] [-2.69580095e-01 9.62969059e-01 4.14296125e-03 -1.46986619e+01] [ 1.42288952e-02 -3.18509408e-04 9.99898713e-01 1.78560604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10361786499999 meters 0.02067989159686704 Centerline is valid? [True, True] Translation: X:109.56, Y:-14.71, Z:1.79 [[ 9.63598268e-01 2.67000686e-01 -1.37481678e-02 1.09563059e+02] [-2.66968139e-01 9.63696271e-01 4.18454331e-03 -1.47123303e+01] [ 1.43663340e-02 -3.61895907e-04 9.99896733e-01 1.78565242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16361786499999 meters 0.020980459358673903 Centerline is valid? [True, True] Translation: X:109.62, Y:-14.73, Z:1.79 [[ 9.63581049e-01 2.67009072e-01 -1.47552234e-02 1.09623574e+02] [-2.66971519e-01 9.63693936e-01 4.49518512e-03 -1.47297360e+01] [ 1.54197745e-02 -3.92250789e-04 9.99881031e-01 1.78640780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.223617865 meters 0.020558660898591118 Centerline is valid? [True, True] Translation: X:109.68, Y:-14.74, Z:1.79 [[ 9.62969126e-01 2.69158497e-01 -1.56257999e-02 1.09683828e+02] [-2.69116584e-01 9.63095819e-01 4.76528941e-03 -1.47439506e+01] [ 1.63317607e-02 -3.83664686e-04 9.99866554e-01 1.78640762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.283617865 meters 0.020575213377419136 Centerline is valid? [True, True] Translation: X:109.74, Y:-14.76, Z:1.79 [[ 9.62386808e-01 2.71236628e-01 -1.55667617e-02 1.09742992e+02] [-2.71195238e-01 9.62512633e-01 4.75130266e-03 -1.47603679e+01] [ 1.62719321e-02 -3.50959365e-04 9.99867542e-01 1.78679148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34361786499998 meters 0.01963243555023136 Centerline is valid? [True, True] Translation: X:109.80, Y:-14.77, Z:1.79 [[ 9.61895303e-01 2.72989213e-01 -1.53073515e-02 1.09804270e+02] [-2.72949354e-01 9.62017041e-01 4.67570244e-03 -1.47730773e+01] [ 1.60023493e-02 -3.19404515e-04 9.99871903e-01 1.78814050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40361786499999 meters 0.0202417759102178 Centerline is valid? [True, True] Translation: X:109.86, Y:-14.79, Z:1.79 [[ 9.61918757e-01 2.72928317e-01 -1.49144168e-02 1.09863191e+02] [-2.72890411e-01 9.62034321e-01 4.55952202e-03 -1.47907992e+01] [ 1.55926036e-02 -3.15888409e-04 9.99878378e-01 1.78988025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46361786499999 meters 0.019545235551028352 Centerline is valid? [True, True] Translation: X:109.92, Y:-14.81, Z:1.79 [[ 9.62055517e-01 2.72443130e-01 -1.49640834e-02 1.09923703e+02] [-2.72404870e-01 9.62171832e-01 4.57746954e-03 -1.48061969e+01] [ 1.56451196e-02 -3.27490638e-04 9.99877554e-01 1.79142125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52361786499999 meters 0.021181206640147412 Centerline is valid? [True, True] Translation: X:109.98, Y:-14.83, Z:1.79 [[ 9.62779937e-01 2.69895626e-01 -1.45307782e-02 1.09981739e+02] [-2.69859202e-01 9.62889516e-01 4.44870507e-03 -1.48266482e+01] [ 1.51922200e-02 -3.61859785e-04 9.99884526e-01 1.79251740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.583617865 meters 0.020924414612320478 Centerline is valid? [True, True] Translation: X:110.04, Y:-14.84, Z:1.79 [[ 9.63555018e-01 2.67080677e-01 -1.51538552e-02 1.10041311e+02] [-2.67040653e-01 9.63674078e-01 4.64332008e-03 -1.48428320e+01] [ 1.58435185e-02 -4.27398985e-04 9.99874392e-01 1.79352797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.643617865 meters 0.02135185495425189 Centerline is valid? [True, True] Translation: X:110.10, Y:-14.86, Z:1.79 [[ 9.63900692e-01 2.65814704e-01 -1.54271990e-02 1.10100673e+02] [-2.65772999e-01 9.64024031e-01 4.73089390e-03 -1.48610943e+01] [ 1.61297317e-02 -4.59978959e-04 9.99869802e-01 1.79460297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.703617865 meters 0.02247043784848181 Centerline is valid? [True, True] Translation: X:110.16, Y:-14.88, Z:1.80 [[ 9.64304889e-01 2.64292797e-01 -1.62910724e-02 1.10158718e+02] [-2.64245998e-01 9.64442352e-01 5.00025099e-03 -1.48798907e+01] [ 1.70333305e-02 -5.16915805e-04 9.99854789e-01 1.79558827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76361786499999 meters 0.02167588066720021 Centerline is valid? [True, True] Translation: X:110.22, Y:-14.90, Z:1.80 [[ 9.64252025e-01 2.64436348e-01 -1.70719344e-02 1.10219334e+02] [-2.64384899e-01 9.64402988e-01 5.24427868e-03 -1.48951829e+01] [ 1.78510024e-02 -5.43244685e-04 9.99840511e-01 1.79766855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82361786499999 meters 0.021958915008219514 Centerline is valid? [True, True] Translation: X:110.28, Y:-14.91, Z:1.80 [[ 9.63943700e-01 2.65531245e-01 -1.74842993e-02 1.10277681e+02] [-2.65477365e-01 9.64102103e-01 5.37617171e-03 -1.49129905e+01] [ 1.82841913e-02 -5.40641141e-04 9.99832684e-01 1.79929834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88361786499999 meters 0.021572013313437385 Centerline is valid? [True, True] Translation: X:110.34, Y:-14.93, Z:1.80 [[ 9.63347617e-01 2.67642290e-01 -1.81376073e-02 1.10337596e+02] [-2.67584595e-01 9.63518204e-01 5.58158485e-03 -1.49281430e+01] [ 1.89697830e-02 -5.23662151e-04 9.99819920e-01 1.80094777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.943617865 meters 0.020961535657698514 Centerline is valid? [True, True] Translation: X:110.40, Y:-14.94, Z:1.80 [[ 9.62260451e-01 2.71429582e-01 -1.95142750e-02 1.10396190e+02] [-2.71363486e-01 9.62458178e-01 6.00950706e-03 -1.49424660e+01] [ 2.04128316e-02 -4.87249278e-04 9.99791518e-01 1.80131125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.003617865 meters 0.02033667075857141 Centerline is valid? [True, True] Translation: X:110.46, Y:-14.96, Z:1.80 [[ 9.61277310e-01 2.74893505e-01 -1.94805840e-02 1.10456404e+02] [-2.74828320e-01 9.61474591e-01 6.00046761e-03 -1.49581566e+01] [ 2.03795762e-02 -4.14297184e-04 9.99792229e-01 1.80204408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.063617865 meters 0.019012708504664758 Centerline is valid? [True, True] Translation: X:110.52, Y:-14.97, Z:1.80 [[ 9.60099013e-01 2.79040577e-01 -1.86075713e-02 1.10516785e+02] [-2.78981806e-01 9.60279260e-01 5.73542691e-03 -1.49716828e+01] [ 1.94688816e-02 -3.15403882e-04 9.99810414e-01 1.80386720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12361786499999 meters 0.018606316713681095 Centerline is valid? [True, True] Translation: X:110.58, Y:-14.99, Z:1.80 [[ 9.59423468e-01 2.81342196e-01 -1.87930399e-02 1.10576548e+02] [-2.81282648e-01 9.59607469e-01 5.79464014e-03 -1.49881033e+01] [ 1.96642182e-02 -2.73357716e-04 9.99806603e-01 1.80442186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18361786499999 meters 0.019831118386549183 Centerline is valid? [True, True] Translation: X:110.64, Y:-15.01, Z:1.80 [[ 9.58976872e-01 2.82798712e-01 -1.97040005e-02 1.10635907e+02] [-2.82733447e-01 9.59179243e-01 6.08086410e-03 -1.50062000e+01] [ 2.06193288e-02 -2.60428059e-04 9.99787365e-01 1.80248413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24361786499999 meters 0.018470589036143223 Centerline is valid? [True, True] Translation: X:110.69, Y:-15.02, Z:1.80 [[ 9.59367734e-01 2.81461913e-01 -1.98177525e-02 1.10694925e+02] [-2.81395499e-01 9.59572355e-01 6.12121807e-03 -1.50248967e+01] [ 2.07394572e-02 -2.95872748e-04 9.99784871e-01 1.80423601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30361786499999 meters 0.019189550201963397 Centerline is valid? [True, True] Translation: X:110.75, Y:-15.05, Z:1.81 [[ 9.60709311e-01 2.76903199e-01 -1.90325396e-02 1.10752557e+02] [-2.76840952e-01 9.60897742e-01 5.88350340e-03 -1.50472381e+01] [ 1.99174853e-02 -3.83350100e-04 9.99801554e-01 1.80514195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.363617865 meters 0.021209489667784336 Centerline is valid? [True, True] Translation: X:110.81, Y:-15.07, Z:1.81 [[ 9.61823333e-01 2.73046242e-01 -1.84831236e-02 1.10809168e+02] [-2.72986740e-01 9.62000802e-01 5.71806934e-03 -1.50715888e+01] [ 1.93420770e-02 -4.54124872e-04 9.99812821e-01 1.80587486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.423617865 meters 0.021144477735786947 Centerline is valid? [True, True] Translation: X:110.87, Y:-15.09, Z:1.81 [[ 9.63091997e-01 2.68566005e-01 -1.80583895e-02 1.10867413e+02] [-2.68508349e-01 9.63261135e-01 5.59035842e-03 -1.50909096e+01] [ 1.88963250e-02 -5.35201113e-04 9.99821305e-01 1.80771186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48361786499999 meters 0.02210138751705987 Centerline is valid? [True, True] Translation: X:110.92, Y:-15.11, Z:1.81 [[ 9.63732290e-01 2.66289437e-01 -1.76070638e-02 1.10924850e+02] [-2.66234227e-01 9.63892948e-01 5.45175982e-03 -1.51112952e+01] [ 1.84230707e-02 -5.66433946e-04 9.99830120e-01 1.80789440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54361786499999 meters 0.021672648343363323 Centerline is valid? [True, True] Translation: X:110.98, Y:-15.13, Z:1.81 [[ 9.64290564e-01 2.64205197e-01 -1.84206776e-02 1.10984280e+02] [-2.64144308e-01 9.64466281e-01 5.70770231e-03 -1.51296123e+01] [ 1.92741271e-02 -6.38166326e-04 9.99814033e-01 1.80759313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60361786499999 meters 0.022297393892630107 Centerline is valid? [True, True] Translation: X:111.04, Y:-15.15, Z:1.81 [[ 9.64275273e-01 2.64239086e-01 -1.87324057e-02 1.11043227e+02] [-2.64176083e-01 9.64456988e-01 5.80643618e-03 -1.51494802e+01] [ 1.96008869e-02 -6.50349273e-04 9.99807673e-01 1.80787874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66361786499999 meters 0.022197204868441917 Centerline is valid? [True, True] Translation: X:111.10, Y:-15.17, Z:1.81 [[ 9.64001265e-01 2.65217378e-01 -1.90079654e-02 1.11103121e+02] [-2.65152593e-01 9.64188429e-01 5.89711423e-03 -1.51673469e+01] [ 1.98912775e-02 -6.44814259e-04 9.99801941e-01 1.80732137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.723617865 meters 0.021225418201122285 Centerline is valid? [True, True] Translation: X:111.16, Y:-15.18, Z:1.81 [[ 9.63477686e-01 2.67122932e-01 -1.88702938e-02 1.11163259e+02] [-2.67059351e-01 9.63662271e-01 5.85922243e-03 -1.51840567e+01] [ 1.97497229e-02 -6.05741639e-04 9.99804772e-01 1.80810774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.783617865 meters 0.020766327032868435 Centerline is valid? [True, True] Translation: X:111.22, Y:-15.20, Z:1.81 [[ 9.62590455e-01 2.70385885e-01 -1.76377275e-02 1.11221077e+02] [-2.70330816e-01 9.62751897e-01 5.48030794e-03 -1.52027805e+01] [ 1.84625536e-02 -5.07270830e-04 9.99829424e-01 1.80970331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84361786499998 meters 0.01971364892477798 Centerline is valid? [True, True] Translation: X:111.28, Y:-15.22, Z:1.81 [[ 9.60953868e-01 2.76244077e-01 -1.60272365e-02 1.11279522e+02] [-2.76199411e-01 9.61087447e-01 4.98043070e-03 -1.52180010e+01] [ 1.67793902e-02 -3.59250878e-04 9.99859152e-01 1.81123108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90361786499999 meters 0.018034279068787185 Centerline is valid? [True, True] Translation: X:111.34, Y:-15.23, Z:1.81 [[ 9.59431609e-01 2.81559290e-01 -1.46749423e-02 1.11339882e+02] [-2.81522460e-01 9.59543801e-01 4.56047355e-03 -1.52305976e+01] [ 1.53652936e-02 -2.44136628e-04 9.99881917e-01 1.81187248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96361786499999 meters 0.018404445298062833 Centerline is valid? [True, True] Translation: X:111.40, Y:-15.25, Z:1.81 [[ 9.58584679e-01 2.84482928e-01 -1.35969192e-02 1.11397935e+02] [-2.84451602e-01 9.58681089e-01 4.22560704e-03 -1.52490212e+01] [ 1.42372224e-02 -1.82936721e-04 9.99898629e-01 1.81248934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02361786499999 meters 0.01775659435047317 Centerline is valid? [True, True] Translation: X:111.46, Y:-15.27, Z:1.81 [[ 9.57938950e-01 2.86596246e-01 -1.46819748e-02 1.11458092e+02] [-2.86559910e-01 9.58051441e-01 4.56665131e-03 -1.52657013e+01] [ 1.53748723e-02 -1.67307767e-04 9.99881786e-01 1.81216691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.083617865 meters 0.018056757970898295 Centerline is valid? [True, True] Translation: X:111.52, Y:-15.29, Z:1.81 [[ 9.58418918e-01 2.85009764e-01 -1.42341931e-02 1.11515655e+02] [-2.84975382e-01 9.58524594e-01 4.43099756e-03 -1.52856805e+01] [ 1.49067017e-02 -1.90357272e-04 9.99888871e-01 1.81172978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.143617865 meters 0.01851859897277871 Centerline is valid? [True, True] Translation: X:111.57, Y:-15.31, Z:1.81 [[ 9.59254456e-01 2.82212940e-01 -1.36654955e-02 1.11574161e+02] [-2.82180921e-01 9.59351763e-01 4.25706519e-03 -1.53067811e+01] [ 1.43114161e-02 -2.27466627e-04 9.99897561e-01 1.81243709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.203617865 meters 0.02007407450533373 Centerline is valid? [True, True] Translation: X:111.63, Y:-15.33, Z:1.81 [[ 9.61103283e-01 2.75933124e-01 -1.18907454e-02 1.11630715e+02] [-2.75908361e-01 9.61176795e-01 3.70745754e-03 -1.53313056e+01] [ 1.24521189e-02 -2.82493549e-04 9.99922429e-01 1.81413712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26361786499999 meters 0.020270030280979127 Centerline is valid? [True, True] Translation: X:111.69, Y:-15.35, Z:1.81 [[ 9.62102809e-01 2.72448509e-01 -1.14014991e-02 1.11688904e+02] [-2.72425501e-01 9.62170313e-01 3.55451852e-03 -1.53513400e+01] [ 1.19386072e-02 -3.13753141e-04 9.99928683e-01 1.81484352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32361786499999 meters 0.020986793561987342 Centerline is valid? [True, True] Translation: X:111.75, Y:-15.37, Z:1.81 [[ 9.62626859e-01 2.70564782e-01 -1.20095545e-02 1.11747825e+02] [-2.70539070e-01 9.62701704e-01 3.74713600e-03 -1.53723023e+01] [ 1.25754616e-02 -3.58040065e-04 9.99920862e-01 1.81405345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38361786499999 meters 0.020172879269412417 Centerline is valid? [True, True] Translation: X:111.81, Y:-15.39, Z:1.81 [[ 9.62219615e-01 2.71919037e-01 -1.39086370e-02 1.11807921e+02] [-2.71884630e-01 9.62320050e-01 4.34385543e-03 -1.53895481e+01] [ 1.45657372e-02 -3.98198287e-04 9.99893835e-01 1.81236731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.443617865 meters 0.01944722576040415 Centerline is valid? [True, True] Translation: X:111.87, Y:-15.41, Z:1.81 [[ 9.61780298e-01 2.73414863e-01 -1.49322383e-02 1.11867870e+02] [-2.73375320e-01 9.61896121e-01 4.66772247e-03 -1.54067038e+01] [ 1.56394868e-02 -4.07218098e-04 9.99877613e-01 1.81227645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.503617865 meters 0.019544023024632068 Centerline is valid? [True, True] Translation: X:111.93, Y:-15.43, Z:1.81 [[ 9.61247575e-01 2.75360032e-01 -1.34146594e-02 1.11925980e+02] [-2.75328262e-01 9.61341114e-01 4.19653661e-03 -1.54256548e+01] [ 1.40516221e-02 -3.40475773e-04 9.99901213e-01 1.81358742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.563617865 meters 0.01992010549699698 Centerline is valid? [True, True] Translation: X:111.98, Y:-15.44, Z:1.82 [[ 9.60919493e-01 2.76543100e-01 -1.25555933e-02 1.11984269e+02] [-2.76515333e-01 9.61001468e-01 3.93062846e-03 -1.54449508e+01] [ 1.31529317e-02 -3.05203452e-04 9.99913450e-01 1.81532976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62361786499999 meters 0.01972711227075705 Centerline is valid? [True, True] Translation: X:112.04, Y:-15.46, Z:1.82 [[ 9.60967648e-01 2.76415051e-01 -1.16575643e-02 1.12043788e+02] [-2.76391075e-01 9.61038312e-01 3.65193624e-03 -1.54630419e+01] [ 1.22128161e-02 -2.87345860e-04 9.99925379e-01 1.81660799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68361786499999 meters 0.01923523279173621 Centerline is valid? [True, True] Translation: X:112.10, Y:-15.48, Z:1.82 [[ 9.61199949e-01 2.75667789e-01 -1.00959634e-02 1.12102888e+02] [-2.75649745e-01 9.61252934e-01 3.16472889e-03 -1.54807513e+01] [ 1.05771883e-02 -2.58987504e-04 9.99944026e-01 1.81780748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74361786499999 meters 0.019527986311868688 Centerline is valid? [True, True] Translation: X:112.16, Y:-15.50, Z:1.82 [[ 9.61565495e-01 2.74426783e-01 -9.04101210e-03 1.12161305e+02] [-2.74412238e-01 9.61607966e-01 2.83610031e-03 -1.55002544e+01] [ 9.47221114e-03 -2.46131841e-04 9.99955107e-01 1.81904705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80361786499999 meters 0.021083239088696172 Centerline is valid? [True, True] Translation: X:112.22, Y:-15.52, Z:1.82 [[ 9.62459624e-01 2.71260121e-01 -9.45614889e-03 1.12218810e+02] [-2.71244033e-01 9.62506032e-01 2.96879400e-03 -1.55214832e+01] [ 9.90691576e-03 -2.92420403e-04 9.99950883e-01 1.81865069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.863617865 meters 0.02181524520173552 Centerline is valid? [True, True] Translation: X:112.28, Y:-15.54, Z:1.82 [[ 9.62998216e-01 2.69303015e-01 -1.05033994e-02 1.12277880e+02] [-2.69283017e-01 9.63055431e-01 3.30041252e-03 -1.55414515e+01] [ 1.10041669e-02 -3.49904293e-04 9.99939391e-01 1.81821107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.923617865 meters 0.023871855324546484 Centerline is valid? [True, True] Translation: X:112.33, Y:-15.56, Z:1.82 [[ 9.63952437e-01 2.65886331e-01 -1.00079401e-02 1.12334379e+02] [-2.65867953e-01 9.64004315e-01 3.14836413e-03 -1.55618704e+01] [ 1.04848044e-02 -3.74082717e-04 9.99944963e-01 1.81840032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98361786499999 meters 0.025679998175156357 Centerline is valid? [True, True] Translation: X:112.39, Y:-15.58, Z:1.82 [[ 9.64599927e-01 2.63551930e-01 -9.34666176e-03 1.12391349e+02] [-2.63535799e-01 9.64645138e-01 2.93962503e-03 -1.55822655e+01] [ 9.79095567e-03 -3.72382122e-04 9.99951998e-01 1.81984164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04361786499999 meters 0.025980979597949313 Centerline is valid? [True, True] Translation: X:112.45, Y:-15.60, Z:1.82 [[ 9.64221490e-01 2.64924596e-01 -9.58527952e-03 1.12450386e+02] [-2.64907691e-01 9.64269062e-01 3.01532842e-03 -1.55993570e+01] [ 1.00416231e-02 -3.68230198e-04 9.99949514e-01 1.82140059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10361786499999 meters 0.02499160203338426 Centerline is valid? [True, True] Translation: X:112.51, Y:-15.61, Z:1.82 [[ 9.63289312e-01 2.68260678e-01 -1.04837672e-02 1.12509998e+02] [-2.68240614e-01 9.63346289e-01 3.30148164e-03 -1.56144406e+01] [ 1.09851559e-02 -3.68109828e-04 9.99939594e-01 1.82178186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16361786499999 meters 0.0225906846072698 Centerline is valid? [True, True] Translation: X:112.57, Y:-15.63, Z:1.82 [[ 9.61503298e-01 2.74552552e-01 -1.15023621e-02 1.12569802e+02] [-2.74528842e-01 9.61572041e-01 3.62281444e-03 -1.56258426e+01] [ 1.20550028e-02 -3.25617878e-04 9.99927283e-01 1.82155313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.223617865 meters 0.021402963459685544 Centerline is valid? [True, True] Translation: X:112.63, Y:-15.64, Z:1.82 [[ 9.60463653e-01 2.78181475e-01 -1.11641264e-02 1.12629078e+02] [-2.78159385e-01 9.60528497e-01 3.51614287e-03 -1.56405348e+01] [ 1.17015874e-02 -2.71720885e-04 9.99931497e-01 1.82365534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.283617865 meters 0.01797918201144336 Centerline is valid? [True, True] Translation: X:112.69, Y:-15.65, Z:1.82 [[ 9.60098931e-01 2.79436964e-01 -1.11815306e-02 1.12690830e+02] [-2.79414897e-01 9.60164006e-01 3.52107957e-03 -1.56515908e+01] [ 1.17200230e-02 -2.56298512e-04 9.99931285e-01 1.82356220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34361786499998 meters 0.017917812468175198 Centerline is valid? [True, True] Translation: X:112.75, Y:-15.67, Z:1.82 [[ 9.59845398e-01 2.80283620e-01 -1.17432588e-02 1.12750432e+02] [-2.80259303e-01 9.59917196e-01 3.70123484e-03 -1.56693288e+01] [ 1.23099515e-02 -2.61455709e-04 9.99924195e-01 1.82426274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40361786499999 meters 0.017968212001929957 Centerline is valid? [True, True] Translation: X:112.81, Y:-15.69, Z:1.83 [[ 9.59893023e-01 2.80109422e-01 -1.20040465e-02 1.12810452e+02] [-2.80083960e-01 9.59968040e-01 3.78651916e-03 -1.56882558e+01] [ 1.25841407e-02 -2.72512436e-04 9.99920779e-01 1.82531794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46361786499999 meters 0.01841941708584145 Centerline is valid? [True, True] Translation: X:112.87, Y:-15.71, Z:1.83 [[ 9.60134688e-01 2.79318277e-01 -1.10761400e-02 1.12869359e+02] [-2.79296511e-01 9.60198537e-01 3.49691860e-03 -1.57077672e+01] [ 1.16120467e-02 -2.63985579e-04 9.99932543e-01 1.82672127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52361786499999 meters 0.018839969030644516 Centerline is valid? [True, True] Translation: X:112.93, Y:-15.73, Z:1.83 [[ 9.60273809e-01 2.78842137e-01 -1.10124975e-02 1.12928825e+02] [-2.78820557e-01 9.60336914e-01 3.47962400e-03 -1.57268034e+01] [ 1.15459737e-02 -2.70881102e-04 9.99933306e-01 1.82756463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.583617865 meters 0.01831157489022279 Centerline is valid? [True, True] Translation: X:112.99, Y:-15.74, Z:1.83 [[ 9.60717053e-01 2.77317311e-01 -1.08560049e-02 1.12988895e+02] [-2.77296212e-01 9.60778344e-01 3.43283339e-03 -1.57440505e+01] [ 1.13821985e-02 -2.87652553e-04 9.99935179e-01 1.82768454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.643617865 meters 0.019035708889737997 Centerline is valid? [True, True] Translation: X:113.05, Y:-15.76, Z:1.83 [[ 9.61308013e-01 2.75230782e-01 -1.16155698e-02 1.13047996e+02] [-2.75206434e-01 9.61378127e-01 3.67636346e-03 -1.57642831e+01] [ 1.21788032e-02 -3.37438097e-04 9.99925779e-01 1.82718031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.703617865 meters 0.018933572925241515 Centerline is valid? [True, True] Translation: X:113.11, Y:-15.78, Z:1.83 [[ 9.61810208e-01 2.73438504e-01 -1.23493928e-02 1.13107143e+02] [-2.73410790e-01 9.61889409e-01 3.91210372e-03 -1.57829332e+01] [ 1.29484699e-02 -3.86244048e-04 9.99916090e-01 1.82707352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76361786499999 meters 0.019783308040442073 Centerline is valid? [True, True] Translation: X:113.17, Y:-15.80, Z:1.83 [[ 9.62229887e-01 2.71855267e-01 -1.44346224e-02 1.13165248e+02] [-2.71817156e-01 9.62338029e-01 4.57723689e-03 -1.58021874e+01] [ 1.51353320e-02 -4.80776129e-04 9.99885339e-01 1.82695202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82361786499999 meters 0.01916288681238253 Centerline is valid? [True, True] Translation: X:113.23, Y:-15.82, Z:1.83 [[ 9.62072268e-01 2.72352950e-01 -1.55184332e-02 1.13226016e+02] [-2.72308899e-01 9.62197281e-01 4.92500671e-03 -1.58202150e+01] [ 1.62731343e-02 -5.12404919e-04 9.99867452e-01 1.82740127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88361786499999 meters 0.01880201376665382 Centerline is valid? [True, True] Translation: X:113.29, Y:-15.84, Z:1.83 [[ 9.61211702e-01 2.75314160e-01 -1.65583206e-02 1.13285137e+02] [-2.75264353e-01 9.61354183e-01 5.26033049e-03 -1.58389796e+01] [ 1.73666543e-02 -4.98375802e-04 9.99849064e-01 1.82876500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.943617865 meters 0.017807745704834052 Centerline is valid? [True, True] Translation: X:113.34, Y:-15.85, Z:1.83 [[ 9.59917256e-01 2.79834832e-01 -1.58533219e-02 1.13344274e+02] [-2.79789728e-01 9.60048074e-01 5.04021340e-03 -1.58546454e+01] [ 1.66303784e-02 -4.02591203e-04 9.99861625e-01 1.83034734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.003617865 meters 0.01745325483631811 Centerline is valid? [True, True] Translation: X:113.40, Y:-15.87, Z:1.83 [[ 9.59138341e-01 2.82554064e-01 -1.47256005e-02 1.13404465e+02] [-2.82515461e-01 9.59251318e-01 4.68217025e-03 -1.58722411e+01] [ 1.54485180e-02 -3.30639183e-04 9.99880610e-01 1.83245039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.063617865 meters 0.016893195223481903 Centerline is valid? [True, True] Translation: X:113.46, Y:-15.89, Z:1.84 [[ 9.58730540e-01 2.83990975e-01 -1.35970100e-02 1.13463413e+02] [-2.83958194e-01 9.58826911e-01 4.32420969e-03 -1.58907020e+01] [ 1.42652156e-02 -2.84769478e-04 9.99898206e-01 1.83505649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12361786499999 meters 0.0172566908765482 Centerline is valid? [True, True] Translation: X:113.52, Y:-15.91, Z:1.84 [[ 9.59007143e-01 2.83099632e-01 -1.26451069e-02 1.13521996e+02] [-2.83071162e-01 9.59090465e-01 4.02456651e-03 -1.59114618e+01] [ 1.32671548e-02 -2.80122916e-04 9.99911948e-01 1.83772952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18361786499999 meters 0.01780547480003945 Centerline is valid? [True, True] Translation: X:113.58, Y:-15.93, Z:1.84 [[ 9.59253014e-01 2.82287202e-01 -1.21486551e-02 1.13580513e+02] [-2.82260816e-01 9.59329899e-01 3.86997194e-03 -1.59307255e+01] [ 1.27470117e-02 -2.83192932e-04 9.99918713e-01 1.83853069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24361786499999 meters 0.018124335272115637 Centerline is valid? [True, True] Translation: X:113.64, Y:-15.95, Z:1.84 [[ 9.59585235e-01 2.81148342e-01 -1.23202007e-02 1.13639196e+02] [-2.81121092e-01 9.59664273e-01 3.92606407e-03 -1.59498992e+01] [ 1.29270629e-02 -3.03924827e-04 9.99916396e-01 1.83881217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30361786499999 meters 0.018658875551059165 Centerline is valid? [True, True] Translation: X:113.70, Y:-15.97, Z:1.84 [[ 9.59775367e-01 2.80426560e-01 -1.38632437e-02 1.13697661e+02] [-2.80391922e-01 9.59875417e-01 4.42192405e-03 -1.59702801e+01] [ 1.45470118e-02 -3.56912238e-04 9.99894123e-01 1.83918927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.363617865 meters 0.018962657097942377 Centerline is valid? [True, True] Translation: X:113.76, Y:-15.99, Z:1.84 [[ 9.59791506e-01 2.80322660e-01 -1.48145634e-02 1.13757298e+02] [-2.80283028e-01 9.59905754e-01 4.72946859e-03 -1.59895838e+01] [ 1.55463619e-02 -3.87033092e-04 9.99879073e-01 1.83910167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.423617865 meters 0.01932684798109874 Centerline is valid? [True, True] Translation: X:113.82, Y:-16.01, Z:1.84 [[ 9.59765777e-01 2.80396536e-01 -1.50809991e-02 1.13817341e+02] [-2.80355403e-01 9.59884173e-01 4.81905085e-03 -1.60084949e+01] [ 1.58272575e-02 -3.97120511e-04 9.99874662e-01 1.84009176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48361786499999 meters 0.018469805775071957 Centerline is valid? [True, True] Translation: X:113.88, Y:-16.02, Z:1.84 [[ 9.59392421e-01 2.81696111e-01 -1.46110435e-02 1.13876903e+02] [-2.81657589e-01 9.59503604e-01 4.67302382e-03 -1.60249435e+01] [ 1.53357216e-02 -3.67952343e-04 9.99882333e-01 1.84156327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54361786499999 meters 0.018443717362980616 Centerline is valid? [True, True] Translation: X:113.94, Y:-16.04, Z:1.84 [[ 9.59009808e-01 2.82997422e-01 -1.45824422e-02 1.13936341e+02] [-2.82959142e-01 9.59120606e-01 4.66770708e-03 -1.60433295e+01] [ 1.53072699e-02 -3.50141538e-04 9.99882776e-01 1.84295827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60361786499999 meters 0.0184862885174016 Centerline is valid? [True, True] Translation: X:114.00, Y:-16.06, Z:1.84 [[ 9.58604319e-01 2.84341910e-01 -1.50810457e-02 1.13996091e+02] [-2.84301069e-01 9.58722880e-01 4.83138332e-03 -1.60615421e+01] [ 1.58323083e-02 -3.43827506e-04 9.99874602e-01 1.84366328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66361786499999 meters 0.018041390276207707 Centerline is valid? [True, True] Translation: X:114.06, Y:-16.08, Z:1.84 [[ 9.58640276e-01 2.84204356e-01 -1.53852571e-02 1.14055603e+02] [-2.84161767e-01 9.58763660e-01 4.93289918e-03 -1.60809541e+01] [ 1.61527769e-02 -3.56973973e-04 9.99869472e-01 1.84478384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.723617865 meters 0.01922498426220506 Centerline is valid? [True, True] Translation: X:114.11, Y:-16.10, Z:1.85 [[ 9.58907331e-01 2.83276218e-01 -1.58529064e-02 1.14113105e+02] [-2.83230792e-01 9.59038286e-01 5.08776742e-03 -1.61030516e+01] [ 1.66447877e-02 -3.88666242e-04 9.99861390e-01 1.84566771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.783617865 meters 0.018881239080051345 Centerline is valid? [True, True] Translation: X:114.17, Y:-16.12, Z:1.85 [[ 9.59278716e-01 2.82005991e-01 -1.60301825e-02 1.14171919e+02] [-2.81959299e-01 9.59412552e-01 5.14862463e-03 -1.61222926e+01] [ 1.68315013e-02 -4.19107011e-04 9.99858252e-01 1.84621605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84361786499998 meters 0.02115537750877332 Centerline is valid? [True, True] Translation: X:114.23, Y:-16.15, Z:1.85 [[ 9.59592041e-01 2.80970087e-01 -1.54572159e-02 1.14228604e+02] [-2.80926476e-01 9.59716432e-01 4.96848481e-03 -1.61459003e+01] [ 1.62305397e-02 -4.25377291e-04 9.99868186e-01 1.84758478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90361786499999 meters 0.01938676407176354 Centerline is valid? [True, True] Translation: X:114.29, Y:-16.16, Z:1.85 [[ 9.60233001e-01 2.78854900e-01 -1.38754507e-02 1.14288711e+02] [-2.78819515e-01 9.60333157e-01 4.46161187e-03 -1.61622943e+01] [ 1.45691977e-02 -4.15440511e-04 9.99893777e-01 1.84967415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96361786499999 meters 0.02104221434245001 Centerline is valid? [True, True] Translation: X:114.35, Y:-16.18, Z:1.85 [[ 9.60885884e-01 2.76637545e-01 -1.30379075e-02 1.14345616e+02] [-2.76606051e-01 9.60974239e-01 4.19586435e-03 -1.61841864e+01] [ 1.36898269e-02 -4.25382718e-04 9.99906199e-01 1.85151995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02361786499999 meters 0.021472191820410956 Centerline is valid? [True, True] Translation: X:114.41, Y:-16.20, Z:1.85 [[ 9.60852614e-01 2.76777926e-01 -1.24993783e-02 1.14405854e+02] [-2.76748975e-01 9.60933824e-01 4.02372308e-03 -1.62034707e+01] [ 1.31247531e-02 -4.07014710e-04 9.99913784e-01 1.85264177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.083617865 meters 0.02022430480881232 Centerline is valid? [True, True] Translation: X:114.47, Y:-16.22, Z:1.85 [[ 9.60407997e-01 2.78322831e-01 -1.23645132e-02 1.14466032e+02] [-2.78294583e-01 9.60487508e-01 3.98399186e-03 -1.62192961e+01] [ 1.29847963e-02 -3.85280613e-04 9.99915620e-01 1.85348681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.143617865 meters 0.019336719875631674 Centerline is valid? [True, True] Translation: X:114.53, Y:-16.24, Z:1.85 [[ 9.59288750e-01 2.82146277e-01 -1.25925777e-02 1.14525891e+02] [-2.82117253e-01 9.59371336e-01 4.06146928e-03 -1.62354402e+01] [ 1.32268865e-02 -3.43538363e-04 9.99912462e-01 1.85398276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20361786499998 meters 0.019033009624163346 Centerline is valid? [True, True] Translation: X:114.59, Y:-16.25, Z:1.85 [[ 9.58322624e-01 2.85409541e-01 -1.26151368e-02 1.14585464e+02] [-2.85380692e-01 9.58405605e-01 4.06894502e-03 -1.62533701e+01] [ 1.32517336e-02 -2.99245594e-04 9.99912147e-01 1.85483636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26361786499999 meters 0.018696483185091112 Centerline is valid? [True, True] Translation: X:114.64, Y:-16.27, Z:1.86 [[ 9.57300152e-01 2.88831211e-01 -1.23672846e-02 1.14643531e+02] [-2.88803726e-01 9.57380002e-01 3.99230890e-03 -1.62721729e+01] [ 1.29932943e-02 -2.50120047e-04 9.99915552e-01 1.85656250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32361786499999 meters 0.018627345835644616 Centerline is valid? [True, True] Translation: X:114.70, Y:-16.29, Z:1.86 [[ 9.57232502e-01 2.89101716e-01 -1.12309353e-02 1.14702936e+02] [-2.89079044e-01 9.57298358e-01 3.62767475e-03 -1.62932034e+01] [ 1.18001229e-02 -2.25900136e-04 9.99930351e-01 1.85888986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38361786499999 meters 0.01883053442600998 Centerline is valid? [True, True] Translation: X:114.76, Y:-16.31, Z:1.86 [[ 9.57385396e-01 2.88623522e-01 -1.04721640e-02 1.14761488e+02] [-2.88603747e-01 9.57442643e-01 3.38564712e-03 -1.63136059e+01] [ 1.10036738e-02 -2.19063349e-04 9.99939434e-01 1.86031190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.443617865 meters 0.01936169311323752 Centerline is valid? [True, True] Translation: X:114.82, Y:-16.33, Z:1.86 [[ 9.58115111e-01 2.86245440e-01 -8.88712556e-03 1.14819418e+02] [-2.86231079e-01 9.58156304e-01 2.87506023e-03 -1.63346788e+01] [ 9.33822826e-03 -2.10867112e-04 9.99956376e-01 1.86224055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.503617865 meters 0.020448726684625378 Centerline is valid? [True, True] Translation: X:114.88, Y:-16.36, Z:1.86 [[ 9.58879342e-01 2.83732638e-01 -6.79685270e-03 1.14876154e+02] [-2.83724157e-01 9.58903414e-01 2.20138674e-03 -1.63566678e+01] [ 7.14213053e-03 -1.82432965e-04 9.99974478e-01 1.86427185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.563617865 meters 0.020997767445965546 Centerline is valid? [True, True] Translation: X:114.93, Y:-16.38, Z:1.87 [[ 9.59210616e-01 2.82620356e-01 -6.38182208e-03 1.14934403e+02] [-2.82612866e-01 9.59231830e-01 2.06523019e-03 -1.63776135e+01] [ 6.70532296e-03 -1.77405694e-04 9.99977503e-01 1.86588227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62361786499999 meters 0.02079081593667024 Centerline is valid? [True, True] Translation: X:114.99, Y:-16.40, Z:1.87 [[ 9.59664038e-01 2.81081211e-01 -6.18766038e-03 1.14993191e+02] [-2.81074128e-01 9.59683968e-01 2.00381899e-03 -1.63971586e+01] [ 6.50143433e-03 -1.83801775e-04 9.99978849e-01 1.86540413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68361786499999 meters 0.02217581426322098 Centerline is valid? [True, True] Translation: X:115.05, Y:-16.42, Z:1.87 [[ 9.59744671e-01 2.80800378e-01 -6.42767031e-03 1.15050730e+02] [-2.80792715e-01 9.59766175e-01 2.08360771e-03 -1.64190480e+01] [ 6.75413838e-03 -1.94888403e-04 9.99977172e-01 1.86632167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74361786499999 meters 0.022783139007741045 Centerline is valid? [True, True] Translation: X:115.11, Y:-16.44, Z:1.87 [[ 9.59640213e-01 2.81143743e-01 -6.98981616e-03 1.15107931e+02] [-2.81134674e-01 9.59665646e-01 2.26793915e-03 -1.64400926e+01] [ 7.34550334e-03 -2.11325918e-04 9.99972999e-01 1.86652079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80361786499999 meters 0.02099003520719182 Centerline is valid? [True, True] Translation: X:115.17, Y:-16.46, Z:1.87 [[ 9.59352201e-01 2.82121295e-01 -7.13642148e-03 1.15167463e+02] [-2.82111859e-01 9.59378721e-01 2.31699224e-03 -1.64564890e+01] [ 7.50020377e-03 -2.09542482e-04 9.99971851e-01 1.86564153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.863617865 meters 0.02041054473607349 Centerline is valid? [True, True] Translation: X:115.23, Y:-16.48, Z:1.87 [[ 9.58811121e-01 2.83963719e-01 -6.77057430e-03 1.15227023e+02] [-2.83955259e-01 9.58835008e-01 2.19977128e-03 -1.64751068e+01] [ 7.11651889e-03 -1.86624982e-04 9.99974660e-01 1.86612533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.923617865 meters 0.01992541940901501 Centerline is valid? [True, True] Translation: X:115.29, Y:-16.49, Z:1.87 [[ 9.58021660e-01 2.86617897e-01 -6.68437678e-03 1.15286588e+02] [-2.86609704e-01 9.58044964e-01 2.17349326e-03 -1.64931173e+01] [ 7.02689558e-03 -1.66446374e-04 9.99975297e-01 1.86568315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98361786499999 meters 0.0195278413374731 Centerline is valid? [True, True] Translation: X:115.35, Y:-16.51, Z:1.87 [[ 9.57516802e-01 2.88272763e-01 -7.77098593e-03 1.15346354e+02] [-2.88261722e-01 9.57548318e-01 2.52953487e-03 -1.65113242e+01] [ 8.17029051e-03 -1.81994352e-04 9.99966606e-01 1.86530187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04361786499999 meters 0.019884332128243382 Centerline is valid? [True, True] Translation: X:115.41, Y:-16.53, Z:1.87 [[ 9.57452419e-01 2.88483799e-01 -7.87167937e-03 1.15405051e+02] [-2.88472460e-01 9.57484759e-01 2.56440182e-03 -1.65314921e+01] [ 8.27680140e-03 -1.84530016e-04 9.99965730e-01 1.86619544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10361786499999 meters 0.020515281963768173 Centerline is valid? [True, True] Translation: X:115.46, Y:-16.55, Z:1.87 [[ 9.57609997e-01 2.87967363e-01 -7.60864389e-03 1.15463161e+02] [-2.87956733e-01 9.57640206e-01 2.48109458e-03 -1.65513827e+01] [ 8.00081756e-03 -1.84960732e-04 9.99967976e-01 1.86731428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16361786499999 meters 0.019966926864526023 Centerline is valid? [True, True] Translation: X:115.52, Y:-16.57, Z:1.87 [[ 9.57642409e-01 2.87856400e-01 -7.72722496e-03 1.15523681e+02] [-2.87845422e-01 9.57673565e-01 2.52124109e-03 -1.65698309e+01] [ 8.12591445e-03 -1.90201067e-04 9.99966966e-01 1.86724196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.223617865 meters 0.020236863557679834 Centerline is valid? [True, True] Translation: X:115.58, Y:-16.59, Z:1.87 [[ 9.57747670e-01 2.87479975e-01 -8.64084501e-03 1.15583316e+02] [-2.87466202e-01 9.57786623e-01 2.82259178e-03 -1.65906234e+01] [ 9.08752438e-03 -2.19379804e-04 9.99958684e-01 1.86769393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.283617865 meters 0.02009533646649046 Centerline is valid? [True, True] Translation: X:115.64, Y:-16.61, Z:1.87 [[ 9.57513839e-01 2.88204313e-01 -1.02723880e-02 1.15642498e+02] [-2.88184843e-01 9.57568905e-01 3.35974434e-03 -1.66086946e+01] [ 1.08048121e-02 -2.56655185e-04 9.99941593e-01 1.86673307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34361786499998 meters 0.020032102068419027 Centerline is valid? [True, True] Translation: X:115.70, Y:-16.63, Z:1.87 [[ 9.57129260e-01 2.89451529e-01 -1.10178143e-02 1.15702088e+02] [-2.89429176e-01 9.57192636e-01 3.60682042e-03 -1.66274255e+01] [ 1.15901704e-02 -2.63316443e-04 9.99932797e-01 1.86741396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40361786499999 meters 0.019923067787635872 Centerline is valid? [True, True] Translation: X:115.76, Y:-16.65, Z:1.87 [[ 9.56343384e-01 2.92029382e-01 -1.12326113e-02 1.15761304e+02] [-2.92006290e-01 9.56409317e-01 3.68023087e-03 -1.66467566e+01] [ 1.18177097e-02 -2.39571280e-04 9.99930140e-01 1.86939084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46361786499999 meters 0.020076094403164036 Centerline is valid? [True, True] Translation: X:115.82, Y:-16.67, Z:1.87 [[ 9.55907119e-01 2.93417077e-01 -1.21654748e-02 1.15820520e+02] [-2.93390056e-01 9.55984497e-01 3.98943793e-03 -1.66664675e+01] [ 1.28005745e-02 -2.44302770e-04 9.99918039e-01 1.86971844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52361786499999 meters 0.020143612336972618 Centerline is valid? [True, True] Translation: X:115.88, Y:-16.69, Z:1.87 [[ 9.55753493e-01 2.93856821e-01 -1.35436326e-02 1.15879903e+02] [-2.93823320e-01 9.55849411e-01 4.44530213e-03 -1.66871263e+01] [ 1.42519556e-02 -2.69177948e-04 9.99898399e-01 1.87041051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.583617865 meters 0.020526041653461537 Centerline is valid? [True, True] Translation: X:115.94, Y:-16.71, Z:1.87 [[ 9.55591439e-01 2.94309899e-01 -1.50560538e-02 1.15937022e+02] [-2.94268474e-01 9.55709995e-01 4.94669804e-03 -1.67083157e+01] [ 1.58450833e-02 -2.96500329e-04 9.99874415e-01 1.87102110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.643617865 meters 0.01999506299615886 Centerline is valid? [True, True] Translation: X:116.00, Y:-16.73, Z:1.87 [[ 9.55511086e-01 2.94521560e-01 -1.59879697e-02 1.15997027e+02] [-2.94474834e-01 9.55644784e-01 5.25546008e-03 -1.67272779e+01] [ 1.68266662e-02 -3.13595646e-04 9.99858372e-01 1.87153767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70361786499998 meters 0.01965759922041522 Centerline is valid? [True, True] Translation: X:116.06, Y:-16.75, Z:1.87 [[ 9.55238314e-01 2.95310835e-01 -1.76429427e-02 1.16056430e+02] [-2.95253961e-01 9.55401171e-01 5.80527842e-03 -1.67477028e+01] [ 1.85704497e-02 -3.36275659e-04 9.99827498e-01 1.87289807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76361786499999 meters 0.01984261851655038 Centerline is valid? [True, True] Translation: X:116.11, Y:-16.77, Z:1.87 [[ 9.54870124e-01 2.96458330e-01 -1.83167748e-02 1.16114381e+02] [-2.96397129e-01 9.55045731e-01 6.03264566e-03 -1.67683913e+01] [ 1.92817857e-02 -3.31353634e-04 9.99814034e-01 1.87299333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82361786499999 meters 0.019855403652237685 Centerline is valid? [True, True] Translation: X:116.17, Y:-16.79, Z:1.87 [[ 9.54658110e-01 2.97072067e-01 -1.93927861e-02 1.16174049e+02] [-2.97003483e-01 9.54854999e-01 6.39227390e-03 -1.67889474e+01] [ 2.04162648e-02 -3.42711106e-04 9.99791508e-01 1.87355272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88361786499999 meters 0.020223154353222427 Centerline is valid? [True, True] Translation: X:116.23, Y:-16.81, Z:1.87 [[ 9.54844144e-01 2.96487890e-01 -1.91726634e-02 1.16231837e+02] [-2.96420625e-01 9.55036546e-01 6.32527493e-03 -1.68109992e+01] [ 2.01859616e-02 -3.56478861e-04 9.99796179e-01 1.87477200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.943617865 meters 0.020482229582279056 Centerline is valid? [True, True] Translation: X:116.29, Y:-16.83, Z:1.88 [[ 9.55072385e-01 2.95759921e-01 -1.90475432e-02 1.16289512e+02] [-2.95693289e-01 9.55262231e-01 6.28885449e-03 -1.68328351e+01] [ 2.00553897e-02 -3.74080563e-04 9.99798800e-01 1.87585202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.003617865 meters 0.020085888244367772 Centerline is valid? [True, True] Translation: X:116.35, Y:-16.85, Z:1.88 [[ 9.54427685e-01 2.97836975e-01 -1.89981863e-02 1.16348759e+02] [-2.97771006e-01 9.54616690e-01 6.27722029e-03 -1.68526808e+01] [ 2.00055740e-02 -3.34043774e-04 9.99799813e-01 1.87644559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.063617865 meters 0.020517057619143853 Centerline is valid? [True, True] Translation: X:116.41, Y:-16.87, Z:1.88 [[ 9.53842336e-01 2.99725565e-01 -1.86918222e-02 1.16405817e+02] [-2.99661974e-01 9.54025418e-01 6.18080480e-03 -1.68742747e+01] [ 1.96850187e-02 -2.94284944e-04 9.99806188e-01 1.87651569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12361786499999 meters 0.020753576260120577 Centerline is valid? [True, True] Translation: X:116.46, Y:-16.90, Z:1.88 [[ 9.53672564e-01 3.00215765e-01 -1.94713772e-02 1.16463423e+02] [-3.00146759e-01 9.53871272e-01 6.44355639e-03 -1.68970467e+01] [ 2.05076445e-02 -3.00772203e-04 9.99789651e-01 1.87613153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18361786499999 meters 0.020201560142493014 Centerline is valid? [True, True] Translation: X:116.52, Y:-16.92, Z:1.88 [[ 9.53533858e-01 3.00648430e-01 -1.95883566e-02 1.16523912e+02] [-3.00578572e-01 9.53734991e-01 6.48765970e-03 -1.69155536e+01] [ 2.06326059e-02 -2.98362910e-04 9.99787081e-01 1.87842799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24361786499999 meters 0.020299990059360416 Centerline is valid? [True, True] Translation: X:116.58, Y:-16.93, Z:1.88 [[ 9.53360523e-01 3.01288538e-01 -1.81364490e-02 1.16583446e+02] [-3.01228672e-01 9.53532981e-01 6.01180895e-03 -1.69345702e+01] [ 1.91049914e-02 -2.68202879e-04 9.99817447e-01 1.87975039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30361786499999 meters 0.020834613164980597 Centerline is valid? [True, True] Translation: X:116.64, Y:-16.96, Z:1.88 [[ 9.53466206e-01 3.00953685e-01 -1.81403669e-02 1.16641377e+02] [-3.00893642e-01 9.53638716e-01 6.01788117e-03 -1.69556024e+01] [ 1.91104597e-02 -2.79525282e-04 9.99817339e-01 1.88014812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.363617865 meters 0.020750173427185416 Centerline is valid? [True, True] Translation: X:116.70, Y:-16.97, Z:1.88 [[ 9.54189182e-01 2.98710522e-01 -1.71764276e-02 1.16700603e+02] [-2.98656246e-01 9.54343715e-01 5.70259864e-03 -1.69740363e+01] [ 1.80956419e-02 -3.11510556e-04 9.99836212e-01 1.88175295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.423617865 meters 0.021660262636674966 Centerline is valid? [True, True] Translation: X:116.76, Y:-16.99, Z:1.88 [[ 9.55432275e-01 2.94771115e-01 -1.60983839e-02 1.16759623e+02] [-2.94722814e-01 9.55567819e-01 5.34854656e-03 -1.69945478e+01] [ 1.69596946e-02 -3.65613004e-04 9.99856107e-01 1.88285504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48361786499999 meters 0.022393491013540722 Centerline is valid? [True, True] Translation: X:116.82, Y:-17.01, Z:1.88 [[ 9.56212779e-01 2.92199044e-01 -1.66384966e-02 1.16818262e+02] [-2.92147029e-01 9.56357432e-01 5.52957917e-03 -1.70148163e+01] [ 1.75280876e-02 -4.26566907e-04 9.99846280e-01 1.88316020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54361786499999 meters 0.022955834128329366 Centerline is valid? [True, True] Translation: X:116.88, Y:-17.03, Z:1.88 [[ 9.56534869e-01 2.91157795e-01 -1.63762973e-02 1.16876025e+02] [-2.91107183e-01 9.56674941e-01 5.44664830e-03 -1.70339502e+01] [ 1.72526273e-02 -4.42651259e-04 9.99851064e-01 1.88383474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60361786499999 meters 0.022328794166123767 Centerline is valid? [True, True] Translation: X:116.94, Y:-17.05, Z:1.88 [[ 9.55882012e-01 2.93233095e-01 -1.74335888e-02 1.16936136e+02] [-2.93175998e-01 9.56040879e-01 5.80276169e-03 -1.70503363e+01] [ 1.83687853e-02 -4.35645732e-04 9.99831185e-01 1.88283158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66361786499999 meters 0.022159736084384242 Centerline is valid? [True, True] Translation: X:116.99, Y:-17.07, Z:1.88 [[ 9.55065893e-01 2.95883370e-01 -1.73830610e-02 1.16994806e+02] [-2.95826959e-01 9.55223995e-01 5.79044550e-03 -1.70696496e+01] [ 1.83180135e-02 -3.87878929e-04 9.99832136e-01 1.88336505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.723617865 meters 0.021325545250924765 Centerline is valid? [True, True] Translation: X:117.05, Y:-17.09, Z:1.88 [[ 9.53733580e-01 3.00154665e-01 -1.73042160e-02 1.17052915e+02] [-3.00099395e-01 9.53890498e-01 5.76807990e-03 -1.70867166e+01] [ 1.82376433e-02 -3.08226725e-04 9.99833633e-01 1.88394981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.783617865 meters 0.020144256461060127 Centerline is valid? [True, True] Translation: X:117.11, Y:-17.10, Z:1.89 [[ 9.52618325e-01 3.03723328e-01 -1.64458524e-02 1.17112883e+02] [-3.03673927e-01 9.52760247e-01 5.48257581e-03 -1.71033295e+01] [ 1.73341406e-02 -2.28625609e-04 9.99849726e-01 1.88558029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84361786499998 meters 0.02010169979922624 Centerline is valid? [True, True] Translation: X:117.17, Y:-17.12, Z:1.89 [[ 9.51903201e-01 3.06013882e-01 -1.53557842e-02 1.17171062e+02] [-3.05971049e-01 9.52027033e-01 5.12301625e-03 -1.71236783e+01] [ 1.61868358e-02 -1.78190172e-04 9.99868969e-01 1.88736842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90361786499999 meters 0.019904464334997155 Centerline is valid? [True, True] Translation: X:117.23, Y:-17.15, Z:1.89 [[ 9.51636235e-01 3.06900980e-01 -1.41514632e-02 1.17229833e+02] [-3.06864650e-01 9.51741438e-01 4.72462325e-03 -1.71460688e+01] [ 1.49185254e-02 -1.53538890e-04 9.99888701e-01 1.88904816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96361786499999 meters 0.02017252209667638 Centerline is valid? [True, True] Translation: X:117.29, Y:-17.17, Z:1.89 [[ 9.52156281e-01 3.05312138e-01 -1.35246059e-02 1.17287604e+02] [-3.05278738e-01 9.52252313e-01 4.51928230e-03 -1.71689641e+01] [ 1.42586290e-02 -1.74288410e-04 9.99898325e-01 1.88926505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02361786499999 meters 0.020189083156854554 Centerline is valid? [True, True] Translation: X:117.35, Y:-17.19, Z:1.89 [[ 9.52099946e-01 3.05558614e-01 -1.18163722e-02 1.17347834e+02] [-3.05533107e-01 9.52173257e-01 3.95096728e-03 -1.71883860e+01] [ 1.24584857e-02 -1.51422833e-04 9.99922379e-01 1.89073910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.083617865 meters 0.020315454155463448 Centerline is valid? [True, True] Translation: X:117.41, Y:-17.21, Z:1.89 [[ 9.52067973e-01 3.05656265e-01 -1.18668787e-02 1.17405817e+02] [-3.05630501e-01 9.52141914e-01 3.97155089e-03 -1.72090494e+01] [ 1.25128820e-02 -1.54306341e-04 9.99921699e-01 1.89140226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.143617865 meters 0.02068536725639066 Centerline is valid? [True, True] Translation: X:117.46, Y:-17.23, Z:1.89 [[ 9.52416088e-01 3.04562288e-01 -1.20585068e-02 1.17463605e+02] [-3.04535551e-01 9.52492405e-01 4.03927112e-03 -1.72286233e+01] [ 1.27158458e-02 -1.74822778e-04 9.99919135e-01 1.89074667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20361786499998 meters 0.020296995507626883 Centerline is valid? [True, True] Translation: X:117.52, Y:-17.25, Z:1.89 [[ 9.52523128e-01 3.04240580e-01 -1.17201116e-02 1.17524039e+02] [-3.04215269e-01 9.52595212e-01 3.92832578e-03 -1.72463166e+01] [ 1.23596783e-02 -1.76384253e-04 9.99923601e-01 1.89120709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26361786499999 meters 0.020569716481278005 Centerline is valid? [True, True] Translation: X:117.58, Y:-17.26, Z:1.89 [[ 9.53311491e-01 3.01727293e-01 -1.25635214e-02 1.17583690e+02] [-3.01697933e-01 9.53394246e-01 4.21531977e-03 -1.72641861e+01] [ 1.32498660e-02 -2.28124335e-04 9.99912191e-01 1.89035182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32361786499999 meters 0.02109557147010133 Centerline is valid? [True, True] Translation: X:117.64, Y:-17.29, Z:1.89 [[ 9.54130611e-01 2.99079954e-01 -1.36366255e-02 1.17641452e+02] [-2.99045035e-01 9.54228010e-01 4.57945565e-03 -1.72854487e+01] [ 1.43820734e-02 -2.91433665e-04 9.99896530e-01 1.89075403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38361786499999 meters 0.022126548535493493 Centerline is valid? [True, True] Translation: X:117.70, Y:-17.31, Z:1.89 [[ 9.55593283e-01 2.94353987e-01 -1.40431027e-02 1.17698974e+02] [-2.94316386e-01 9.55696389e-01 4.71979940e-03 -1.73076226e+01] [ 1.48102343e-02 -3.77093371e-04 9.99890251e-01 1.89123735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.443617865 meters 0.024383252249018918 Centerline is valid? [True, True] Translation: X:117.76, Y:-17.33, Z:1.89 [[ 9.56635248e-01 2.90988118e-01 -1.32256654e-02 1.17755406e+02] [-2.90954441e-01 9.56726582e-01 4.44539049e-03 -1.73300317e+01] [ 1.39469014e-02 -4.04551155e-04 9.99902655e-01 1.89241121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.503617865 meters 0.02430585787725859 Centerline is valid? [True, True] Translation: X:117.81, Y:-17.35, Z:1.89 [[ 9.57175908e-01 2.89192608e-01 -1.34876406e-02 1.17814901e+02] [-2.89157383e-01 9.57270829e-01 4.53505273e-03 -1.73482708e+01] [ 1.42228287e-02 -4.40792338e-04 9.99898753e-01 1.89348336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.563617865 meters 0.023605618117706027 Centerline is valid? [True, True] Translation: X:117.87, Y:-17.37, Z:1.90 [[ 9.58278450e-01 2.85587987e-01 -1.19127623e-02 1.17874110e+02] [-2.85560188e-01 9.58352392e-01 4.00882894e-03 -1.73653993e+01] [ 1.25614977e-02 -4.39763724e-04 9.99921005e-01 1.89581931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62361786499999 meters 0.025219807994584974 Centerline is valid? [True, True] Translation: X:117.93, Y:-17.38, Z:1.90 [[ 9.59287758e-01 2.82273902e-01 -9.40438383e-03 1.17931038e+02] [-2.82256414e-01 9.59333778e-01 3.16517922e-03 -1.73846264e+01] [ 9.91539056e-03 -3.81870016e-04 9.99950768e-01 1.89828795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68361786499999 meters 0.02412154510917426 Centerline is valid? [True, True] Translation: X:117.99, Y:-17.40, Z:1.90 [[ 9.59206689e-01 2.82574608e-01 -8.60917791e-03 1.17992137e+02] [-2.82559983e-01 9.59245262e-01 2.89552748e-03 -1.73997857e+01] [ 9.07651566e-03 -3.44800161e-04 9.99958748e-01 1.89910930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74361786499999 meters 0.024369770939307308 Centerline is valid? [True, True] Translation: X:118.05, Y:-17.41, Z:1.90 [[ 9.58475938e-01 2.85036022e-01 -8.85107336e-03 1.18050799e+02] [-2.85020624e-01 9.58516747e-01 2.98158540e-03 -1.74144056e+01] [ 9.33376128e-03 -3.35039412e-04 9.99956383e-01 1.90050463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80361786499999 meters 0.024091844187127703 Centerline is valid? [True, True] Translation: X:118.11, Y:-17.43, Z:1.90 [[ 9.57688919e-01 2.87651440e-01 -9.41186425e-03 1.18110761e+02] [-2.87634155e-01 9.57735110e-01 3.17058664e-03 -1.74293891e+01] [ 9.92609665e-03 -3.29262078e-04 9.99950681e-01 1.90073933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.863617865 meters 0.02348305911718651 Centerline is valid? [True, True] Translation: X:118.17, Y:-17.45, Z:1.90 [[ 9.57293967e-01 2.88922020e-01 -1.05984819e-02 1.18171536e+02] [-2.88900176e-01 9.57352568e-01 3.57053956e-03 -1.74452373e+01] [ 1.11780913e-02 -3.56152712e-04 9.99937460e-01 1.90027470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.923617865 meters 0.023311813836253824 Centerline is valid? [True, True] Translation: X:118.23, Y:-17.46, Z:1.90 [[ 9.56921434e-01 2.90142548e-01 -1.08936399e-02 1.18231559e+02] [-2.90119546e-01 9.56983374e-01 3.67033889e-03 -1.74607043e+01] [ 1.14899537e-02 -3.51768094e-04 9.99933926e-01 1.90079791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98361786499999 meters 0.022849808683190087 Centerline is valid? [True, True] Translation: X:118.29, Y:-17.48, Z:1.90 [[ 9.56455149e-01 2.91701881e-01 -1.01765048e-02 1.18291977e+02] [-2.91681870e-01 9.56509234e-01 3.43112689e-03 -1.74758080e+01] [ 1.07347869e-02 -3.13417040e-04 9.99942331e-01 1.90239207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04361786499999 meters 0.021902284449490265 Centerline is valid? [True, True] Translation: X:118.35, Y:-17.49, Z:1.90 [[ 9.56118420e-01 2.92804936e-01 -1.01408627e-02 1.18352714e+02] [-2.92785099e-01 9.56172149e-01 3.42172567e-03 -1.74908254e+01] [ 1.06983087e-02 -3.02481443e-04 9.99942726e-01 1.90356120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10361786499999 meters 0.021540886585817636 Centerline is valid? [True, True] Translation: X:118.41, Y:-17.50, Z:1.90 [[ 9.55660978e-01 2.94311484e-01 -9.63565926e-03 1.18413722e+02] [-2.94293626e-01 9.55709514e-01 3.25366744e-03 -1.75042438e+01] [ 1.01664829e-02 -2.73689900e-04 9.99948283e-01 1.90474056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16361786499999 meters 0.021950235340141955 Centerline is valid? [True, True] Translation: X:118.47, Y:-17.52, Z:1.91 [[ 9.55588192e-01 2.94580348e-01 -8.58055776e-03 1.18473688e+02] [-2.94566181e-01 9.55626684e-01 2.89918249e-03 -1.75203651e+01] [ 9.05385214e-03 -2.42882426e-04 9.99958984e-01 1.90632388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.223617865 meters 0.022000840360250764 Centerline is valid? [True, True] Translation: X:118.53, Y:-17.54, Z:1.91 [[ 9.55561510e-01 2.94658090e-01 -8.87752490e-03 1.18533918e+02] [-2.94642904e-01 9.55602714e-01 3.00212303e-03 -1.75388463e+01] [ 9.36798672e-03 -2.53013496e-04 9.99956087e-01 1.90689201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.283617865 meters 0.022352407397284942 Centerline is valid? [True, True] Translation: X:118.59, Y:-17.56, Z:1.91 [[ 9.55820510e-01 2.93815777e-01 -8.91305694e-03 1.18593924e+02] [-2.93800405e-01 9.55862029e-01 3.01713785e-03 -1.75554708e+01] [ 9.40613539e-03 -2.65182498e-04 9.99955726e-01 1.90719207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34361786499998 meters 0.022462772442447734 Centerline is valid? [True, True] Translation: X:118.65, Y:-17.57, Z:1.91 [[ 9.55840744e-01 2.93782449e-01 -7.76825189e-03 1.18654176e+02] [-2.93770758e-01 9.55872282e-01 2.63116871e-03 -1.75726315e+01] [ 8.19844784e-03 -2.32893007e-04 9.99966365e-01 1.90823197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40361786499999 meters 0.022368759461242116 Centerline is valid? [True, True] Translation: X:118.71, Y:-17.59, Z:1.91 [[ 9.55406504e-01 2.95179307e-01 -8.22125163e-03 1.18714810e+02] [-2.95166244e-01 9.55441846e-01 2.78702163e-03 -1.75882685e+01] [ 8.67759894e-03 -2.36102627e-04 9.99962321e-01 1.90886825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46361786499999 meters 0.02136229150151488 Centerline is valid? [True, True] Translation: X:118.78, Y:-17.60, Z:1.91 [[ 9.54183292e-01 2.99066132e-01 -9.67950663e-03 1.18775304e+02] [-2.99048178e-01 9.54232357e-01 3.28584871e-03 -1.76009322e+01] [ 1.02191845e-02 -2.40663125e-04 9.99947754e-01 1.90740064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52361786499999 meters 0.020877712579267287 Centerline is valid? [True, True] Translation: X:118.83, Y:-17.62, Z:1.91 [[ 9.53004204e-01 3.02775420e-01 -1.04896447e-02 1.18834500e+02] [-3.02754553e-01 9.53061907e-01 3.56131216e-03 -1.76168956e+01] [ 1.10755586e-02 -2.18157750e-04 9.99938640e-01 1.90783379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.583617865 meters 0.019685750503639556 Centerline is valid? [True, True] Translation: X:118.90, Y:-17.63, Z:1.91 [[ 9.51288664e-01 3.08120272e-01 -1.05723956e-02 1.18895317e+02] [-3.08099400e-01 9.51347399e-01 3.58971994e-03 -1.76301975e+01] [ 1.11640865e-02 -1.57511137e-04 9.99937667e-01 1.90839055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.643617865 meters 0.019210754060117123 Centerline is valid? [True, True] Translation: X:118.96, Y:-17.65, Z:1.91 [[ 9.49829490e-01 3.12576054e-01 -1.09613277e-02 1.18955081e+02] [-3.12553917e-01 9.49892730e-01 3.72159198e-03 -1.76455222e+01] [ 1.15753660e-02 -1.08871908e-04 9.99932997e-01 1.90940592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70361786499998 meters 0.019012529105354604 Centerline is valid? [True, True] Translation: X:119.01, Y:-17.66, Z:1.91 [[ 9.49471184e-01 3.13622170e-01 -1.20667101e-02 1.19014539e+02] [-3.13595383e-01 9.49547851e-01 4.10045294e-03 -1.76643366e+01] [ 1.27439116e-02 -1.09197329e-04 9.99918787e-01 1.90945485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76361786499999 meters 0.019240820591428388 Centerline is valid? [True, True] Translation: X:119.07, Y:-17.69, Z:1.91 [[ 9.50430151e-01 3.10698493e-01 -1.22054640e-02 1.19072404e+02] [-3.10670802e-01 9.50508507e-01 4.15087415e-03 -1.76855638e+01] [ 1.28910677e-02 -1.53234643e-04 9.99916895e-01 1.90963741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82361786499999 meters 0.02007763725050444 Centerline is valid? [True, True] Translation: X:119.13, Y:-17.71, Z:1.91 [[ 9.51886517e-01 3.06184893e-01 -1.27620519e-02 1.19128664e+02] [-3.06154167e-01 9.51972037e-01 4.34351418e-03 -1.77095887e+01] [ 1.34790349e-02 -2.27377225e-04 9.99909128e-01 1.91099137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88361786499999 meters 0.021754435568492353 Centerline is valid? [True, True] Translation: X:119.18, Y:-17.74, Z:1.91 [[ 9.54325994e-01 2.98488171e-01 -1.29115759e-02 1.19183729e+02] [-2.98455966e-01 9.54413272e-01 4.39809260e-03 -1.77367549e+01] [ 1.36357580e-02 -3.43677247e-04 9.99906970e-01 1.91267734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.943617865 meters 0.023292346200516564 Centerline is valid? [True, True] Translation: X:119.24, Y:-17.76, Z:1.91 [[ 9.55860774e-01 2.93556190e-01 -1.24476241e-02 1.19239767e+02] [-2.93525837e-01 9.55941736e-01 4.24023091e-03 -1.77620650e+01] [ 1.31439495e-02 -3.99371110e-04 9.99913535e-01 1.91490403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.003617865 meters 0.02209051217139972 Centerline is valid? [True, True] Translation: X:119.30, Y:-17.78, Z:1.92 [[ 9.56419850e-01 2.91766299e-01 -1.15541155e-02 1.19298877e+02] [-2.91740022e-01 9.56489557e-01 3.93541412e-03 -1.77809490e+01] [ 1.21996120e-02 -3.93110268e-04 9.99925505e-01 1.91652176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.063617865 meters 0.02265977461097029 Centerline is valid? [True, True] Translation: X:119.36, Y:-17.80, Z:1.92 [[ 9.56274190e-01 2.92238071e-01 -1.16868787e-02 1.19356360e+02] [-2.92211176e-01 9.56345520e-01 3.98429416e-03 -1.78022978e+01] [ 1.23410565e-02 -3.95041116e-04 9.99923768e-01 1.91786833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12361786499999 meters 0.02465068847389911 Centerline is valid? [True, True] Translation: X:119.41, Y:-17.83, Z:1.92 [[ 9.55447041e-01 2.94913457e-01 -1.21245383e-02 1.19413607e+02] [-2.94884705e-01 9.55523894e-01 4.13511767e-03 -1.78250193e+01] [ 1.28047879e-02 -3.75545057e-04 9.99917945e-01 1.91902112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18361786499999 meters 0.02196716368703334 Centerline is valid? [True, True] Translation: X:119.47, Y:-17.84, Z:1.92 [[ 9.54558363e-01 2.97742988e-01 -1.29400323e-02 1.19474313e+02] [-2.97710447e-01 9.54645997e-01 4.41692973e-03 -1.78403512e+01] [ 1.36682599e-02 -3.63834411e-04 9.99906519e-01 1.91933133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24361786499999 meters 0.020717131120026593 Centerline is valid? [True, True] Translation: X:119.53, Y:-17.86, Z:1.92 [[ 9.53195159e-01 3.02026289e-01 -1.41106331e-02 1.19533811e+02] [-3.01987998e-01 9.53299538e-01 4.82074887e-03 -1.78570401e+01] [ 1.49076529e-02 -3.33872637e-04 9.99888819e-01 1.91977247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30361786499999 meters 0.020737684310049506 Centerline is valid? [True, True] Translation: X:119.59, Y:-17.88, Z:1.92 [[ 9.52438305e-01 3.04351960e-01 -1.52039091e-02 1.19591851e+02] [-3.04307786e-01 9.52559594e-01 5.19521048e-03 -1.78760391e+01] [ 1.60638020e-02 -3.21449548e-04 9.99870917e-01 1.91982529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.363617865 meters 0.020311093261003225 Centerline is valid? [True, True] Translation: X:119.65, Y:-17.90, Z:1.92 [[ 9.52631471e-01 3.03733170e-01 -1.54738868e-02 1.19650882e+02] [-3.03687269e-01 9.52757075e-01 5.29128018e-03 -1.78965634e+01] [ 1.63499925e-02 -3.41417585e-04 9.99866272e-01 1.92012815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.423617865 meters 0.020934268549480276 Centerline is valid? [True, True] Translation: X:119.71, Y:-17.92, Z:1.92 [[ 9.53216246e-01 3.01854181e-01 -1.62123797e-02 1.19708651e+02] [-3.01803446e-01 9.53354025e-01 5.54826720e-03 -1.79204117e+01] [ 1.71309051e-02 -3.95746380e-04 9.99853177e-01 1.92152641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48361786499999 meters 0.022319026911287163 Centerline is valid? [True, True] Translation: X:119.77, Y:-17.95, Z:1.92 [[ 9.54459892e-01 2.97940069e-01 -1.54282243e-02 1.19765996e+02] [-2.97893550e-01 9.54584473e-01 5.28368580e-03 -1.79455984e+01] [ 1.63017651e-02 -4.47097670e-04 9.99867017e-01 1.92331981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54361786499999 meters 0.024219570381178647 Centerline is valid? [True, True] Translation: X:119.82, Y:-17.97, Z:1.93 [[ 9.55093826e-01 2.95963677e-01 -1.41874802e-02 1.19821665e+02] [-2.95924107e-01 9.55199092e-01 4.85976272e-03 -1.79701558e+01] [ 1.49901814e-02 -4.43111970e-04 9.99887543e-01 1.92537090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60361786499999 meters 0.02517687030233629 Centerline is valid? [True, True] Translation: X:119.88, Y:-17.99, Z:1.93 [[ 9.55303087e-01 2.95331434e-01 -1.32421930e-02 1.19877717e+02] [-2.95296897e-01 9.55394769e-01 4.53623922e-03 -1.79940619e+01] [ 1.39912160e-02 -4.23104823e-04 9.99902029e-01 1.92731704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66361786499999 meters 0.024594614133182972 Centerline is valid? [True, True] Translation: X:119.94, Y:-18.02, Z:1.93 [[ 9.54866333e-01 2.96728934e-01 -1.34991204e-02 1.19936097e+02] [-2.96693160e-01 9.54961659e-01 4.62590926e-03 -1.80164734e+01] [ 1.42637835e-02 -4.12028336e-04 9.99898182e-01 1.92783629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.723617865 meters 0.021610119677329835 Centerline is valid? [True, True] Translation: X:120.00, Y:-18.03, Z:1.93 [[ 9.54293417e-01 2.98511952e-01 -1.46522940e-02 1.19995940e+02] [-2.98469953e-01 9.54405803e-01 5.02499346e-03 -1.80324788e+01] [ 1.54842550e-02 -4.22048686e-04 9.99880023e-01 1.92679443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.783617865 meters 0.0219878766417067 Centerline is valid? [True, True] Translation: X:120.05, Y:-18.06, Z:1.93 [[ 9.53447390e-01 3.01139925e-01 -1.59003071e-02 1.20052328e+02] [-3.01090754e-01 9.53579872e-01 5.45761855e-03 -1.80571476e+01] [ 1.68057196e-02 -4.16116721e-04 9.99858687e-01 1.92664025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84361786499998 meters 0.021789935147355298 Centerline is valid? [True, True] Translation: X:120.11, Y:-18.08, Z:1.93 [[ 9.52966013e-01 3.02626018e-01 -1.65309426e-02 1.20109140e+02] [-3.02573017e-01 9.53109294e-01 5.67832611e-03 -1.80818979e+01] [ 1.74742042e-02 -4.09434625e-04 9.99847231e-01 1.92721696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90361786499999 meters 0.02111153752533619 Centerline is valid? [True, True] Translation: X:120.17, Y:-18.10, Z:1.93 [[ 9.52643625e-01 3.03644858e-01 -1.64293458e-02 1.20167794e+02] [-3.03592585e-01 9.52785205e-01 5.64768078e-03 -1.81035559e+01] [ 1.73685268e-02 -3.92399540e-04 9.99849079e-01 1.92880671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96361786499999 meters 0.021234066199772087 Centerline is valid? [True, True] Translation: X:120.23, Y:-18.13, Z:1.93 [[ 9.52356127e-01 3.04504878e-01 -1.71635467e-02 1.20225165e+02] [-3.04447880e-01 9.52510693e-01 5.90487024e-03 -1.81285143e+01] [ 1.81465235e-02 -3.98133959e-04 9.99835259e-01 1.92865843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02361786499999 meters 0.0216517342076156 Centerline is valid? [True, True] Translation: X:120.28, Y:-18.15, Z:1.93 [[ 9.52577353e-01 3.03791055e-01 -1.75323232e-02 1.20282952e+02] [-3.03731372e-01 9.52738587e-01 6.03650590e-03 -1.81526521e+01] [ 1.85375573e-02 -4.25122247e-04 9.99828074e-01 1.92903599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.083617865 meters 0.02232898354900414 Centerline is valid? [True, True] Translation: X:120.34, Y:-18.18, Z:1.93 [[ 9.53362757e-01 3.01344471e-01 -1.70576242e-02 1.20339333e+02] [-3.01287505e-01 9.53515230e-01 5.87748594e-03 -1.81800652e+01] [ 1.80358523e-02 -4.64127166e-04 9.99837233e-01 1.93077562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.143617865 meters 0.022770994532768072 Centerline is valid? [True, True] Translation: X:120.40, Y:-18.21, Z:1.93 [[ 9.53773323e-01 3.00092114e-01 -1.61607861e-02 1.20396299e+02] [-3.00040732e-01 9.53910114e-01 5.57252929e-03 -1.82057307e+01] [ 1.70882094e-02 -4.66035683e-04 9.99853877e-01 1.93353506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20361786499998 meters 0.023368094882960273 Centerline is valid? [True, True] Translation: X:120.45, Y:-18.23, Z:1.94 [[ 9.53637465e-01 3.00570925e-01 -1.52546623e-02 1.20452643e+02] [-3.00525144e-01 9.53759367e-01 5.26388858e-03 -1.82308934e+01] [ 1.61314489e-02 -4.35431775e-04 9.99869785e-01 1.93602346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26361786499999 meters 0.02165355563949075 Centerline is valid? [True, True] Translation: X:120.51, Y:-18.25, Z:1.94 [[ 9.52608642e-01 3.03829557e-01 -1.49791997e-02 1.20510320e+02] [-3.03785751e-01 9.52726329e-01 5.17295482e-03 -1.82522713e+01] [ 1.58427745e-02 -3.77334049e-04 9.99874424e-01 1.93806994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32361786499999 meters 0.021816207242847354 Centerline is valid? [True, True] Translation: X:120.57, Y:-18.28, Z:1.94 [[ 9.50971598e-01 3.08879058e-01 -1.57081709e-02 1.20565397e+02] [-3.08831561e-01 9.51101274e-01 5.42532556e-03 -1.82767582e+01] [ 1.66158308e-02 -3.08151581e-04 9.99861900e-01 1.93925722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38361786499999 meters 0.02123866398756336 Centerline is valid? [True, True] Translation: X:120.62, Y:-18.30, Z:1.94 [[ 9.49812596e-01 3.12411397e-01 -1.59734884e-02 1.20624006e+02] [-3.12362772e-01 9.49946870e-01 5.51748488e-03 -1.82980074e+01] [ 1.68976905e-02 -2.51053528e-04 9.99857192e-01 1.93991853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.443617865 meters 0.019868684800581776 Centerline is valid? [True, True] Translation: X:120.69, Y:-18.31, Z:1.94 [[ 9.47299449e-01 3.20012073e-01 -1.46978806e-02 1.20685086e+02] [-3.19971765e-01 9.47413458e-01 5.08020094e-03 -1.83104453e+01] [ 1.55506955e-02 -1.09564748e-04 9.99879075e-01 1.94267892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.503617865 meters 0.019583349658180493 Centerline is valid? [True, True] Translation: X:120.74, Y:-18.33, Z:1.94 [[ 9.46201592e-01 3.23184029e-01 -1.59571310e-02 1.20744304e+02] [-3.23136889e-01 9.46336134e-01 5.52017606e-03 -1.83300701e+01] [ 1.68848424e-02 -6.68617349e-05 9.99857439e-01 1.94316073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.563617865 meters 0.01965367396161876 Centerline is valid? [True, True] Translation: X:120.80, Y:-18.35, Z:1.94 [[ 9.46382035e-01 3.22646132e-01 -1.61405782e-02 1.20803486e+02] [-3.22597746e-01 9.46519660e-01 5.58815834e-03 -1.83526026e+01] [ 1.70803723e-02 -8.16185021e-05 9.99854116e-01 1.94453714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62361786499999 meters 0.019979514088694483 Centerline is valid? [True, True] Translation: X:120.86, Y:-18.37, Z:1.95 [[ 9.47693316e-01 3.18725528e-01 -1.70709328e-02 1.20861963e+02] [-3.18670667e-01 9.47847039e-01 5.91573951e-03 -1.83738966e+01] [ 1.80661303e-02 -1.66301236e-04 9.99836780e-01 1.94502488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68361786499999 meters 0.020398029187965974 Centerline is valid? [True, True] Translation: X:120.92, Y:-18.39, Z:1.94 [[ 9.49159843e-01 3.14232550e-01 -1.88015264e-02 1.20920740e+02] [-3.14165010e-01 9.49345998e-01 6.52089923e-03 -1.83949884e+01] [ 1.98982327e-02 -2.82593940e-04 9.99801971e-01 1.94414773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74361786499999 meters 0.022174721563881932 Centerline is valid? [True, True] Translation: X:120.98, Y:-18.42, Z:1.94 [[ 9.50587178e-01 3.09853644e-01 -1.93581361e-02 1.20978772e+02] [-3.09781044e-01 9.50784186e-01 6.71839444e-03 -1.84172522e+01] [ 2.04871287e-02 -3.89635993e-04 9.99790041e-01 1.94240939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80361786499999 meters 0.021582732923728386 Centerline is valid? [True, True] Translation: X:121.04, Y:-18.44, Z:1.95 [[ 9.51502524e-01 3.07009852e-01 -1.96951069e-02 1.21037107e+02] [-3.06934044e-01 9.51706225e-01 6.83774564e-03 -1.84375929e+01] [ 2.08432112e-02 -4.61033419e-04 9.99782650e-01 1.94651227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.863617865 meters 0.02243724229353384 Centerline is valid? [True, True] Translation: X:121.10, Y:-18.46, Z:1.95 [[ 9.51986136e-01 3.05509597e-01 -1.96540843e-02 1.21097019e+02] [-3.05433675e-01 9.52188867e-01 6.82874536e-03 -1.84551902e+01] [ 2.08006475e-02 -4.97851715e-04 9.99783519e-01 1.94516265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.923617865 meters 0.021897448418127748 Centerline is valid? [True, True] Translation: X:121.16, Y:-18.47, Z:1.95 [[ 9.51792523e-01 3.06164476e-01 -1.88230375e-02 1.21156491e+02] [-3.06094872e-01 9.51978516e-01 6.54481746e-03 -1.84720042e+01] [ 1.99229180e-02 -4.67673060e-04 9.99801410e-01 1.94713180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98361786499999 meters 0.021737723280825037 Centerline is valid? [True, True] Translation: X:121.22, Y:-18.49, Z:1.95 [[ 9.52121031e-01 3.05135885e-01 -1.89112128e-02 1.21215939e+02] [-3.05065324e-01 9.52308692e-01 6.58049240e-03 -1.84913639e+01] [ 2.00172567e-02 -4.96269930e-04 9.99799511e-01 1.94776234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04361786499999 meters 0.02325149973525815 Centerline is valid? [True, True] Translation: X:121.27, Y:-18.51, Z:1.95 [[ 9.52590744e-01 3.03658613e-01 -1.90347268e-02 1.21272734e+02] [-3.03586731e-01 9.52780751e-01 6.62849545e-03 -1.85137076e+01] [ 2.01487211e-02 -5.35552922e-04 9.99796850e-01 1.94764381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10361786499999 meters 0.022480347860617828 Centerline is valid? [True, True] Translation: X:121.33, Y:-18.53, Z:1.95 [[ 9.53018831e-01 3.02289671e-01 -1.93923473e-02 1.21332938e+02] [-3.02214678e-01 9.53215935e-01 6.75793989e-03 -1.85302307e+01] [ 2.05279498e-02 -5.79791996e-04 9.99789111e-01 1.94728076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16361786499999 meters 0.022584705325277555 Centerline is valid? [True, True] Translation: X:121.39, Y:-18.55, Z:1.95 [[ 9.52769592e-01 3.03128882e-01 -1.85198899e-02 1.21391388e+02] [-3.03060551e-01 9.52949415e-01 6.45865491e-03 -1.85501594e+01] [ 1.96063231e-02 -5.40961968e-04 9.99807631e-01 1.94823005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.223617865 meters 0.02199656451504511 Centerline is valid? [True, True] Translation: X:121.45, Y:-18.57, Z:1.95 [[ 9.52218136e-01 3.04811935e-01 -1.92433349e-02 1.21450355e+02] [-3.04738397e-01 9.52412412e-01 6.71619424e-03 -1.85696251e+01] [ 2.03747672e-02 -5.31098939e-04 9.99792272e-01 1.94890285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.283617865 meters 0.020982254754625142 Centerline is valid? [True, True] Translation: X:121.51, Y:-18.59, Z:1.95 [[ 9.51026568e-01 3.08436905e-01 -2.03750245e-02 1.21510532e+02] [-3.08355170e-01 9.51244679e-01 7.11684616e-03 -1.85865805e+01] [ 2.15767316e-02 -4.85565633e-04 9.99767077e-01 1.94799365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34361786499998 meters 0.021583866922864323 Centerline is valid? [True, True] Translation: X:121.57, Y:-18.61, Z:1.95 [[ 9.50226950e-01 3.10968602e-01 -1.91643388e-02 1.21568181e+02] [-3.10896707e-01 9.50420098e-01 6.69887177e-03 -1.86085195e+01] [ 2.02973116e-02 -4.07318670e-04 9.99793905e-01 1.94789344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40361786499999 meters 0.020547842977984756 Centerline is valid? [True, True] Translation: X:121.63, Y:-18.63, Z:1.95 [[ 9.50073461e-01 3.11462709e-01 -1.87456551e-02 1.21627445e+02] [-3.11393917e-01 9.50258295e-01 6.55755874e-03 -1.86282118e+01] [ 1.98556493e-02 -3.92879553e-04 9.99802780e-01 1.94953951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46361786499999 meters 0.020278293757819584 Centerline is valid? [True, True] Translation: X:121.69, Y:-18.65, Z:1.95 [[ 9.50103984e-01 3.11265786e-01 -2.03968196e-02 1.21685211e+02] [-3.11184156e-01 9.50322797e-01 7.14161427e-03 -1.86503427e+01] [ 2.16065028e-02 -4.38109086e-04 9.99766456e-01 1.94921140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52361786499999 meters 0.020116302588904976 Centerline is valid? [True, True] Translation: X:121.74, Y:-18.67, Z:1.95 [[ 9.49500480e-01 3.13040480e-01 -2.13189311e-02 1.21743955e+02] [-3.12951638e-01 9.49739691e-01 7.46935492e-03 -1.86722904e+01] [ 2.25856455e-02 -4.20361673e-04 9.99744823e-01 1.94835467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.583617865 meters 0.01949879500727445 Centerline is valid? [True, True] Translation: X:121.80, Y:-18.69, Z:1.95 [[ 9.48103862e-01 3.17295514e-01 -2.05578123e-02 1.21803727e+02] [-3.17213839e-01 9.48326663e-01 7.20554653e-03 -1.86899648e+01] [ 2.17818091e-02 -3.10383921e-04 9.99762700e-01 1.94927921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.643617865 meters 0.019038671623536788 Centerline is valid? [True, True] Translation: X:121.86, Y:-18.71, Z:1.95 [[ 9.46825729e-01 3.21075304e-01 -2.07771065e-02 1.21862433e+02] [-3.20992664e-01 9.47053639e-01 7.28793074e-03 -1.87083932e+01] [ 2.20170089e-02 -2.31101573e-04 9.99757570e-01 1.94989699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70361786499998 meters 0.01895383702618488 Centerline is valid? [True, True] Translation: X:121.92, Y:-18.73, Z:1.95 [[ 9.47152661e-01 3.20188147e-01 -1.95291315e-02 1.21921320e+02] [-3.20114844e-01 9.47353942e-01 6.85524971e-03 -1.87294710e+01] [ 2.06959694e-02 -2.41403128e-04 9.99785786e-01 1.95159556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76361786499999 meters 0.019421134191056927 Centerline is valid? [True, True] Translation: X:121.98, Y:-18.75, Z:1.95 [[ 9.48095794e-01 3.17415412e-01 -1.90216266e-02 1.21979068e+02] [-3.17345200e-01 9.48286542e-01 6.68265365e-03 -1.87525573e+01] [ 2.01591298e-02 -2.99373916e-04 9.99796739e-01 1.95313860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82361786499999 meters 0.020728431256863987 Centerline is valid? [True, True] Translation: X:122.04, Y:-18.78, Z:1.95 [[ 9.49993627e-01 3.11704387e-01 -1.87745210e-02 1.22035441e+02] [-3.11634774e-01 9.50179035e-01 6.60069664e-03 -1.87784170e+01] [ 1.98966224e-02 -4.19826141e-04 9.99801954e-01 1.95444947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88361786499999 meters 0.02125727595956078 Centerline is valid? [True, True] Translation: X:122.09, Y:-18.80, Z:1.96 [[ 9.51307390e-01 3.07719862e-01 -1.79648747e-02 1.22093086e+02] [-3.07655342e-01 9.51476879e-01 6.31977127e-03 -1.88013676e+01] [ 1.90378820e-02 -4.85055458e-04 9.99818645e-01 1.95616181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.943617865 meters 0.021030486649999038 Centerline is valid? [True, True] Translation: X:122.15, Y:-18.82, Z:1.96 [[ 9.51210278e-01 3.08034334e-01 -1.77160108e-02 1.22152901e+02] [-3.07971607e-01 9.51375123e-01 6.23419358e-03 -1.88221930e+01] [ 1.87749176e-02 -4.74000698e-04 9.99823623e-01 1.95699139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.003617865 meters 0.02139144529442361 Centerline is valid? [True, True] Translation: X:122.21, Y:-18.84, Z:1.96 [[ 9.50932134e-01 3.08887743e-01 -1.77887587e-02 1.22209799e+02] [-3.08824547e-01 9.51098390e-01 6.26514872e-03 -1.88435016e+01] [ 1.88540874e-02 -4.64125887e-04 9.99822138e-01 1.95739029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.063617865 meters 0.020681093861242422 Centerline is valid? [True, True] Translation: X:122.27, Y:-18.86, Z:1.96 [[ 9.50234699e-01 3.11001355e-01 -1.82256321e-02 1.22269230e+02] [-3.10935315e-01 9.50409368e-01 6.42367566e-03 -1.88621630e+01] [ 1.93195833e-02 -4.37006856e-04 9.99813264e-01 1.95802246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12361786499999 meters 0.020453134869275563 Centerline is valid? [True, True] Translation: X:122.33, Y:-18.88, Z:1.96 [[ 9.49182689e-01 3.14230590e-01 -1.76453827e-02 1.22327181e+02] [-3.14169166e-01 9.49346620e-01 6.22339677e-03 -1.88819456e+01] [ 1.87071660e-02 -3.63505311e-04 9.99824940e-01 1.95996579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18361786499999 meters 0.01988026658390686 Centerline is valid? [True, True] Translation: X:122.39, Y:-18.90, Z:1.96 [[ 9.48198931e-01 3.17239061e-01 -1.66782600e-02 1.22385291e+02] [-3.17184607e-01 9.48345556e-01 5.88480811e-03 -1.89007199e+01] [ 1.76836448e-02 -2.89881400e-04 9.99843590e-01 1.96263524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24361786499999 meters 0.018932176234846085 Centerline is valid? [True, True] Translation: X:122.44, Y:-18.92, Z:1.96 [[ 9.47902320e-01 3.18162326e-01 -1.59350374e-02 1.22444617e+02] [-3.18112687e-01 9.48036215e-01 5.62615411e-03 -1.89191755e+01] [ 1.68970228e-02 -2.63906982e-04 9.99857200e-01 1.96467791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30361786499999 meters 0.01880941519765074 Centerline is valid? [True, True] Translation: X:122.50, Y:-18.94, Z:1.97 [[ 9.47925616e-01 3.18118476e-01 -1.54162460e-02 1.22504290e+02] [-3.18071946e-01 9.48050931e-01 5.44702263e-03 -1.89395795e+01] [ 1.63481849e-02 -2.59896924e-04 9.99866326e-01 1.96554508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.363617865 meters 0.01885744071170568 Centerline is valid? [True, True] Translation: X:122.56, Y:-18.96, Z:1.97 [[ 9.48048789e-01 3.17730555e-01 -1.58363188e-02 1.22563706e+02] [-3.17681314e-01 9.48181004e-01 5.60054026e-03 -1.89612735e+01] [ 1.67951595e-02 -2.78682841e-04 9.99858913e-01 1.96589140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.423617865 meters 0.018924241780039014 Centerline is valid? [True, True] Translation: X:122.62, Y:-18.98, Z:1.97 [[ 9.48020455e-01 3.17771016e-01 -1.66972828e-02 1.22622695e+02] [-3.17716184e-01 9.48167439e-01 5.91046518e-03 -1.89825026e+01] [ 1.77099944e-02 -2.98244924e-04 9.99843121e-01 1.96619573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48361786499999 meters 0.018889535897610447 Centerline is valid? [True, True] Translation: X:122.68, Y:-19.00, Z:1.97 [[ 9.47580666e-01 3.19082499e-01 -1.66505226e-02 1.22681174e+02] [-3.19028087e-01 9.47726902e-01 5.89899293e-03 -1.90025709e+01] [ 1.76624136e-02 -2.77787281e-04 9.99843969e-01 1.96762753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54361786499999 meters 0.01885133651788793 Centerline is valid? [True, True] Translation: X:122.74, Y:-19.02, Z:1.97 [[ 9.47294988e-01 3.19939834e-01 -1.64531934e-02 1.22739806e+02] [-3.19886757e-01 9.47437826e-01 5.83343098e-03 -1.90224925e+01] [ 1.74547247e-02 -2.62821241e-04 9.99847620e-01 1.96903959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60361786499999 meters 0.01906699538721252 Centerline is valid? [True, True] Translation: X:122.80, Y:-19.04, Z:1.97 [[ 9.47360046e-01 3.19789218e-01 -1.56140957e-02 1.22798029e+02] [-3.19741332e-01 9.47488676e-01 5.53986973e-03 -1.90442091e+01] [ 1.65657695e-02 -2.55779496e-04 9.99862746e-01 1.97085711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66361786499999 meters 0.019448909570532642 Centerline is valid? [True, True] Translation: X:122.85, Y:-19.07, Z:1.97 [[ 9.47547800e-01 3.19297464e-01 -1.42230889e-02 1.22854751e+02] [-3.19257620e-01 9.47654510e-01 5.04997942e-03 -1.90657312e+01] [ 1.50910200e-02 -2.44267377e-04 9.99886094e-01 1.97280957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.723617865 meters 0.01872472012681428 Centerline is valid? [True, True] Translation: X:122.91, Y:-19.08, Z:1.97 [[ 9.47501811e-01 3.19424441e-01 -1.44341590e-02 1.22914243e+02] [-3.19383367e-01 9.47611716e-01 5.12837140e-03 -1.90849159e+01] [ 1.53161054e-02 -2.49110873e-04 9.99882671e-01 1.97433595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.783617865 meters 0.018886233673626414 Centerline is valid? [True, True] Translation: X:122.97, Y:-19.11, Z:1.97 [[ 9.47613013e-01 3.19077667e-01 -1.47993085e-02 1.22973329e+02] [-3.19034373e-01 9.47728533e-01 5.26279881e-03 -1.91053358e+01] [ 1.57049685e-02 -2.65608545e-04 9.99876634e-01 1.97498471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84361786499998 meters 0.019858599407647108 Centerline is valid? [True, True] Translation: X:123.03, Y:-19.13, Z:1.97 [[ 9.48644238e-01 3.16003556e-01 -1.46922754e-02 1.23030077e+02] [-3.15960446e-01 9.48757952e-01 5.22933440e-03 -1.91265568e+01] [ 1.55919014e-02 -3.18600073e-04 9.99878388e-01 1.97498031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90361786499999 meters 0.021745442370796054 Centerline is valid? [True, True] Translation: X:123.09, Y:-19.15, Z:1.98 [[ 9.50550010e-01 3.10219977e-01 -1.47731324e-02 1.23085977e+02] [-3.10175682e-01 9.50664711e-01 5.25867212e-03 -1.91481523e+01] [ 1.56756408e-02 -4.16364420e-04 9.99877043e-01 1.97594389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96361786499999 meters 0.0227514235589408 Centerline is valid? [True, True] Translation: X:123.14, Y:-19.17, Z:1.98 [[ 9.51996030e-01 3.05759758e-01 -1.46468295e-02 1.23143388e+02] [-3.05715670e-01 9.52108572e-01 5.21495881e-03 -1.91684562e+01] [ 1.55398965e-02 -4.86854797e-04 9.99879130e-01 1.97769878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02361786499999 meters 0.02247411816099676 Centerline is valid? [True, True] Translation: X:123.20, Y:-19.18, Z:1.98 [[ 9.53303860e-01 3.01668451e-01 -1.44185832e-02 1.23203249e+02] [-3.01625248e-01 9.53412738e-01 5.13438541e-03 -1.91838172e+01] [ 1.52957429e-02 -5.45620717e-04 9.99882864e-01 1.97885165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.083617865 meters 0.025171485685670004 Centerline is valid? [True, True] Translation: X:123.26, Y:-19.21, Z:1.98 [[ 9.53285639e-01 3.01734622e-01 -1.42375808e-02 1.23261697e+02] [-3.01692499e-01 9.53391802e-01 5.07028319e-03 -1.92053244e+01] [ 1.51038728e-02 -5.38056815e-04 9.99885785e-01 1.97998028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.143617865 meters 0.021726055982324747 Centerline is valid? [True, True] Translation: X:123.32, Y:-19.21, Z:1.98 [[ 9.52101215e-01 3.05427114e-01 -1.47497268e-02 1.23324678e+02] [-3.05382278e-01 9.52215326e-01 5.25707138e-03 -1.92127171e+01] [ 1.56505680e-02 -5.00958883e-04 9.99877397e-01 1.98080680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20361786499998 meters 0.021752137390794058 Centerline is valid? [True, True] Translation: X:123.38, Y:-19.22, Z:1.98 [[ 9.50134022e-01 3.11495666e-01 -1.46898387e-02 1.23383876e+02] [-3.11451903e-01 9.50247489e-01 5.23659058e-03 -1.92240089e+01] [ 1.55901576e-02 -4.00284659e-04 9.99878386e-01 1.98189511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26361786499999 meters 0.019321048600700292 Centerline is valid? [True, True] Translation: X:123.45, Y:-19.23, Z:1.98 [[ 9.48820967e-01 3.15467219e-01 -1.48056141e-02 1.23445533e+02] [-3.15423251e-01 9.48936415e-01 5.27757048e-03 -1.92338321e+01] [ 1.57144869e-02 -3.37434586e-04 9.99876463e-01 1.98224358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32361786499999 meters 0.018211526603382197 Centerline is valid? [True, True] Translation: X:123.51, Y:-19.24, Z:1.98 [[ 9.47067759e-01 3.20695905e-01 -1.47239791e-02 1.23507700e+02] [-3.20653043e-01 9.47182176e-01 5.24902641e-03 -1.92440006e+01] [ 1.56296319e-02 -2.49894971e-04 9.99877819e-01 1.98358064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38361786499999 meters 0.017469866819010298 Centerline is valid? [True, True] Translation: X:123.57, Y:-19.25, Z:1.99 [[ 9.45522826e-01 3.25287221e-01 -1.32215477e-02 1.23570061e+02] [-3.25253104e-01 9.45615249e-01 4.71372037e-03 -1.92537697e+01] [ 1.40358101e-02 -1.56580764e-04 9.99901481e-01 1.98538204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.443617865 meters 0.0173996662083774 Centerline is valid? [True, True] Translation: X:123.63, Y:-19.27, Z:1.99 [[ 9.44705898e-01 3.27671570e-01 -1.27321722e-02 1.23629256e+02] [-3.27640104e-01 9.44791685e-01 4.54255224e-03 -1.92689929e+01] [ 1.35177157e-02 -1.19805666e-04 9.99908624e-01 1.98675353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.503617865 meters 0.01699133389038231 Centerline is valid? [True, True] Translation: X:123.69, Y:-19.28, Z:1.99 [[ 9.44302517e-01 3.28811390e-01 -1.32599597e-02 1.23690920e+02] [-3.28777326e-01 9.44395604e-01 4.73420047e-03 -1.92809025e+01] [ 1.40793066e-02 -1.10943343e-04 9.99900875e-01 1.98585157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.563617865 meters 0.016861171403887567 Centerline is valid? [True, True] Translation: X:123.75, Y:-19.30, Z:1.99 [[ 9.44409278e-01 3.28505663e-01 -1.32342129e-02 1.23751692e+02] [-3.28471651e-01 9.44501993e-01 4.72849281e-03 -1.92974707e+01] [ 1.40530771e-02 -1.18568714e-04 9.99901244e-01 1.98589912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62361786499999 meters 0.01727541106592298 Centerline is valid? [True, True] Translation: X:123.81, Y:-19.31, Z:1.99 [[ 9.45839601e-01 3.24325647e-01 -1.41535742e-02 1.23812141e+02] [-3.24286205e-01 9.45945472e-01 5.06178675e-03 -1.93140106e+01] [ 1.50301767e-02 -1.97829512e-04 9.99887021e-01 1.98576025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68361786499999 meters 0.018459356788974562 Centerline is valid? [True, True] Translation: X:123.87, Y:-19.33, Z:1.99 [[ 9.48387652e-01 3.16803002e-01 -1.40256674e-02 1.23870157e+02] [-3.16763386e-01 9.48491305e-01 5.02006880e-03 -1.93323335e+01] [ 1.48935964e-02 -3.18153385e-04 9.99889034e-01 1.98614166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74361786499999 meters 0.019866904690258508 Centerline is valid? [True, True] Translation: X:123.93, Y:-19.35, Z:1.99 [[ 9.50278093e-01 3.11132067e-01 -1.29762456e-02 1.23928483e+02] [-3.11097625e-01 9.50366611e-01 4.64465169e-03 -1.93514085e+01] [ 1.37772906e-02 -3.76831564e-04 9.99905018e-01 1.98700419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80361786499999 meters 0.022585480660200146 Centerline is valid? [True, True] Translation: X:123.99, Y:-19.37, Z:1.99 [[ 9.52659941e-01 3.03819570e-01 -1.15198188e-02 1.23986603e+02] [-3.03791884e-01 9.52729492e-01 4.12388263e-03 -1.93675805e+01] [ 1.22281874e-02 -4.29030313e-04 9.99925141e-01 1.98829594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.863617865 meters 0.023309889083841632 Centerline is valid? [True, True] Translation: X:124.05, Y:-19.38, Z:1.99 [[ 9.53667855e-01 3.00667473e-01 -1.08024352e-02 1.24045456e+02] [-3.00642928e-01 9.53728933e-01 3.86690040e-03 -1.93833177e+01] [ 1.14652462e-02 -4.40062854e-04 9.99934175e-01 1.98838894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.923617865 meters 0.02324245606113864 Centerline is valid? [True, True] Translation: X:124.10, Y:-19.40, Z:1.99 [[ 9.53783445e-01 3.00280620e-01 -1.13441388e-02 1.24104962e+02] [-3.00253532e-01 9.53850791e-01 4.06013786e-03 -1.94014468e+01] [ 1.20397965e-02 -4.66374537e-04 9.99927410e-01 1.98919686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98361786499999 meters 0.02306987311711274 Centerline is valid? [True, True] Translation: X:124.17, Y:-19.41, Z:1.99 [[ 9.53111381e-01 3.02361092e-01 -1.25086254e-02 1.24166504e+02] [-3.02328286e-01 9.53193334e-01 4.48066581e-03 -1.94135665e+01] [ 1.32779173e-02 -4.88862314e-04 9.99911725e-01 1.98921446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04361786499999 meters 0.02169260793521679 Centerline is valid? [True, True] Translation: X:124.23, Y:-19.42, Z:1.99 [[ 9.51149608e-01 3.08421582e-01 -1.38040622e-02 1.24227794e+02] [-3.08382201e-01 9.51249665e-01 4.94905968e-03 -1.94205198e+01] [ 1.46575064e-02 -4.50369087e-04 9.99892472e-01 1.98838275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10361786499999 meters 0.02167313482439929 Centerline is valid? [True, True] Translation: X:124.29, Y:-19.44, Z:1.99 [[ 9.49648950e-01 3.13012253e-01 -1.37913530e-02 1.24286689e+02] [-3.12973427e-01 9.49749012e-01 4.94448097e-03 -1.94350518e+01] [ 1.46460071e-02 -3.79194131e-04 9.99892670e-01 1.98983088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16361786499999 meters 0.01782315820717276 Centerline is valid? [True, True] Translation: X:124.35, Y:-19.44, Z:1.99 [[ 9.47624027e-01 3.19103245e-01 -1.34841397e-02 1.24350719e+02] [-3.19066743e-01 9.47719917e-01 4.83452033e-03 -1.94389498e+01] [ 1.43218989e-02 -2.78967098e-04 9.99897397e-01 1.99133538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.223617865 meters 0.01809032870715114 Centerline is valid? [True, True] Translation: X:124.41, Y:-19.45, Z:1.99 [[ 9.46438086e-01 3.22638464e-01 -1.26242064e-02 1.24409565e+02] [-3.22606780e-01 9.46522254e-01 4.52644179e-03 -1.94549848e+01] [ 1.34094965e-02 -2.11342318e-04 9.99910066e-01 1.99351958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.283617865 meters 0.01713536226466548 Centerline is valid? [True, True] Translation: X:124.47, Y:-19.47, Z:1.99 [[ 9.44933399e-01 3.27012213e-01 -1.28016946e-02 1.24470794e+02] [-3.26979987e-01 9.45020100e-01 4.59337563e-03 -1.94678552e+01] [ 1.35999486e-02 -1.54536111e-04 9.99907504e-01 1.99422199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34361786499998 meters 0.016821935358513514 Centerline is valid? [True, True] Translation: X:124.53, Y:-19.48, Z:2.00 [[ 9.44225508e-01 3.29065487e-01 -1.24135467e-02 1.24531523e+02] [-3.29035322e-01 9.44307095e-01 4.45720630e-03 -1.94825271e+01] [ 1.31889130e-02 -1.24112547e-04 9.99913015e-01 1.99537383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40361786499999 meters 0.016758371880045017 Centerline is valid? [True, True] Translation: X:124.59, Y:-19.50, Z:2.00 [[ 9.44252912e-01 3.29005057e-01 -1.19210383e-02 1.24591635e+02] [-3.28977198e-01 9.44328151e-01 4.28320834e-03 -1.95009115e+01] [ 1.26665693e-02 -1.22682157e-04 9.99919768e-01 1.99629895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46361786499999 meters 0.017107413721290845 Centerline is valid? [True, True] Translation: X:124.65, Y:-19.52, Z:2.00 [[ 9.45061424e-01 3.26688127e-01 -1.15659882e-02 1.24649794e+02] [-3.26661681e-01 9.45132183e-01 4.15961602e-03 -1.95214913e+01] [ 1.22902848e-02 -1.52927512e-04 9.99924460e-01 1.99741882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52361786499999 meters 0.017259178363040032 Centerline is valid? [True, True] Translation: X:124.71, Y:-19.54, Z:2.00 [[ 9.46057960e-01 3.23785198e-01 -1.17253047e-02 1.24707790e+02] [-3.23757778e-01 9.46130598e-01 4.21819585e-03 -1.95428197e+01] [ 1.24594590e-02 -1.94499142e-04 9.99922359e-01 1.99757994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.583617865 meters 0.018042185537223362 Centerline is valid? [True, True] Translation: X:124.77, Y:-19.57, Z:2.00 [[ 9.47499980e-01 3.19487286e-01 -1.31019724e-02 1.24765273e+02] [-3.19452576e-01 9.47590520e-01 4.71791647e-03 -1.95659321e+01] [ 1.39226191e-02 -2.84766941e-04 9.99903035e-01 1.99668585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.643617865 meters 0.019708595071138053 Centerline is valid? [True, True] Translation: X:124.82, Y:-19.59, Z:2.00 [[ 9.48150582e-01 3.17509902e-01 -1.40689924e-02 1.24821420e+02] [-3.17469645e-01 9.48254896e-01 5.06717025e-03 -1.95907175e+01] [ 1.49498677e-02 -3.37962388e-04 9.99888187e-01 1.99660251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70361786499998 meters 0.019735546331708934 Centerline is valid? [True, True] Translation: X:124.88, Y:-19.61, Z:2.00 [[ 9.48848255e-01 3.15380395e-01 -1.49062101e-02 1.24879492e+02] [-3.15334879e-01 9.48965252e-01 5.37266711e-03 -1.96117158e+01] [ 1.58399093e-02 -3.97397849e-04 9.99874462e-01 1.99642479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76361786499999 meters 0.0188025722833882 Centerline is valid? [True, True] Translation: X:124.94, Y:-19.63, Z:2.00 [[ 9.48816017e-01 3.15483239e-01 -1.47814792e-02 1.24939009e+02] [-3.15438438e-01 9.48931067e-01 5.33128904e-03 -1.96321185e+01] [ 1.57085372e-02 -3.95765714e-04 9.99876535e-01 1.99788139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82361786499999 meters 0.01862991537837677 Centerline is valid? [True, True] Translation: X:125.00, Y:-19.65, Z:2.00 [[ 9.48224197e-01 3.17218036e-01 -1.56073782e-02 1.24997224e+02] [-3.17168237e-01 9.48352552e-01 5.63432121e-03 -1.96542084e+01] [ 1.65886053e-02 -3.92435066e-04 9.99862323e-01 1.99796924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88361786499999 meters 0.01843556162960529 Centerline is valid? [True, True] Translation: X:125.06, Y:-19.67, Z:2.00 [[ 9.47564430e-01 3.19164009e-01 -1.59995423e-02 1.25055751e+02] [-3.19111878e-01 9.47699423e-01 5.78034056e-03 -1.96746291e+01] [ 1.70076337e-02 -3.71601126e-04 9.99855291e-01 1.99806295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.943617865 meters 0.017975879047530282 Centerline is valid? [True, True] Translation: X:125.11, Y:-19.70, Z:2.00 [[ 9.46820116e-01 3.21360569e-01 -1.60951210e-02 1.25114628e+02] [-3.21308055e-01 9.46956847e-01 5.81924316e-03 -1.96954820e+01] [ 1.71114603e-02 -3.38284466e-04 9.99853531e-01 1.99838527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.003617865 meters 0.018830660933484056 Centerline is valid? [True, True] Translation: X:125.17, Y:-19.72, Z:2.00 [[ 9.47167567e-01 3.20345037e-01 -1.58951815e-02 1.25170673e+02] [-3.20293606e-01 9.47300866e-01 5.75114850e-03 -1.97206265e+01] [ 1.68998711e-02 -3.56176338e-04 9.99857124e-01 1.99954351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.063617865 meters 0.019242518140708903 Centerline is valid? [True, True] Translation: X:125.23, Y:-19.74, Z:2.00 [[ 9.47637008e-01 3.18943372e-01 -1.61005261e-02 1.25228458e+02] [-3.18890332e-01 9.47773693e-01 5.82945217e-03 -1.97422154e+01] [ 1.71189202e-02 -3.89902488e-04 9.99853385e-01 1.99911187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12361786499999 meters 0.018584970323456018 Centerline is valid? [True, True] Translation: X:125.29, Y:-19.77, Z:2.00 [[ 9.47900280e-01 3.18216704e-01 -1.49395043e-02 1.25286016e+02] [-3.18170893e-01 9.48017925e-01 5.41254472e-03 -1.97653818e+01] [ 1.58852800e-02 -3.77237245e-04 9.99873750e-01 2.00295576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18361786499999 meters 0.018624324247927718 Centerline is valid? [True, True] Translation: X:125.34, Y:-19.79, Z:2.00 [[ 9.47686503e-01 3.18920970e-01 -1.34055075e-02 1.25344333e+02] [-3.18884109e-01 9.47781254e-01 4.85999401e-03 -1.97879546e+01] [ 1.42554427e-02 -3.30947404e-04 9.99898331e-01 2.00441811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24361786499999 meters 0.01825985261991425 Centerline is valid? [True, True] Translation: X:125.40, Y:-19.81, Z:2.01 [[ 9.47474445e-01 3.19580290e-01 -1.26733630e-02 1.25403305e+02] [-3.19547363e-01 9.47559151e-01 4.59766342e-03 -1.98100290e+01] [ 1.34780837e-02 -3.06428877e-04 9.99909120e-01 2.00568241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30361786499999 meters 0.01813378784203225 Centerline is valid? [True, True] Translation: X:125.46, Y:-19.83, Z:2.01 [[ 9.47254012e-01 3.20239085e-01 -1.25206057e-02 1.25461009e+02] [-3.20206952e-01 9.47336709e-01 4.54619659e-03 -1.98325407e+01] [ 1.33170993e-02 -2.97217956e-04 9.99911279e-01 2.00669506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.363617865 meters 0.01751932510936531 Centerline is valid? [True, True] Translation: X:125.52, Y:-19.85, Z:2.01 [[ 9.46747245e-01 3.21715185e-01 -1.29997997e-02 1.25519527e+02] [-3.21680632e-01 9.46836446e-01 4.72389415e-03 -1.98530052e+01] [ 1.38284326e-02 -2.90549981e-04 9.99904340e-01 2.00701455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.423617865 meters 0.017071323535366462 Centerline is valid? [True, True] Translation: X:125.58, Y:-19.87, Z:2.01 [[ 9.45505683e-01 3.25313117e-01 -1.37978093e-02 1.25577896e+02] [-3.25274515e-01 9.45606319e-01 5.01796648e-03 -1.98747466e+01] [ 1.46797060e-02 -2.56440107e-04 9.99892214e-01 2.00683559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48361786499999 meters 0.016703719914469537 Centerline is valid? [True, True] Translation: X:125.63, Y:-19.90, Z:2.01 [[ 9.43477610e-01 3.31089603e-01 -1.51550221e-02 1.25634648e+02] [-3.31043702e-01 9.43599300e-01 5.51610477e-03 -1.98959681e+01] [ 1.61265931e-02 -1.87346740e-04 9.99869940e-01 2.00629042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54361786499999 meters 0.015994073970689273 Centerline is valid? [True, True] Translation: X:125.69, Y:-19.92, Z:2.01 [[ 9.42234651e-01 3.34566754e-01 -1.60919274e-02 1.25693118e+02] [-3.34515498e-01 9.42372043e-01 5.85773636e-03 -1.99164550e+01] [ 1.71243864e-02 -1.36363052e-04 9.99853358e-01 2.00618048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60361786499999 meters 0.015909843141498944 Centerline is valid? [True, True] Translation: X:125.75, Y:-19.94, Z:2.01 [[ 9.41287637e-01 3.37228318e-01 -1.59576487e-02 1.25750404e+02] [-3.37178225e-01 9.41422888e-01 5.81301372e-03 -1.99421580e+01] [ 1.69832086e-02 -9.11462730e-05 9.99855771e-01 2.00689280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66361786499999 meters 0.015877507542912814 Centerline is valid? [True, True] Translation: X:125.81, Y:-19.97, Z:2.01 [[ 9.41200119e-01 3.37497902e-01 -1.54111373e-02 1.25806948e+02] [-3.37451193e-01 9.41326277e-01 5.61546934e-03 -1.99681716e+01] [ 1.64021176e-02 -8.47737404e-05 9.99865473e-01 2.00863820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.723617865 meters 0.015800482792053063 Centerline is valid? [True, True] Translation: X:125.86, Y:-20.00, Z:2.01 [[ 9.41241413e-01 3.37414682e-01 -1.46946949e-02 1.25863628e+02] [-3.37372142e-01 9.41356109e-01 5.35843994e-03 -1.99956791e+01] [ 1.56409571e-02 -8.60048839e-05 9.99877669e-01 2.00985321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.783617865 meters 0.01578748644783492 Centerline is valid? [True, True] Translation: X:125.92, Y:-20.02, Z:2.01 [[ 9.40977429e-01 3.38214547e-01 -1.31300401e-02 1.25920962e+02] [-3.38180611e-01 9.41069028e-01 4.79154094e-03 -2.00216400e+01] [ 1.39768429e-02 -6.84068838e-05 9.99902317e-01 2.01208268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84361786499998 meters 0.015666023695142903 Centerline is valid? [True, True] Translation: X:125.98, Y:-20.05, Z:2.01 [[ 9.40618944e-01 3.39248488e-01 -1.21023084e-02 1.25978482e+02] [-3.39219698e-01 9.40696795e-01 4.41987536e-03 -2.00480523e+01] [ 1.28840388e-02 -5.20770806e-05 9.99916996e-01 2.01379917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90361786499999 meters 0.015529674465730184 Centerline is valid? [True, True] Translation: X:126.03, Y:-20.08, Z:2.01 [[ 9.40230322e-01 3.40291745e-01 -1.29796189e-02 1.26033985e+02] [-3.40258666e-01 9.40319906e-01 4.74489844e-03 -2.00780996e+01] [ 1.38196438e-02 -4.48695898e-05 9.99904503e-01 2.01426255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96361786499999 meters 0.015437233341021097 Centerline is valid? [True, True] Translation: X:126.09, Y:-20.10, Z:2.02 [[ 9.39915294e-01 3.41156191e-01 -1.31031866e-02 1.26090505e+02] [-3.41122508e-01 9.40006623e-01 4.79405772e-03 -2.01046251e+01] [ 1.39526046e-02 -3.62163069e-05 9.99902657e-01 2.01512627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02361786499999 meters 0.015161146231425499 Centerline is valid? [True, True] Translation: X:126.15, Y:-20.13, Z:2.02 [[ 9.39779532e-01 3.41558644e-01 -1.23338331e-02 1.26146122e+02] [-3.41528791e-01 9.39860464e-01 4.51586945e-03 -2.01344712e+01] [ 1.31345163e-02 -3.15625759e-05 9.99913738e-01 2.01667095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.083617865 meters 0.015110491416538205 Centerline is valid? [True, True] Translation: X:126.20, Y:-20.16, Z:2.02 [[ 9.39864563e-01 3.41308663e-01 -1.27671727e-02 1.26201881e+02] [-3.41276594e-01 9.39951273e-01 4.67881828e-03 -2.01615615e+01] [ 1.35974414e-02 -4.03182945e-05 9.99907550e-01 2.01741985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.143617865 meters 0.015218546251043187 Centerline is valid? [True, True] Translation: X:126.26, Y:-20.19, Z:2.02 [[ 9.40585690e-01 3.39302266e-01 -1.31351681e-02 1.26257568e+02] [-3.39268071e-01 9.40677398e-01 4.81762632e-03 -2.01929171e+01] [ 1.39905872e-02 -7.50472403e-05 9.99902124e-01 2.01837629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20361786499998 meters 0.015351222735773742 Centerline is valid? [True, True] Translation: X:126.31, Y:-20.22, Z:2.02 [[ 9.41346655e-01 3.37151621e-01 -1.39735648e-02 1.26313808e+02] [-3.37112613e-01 9.41450355e-01 5.12987208e-03 -2.02212408e+01] [ 1.48849622e-02 -1.18322968e-04 9.99889206e-01 2.01887089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26361786499999 meters 0.015804967808551205 Centerline is valid? [True, True] Translation: X:126.37, Y:-20.25, Z:2.02 [[ 9.42206051e-01 3.34700687e-01 -1.49401528e-02 1.26367179e+02] [-3.34655718e-01 9.42324477e-01 5.48909032e-03 -2.02523502e+01] [ 1.59156740e-02 -1.72046545e-04 9.99873323e-01 2.02017129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32361786499999 meters 0.0162111324707652 Centerline is valid? [True, True] Translation: X:126.42, Y:-20.28, Z:2.02 [[ 9.42893469e-01 3.32786319e-01 -1.43238105e-02 1.26423067e+02] [-3.32744711e-01 9.43002241e-01 5.26606124e-03 -2.02802903e+01] [ 1.52598586e-02 -1.99162571e-04 9.99883542e-01 2.02169713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38361786499999 meters 0.0162616466370429 Centerline is valid? [True, True] Translation: X:126.48, Y:-20.31, Z:2.02 [[ 9.43809162e-01 3.30233941e-01 -1.30311287e-02 1.26478432e+02] [-3.30199218e-01 9.43899092e-01 4.79392654e-03 -2.03082360e+01] [ 1.38831878e-02 -2.21683279e-04 9.99903599e-01 2.02347315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.443617865 meters 0.01666253427175907 Centerline is valid? [True, True] Translation: X:126.53, Y:-20.33, Z:2.02 [[ 9.44092510e-01 3.29425525e-01 -1.29675203e-02 1.26533407e+02] [-3.29391014e-01 9.44181533e-01 4.77407670e-03 -2.03344297e+01] [ 1.38163959e-02 -2.35785390e-04 9.99904521e-01 2.02471633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.503617865 meters 0.01659940264621471 Centerline is valid? [True, True] Translation: X:126.59, Y:-20.36, Z:2.03 [[ 9.43953116e-01 3.29822848e-01 -1.30155576e-02 1.26590131e+02] [-3.29788099e-01 9.44042814e-01 4.79320866e-03 -2.03615965e+01] [ 1.38681534e-02 -2.32188248e-04 9.99903806e-01 2.02533964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.563617865 meters 0.016553086247035602 Centerline is valid? [True, True] Translation: X:126.65, Y:-20.39, Z:2.03 [[ 9.43526505e-01 3.31062600e-01 -1.24614812e-02 1.26645430e+02] [-3.31030800e-01 9.43608770e-01 4.59323022e-03 -2.03870129e+01] [ 1.32794097e-02 -2.08700348e-04 9.99911803e-01 2.02724388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62361786499999 meters 0.016611590292781434 Centerline is valid? [True, True] Translation: X:126.70, Y:-20.41, Z:2.03 [[ 9.43222182e-01 3.31976559e-01 -1.11121832e-02 1.26701453e+02] [-3.31951319e-01 9.43287620e-01 4.09735331e-03 -2.04121672e+01] [ 1.18422101e-02 -1.76010666e-04 9.99929863e-01 2.02843724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68361786499999 meters 0.016072639235786963 Centerline is valid? [True, True] Translation: X:126.76, Y:-20.44, Z:2.03 [[ 9.42983494e-01 3.32635845e-01 -1.16414845e-02 1.26760173e+02] [-3.32608178e-01 9.43055334e-01 4.29380794e-03 -2.04359018e+01] [ 1.24068385e-02 -1.76937056e-04 9.99923017e-01 2.02851371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74361786499999 meters 0.01600029426792088 Centerline is valid? [True, True] Translation: X:126.82, Y:-20.46, Z:2.03 [[ 9.42969353e-01 3.32672225e-01 -1.17468651e-02 1.26817633e+02] [-3.32644011e-01 9.43042500e-01 4.33641361e-03 -2.04633509e+01] [ 1.25203974e-02 -1.81580816e-04 9.99921600e-01 2.02884193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80361786499999 meters 0.01632736974492868 Centerline is valid? [True, True] Translation: X:126.88, Y:-20.49, Z:2.03 [[ 9.43118819e-01 3.32215733e-01 -1.26333171e-02 1.26875457e+02] [-3.32182999e-01 9.43203406e-01 4.66802530e-03 -2.04888332e+01] [ 1.34665792e-02 -2.05929339e-04 9.99909300e-01 2.02872731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.863617865 meters 0.016457159401721332 Centerline is valid? [True, True] Translation: X:126.93, Y:-20.51, Z:2.03 [[ 9.43458731e-01 3.31235963e-01 -1.29753385e-02 1.26931760e+02] [-3.31201281e-01 9.43547924e-01 4.79868453e-03 -2.05143299e+01] [ 1.38323506e-02 -2.29912074e-04 9.99904302e-01 2.02831913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.923617865 meters 0.016338576495727068 Centerline is valid? [True, True] Translation: X:126.99, Y:-20.54, Z:2.03 [[ 9.43486317e-01 3.31151247e-01 -1.31308935e-02 1.26989141e+02] [-3.31115674e-01 9.43577657e-01 4.85952095e-03 -2.05401151e+01] [ 1.39992541e-02 -2.37046868e-04 9.99901978e-01 2.02947584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98361786499999 meters 0.01644455457327085 Centerline is valid? [True, True] Translation: X:127.05, Y:-20.56, Z:2.03 [[ 9.43220024e-01 3.31924680e-01 -1.27276262e-02 1.27046574e+02] [-3.31891275e-01 9.43305866e-01 4.71428010e-03 -2.05634408e+01] [ 1.35708304e-02 -2.22415297e-04 9.99907887e-01 2.03028233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.043617865 meters 0.016404734526099064 Centerline is valid? [True, True] Translation: X:127.10, Y:-20.59, Z:2.03 [[ 9.42635717e-01 3.33577848e-01 -1.27955033e-02 1.27103467e+02] [-3.33544188e-01 9.42722535e-01 4.74302105e-03 -2.05864400e+01] [ 1.36447760e-02 -2.03075307e-04 9.99906885e-01 2.03022320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.103617865 meters 0.016907204774643685 Centerline is valid? [True, True] Translation: X:127.16, Y:-20.61, Z:2.03 [[ 9.42356203e-01 3.34340896e-01 -1.34518265e-02 1.27159115e+02] [-3.34303721e-01 9.42452186e-01 4.98989096e-03 -2.06116043e+01] [ 1.43460279e-02 -2.05259054e-04 9.99897069e-01 2.03125084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.163617865 meters 0.016655745193772005 Centerline is valid? [True, True] Translation: X:127.22, Y:-20.64, Z:2.03 [[ 9.42343095e-01 3.34337922e-01 -1.44098983e-02 1.27217183e+02] [-3.34295205e-01 9.42453237e-01 5.34905467e-03 -2.06365305e+01] [ 1.53690471e-02 -2.23484831e-04 9.99881864e-01 2.03168586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.223617865 meters 0.01698614255245509 Centerline is valid? [True, True] Translation: X:127.27, Y:-20.66, Z:2.03 [[ 9.42376366e-01 3.34192759e-01 -1.55558736e-02 1.27273423e+02] [-3.34142873e-01 9.42504715e-01 5.77947332e-03 -2.06618992e+01] [ 1.65929424e-02 -2.48554763e-04 9.99862297e-01 2.03145360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.283617865 meters 0.017075678979130444 Centerline is valid? [True, True] Translation: X:127.33, Y:-20.69, Z:2.03 [[ 9.42586474e-01 3.33597705e-01 -1.55983836e-02 1.27330734e+02] [-3.33547392e-01 9.42715493e-01 5.79960736e-03 -2.06865107e+01] [ 1.66395736e-02 -2.63831283e-04 9.99861518e-01 2.03232593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.343617865 meters 0.01756810785739113 Centerline is valid? [True, True] Translation: X:127.39, Y:-20.71, Z:2.03 [[ 9.42908611e-01 3.32688255e-01 -1.55523489e-02 1.27387103e+02] [-3.32638047e-01 9.43036821e-01 5.78657457e-03 -2.07122946e+01] [ 1.65915630e-02 -2.82908035e-04 9.99862311e-01 2.03318218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.403617865 meters 0.01871137288235204 Centerline is valid? [True, True] Translation: X:127.44, Y:-20.74, Z:2.03 [[ 9.43923315e-01 3.29792583e-01 -1.56725441e-02 1.27441871e+02] [-3.29741128e-01 9.44053355e-01 5.83537800e-03 -2.07406921e+01] [ 1.67201822e-02 -3.40266981e-04 9.99860150e-01 2.03394757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.463617865 meters 0.018014273137852456 Centerline is valid? [True, True] Translation: X:127.50, Y:-20.77, Z:2.04 [[ 9.44392778e-01 3.28462122e-01 -1.53269411e-02 1.27499040e+02] [-3.28412678e-01 9.44517075e-01 5.71027656e-03 -2.07651047e+01] [ 1.63521671e-02 -3.59182160e-04 9.99866230e-01 2.03501295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52361786499998 meters 0.01836151633018009 Centerline is valid? [True, True] Translation: X:127.56, Y:-20.79, Z:2.04 [[ 9.44229305e-01 3.28949541e-01 -1.49405323e-02 1.27555193e+02] [-3.28902557e-01 9.44347436e-01 5.57027768e-03 -2.07892628e+01] [ 1.59413936e-02 -3.45640156e-04 9.99872868e-01 2.03626186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58361786499998 meters 0.017238274110249564 Centerline is valid? [True, True] Translation: X:127.61, Y:-20.81, Z:2.04 [[ 9.43342350e-01 3.31487186e-01 -1.48813985e-02 1.27613587e+02] [-3.31440853e-01 9.43459672e-01 5.55047141e-03 -2.08102282e+01] [ 1.58799095e-02 -3.03691325e-04 9.99873860e-01 2.03686741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64361786499998 meters 0.017080403050524412 Centerline is valid? [True, True] Translation: X:127.67, Y:-20.83, Z:2.04 [[ 9.41916970e-01 3.35543051e-01 -1.42577327e-02 1.27670879e+02] [-3.35500927e-01 9.42024845e-01 5.32165158e-03 -2.08311568e+01] [ 1.52167816e-02 -2.29071402e-04 9.99884192e-01 2.03850786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70361786499998 meters 0.01646938016074311 Centerline is valid? [True, True] Translation: X:127.73, Y:-20.85, Z:2.04 [[ 9.41132915e-01 3.37735212e-01 -1.42745375e-02 1.27729404e+02] [-3.37693185e-01 9.41241142e-01 5.33153493e-03 -2.08507607e+01] [ 1.52364290e-02 -1.97268995e-04 9.99883899e-01 2.03965461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.763617865 meters 0.016274509248001574 Centerline is valid? [True, True] Translation: X:127.79, Y:-20.87, Z:2.04 [[ 9.40472536e-01 3.39539156e-01 -1.49856669e-02 1.27788353e+02] [-3.39492996e-01 9.40591904e-01 5.60145609e-03 -2.08715689e+01] [ 1.59973107e-02 -1.80486651e-04 9.99872019e-01 2.04016302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.823617865 meters 0.016227361451239587 Centerline is valid? [True, True] Translation: X:127.85, Y:-20.89, Z:2.04 [[ 9.39926223e-01 3.41030166e-01 -1.53987765e-02 1.27847011e+02] [-3.40981555e-01 9.40052339e-01 5.76018469e-03 -2.08920114e+01] [ 1.64400526e-02 -1.63449890e-04 9.99864840e-01 2.04076850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.883617865 meters 0.016169504345044123 Centerline is valid? [True, True] Translation: X:127.91, Y:-20.91, Z:2.04 [[ 9.39821477e-01 3.41330903e-01 -1.51263408e-02 1.27906784e+02] [-3.41283972e-01 9.39943184e-01 5.66228977e-03 -2.09122998e+01] [ 1.61506155e-02 -1.59163852e-04 9.99869558e-01 2.04149935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.943617865 meters 0.016236074624425046 Centerline is valid? [True, True] Translation: X:127.96, Y:-20.93, Z:2.04 [[ 9.40407975e-01 3.39736503e-01 -1.45584961e-02 1.27964654e+02] [-3.39692771e-01 9.40520640e-01 5.45402777e-03 -2.09335833e+01] [ 1.55454984e-02 -1.83595326e-04 9.99879145e-01 2.04281265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.003617865 meters 0.017203426454611714 Centerline is valid? [True, True] Translation: X:128.02, Y:-20.96, Z:2.04 [[ 9.41165606e-01 3.37622062e-01 -1.47866516e-02 1.28020179e+02] [-3.37576622e-01 9.41281728e-01 5.54366587e-03 -2.09584489e+01] [ 1.57900689e-02 -2.25879753e-04 9.99875304e-01 2.04355086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.063617865 meters 0.0176512973621474 Centerline is valid? [True, True] Translation: X:128.08, Y:-20.98, Z:2.04 [[ 9.42624965e-01 3.33501872e-01 -1.53191673e-02 1.28077485e+02] [-3.33452489e-01 9.42749387e-01 5.74732798e-03 -2.09815859e+01] [ 1.63588803e-02 -3.09360360e-04 9.99866137e-01 2.04348628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.123617865 meters 0.018187637972738913 Centerline is valid? [True, True] Translation: X:128.13, Y:-21.00, Z:2.04 [[ 9.43532016e-01 3.30869874e-01 -1.65064253e-02 1.28134638e+02] [-3.30812058e-01 9.43676309e-01 6.19720105e-03 -2.10049137e+01] [ 1.76271896e-02 -3.86733084e-04 9.99844554e-01 2.04369210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.183617865 meters 0.018855810161656987 Centerline is valid? [True, True] Translation: X:128.19, Y:-21.03, Z:2.04 [[ 9.44212503e-01 3.28937388e-01 -1.62155754e-02 1.28192537e+02] [-3.28881237e-01 9.44351640e-01 6.09205420e-03 -2.10273747e+01] [ 1.73171096e-02 -4.19195253e-04 9.99849960e-01 2.04449244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.243617865 meters 0.019427614080697247 Centerline is valid? [True, True] Translation: X:128.25, Y:-21.05, Z:2.05 [[ 9.44075019e-01 3.29337386e-01 -1.61010900e-02 1.28249799e+02] [-3.29282008e-01 9.44212220e-01 6.05338117e-03 -2.10497345e+01] [ 1.71964506e-02 -4.13046713e-04 9.99852045e-01 2.04585851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30361786499998 meters 0.018896757456877182 Centerline is valid? [True, True] Translation: X:128.31, Y:-21.07, Z:2.05 [[ 9.43889115e-01 3.29895749e-01 -1.55606289e-02 1.28308886e+02] [-3.29844031e-01 9.44017288e-01 5.85448159e-03 -2.10699748e+01] [ 1.66208713e-02 -3.93400884e-04 9.99861786e-01 2.04757639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36361786499998 meters 0.018857660003342783 Centerline is valid? [True, True] Translation: X:128.37, Y:-21.09, Z:2.05 [[ 9.43213162e-01 3.31795555e-01 -1.61443530e-02 1.28366530e+02] [-3.31740085e-01 9.43351243e-01 6.07857702e-03 -2.10892428e+01] [ 1.72466403e-02 -3.77664827e-04 9.99851194e-01 2.04810738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42361786499998 meters 0.01825211160326177 Centerline is valid? [True, True] Translation: X:128.43, Y:-21.11, Z:2.05 [[ 9.42181160e-01 3.34628486e-01 -1.78448136e-02 1.28425809e+02] [-3.34561129e-01 9.42350064e-01 6.72365284e-03 -2.11079640e+01] [ 1.90659870e-02 -3.64718041e-04 9.99818161e-01 2.04714498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48361786499999 meters 0.01824446558923574 Centerline is valid? [True, True] Translation: X:128.48, Y:-21.13, Z:2.05 [[ 9.41490241e-01 3.36496855e-01 -1.91309390e-02 1.28483376e+02] [-3.36419724e-01 9.41684523e-01 7.21307741e-03 -2.11290061e+01] [ 2.04424870e-02 -3.55016782e-04 9.99790967e-01 2.04681982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.543617865 meters 0.017092022134617222 Centerline is valid? [True, True] Translation: X:128.54, Y:-21.15, Z:2.05 [[ 9.40492266e-01 3.39253917e-01 -1.95212203e-02 1.28543327e+02] [-3.39174143e-01 9.40694790e-01 7.36294944e-03 -2.11476240e+01] [ 2.08614197e-02 -3.03703830e-04 9.99782331e-01 2.04915162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.603617865 meters 0.01717670333979772 Centerline is valid? [True, True] Translation: X:128.60, Y:-21.17, Z:2.05 [[ 9.40315935e-01 3.39745026e-01 -1.94745728e-02 1.28601578e+02] [-3.39665677e-01 9.40517533e-01 7.34827550e-03 -2.11704852e+01] [ 2.08127172e-02 -2.94856582e-04 9.99783348e-01 2.05138372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.663617865 meters 0.01739221491800242 Centerline is valid? [True, True] Translation: X:128.66, Y:-21.19, Z:2.05 [[ 9.40564168e-01 3.39069420e-01 -1.92607005e-02 1.28658735e+02] [-3.38991545e-01 9.40761304e-01 7.27333692e-03 -2.11934477e+01] [ 2.05858878e-02 -3.11825479e-04 9.99788040e-01 2.05253952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.723617865 meters 0.017537435031982254 Centerline is valid? [True, True] Translation: X:128.72, Y:-21.22, Z:2.05 [[ 9.40905869e-01 3.38164139e-01 -1.84705521e-02 1.28716628e+02] [-3.38092257e-01 9.41087090e-01 6.97957238e-03 -2.12168115e+01] [ 1.97426392e-02 -3.22369957e-04 9.99805043e-01 2.05452780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.783617865 meters 0.01840318075267024 Centerline is valid? [True, True] Translation: X:128.77, Y:-21.24, Z:2.06 [[ 9.41725187e-01 3.35909741e-01 -1.78414720e-02 1.28772248e+02] [-3.35842178e-01 9.41894110e-01 6.74655621e-03 -2.12413480e+01] [ 1.90710113e-02 -3.61483091e-04 9.99818066e-01 2.05596623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.843617865 meters 0.0194843129185405 Centerline is valid? [True, True] Translation: X:128.83, Y:-21.27, Z:2.06 [[ 9.42840952e-01 3.32819778e-01 -1.67909146e-02 1.28828688e+02] [-3.32759376e-01 9.42990367e-01 6.35330992e-03 -2.12668529e+01] [ 1.79481779e-02 -4.02826511e-04 9.99838837e-01 2.05793375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.903617865 meters 0.019883860778731895 Centerline is valid? [True, True] Translation: X:128.89, Y:-21.29, Z:2.06 [[ 9.43311543e-01 3.31511099e-01 -1.62395953e-02 1.28885814e+02] [-3.31454335e-01 9.43451227e-01 6.14872431e-03 -2.12900259e+01] [ 1.73596365e-02 -4.17478352e-04 9.99849223e-01 2.05959254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.963617865 meters 0.01918909600647723 Centerline is valid? [True, True] Translation: X:128.94, Y:-21.31, Z:2.06 [[ 9.42851032e-01 3.32794337e-01 -1.67290223e-02 1.28944600e+02] [-3.32734226e-01 9.42999343e-01 6.33829772e-03 -2.13099268e+01] [ 1.78848066e-02 -4.09752263e-04 9.99839970e-01 2.06009101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02361786499998 meters 0.01858315266625632 Centerline is valid? [True, True] Translation: X:129.00, Y:-21.33, Z:2.06 [[ 9.42119973e-01 3.34809528e-01 -1.76786989e-02 1.29003968e+02] [-3.34742666e-01 9.42285744e-01 6.70263619e-03 -2.13300304e+01] [ 1.89024924e-02 -3.96872644e-04 9.99821253e-01 2.06009015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08361786499998 meters 0.017877189078372865 Centerline is valid? [True, True] Translation: X:129.06, Y:-21.35, Z:2.06 [[ 9.41151212e-01 3.37417218e-01 -1.95963504e-02 1.29063759e+02] [-3.37335577e-01 9.41355126e-01 7.43201755e-03 -2.13490332e+01] [ 2.09548156e-02 -3.84106136e-04 9.99780350e-01 2.05934245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14361786499998 meters 0.018044469867399444 Centerline is valid? [True, True] Translation: X:129.12, Y:-21.37, Z:2.06 [[ 9.40705467e-01 3.38651446e-01 -1.97084362e-02 1.29121350e+02] [-3.38569065e-01 9.40911828e-01 7.47802801e-03 -2.13693547e+01] [ 2.10763457e-02 -3.61955007e-04 9.99777804e-01 2.05964833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20361786499998 meters 0.01835418374857842 Centerline is valid? [True, True] Translation: X:129.18, Y:-21.39, Z:2.06 [[ 9.40932726e-01 3.38082889e-01 -1.85893821e-02 1.29179271e+02] [-3.38009394e-01 9.41116269e-01 7.05816706e-03 -2.13926435e+01] [ 1.98810155e-02 -3.57874590e-04 9.99802289e-01 2.06203810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.263617865 meters 0.01863639371861191 Centerline is valid? [True, True] Translation: X:129.24, Y:-21.42, Z:2.06 [[ 9.41512138e-01 3.36546531e-01 -1.70682614e-02 1.29237212e+02] [-3.36484231e-01 9.41666767e-01 6.48548179e-03 -2.14154094e+01] [ 1.82552809e-02 -3.62959032e-04 9.99833293e-01 2.06390485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.323617865 meters 0.02064282890645736 Centerline is valid? [True, True] Translation: X:129.29, Y:-21.44, Z:2.06 [[ 9.42400792e-01 3.34066924e-01 -1.67343191e-02 1.29292083e+02] [-3.34006571e-01 9.42549269e-01 6.36285358e-03 -2.14418433e+01] [ 1.78985391e-02 -4.06985726e-04 9.99839725e-01 2.06484934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.383617865 meters 0.021171523010927642 Centerline is valid? [True, True] Translation: X:129.35, Y:-21.46, Z:2.07 [[ 9.42805966e-01 3.32911339e-01 -1.69396032e-02 1.29349668e+02] [-3.32849263e-01 9.42958032e-01 6.44347616e-03 -2.14647970e+01] [ 1.81184412e-02 -4.36613333e-04 9.99835752e-01 2.06539389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.443617865 meters 0.01979996813801533 Centerline is valid? [True, True] Translation: X:129.41, Y:-21.48, Z:2.07 [[ 9.42970028e-01 3.32461971e-01 -1.66301992e-02 1.29408664e+02] [-3.32401998e-01 9.43116559e-01 6.32996185e-03 -2.14842421e+01] [ 1.77886878e-02 -4.41052852e-04 9.99841671e-01 2.06580480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.503617865 meters 0.01890646409887521 Centerline is valid? [True, True] Translation: X:129.47, Y:-21.50, Z:2.07 [[ 9.42444150e-01 3.33945920e-01 -1.67077091e-02 1.29467564e+02] [-3.33885538e-01 9.42592142e-01 6.36403878e-03 -2.15046392e+01] [ 1.78738001e-02 -4.19288695e-04 9.99840163e-01 2.06685091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.563617865 meters 0.01927780708919808 Centerline is valid? [True, True] Translation: X:129.52, Y:-21.53, Z:2.07 [[ 9.41848422e-01 3.35618321e-01 -1.67896499e-02 1.29524219e+02] [-3.35557526e-01 9.41997976e-01 6.39994506e-03 -2.15277710e+01] [ 1.79637551e-02 -3.93884762e-04 9.99838561e-01 2.06796053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.623617865 meters 0.019254186540459274 Centerline is valid? [True, True] Translation: X:129.58, Y:-21.55, Z:2.07 [[ 9.41537874e-01 3.36485977e-01 -1.68409742e-02 1.29582179e+02] [-3.36424869e-01 9.41688399e-01 6.42387998e-03 -2.15497394e+01] [ 1.80204956e-02 -3.82603740e-04 9.99837544e-01 2.06893963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.683617865 meters 0.01877376394067272 Centerline is valid? [True, True] Translation: X:129.64, Y:-21.57, Z:2.07 [[ 9.40922922e-01 3.38227740e-01 -1.63110780e-02 1.29641032e+02] [-3.38170609e-01 9.41064227e-01 6.22581665e-03 -2.15711672e+01] [ 1.74555159e-02 -3.42086423e-04 9.99847582e-01 2.06990022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.743617865 meters 0.01909520971858061 Centerline is valid? [True, True] Translation: X:129.70, Y:-21.59, Z:2.07 [[ 9.41012546e-01 3.38030779e-01 -1.51848658e-02 1.29699196e+02] [-3.37981216e-01 9.41135000e-01 5.79740130e-03 -2.15948926e+01] [ 1.62507088e-02 -3.23227955e-04 9.99867896e-01 2.07115345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80361786499998 meters 0.01914550295263409 Centerline is valid? [True, True] Translation: X:129.76, Y:-21.62, Z:2.07 [[ 9.41152344e-01 3.37659294e-01 -1.47806235e-02 1.29757567e+02] [-3.37612218e-01 9.41268344e-01 5.64751795e-03 -2.16172729e+01] [ 1.58194699e-02 -3.25055674e-04 9.99874812e-01 2.07233912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86361786499998 meters 0.019272377077323283 Centerline is valid? [True, True] Translation: X:129.82, Y:-21.64, Z:2.07 [[ 9.40929409e-01 3.38288497e-01 -1.45856233e-02 1.29815848e+02] [-3.38242670e-01 9.41042398e-01 5.57689817e-03 -2.16394029e+01] [ 1.56122904e-02 -3.13987337e-04 9.99878071e-01 2.07336231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92361786499998 meters 0.019673526763392377 Centerline is valid? [True, True] Translation: X:129.87, Y:-21.66, Z:2.07 [[ 9.41032812e-01 3.37971896e-01 -1.52395321e-02 1.29872217e+02] [-3.37921757e-01 9.41156142e-01 5.83118320e-03 -2.16618533e+01] [ 1.63135553e-02 -3.37565264e-04 9.99866868e-01 2.07391049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98361786499999 meters 0.02008868020148389 Centerline is valid? [True, True] Translation: X:129.93, Y:-21.69, Z:2.07 [[ 9.41609892e-01 3.36334975e-01 -1.57986211e-02 1.29929317e+02] [-3.36280793e-01 9.41742341e-01 6.04902564e-03 -2.16850203e+01] [ 1.69127294e-02 -3.83049530e-04 9.99856896e-01 2.07396216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.043617865 meters 0.021578920314769927 Centerline is valid? [True, True] Translation: X:129.99, Y:-21.71, Z:2.07 [[ 9.42273187e-01 3.34471755e-01 -1.58077833e-02 1.29985238e+02] [-3.34417208e-01 9.42405682e-01 6.05484494e-03 -2.17093040e+01] [ 1.69225194e-02 -4.18923284e-04 9.99856716e-01 2.07488795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.103617865 meters 0.021076795581484547 Centerline is valid? [True, True] Translation: X:130.04, Y:-21.73, Z:2.08 [[ 9.43604246e-01 3.30767700e-01 -1.42743262e-02 1.30043775e+02] [-3.30722751e-01 9.43712103e-01 5.47068623e-03 -2.17308035e+01] [ 1.52803807e-02 -4.41318326e-04 9.99883151e-01 2.07742972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.163617865 meters 0.021758291772471888 Centerline is valid? [True, True] Translation: X:130.10, Y:-21.75, Z:2.08 [[ 9.44043220e-01 3.29569982e-01 -1.28850849e-02 1.30100915e+02] [-3.29533239e-01 9.44131057e-01 4.93876028e-03 -2.17546850e+01] [ 1.37928759e-02 -4.16339414e-04 9.99904787e-01 2.08037643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.223617865 meters 0.022142535383650925 Centerline is valid? [True, True] Translation: X:130.16, Y:-21.78, Z:2.08 [[ 9.43833415e-01 3.30201413e-01 -1.20627706e-02 1.30159521e+02] [-3.30169223e-01 9.43910419e-01 4.62656009e-03 -2.17761322e+01] [ 1.29138715e-02 -3.83946415e-04 9.99916539e-01 2.08228995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.283617865 meters 0.02188288758791381 Centerline is valid? [True, True] Translation: X:130.22, Y:-21.79, Z:2.08 [[ 9.43089508e-01 3.32328568e-01 -1.18280487e-02 1.30219416e+02] [-3.32297742e-01 9.43163612e-01 4.53996274e-03 -2.17948368e+01] [ 1.26645445e-02 -3.51157355e-04 9.99919740e-01 2.08302704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.343617865 meters 0.019714205997244945 Centerline is valid? [True, True] Translation: X:130.28, Y:-21.81, Z:2.08 [[ 9.42345427e-01 3.34431319e-01 -1.18654239e-02 1.30279530e+02] [-3.34400448e-01 9.42420069e-01 4.55559101e-03 -2.18109883e+01] [ 1.27057459e-02 -3.25137305e-04 9.99919226e-01 2.08332999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.403617865 meters 0.020095161796243474 Centerline is valid? [True, True] Translation: X:130.34, Y:-21.83, Z:2.08 [[ 9.41872286e-01 3.35728982e-01 -1.27533513e-02 1.30337202e+02] [-3.35693383e-01 9.41958565e-01 4.90042130e-03 -2.18309283e+01] [ 1.36583420e-02 -3.34355357e-04 9.99906665e-01 2.08411292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.463617865 meters 0.020543152873640936 Centerline is valid? [True, True] Translation: X:130.40, Y:-21.85, Z:2.08 [[ 9.42045494e-01 3.35189281e-01 -1.40866431e-02 1.30396348e+02] [-3.35145728e-01 9.42150731e-01 5.41671820e-03 -2.18507850e+01] [ 1.50873670e-02 -3.81716721e-04 9.99886106e-01 2.08389393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52361786499998 meters 0.02194309785740126 Centerline is valid? [True, True] Translation: X:130.45, Y:-21.87, Z:2.08 [[ 9.42465667e-01 3.33967356e-01 -1.49757124e-02 1.30453791e+02] [-3.33917909e-01 9.42584542e-01 5.76286211e-03 -2.18726136e+01] [ 1.60404828e-02 -4.30641119e-04 9.99871250e-01 2.08484884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58361786499998 meters 0.021868661336516423 Centerline is valid? [True, True] Translation: X:130.51, Y:-21.89, Z:2.09 [[ 9.43602118e-01 3.30740100e-01 -1.50342298e-02 1.30512995e+02] [-3.30689797e-01 9.43721752e-01 5.78908526e-03 -2.18901471e+01] [ 1.61028123e-02 -4.90926714e-04 9.99870221e-01 2.08620583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64361786499998 meters 0.021565996008384818 Centerline is valid? [True, True] Translation: X:130.57, Y:-21.91, Z:2.09 [[ 9.44357024e-01 3.28617093e-01 -1.41639345e-02 1.30571811e+02] [-3.28572155e-01 9.44463105e-01 5.45729850e-03 -2.19090255e+01] [ 1.51706751e-02 -4.99763699e-04 9.99884794e-01 2.08742363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70361786499998 meters 0.022311979437333585 Centerline is valid? [True, True] Translation: X:130.63, Y:-21.93, Z:2.09 [[ 9.45189239e-01 3.26249125e-01 -1.33720017e-02 1.30630356e+02] [-3.26208789e-01 9.45283686e-01 5.15540993e-03 -2.19282956e+01] [ 1.43222831e-02 -5.10773510e-04 9.99897300e-01 2.08941847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.763617865 meters 0.022749202647399082 Centerline is valid? [True, True] Translation: X:130.69, Y:-21.95, Z:2.09 [[ 9.45276269e-01 3.25985415e-01 -1.36486105e-02 1.30689257e+02] [-3.25943313e-01 9.45374650e-01 5.26567167e-03 -2.19468217e+01] [ 1.46195825e-02 -5.28841155e-04 9.99892988e-01 2.09071279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.823617865 meters 0.0235177818330021 Centerline is valid? [True, True] Translation: X:130.75, Y:-21.96, Z:2.09 [[ 9.44632608e-01 3.27891956e-01 -1.24940125e-02 1.30748082e+02] [-3.27856804e-01 9.44715118e-01 4.82311578e-03 -2.19642461e+01] [ 1.33847434e-02 -4.59825428e-04 9.99910315e-01 2.09281606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.883617865 meters 0.02255520101094997 Centerline is valid? [True, True] Translation: X:130.81, Y:-21.98, Z:2.09 [[ 9.43887204e-01 3.30041373e-01 -1.22326890e-02 1.30808883e+02] [-3.30007811e-01 9.43966373e-01 4.72564970e-03 -2.19807134e+01] [ 1.31069070e-02 -4.23597364e-04 9.99914011e-01 2.09374528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.943617865 meters 0.02159315339374837 Centerline is valid? [True, True] Translation: X:130.87, Y:-22.00, Z:2.09 [[ 9.42575221e-01 3.33727368e-01 -1.33415521e-02 1.30869159e+02] [-3.33687793e-01 9.42669549e-01 5.15545572e-03 -2.19963060e+01] [ 1.42971916e-02 -4.07491736e-04 9.99897707e-01 2.09362330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.003617865 meters 0.021098297971943982 Centerline is valid? [True, True] Translation: X:130.93, Y:-22.02, Z:2.09 [[ 9.41677834e-01 3.36197125e-01 -1.46407303e-02 1.30929053e+02] [-3.36149744e-01 9.41791552e-01 5.65882649e-03 -2.20150976e+01] [ 1.56909973e-02 -4.07313749e-04 9.99876806e-01 2.09396223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.063617865 meters 0.020360740304122143 Centerline is valid? [True, True] Translation: X:130.99, Y:-22.03, Z:2.09 [[ 9.40441711e-01 3.39593193e-01 -1.56796478e-02 1.30989307e+02] [-3.39539290e-01 9.40572337e-01 6.06213967e-03 -2.20321147e+01] [ 1.68065044e-02 -3.77232522e-04 9.99858690e-01 2.09498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.123617865 meters 0.01959582093923071 Centerline is valid? [True, True] Translation: X:131.05, Y:-22.05, Z:2.10 [[ 9.39626622e-01 3.41824274e-01 -1.60616523e-02 1.31049073e+02] [-3.41767961e-01 9.39763823e-01 6.21426335e-03 -2.20504769e+01] [ 1.72183459e-02 -3.49729112e-04 9.99851692e-01 2.09668499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.183617865 meters 0.019507922213465274 Centerline is valid? [True, True] Translation: X:131.11, Y:-22.07, Z:2.10 [[ 9.39217978e-01 3.42972803e-01 -1.54675940e-02 1.31108556e+02] [-3.42920667e-01 9.39345279e-01 5.98853779e-03 -2.20700027e+01] [ 1.65833170e-02 -3.20384711e-04 9.99862436e-01 2.09838902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.243617865 meters 0.019995037014368586 Centerline is valid? [True, True] Translation: X:131.17, Y:-22.09, Z:2.10 [[ 9.39361152e-01 3.42602030e-01 -1.49824717e-02 1.31165865e+02] [-3.42553002e-01 9.39480573e-01 5.80469071e-03 -2.20905306e+01] [ 1.60644399e-02 -3.20410297e-04 9.99870907e-01 2.09968633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30361786499998 meters 0.01981815237258567 Centerline is valid? [True, True] Translation: X:131.22, Y:-22.11, Z:2.10 [[ 9.39604908e-01 3.41896157e-01 -1.57998196e-02 1.31224337e+02] [-3.41841463e-01 9.39737672e-01 6.12554130e-03 -2.21116687e+01] [ 1.69419847e-02 -3.54555220e-04 9.99856411e-01 2.09999638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36361786499998 meters 0.02017461804079162 Centerline is valid? [True, True] Translation: X:131.28, Y:-22.13, Z:2.10 [[ 9.40310330e-01 3.39937593e-01 -1.60908786e-02 1.31282395e+02] [-3.39880500e-01 9.40447910e-01 6.24285975e-03 -2.21341952e+01] [ 1.72548158e-02 -4.01249652e-04 9.99851044e-01 2.10095659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42361786499998 meters 0.02079370398759545 Centerline is valid? [True, True] Translation: X:131.34, Y:-22.16, Z:2.10 [[ 9.40627850e-01 3.38998254e-01 -1.73040823e-02 1.31338374e+02] [-3.38931978e-01 9.40786893e-01 6.71844301e-03 -2.21574982e+01] [ 1.85569942e-02 -4.54647788e-04 9.99827701e-01 2.10211538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48361786499999 meters 0.020301898138646142 Centerline is valid? [True, True] Translation: X:131.40, Y:-22.18, Z:2.10 [[ 9.40773776e-01 3.38558464e-01 -1.79685337e-02 1.31397072e+02] [-3.38486839e-01 9.40945233e-01 6.98056011e-03 -2.21778748e+01] [ 1.92707338e-02 -4.85015726e-04 9.99814185e-01 2.10294062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.543617865 meters 0.02019540136940168 Centerline is valid? [True, True] Translation: X:131.46, Y:-22.20, Z:2.10 [[ 9.40540560e-01 3.39174030e-01 -1.85589100e-02 1.31455410e+02] [-3.39097633e-01 9.40723516e-01 7.21532331e-03 -2.22003496e+01] [ 1.99060533e-02 -4.93021780e-04 9.99801733e-01 2.10379999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.603617865 meters 0.020436429888294343 Centerline is valid? [True, True] Translation: X:131.51, Y:-22.22, Z:2.10 [[ 9.40273136e-01 3.39882057e-01 -1.91472263e-02 1.31512849e+02] [-3.39800763e-01 9.40467936e-01 7.45005616e-03 -2.22238529e+01] [ 2.05394928e-02 -4.98845561e-04 9.99788918e-01 2.10495362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.663617865 meters 0.019869073435656803 Centerline is valid? [True, True] Translation: X:131.57, Y:-22.25, Z:2.11 [[ 9.40235415e-01 3.39932056e-01 -2.00888322e-02 1.31571451e+02] [-3.39842452e-01 9.40449849e-01 7.82235105e-03 -2.22469082e+01] [ 2.15516071e-02 -5.27813518e-04 9.99767598e-01 2.10698300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.723617865 meters 0.02033380828442975 Centerline is valid? [True, True] Translation: X:131.63, Y:-22.27, Z:2.11 [[ 9.40554039e-01 3.39004148e-01 -2.08395756e-02 1.31627870e+02] [-3.38907345e-01 9.40784702e-01 8.12129641e-03 -2.22726789e+01] [ 2.23587071e-02 -5.75832885e-04 9.99749847e-01 2.10775248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.783617865 meters 0.020509072346222342 Centerline is valid? [True, True] Translation: X:131.68, Y:-22.30, Z:2.11 [[ 9.41295514e-01 3.36774363e-01 -2.33620198e-02 1.31683744e+02] [-3.36651845e-01 9.41585112e-01 9.11115358e-03 -2.22990234e+01] [ 2.50657330e-02 -7.11420932e-04 9.99685552e-01 2.10900019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.843617865 meters 0.020805220786129938 Centerline is valid? [True, True] Translation: X:131.74, Y:-22.32, Z:2.11 [[ 9.41577048e-01 3.35855460e-01 -2.51748356e-02 1.31740862e+02] [-3.35712666e-01 9.41913197e-01 9.82523889e-03 -2.23240257e+01] [ 2.70123700e-02 -7.99708260e-04 9.99634779e-01 2.10931970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.903617865 meters 0.021168564620336016 Centerline is valid? [True, True] Translation: X:131.80, Y:-22.35, Z:2.11 [[ 9.41312188e-01 3.36569086e-01 -2.55463173e-02 1.31798550e+02] [-3.36422111e-01 9.41658438e-01 9.97741500e-03 -2.23481250e+01] [ 2.74139947e-02 -7.97516357e-04 9.99623848e-01 2.11022998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.963617865 meters 0.02079297389806714 Centerline is valid? [True, True] Translation: X:131.86, Y:-22.37, Z:2.11 [[ 9.40362694e-01 3.39223776e-01 -2.54014474e-02 1.31855078e+02] [-3.39079240e-01 9.40705431e-01 9.92780822e-03 -2.23738727e+01] [ 2.72630281e-02 -7.22637001e-04 9.99628033e-01 2.11278313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02361786499998 meters 0.020760830533105287 Centerline is valid? [True, True] Translation: X:131.91, Y:-22.40, Z:2.11 [[ 9.39701641e-01 3.41014327e-01 -2.58854254e-02 1.31912169e+02] [-3.40864709e-01 9.40057845e-01 1.01240915e-02 -2.23990241e+01] [ 2.77862575e-02 -6.90197387e-04 9.99613649e-01 2.11398553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08361786499998 meters 0.020554270439272965 Centerline is valid? [True, True] Translation: X:131.97, Y:-22.42, Z:2.11 [[ 9.39227890e-01 3.42300751e-01 -2.60991879e-02 1.31968775e+02] [-3.42148949e-01 9.39590206e-01 1.02147787e-02 -2.24239319e+01] [ 2.80190678e-02 -6.64195297e-04 9.99607168e-01 2.11494151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14361786499998 meters 0.020147853738218882 Centerline is valid? [True, True] Translation: X:132.03, Y:-22.45, Z:2.12 [[ 9.38833341e-01 3.43413280e-01 -2.56763941e-02 1.32025273e+02] [-3.43266584e-01 9.39184181e-01 1.00561907e-02 -2.24510411e+01] [ 2.75682927e-02 -6.27239043e-04 9.99619726e-01 2.11741883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20361786499998 meters 0.02093463647757021 Centerline is valid? [True, True] Translation: X:132.08, Y:-22.48, Z:2.12 [[ 9.38582622e-01 3.44129371e-01 -2.52514939e-02 1.32079747e+02] [-3.43987599e-01 9.38922049e-01 9.89534286e-03 -2.24783468e+01] [ 2.71144625e-02 -6.01396081e-04 9.99632154e-01 2.11851434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.263617865 meters 0.01952725814303534 Centerline is valid? [True, True] Translation: X:132.14, Y:-22.50, Z:2.12 [[ 9.37508240e-01 3.47026927e-01 -2.55071068e-02 1.32136977e+02] [-3.46883197e-01 9.37855017e-01 1.00007030e-02 -2.25026361e+01] [ 2.73924813e-02 -5.27754661e-04 9.99624616e-01 2.11977443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.323617865 meters 0.01874093646591004 Centerline is valid? [True, True] Translation: X:132.19, Y:-22.53, Z:2.12 [[ 9.36267483e-01 3.50376165e-01 -2.52931341e-02 1.32193587e+02] [-3.50235870e-01 9.36608966e-01 9.92369205e-03 -2.25277439e+01] [ 2.71668013e-02 -4.32667371e-04 9.99630821e-01 2.12099467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.383617865 meters 0.018460732147905147 Centerline is valid? [True, True] Translation: X:132.25, Y:-22.55, Z:2.12 [[ 9.35534198e-01 3.52380316e-01 -2.45739146e-02 1.32250274e+02] [-3.52248401e-01 9.35856814e-01 9.64821152e-03 -2.25542665e+01] [ 2.63975052e-02 -3.70109702e-04 9.99651457e-01 2.12270739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.443617865 meters 0.018238543740086318 Centerline is valid? [True, True] Translation: X:132.31, Y:-22.58, Z:2.13 [[ 9.34978292e-01 3.53921147e-01 -2.35672458e-02 1.32305940e+02] [-3.53800147e-01 9.35275211e-01 9.25940387e-03 -2.25828628e+01] [ 2.53189596e-02 -3.19246588e-04 9.99679373e-01 2.12542025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.503617865 meters 0.018450551381482567 Centerline is valid? [True, True] Translation: X:132.36, Y:-22.61, Z:2.13 [[ 9.34486854e-01 3.55210173e-01 -2.36654209e-02 1.32360600e+02] [-3.55088406e-01 9.34786418e-01 9.30461846e-03 -2.26121569e+01] [ 2.54272092e-02 -2.91727050e-04 9.99676634e-01 2.12619954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.563617865 meters 0.01832326373066999 Centerline is valid? [True, True] Translation: X:132.42, Y:-22.64, Z:2.13 [[ 9.33871913e-01 3.56787063e-01 -2.42124426e-02 1.32416854e+02] [-3.56659954e-01 9.34185701e-01 9.52646344e-03 -2.26379082e+01] [ 2.60178366e-02 -2.60887946e-04 9.99661445e-01 2.12667524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.623617865 meters 0.018285652003577513 Centerline is valid? [True, True] Translation: X:132.47, Y:-22.67, Z:2.13 [[ 9.32975942e-01 3.59068006e-01 -2.50211691e-02 1.32472322e+02] [-3.58932894e-01 9.33311375e-01 9.85165960e-03 -2.26654281e+01] [ 2.68899575e-02 -2.10440773e-04 9.99638378e-01 2.12805803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.683617865 meters 0.018081351324805053 Centerline is valid? [True, True] Translation: X:132.53, Y:-22.69, Z:2.13 [[ 9.31884836e-01 3.61979052e-01 -2.37027028e-02 1.32528856e+02] [-3.61858590e-01 9.32186221e-01 9.33863923e-03 -2.26876630e+01] [ 2.54757247e-02 -1.25509680e-04 9.99675433e-01 2.12922747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.743617865 meters 0.018199842082500015 Centerline is valid? [True, True] Translation: X:132.59, Y:-22.71, Z:2.13 [[ 9.31358891e-01 3.63291182e-01 -2.42926719e-02 1.32587473e+02] [-3.63164918e-01 9.31675645e-01 9.57782654e-03 -2.27115507e+01] [ 2.61124306e-02 -9.81477069e-05 9.99659008e-01 2.13083715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80361786499998 meters 0.01843566375352754 Centerline is valid? [True, True] Translation: X:132.64, Y:-22.74, Z:2.13 [[ 9.31413855e-01 3.63082695e-01 -2.52821529e-02 1.32644174e+02] [-3.62945657e-01 9.31756912e-01 9.97527697e-03 -2.27354417e+01] [ 2.71786712e-02 -1.15063556e-04 9.99630585e-01 2.13142828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86361786499998 meters 0.018638170303656144 Centerline is valid? [True, True] Translation: X:132.70, Y:-22.76, Z:2.13 [[ 9.32095810e-01 3.61307266e-01 -2.55824274e-02 1.32702274e+02] [-3.61166101e-01 9.32446797e-01 1.01004311e-02 -2.27563682e+01] [ 2.75036117e-02 -1.75063973e-04 9.99621689e-01 2.13328948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92361786499998 meters 0.019039146533756542 Centerline is valid? [True, True] Translation: X:132.76, Y:-22.78, Z:2.13 [[ 9.33306797e-01 3.58113185e-01 -2.63319152e-02 1.32759662e+02] [-3.57962142e-01 9.33678138e-01 1.04038001e-02 -2.27796693e+01] [ 2.83112715e-02 -2.84108577e-04 9.99599115e-01 2.13393956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98361786499999 meters 0.019896477081475596 Centerline is valid? [True, True] Translation: X:132.82, Y:-22.80, Z:2.13 [[ 9.35665279e-01 3.51917921e-01 -2.61584076e-02 1.32816353e+02] [-3.51766295e-01 9.36030743e-01 1.03402732e-02 -2.28047830e+01] [ 2.81240012e-02 -4.73388521e-04 9.99604330e-01 2.13464363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.043617865 meters 0.02096027134967268 Centerline is valid? [True, True] Translation: X:132.87, Y:-22.83, Z:2.14 [[ 9.37086055e-01 3.48086721e-01 -2.65586195e-02 1.32873287e+02] [-3.47928817e-01 9.37462146e-01 1.05005893e-02 -2.28296370e+01] [ 2.85528162e-02 -5.99446714e-04 9.99592105e-01 2.13574046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.103617865 meters 0.021117468138494022 Centerline is valid? [True, True] Translation: X:132.93, Y:-22.85, Z:2.14 [[ 9.37172819e-01 3.47800399e-01 -2.72394910e-02 1.32930907e+02] [-3.47634046e-01 9.37568391e-01 1.07741191e-02 -2.28514132e+01] [ 2.92861287e-02 -6.27837080e-04 9.99570872e-01 2.13603803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.163617865 meters 0.020357918438438375 Centerline is valid? [True, True] Translation: X:132.99, Y:-22.87, Z:2.14 [[ 9.36236992e-01 3.50280260e-01 -2.76411669e-02 1.32990905e+02] [-3.50109892e-01 9.36644769e-01 1.09380578e-02 -2.28702058e+01] [ 2.97213401e-02 -5.63168355e-04 9.99558065e-01 2.13669162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.223617865 meters 0.020116789776429663 Centerline is valid? [True, True] Translation: X:133.05, Y:-22.89, Z:2.14 [[ 9.35384465e-01 3.52628959e-01 -2.66218139e-02 1.33049765e+02] [-3.52471804e-01 9.35763108e-01 1.05372389e-02 -2.28918603e+01] [ 2.86274469e-02 -4.72930787e-04 9.99590039e-01 2.13778822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.283617865 meters 0.01940996797575675 Centerline is valid? [True, True] Translation: X:133.11, Y:-22.91, Z:2.14 [[ 9.34094279e-01 3.56158376e-01 -2.48815095e-02 1.33108111e+02] [-3.56022240e-01 9.34425541e-01 9.85255876e-03 -2.29127363e+01] [ 2.67589893e-02 -3.44848034e-04 9.99641855e-01 2.14052028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.343617865 meters 0.019572571932513758 Centerline is valid? [True, True] Translation: X:133.16, Y:-22.94, Z:2.14 [[ 9.33468028e-01 3.57953398e-01 -2.25123592e-02 1.33164603e+02] [-3.57842335e-01 9.33739413e-01 8.92027440e-03 -2.29372759e+01] [ 2.42137196e-02 -2.70915762e-04 9.99706768e-01 2.14292524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.403617865 meters 0.019142393162735454 Centerline is valid? [True, True] Translation: X:133.22, Y:-22.96, Z:2.15 [[ 9.33158254e-01 3.58741690e-01 -2.28050850e-02 1.33222846e+02] [-3.58627793e-01 9.33436839e-01 9.04288796e-03 -2.29611538e+01] [ 2.45311674e-02 -2.59908240e-04 9.99699032e-01 2.14508092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.463617865 meters 0.01926521043530997 Centerline is valid? [True, True] Translation: X:133.28, Y:-22.98, Z:2.15 [[ 9.33042309e-01 3.59053369e-01 -2.26434785e-02 1.33280092e+02] [-3.58941005e-01 9.33316995e-01 8.98566663e-03 -2.29849431e+01] [ 2.43598772e-02 -2.56334208e-04 9.99703221e-01 2.14548749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52361786499998 meters 0.019336790146337622 Centerline is valid? [True, True] Translation: X:133.34, Y:-23.01, Z:2.15 [[ 9.33668920e-01 3.57404815e-01 -2.28942476e-02 1.33336978e+02] [-3.57289291e-01 9.33949518e-01 9.09171212e-03 -2.30093665e+01] [ 2.46314932e-02 -3.08779539e-04 9.99696551e-01 2.14563058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58361786499998 meters 0.019569136431297145 Centerline is valid? [True, True] Translation: X:133.39, Y:-23.03, Z:2.15 [[ 9.34126100e-01 3.56237056e-01 -2.24407782e-02 1.33393999e+02] [-3.56125581e-01 9.34395551e-01 8.91767365e-03 -2.30332137e+01] [ 2.41453691e-02 -3.38496533e-04 9.99708401e-01 2.14615024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64361786499998 meters 0.02012357580052964 Centerline is valid? [True, True] Translation: X:133.45, Y:-23.06, Z:2.15 [[ 9.34444083e-01 3.55436719e-01 -2.18859362e-02 1.33450717e+02] [-3.55330336e-01 9.34700279e-01 8.70286914e-03 -2.30567291e+01] [ 2.35501099e-02 -3.55607518e-04 9.99722594e-01 2.14636351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70361786499998 meters 0.02050901641499835 Centerline is valid? [True, True] Translation: X:133.51, Y:-23.08, Z:2.15 [[ 9.35731518e-01 3.51938898e-01 -2.33567718e-02 1.33507458e+02] [-3.51816516e-01 9.36022854e-01 9.29278427e-03 -2.30811456e+01] [ 2.51329645e-02 -4.78253032e-04 9.99684003e-01 2.14593005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.763617865 meters 0.020899583711429085 Centerline is valid? [True, True] Translation: X:133.57, Y:-23.10, Z:2.15 [[ 9.37238309e-01 3.47915180e-01 -2.32245648e-02 1.33565156e+02] [-3.47792878e-01 9.37525832e-01 9.24277626e-03 -2.31037671e+01] [ 2.49893316e-02 -5.85345753e-04 9.99687547e-01 2.14804216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.823617865 meters 0.021460086522446607 Centerline is valid? [True, True] Translation: X:133.62, Y:-23.13, Z:2.15 [[ 9.38264267e-01 3.45148927e-01 -2.30734248e-02 1.33623020e+02] [-3.45027330e-01 9.38547701e-01 9.18445084e-03 -2.31255523e+01] [ 2.48255132e-02 -6.56479867e-04 9.99691584e-01 2.14845891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.883617865 meters 0.022386312092166176 Centerline is valid? [True, True] Translation: X:133.68, Y:-23.15, Z:2.15 [[ 9.38912924e-01 3.43310301e-01 -2.40947721e-02 1.33680049e+02] [-3.43176997e-01 9.39221747e-01 9.59470172e-03 -2.31494092e+01] [ 2.59242939e-02 -7.39817894e-04 9.99663635e-01 2.14930849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.943617865 meters 0.0217967876419571 Centerline is valid? [True, True] Translation: X:133.74, Y:-23.17, Z:2.15 [[ 9.38370349e-01 3.44814331e-01 -2.37521743e-02 1.33738595e+02] [-3.44685111e-01 9.38670653e-01 9.46463468e-03 -2.31700790e+01] [ 2.55590107e-02 -6.94311694e-04 9.99673074e-01 2.15194196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.003617865 meters 0.02149179941494992 Centerline is valid? [True, True] Translation: X:133.80, Y:-23.19, Z:2.15 [[ 9.37509670e-01 3.47135730e-01 -2.39249475e-02 1.33797754e+02] [-3.47005207e-01 9.37814679e-01 9.54010681e-03 -2.31892325e+01] [ 2.57488789e-02 -6.41861041e-04 9.99668237e-01 2.15268824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.063617865 meters 0.020829994094052857 Centerline is valid? [True, True] Translation: X:133.86, Y:-23.21, Z:2.16 [[ 9.35908660e-01 3.51486719e-01 -2.30665789e-02 1.33856631e+02] [-3.51366603e-01 9.36192731e-01 9.20223277e-03 -2.32080157e+01] [ 2.48292260e-02 -5.07623877e-04 9.99691578e-01 2.15522783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.123617865 meters 0.02012269920136814 Centerline is valid? [True, True] Translation: X:133.92, Y:-23.23, Z:2.16 [[ 9.34606962e-01 3.55004039e-01 -2.19535402e-02 1.33915131e+02] [-3.54896170e-01 9.34864683e-01 8.75972652e-03 -2.32300039e+01] [ 2.36333277e-02 -3.95674053e-04 9.99720616e-01 2.15866411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.183617865 meters 0.019904115131518983 Centerline is valid? [True, True] Translation: X:133.97, Y:-23.25, Z:2.16 [[ 9.32803587e-01 3.59717696e-01 -2.19236738e-02 1.33972566e+02] [-3.59611358e-01 9.33061146e-01 8.75038264e-03 -2.32507099e+01] [ 2.36037957e-02 -2.78386197e-04 9.99721353e-01 2.15970611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.243617865 meters 0.019239599538503814 Centerline is valid? [True, True] Translation: X:134.03, Y:-23.27, Z:2.16 [[ 9.31718956e-01 3.62470049e-01 -2.26991390e-02 1.34032405e+02] [-3.62356792e-01 9.31995395e-01 9.06307780e-03 -2.32697044e+01] [ 2.44405873e-02 -2.19054193e-04 9.99701260e-01 2.16061065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30361786499998 meters 0.019737814373279792 Centerline is valid? [True, True] Translation: X:134.09, Y:-23.29, Z:2.16 [[ 9.31358738e-01 3.63350856e-01 -2.33892554e-02 1.34089628e+02] [-3.63230782e-01 9.31652357e-01 9.34267135e-03 -2.32947384e+01] [ 2.51853226e-02 -2.05681053e-04 9.99682778e-01 2.15977763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36361786499998 meters 0.020411790068673635 Centerline is valid? [True, True] Translation: X:134.15, Y:-23.32, Z:2.16 [[ 9.32407678e-01 3.60592879e-01 -2.42631023e-02 1.34146295e+02] [-3.60462543e-01 9.32723264e-01 9.69884439e-03 -2.33208377e+01] [ 2.61280942e-02 -2.97337400e-04 9.99658559e-01 2.16183096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42361786499998 meters 0.020747223590135113 Centerline is valid? [True, True] Translation: X:134.20, Y:-23.35, Z:2.16 [[ 9.33732177e-01 3.57126521e-01 -2.45940906e-02 1.34201202e+02] [-3.56991227e-01 9.34055931e-01 9.83773164e-03 -2.33474902e+01] [ 2.64855711e-02 -4.05932026e-04 9.99649113e-01 2.16399674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48361786499999 meters 0.020980502634387988 Centerline is valid? [True, True] Translation: X:134.26, Y:-23.37, Z:2.17 [[ 9.34363808e-01 3.55473543e-01 -2.45527053e-02 1.34257924e+02] [-3.55337968e-01 9.34686231e-01 9.82739492e-03 -2.33716587e+01] [ 2.64424544e-02 -4.57853739e-04 9.99650232e-01 2.16543430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.543617865 meters 0.021509939966569483 Centerline is valid? [True, True] Translation: X:134.31, Y:-23.40, Z:2.17 [[ 9.35247742e-01 3.53051752e-01 -2.58093116e-02 1.34313947e+02] [-3.52900825e-01 9.35603627e-01 1.03373674e-02 -2.33982364e+01] [ 2.77969112e-02 -5.59872217e-04 9.99613434e-01 2.16726346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.603617865 meters 0.02273243673329868 Centerline is valid? [True, True] Translation: X:134.37, Y:-23.42, Z:2.17 [[ 9.35497844e-01 3.52252507e-01 -2.76035504e-02 1.34368955e+02] [-3.52079288e-01 9.35904789e-01 1.10635331e-02 -2.34243594e+01] [ 2.97314523e-02 -6.31272970e-04 9.99557723e-01 2.16566897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.663617865 meters 0.022612093351460652 Centerline is valid? [True, True] Translation: X:134.43, Y:-23.45, Z:2.17 [[ 9.36072507e-01 3.50745917e-01 -2.73050129e-02 1.34426834e+02] [-3.50575575e-01 9.36470417e-01 1.09510188e-02 -2.34459778e+01] [ 2.94113620e-02 -6.78477036e-04 9.99567162e-01 2.16661997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.723617865 meters 0.022311869625878153 Centerline is valid? [True, True] Translation: X:134.48, Y:-23.47, Z:2.17 [[ 9.36462082e-01 3.49773979e-01 -2.63995012e-02 1.34482703e+02] [-3.49614166e-01 9.36833862e-01 1.05947944e-02 -2.34720445e+01] [ 2.84377301e-02 -6.91983604e-04 9.99595326e-01 2.17140874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.783617865 meters 0.021860912807582875 Centerline is valid? [True, True] Translation: X:134.54, Y:-23.49, Z:2.17 [[ 9.36344946e-01 3.50139405e-01 -2.57009676e-02 1.34540335e+02] [-3.49987891e-01 9.36697363e-01 1.03211814e-02 -2.34948124e+01] [ 2.76878809e-02 -6.69158606e-04 9.99616393e-01 2.17381929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.843617865 meters 0.02151316113256302 Centerline is valid? [True, True] Translation: X:134.60, Y:-23.52, Z:2.18 [[ 9.36197285e-01 3.50653940e-01 -2.40095451e-02 1.34597966e+02] [-3.50521718e-01 9.36504903e-01 9.64838758e-03 -2.35184427e+01] [ 2.58683019e-02 -6.16927247e-04 9.99665169e-01 2.17694751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.903617865 meters 0.021916547411327966 Centerline is valid? [True, True] Translation: X:134.66, Y:-23.54, Z:2.18 [[ 9.36201380e-01 3.50701498e-01 -2.31394599e-02 1.34655760e+02] [-3.50578535e-01 9.36487106e-01 9.30542860e-03 -2.35430035e+01] [ 2.49332336e-02 -5.99557151e-04 9.99688939e-01 2.17742587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.963617865 meters 0.02225436685377561 Centerline is valid? [True, True] Translation: X:134.71, Y:-23.57, Z:2.18 [[ 9.35914485e-01 3.51439407e-01 -2.35461226e-02 1.34711578e+02] [-3.51312159e-01 9.36210440e-01 9.47513794e-03 -2.35679913e+01] [ 2.53740627e-02 -5.95879656e-04 9.99677849e-01 2.17903388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02361786499998 meters 0.02127638287633025 Centerline is valid? [True, True] Translation: X:134.77, Y:-23.59, Z:2.18 [[ 9.35879263e-01 3.51494969e-01 -2.41099937e-02 1.34770608e+02] [-3.51361433e-01 9.36189569e-01 9.70739543e-03 -2.35887429e+01] [ 2.59836253e-02 -6.13628144e-04 9.99662180e-01 2.17977346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08361786499998 meters 0.021770641765609694 Centerline is valid? [True, True] Translation: X:134.83, Y:-23.61, Z:2.18 [[ 9.35902991e-01 3.51392120e-01 -2.46813561e-02 1.34826809e+02] [-3.51251945e-01 9.36228162e-01 9.94482930e-03 -2.36123211e+01] [ 2.66019153e-02 -6.38021144e-04 9.99645903e-01 2.18043020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14361786499998 meters 0.0226799646976704 Centerline is valid? [True, True] Translation: X:134.89, Y:-23.63, Z:2.18 [[ 9.35873807e-01 3.51434199e-01 -2.51837516e-02 1.34886054e+02] [-3.51288081e-01 9.36212354e-01 1.01543747e-02 -2.36340585e+01] [ 2.71459340e-02 -6.56461537e-04 9.99631266e-01 2.17951886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20361786499998 meters 0.022233641270593043 Centerline is valid? [True, True] Translation: X:134.94, Y:-23.65, Z:2.18 [[ 9.35647766e-01 3.52103876e-01 -2.42098705e-02 1.34943996e+02] [-3.51968884e-01 9.35960724e-01 9.76866861e-03 -2.36548892e+01] [ 2.60990740e-02 -6.18911853e-04 9.99659170e-01 2.18346560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.263617865 meters 0.021633422277104488 Centerline is valid? [True, True] Translation: X:135.00, Y:-23.67, Z:2.18 [[ 9.35811601e-01 3.51599185e-01 -2.51924735e-02 1.35003532e+02] [-3.51452637e-01 9.36150400e-01 1.01721604e-02 -2.36742366e+01] [ 2.71604675e-02 -6.65264462e-04 9.99630865e-01 2.18492392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.323617865 meters 0.022098846209777534 Centerline is valid? [True, True] Translation: X:135.06, Y:-23.70, Z:2.19 [[ 9.35649899e-01 3.51991596e-01 -2.57134684e-02 1.35061621e+02] [-3.51838867e-01 9.36002918e-01 1.03899047e-02 -2.36960628e+01] [ 2.77250405e-02 -6.74315722e-04 9.99615360e-01 2.18644360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.383617865 meters 0.02214005325478429 Centerline is valid? [True, True] Translation: X:135.12, Y:-23.72, Z:2.19 [[ 9.35371148e-01 3.52748448e-01 -2.54822964e-02 1.35119734e+02] [-3.52598536e-01 9.35717963e-01 1.03036775e-02 -2.37178209e+01] [ 2.74788487e-02 -6.52742225e-04 9.99622172e-01 2.18744051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.443617865 meters 0.021357306254188118 Centerline is valid? [True, True] Translation: X:135.18, Y:-23.74, Z:2.19 [[ 9.34875502e-01 3.54046321e-01 -2.56709651e-02 1.35179708e+02] [-3.53894528e-01 9.35227680e-01 1.03850614e-02 -2.37364661e+01] [ 2.76849900e-02 -6.23925446e-04 9.99616502e-01 2.18865162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.503617865 meters 0.02120525973354214 Centerline is valid? [True, True] Translation: X:135.24, Y:-23.76, Z:2.19 [[ 9.34412327e-01 3.55288213e-01 -2.53749506e-02 1.35239322e+02] [-3.55140239e-01 9.34756623e-01 1.02696908e-02 -2.37555849e+01] [ 2.73681033e-02 -5.84459678e-04 9.99625252e-01 2.18959408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.563617865 meters 0.021192328001402107 Centerline is valid? [True, True] Translation: X:135.30, Y:-23.78, Z:2.19 [[ 9.34575370e-01 3.54967305e-01 -2.38136607e-02 1.35298457e+02] [-3.54836707e-01 9.34878545e-01 9.64451029e-03 -2.37774462e+01] [ 2.56863663e-02 -5.63560807e-04 9.99669892e-01 2.19347943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.623617865 meters 0.021958714222770827 Centerline is valid? [True, True] Translation: X:135.36, Y:-23.80, Z:2.20 [[ 9.34677709e-01 3.54797020e-01 -2.22857374e-02 1.35356575e+02] [-3.54682435e-01 9.34943199e-01 9.03243790e-03 -2.38001789e+01] [ 2.40405806e-02 -5.38058760e-04 9.99710839e-01 2.19531663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.683617865 meters 0.02291945791671802 Centerline is valid? [True, True] Translation: X:135.42, Y:-23.82, Z:2.19 [[ 9.34658718e-01 3.54925745e-01 -2.09951482e-02 1.35417569e+02] [-3.54823939e-01 9.34894355e-01 8.51565022e-03 -2.38175193e+01] [ 2.26506691e-02 -5.09645517e-04 9.99743311e-01 2.19436928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.743617865 meters 0.021053746844454595 Centerline is valid? [True, True] Translation: X:135.48, Y:-23.84, Z:2.20 [[ 9.34862872e-01 3.54456208e-01 -1.98042087e-02 1.35477337e+02] [-3.54365393e-01 9.35072484e-01 8.03855762e-03 -2.38367385e+01] [ 2.13676873e-02 -4.97022857e-04 9.99771561e-01 2.19900280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80361786499998 meters 0.021180977038837305 Centerline is valid? [True, True] Translation: X:135.54, Y:-23.86, Z:2.20 [[ 9.35053063e-01 3.54019461e-01 -1.86008378e-02 1.35536900e+02] [-3.53939149e-01 9.35237932e-01 7.55576116e-03 -2.38579011e+01] [ 2.00710955e-02 -4.81472928e-04 9.99798439e-01 2.19963534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86361786499998 meters 0.02066298097182592 Centerline is valid? [True, True] Translation: X:135.60, Y:-23.88, Z:2.20 [[ 9.34891305e-01 3.54397337e-01 -1.95134506e-02 1.35597695e+02] [-3.54308896e-01 9.35094795e-01 7.93292834e-03 -2.38752683e+01] [ 2.10583348e-02 -5.02636585e-04 9.99778122e-01 2.19984636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92361786499998 meters 0.02187752012933599 Centerline is valid? [True, True] Translation: X:135.66, Y:-23.89, Z:2.20 [[ 9.34513394e-01 3.55375059e-01 -1.98313796e-02 1.35657423e+02] [-3.55283797e-01 9.34723661e-01 8.06850591e-03 -2.38942109e+01] [ 2.14042055e-02 -4.94358997e-04 9.99770782e-01 2.19729148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98361786499999 meters 0.020047655123954244 Centerline is valid? [True, True] Translation: X:135.72, Y:-23.91, Z:2.20 [[ 9.33431024e-01 3.58253192e-01 -1.90045591e-02 1.35717221e+02] [-3.58169870e-01 9.33624377e-01 7.73733995e-03 -2.39119802e+01] [ 2.05150464e-02 -4.15412682e-04 9.99789458e-01 2.20031376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.043617865 meters 0.019888097938559123 Centerline is valid? [True, True] Translation: X:135.78, Y:-23.93, Z:2.20 [[ 9.32576488e-01 3.60462780e-01 -1.91749367e-02 1.35776444e+02] [-3.60378312e-01 9.32773522e-01 7.81207476e-03 -2.39289825e+01] [ 2.07018355e-02 -3.75125913e-04 9.99785624e-01 2.20108860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.103617865 meters 0.020108860166201333 Centerline is valid? [True, True] Translation: X:135.84, Y:-23.95, Z:2.20 [[ 9.32876720e-01 3.59755363e-01 -1.78074273e-02 1.35836303e+02] [-3.59682301e-01 9.33046593e-01 7.25933597e-03 -2.39470654e+01] [ 1.92267444e-02 -3.67049102e-04 9.99815082e-01 2.20158057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.163617865 meters 0.022064103965875805 Centerline is valid? [True, True] Translation: X:135.89, Y:-23.97, Z:2.20 [[ 9.33798942e-01 3.57313796e-01 -1.86114732e-02 1.35894941e+02] [-3.57233395e-01 9.33984291e-01 7.59245046e-03 -2.39687452e+01] [ 2.00957109e-02 -4.41182458e-04 9.99797963e-01 2.20004394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.223617865 meters 0.020716465887658905 Centerline is valid? [True, True] Translation: X:135.95, Y:-23.99, Z:2.20 [[ 9.35924741e-01 3.51759826e-01 -1.76041100e-02 1.35951771e+02] [-3.51686834e-01 9.36090134e-01 7.18546892e-03 -2.39897467e+01] [ 1.90065930e-02 -5.33924424e-04 9.99819216e-01 2.20469824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.283617865 meters 0.022255037372733388 Centerline is valid? [True, True] Translation: X:136.01, Y:-24.01, Z:2.21 [[ 9.37195897e-01 3.48388001e-01 -1.70191221e-02 1.36008482e+02] [-3.48319208e-01 9.37350234e-01 6.94758914e-03 -2.40132296e+01] [ 1.83733348e-02 -5.83164910e-04 9.99831026e-01 2.20582857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.343617865 meters 0.022801756151236394 Centerline is valid? [True, True] Translation: X:136.07, Y:-24.03, Z:2.21 [[ 9.38454809e-01 3.44963141e-01 -1.74069701e-02 1.36065683e+02] [-3.44890511e-01 9.38615994e-01 7.10994843e-03 -2.40342729e+01] [ 1.87911307e-02 -6.68866497e-04 9.99823207e-01 2.20686601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.403617865 meters 0.023708604436268016 Centerline is valid? [True, True] Translation: X:136.12, Y:-24.06, Z:2.21 [[ 9.38126176e-01 3.45877032e-01 -1.69810710e-02 1.36122794e+02] [-3.45808047e-01 9.38279636e-01 6.93685245e-03 -2.40550967e+01] [ 1.83322910e-02 -6.35451877e-04 9.99831747e-01 2.20790631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.463617865 meters 0.022789895073874907 Centerline is valid? [True, True] Translation: X:136.18, Y:-24.07, Z:2.21 [[ 9.37057070e-01 3.48740721e-01 -1.74343647e-02 1.36181993e+02] [-3.48668422e-01 9.37219052e-01 7.12602045e-03 -2.40721330e+01] [ 1.88249523e-02 -5.98675390e-04 9.99822616e-01 2.20924874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52361786499998 meters 0.021797626078174145 Centerline is valid? [True, True] Translation: X:136.24, Y:-24.09, Z:2.21 [[ 9.36167204e-01 3.51088612e-01 -1.81039353e-02 1.36240875e+02] [-3.51011061e-01 9.36342062e-01 7.40122332e-03 -2.40918595e+01] [ 1.95499614e-02 -5.74100992e-04 9.99808716e-01 2.21031041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58361786499998 meters 0.021556449192046585 Centerline is valid? [True, True] Translation: X:136.30, Y:-24.11, Z:2.21 [[ 9.34943381e-01 3.54308678e-01 -1.86073808e-02 1.36298724e+02] [-3.54227297e-01 9.35128379e-01 7.61166376e-03 -2.41104599e+01] [ 2.00971684e-02 -5.25232446e-04 9.99797894e-01 2.21054092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64361786499998 meters 0.020074472127346445 Centerline is valid? [True, True] Translation: X:136.36, Y:-24.13, Z:2.21 [[ 9.33833935e-01 3.57257111e-01 -1.79314787e-02 1.36358578e+02] [-3.57182028e-01 9.34005973e-01 7.33770411e-03 -2.41284354e+01] [ 1.93695551e-02 -4.47395191e-04 9.99812292e-01 2.21157333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70361786499998 meters 0.019003002891549978 Centerline is valid? [True, True] Translation: X:136.42, Y:-24.15, Z:2.21 [[ 9.31806457e-01 3.62563178e-01 -1.68721272e-02 1.36417930e+02] [-3.62497500e-01 9.31959140e-01 6.90819391e-03 -2.41463359e+01] [ 1.82287899e-02 -3.20995758e-04 9.99833790e-01 2.21298042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.763617865 meters 0.019256642507356755 Centerline is valid? [True, True] Translation: X:136.48, Y:-24.16, Z:2.21 [[ 9.29684216e-01 3.67955572e-01 -1.72033522e-02 1.36477790e+02] [-3.67888181e-01 9.29843346e-01 7.04540498e-03 -2.41639177e+01] [ 1.85888186e-02 -2.21091864e-04 9.99827189e-01 2.21113740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.823617865 meters 0.01740659568119275 Centerline is valid? [True, True] Translation: X:136.54, Y:-24.19, Z:2.21 [[ 9.28061619e-01 3.72006200e-01 -1.76923324e-02 1.36535320e+02] [-3.71935561e-01 9.28230233e-01 7.25078397e-03 -2.41857441e+01] [ 1.91198944e-02 -1.48766755e-04 9.99817187e-01 2.21411140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.883617865 meters 0.017253477874882392 Centerline is valid? [True, True] Translation: X:136.59, Y:-24.21, Z:2.22 [[ 9.27532298e-01 3.73361283e-01 -1.68875210e-02 1.36592854e+02] [-3.73297067e-01 9.27686013e-01 6.92547143e-03 -2.42087667e+01] [ 1.82520200e-02 -1.19536363e-04 9.99833411e-01 2.21540450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.943617865 meters 0.02073328099975194 Centerline is valid? [True, True] Translation: X:136.65, Y:-24.23, Z:2.21 [[ 9.27875797e-01 3.72500429e-01 -1.70274705e-02 1.36650615e+02] [-3.72434910e-01 9.28032009e-01 6.98768986e-03 -2.42335385e+01] [ 1.84049551e-02 -1.42083860e-04 9.99830604e-01 2.21197128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.003617865 meters 0.020213574048509677 Centerline is valid? [True, True] Translation: X:136.70, Y:-24.26, Z:2.21 [[ 9.29156609e-01 3.69270253e-01 -1.75349721e-02 1.36704939e+02] [-3.69200091e-01 9.29322029e-01 7.20141057e-03 -2.42619531e+01] [ 1.89549025e-02 -2.17324945e-04 9.99820316e-01 2.21383097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.063617865 meters 0.01818462208011488 Centerline is valid? [True, True] Translation: X:136.76, Y:-24.29, Z:2.22 [[ 9.30273185e-01 3.66427124e-01 -1.79712242e-02 1.36760478e+02] [-3.66352804e-01 9.30446710e-01 7.38525356e-03 -2.42891866e+01] [ 1.94274237e-02 -2.86494970e-04 9.99811229e-01 2.21760482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.123617865 meters 0.02031575117866114 Centerline is valid? [True, True] Translation: X:136.82, Y:-24.31, Z:2.22 [[ 9.31383576e-01 3.63581804e-01 -1.82457461e-02 1.36817163e+02] [-3.63504548e-01 9.31562207e-01 7.50321563e-03 -2.43145352e+01] [ 1.97250801e-02 -3.55960126e-04 9.99805378e-01 2.21653712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.183617865 meters 0.023648382199626117 Centerline is valid? [True, True] Translation: X:136.87, Y:-24.35, Z:2.22 [[ 9.33133199e-01 3.59058823e-01 -1.84172139e-02 1.36869121e+02] [-3.58979133e-01 9.33314818e-01 7.57845077e-03 -2.43479613e+01] [ 1.99101682e-02 -4.60308558e-04 9.99801667e-01 2.21680672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.243617865 meters 0.019920382881130693 Centerline is valid? [True, True] Translation: X:136.93, Y:-24.37, Z:2.22 [[ 9.33688374e-01 3.57641909e-01 -1.78405351e-02 1.36925925e+02] [-3.57566818e-01 9.33858681e-01 7.34396234e-03 -2.43715805e+01] [ 1.92870473e-02 -4.77788890e-04 9.99813873e-01 2.22245280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30361786499998 meters 0.020398798655832672 Centerline is valid? [True, True] Translation: X:136.98, Y:-24.40, Z:2.22 [[ 9.33837838e-01 3.57239609e-01 -1.80763153e-02 1.36982253e+02] [-3.57162350e-01 9.34012642e-01 7.44586853e-03 -2.43983233e+01] [ 1.95434661e-02 -4.97054529e-04 9.99808885e-01 2.22325566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36361786499998 meters 0.019722914390874542 Centerline is valid? [True, True] Translation: X:137.04, Y:-24.42, Z:2.22 [[ 9.33232901e-01 3.58805851e-01 -1.82951820e-02 1.37038997e+02] [-3.58726908e-01 9.33412093e-01 7.54119812e-03 -2.44225546e+01] [ 1.97827701e-02 -4.74720147e-04 9.99804189e-01 2.22243230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42361786499998 meters 0.02206395397320837 Centerline is valid? [True, True] Translation: X:137.10, Y:-24.45, Z:2.22 [[ 9.32683365e-01 3.60217738e-01 -1.85720544e-02 1.37095782e+02] [-3.60136559e-01 9.32868143e-01 7.66071380e-03 -2.44474721e+01] [ 2.00848029e-02 -4.56544572e-04 9.99798176e-01 2.22056567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48361786499999 meters 0.01901624600547769 Centerline is valid? [True, True] Translation: X:137.15, Y:-24.47, Z:2.23 [[ 9.31584682e-01 3.63137003e-01 -1.67779052e-02 1.37152124e+02] [-3.63071144e-01 9.31735686e-01 6.92505011e-03 -2.44740933e+01] [ 1.81473149e-02 -3.59697371e-04 9.99835259e-01 2.22518894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.543617865 meters 0.019110139741195305 Centerline is valid? [True, True] Translation: X:137.21, Y:-24.50, Z:2.22 [[ 9.30141474e-01 3.66893165e-01 -1.50413810e-02 1.37208160e+02] [-3.66840663e-01 9.30263048e-01 6.21212887e-03 -2.44991658e+01] [ 1.62716286e-02 -2.60368515e-04 9.99867574e-01 2.22433487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.603617865 meters 0.017881435550730653 Centerline is valid? [True, True] Translation: X:137.26, Y:-24.53, Z:2.23 [[ 9.28903902e-01 3.70098051e-01 -1.28441700e-02 1.37264943e+02] [-3.70060036e-01 9.28992681e-01 5.30740967e-03 -2.45253093e+01] [ 1.38964019e-02 -1.76959556e-04 9.99903425e-01 2.22613543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.663617865 meters 0.01783060793221302 Centerline is valid? [True, True] Translation: X:137.32, Y:-24.55, Z:2.23 [[ 9.28323453e-01 3.71601748e-01 -1.13007290e-02 1.37319475e+02] [-3.71572398e-01 9.28392224e-01 4.67240058e-03 -2.45534500e+01] [ 1.22277812e-02 -1.38460067e-04 9.99925228e-01 2.22654016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.723617865 meters 0.017596195544636307 Centerline is valid? [True, True] Translation: X:137.38, Y:-24.58, Z:2.23 [[ 9.28426654e-01 3.71372427e-01 -1.03183666e-02 1.37376933e+02] [-3.71347922e-01 9.28483981e-01 4.26823428e-03 -2.45799787e+01] [ 1.11655426e-02 -1.31038482e-04 9.99937655e-01 2.22712329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.783617865 meters 0.018437504990970285 Centerline is valid? [True, True] Translation: X:137.43, Y:-24.61, Z:2.23 [[ 9.28757045e-01 3.70578532e-01 -9.04998571e-03 1.37430755e+02] [-3.70559616e-01 9.28801128e-01 3.74634419e-03 -2.46086375e+01] [ 9.79395167e-03 -1.25884332e-04 9.99952030e-01 2.22710491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.843617865 meters 0.017781577113116284 Centerline is valid? [True, True] Translation: X:137.49, Y:-24.64, Z:2.23 [[ 9.28699172e-01 3.70723638e-01 -9.04613470e-03 1.37486547e+02] [-3.70704725e-01 9.28743220e-01 3.74677859e-03 -2.46380798e+01] [ 9.79055566e-03 -1.26185298e-04 9.99952063e-01 2.22737472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.903617865 meters 0.0177110200663342 Centerline is valid? [True, True] Translation: X:137.54, Y:-24.67, Z:2.23 [[ 9.28513238e-01 3.71165756e-01 -9.95734245e-03 1.37542713e+02] [-3.71142826e-01 9.28566617e-01 4.12795668e-03 -2.46660754e+01] [ 1.07782120e-02 -1.37266212e-04 9.99941904e-01 2.22587680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.963617865 meters 0.018395487926560327 Centerline is valid? [True, True] Translation: X:137.60, Y:-24.69, Z:2.23 [[ 9.28201149e-01 3.71930707e-01 -1.04965037e-02 1.37596987e+02] [-3.71905230e-01 9.28260486e-01 4.35544025e-03 -2.46943843e+01] [ 1.13634116e-02 -1.39020013e-04 9.99935425e-01 2.22590527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02361786499998 meters 0.017725023143956988 Centerline is valid? [True, True] Translation: X:137.65, Y:-24.72, Z:2.23 [[ 9.28543748e-01 3.71076361e-01 -1.04327106e-02 1.37651895e+02] [-3.71051110e-01 9.28602343e-01 4.33159203e-03 -2.47230101e+01] [ 1.12951909e-02 -1.51003872e-04 9.99936196e-01 2.22551115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08361786499998 meters 0.01800784601343781 Centerline is valid? [True, True] Translation: X:137.71, Y:-24.75, Z:2.23 [[ 9.28805097e-01 3.70421557e-01 -1.04384678e-02 1.37706008e+02] [-3.70396202e-01 9.28863738e-01 4.33701290e-03 -2.47518358e+01] [ 1.13024373e-02 -1.61870873e-04 9.99936112e-01 2.22654250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14361786499998 meters 0.018134512907022053 Centerline is valid? [True, True] Translation: X:137.76, Y:-24.78, Z:2.23 [[ 9.28740365e-01 3.70599352e-01 -9.87190899e-03 1.37760490e+02] [-3.70576662e-01 9.28792817e-01 4.10376982e-03 -2.47816987e+01] [ 1.06898126e-02 -1.53037606e-04 9.99942851e-01 2.22789437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20361786499998 meters 0.01741175861998742 Centerline is valid? [True, True] Translation: X:137.82, Y:-24.81, Z:2.23 [[ 9.27755828e-01 3.73082646e-01 -8.85794848e-03 1.37816385e+02] [-3.73064470e-01 9.27798106e-01 3.68447471e-03 -2.48095120e+01] [ 9.59300140e-03 -1.13707034e-04 9.99953980e-01 2.22890833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.263617865 meters 0.01704234321199723 Centerline is valid? [True, True] Translation: X:137.87, Y:-24.84, Z:2.23 [[ 9.26132932e-01 3.77117191e-01 -7.77278723e-03 1.37871191e+02] [-3.77103322e-01 9.26165547e-01 3.23493701e-03 -2.48360902e+01] [ 8.41883810e-03 -6.48378142e-05 9.99964559e-01 2.23043798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.323617865 meters 0.01669535311352819 Centerline is valid? [True, True] Translation: X:137.93, Y:-24.86, Z:2.23 [[ 9.25071529e-01 3.79723920e-01 -7.23946207e-03 1.37928114e+02] [-3.79711957e-01 9.25099856e-01 3.01439253e-03 -2.48615121e+01] [ 7.84186226e-03 -3.96184003e-05 9.99969251e-01 2.23095443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.383617865 meters 0.016451551830206825 Centerline is valid? [True, True] Translation: X:137.98, Y:-24.89, Z:2.23 [[ 9.23760585e-01 3.82880162e-01 -8.31644580e-03 1.37983670e+02] [-3.82864476e-01 9.23798020e-01 3.46574646e-03 -2.48901561e+01] [ 9.00968173e-03 -1.74483169e-05 9.99959412e-01 2.23118907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.443617865 meters 0.016539948351733003 Centerline is valid? [True, True] Translation: X:138.04, Y:-24.92, Z:2.23 [[ 9.22929880e-01 3.84874264e-01 -8.49928621e-03 1.38038769e+02] [-3.84857944e-01 9.22969014e-01 3.54435027e-03 -2.49195146e+01] [ 9.20870702e-03 -1.68950520e-07 9.99957599e-01 2.23235843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.503617865 meters 0.016464526788982633 Centerline is valid? [True, True] Translation: X:138.09, Y:-24.95, Z:2.23 [[ 9.22955960e-01 3.84819006e-01 -8.16260725e-03 1.38094304e+02] [-3.84803931e-01 9.22992055e-01 3.40611747e-03 -2.49503431e+01] [ 8.84476037e-03 -2.69306546e-06 9.99960884e-01 2.23313666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.563617865 meters 0.016417703483850157 Centerline is valid? [True, True] Translation: X:138.15, Y:-24.98, Z:2.23 [[ 9.23172432e-01 3.84285938e-01 -8.77367492e-03 1.38149631e+02] [-3.84268469e-01 9.23214123e-01 3.66423717e-03 -2.49800285e+01] [ 9.50809542e-03 -1.12761167e-05 9.99954797e-01 2.23377359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.623617865 meters 0.016452637171010396 Centerline is valid? [True, True] Translation: X:138.20, Y:-25.01, Z:2.23 [[ 9.23722105e-01 3.82937842e-01 -9.80217939e-03 1.38204282e+02] [-3.82915921e-01 9.23774111e-01 4.09741098e-03 -2.50124464e+01] [ 1.06240533e-02 -3.14585428e-05 9.99943563e-01 2.23377129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.683617865 meters 0.016328916174811667 Centerline is valid? [True, True] Translation: X:138.26, Y:-25.04, Z:2.23 [[ 9.23970880e-01 3.82309150e-01 -1.08409905e-02 1.38260373e+02] [-3.82282246e-01 9.24034476e-01 4.53568466e-03 -2.50414240e+01] [ 1.17514827e-02 -4.65223698e-05 9.99930948e-01 2.23431723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74361786499998 meters 0.01643566365529482 Centerline is valid? [True, True] Translation: X:138.32, Y:-25.07, Z:2.24 [[ 9.23979901e-01 3.82263225e-01 -1.16605757e-02 1.38315508e+02] [-3.82232043e-01 9.24053474e-01 4.88281931e-03 -2.50709510e+01] [ 1.26415178e-02 -5.45812262e-05 9.99920091e-01 2.23503437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80361786499998 meters 0.0164081599570915 Centerline is valid? [True, True] Translation: X:138.37, Y:-25.09, Z:2.24 [[ 9.22221414e-01 3.86518008e-01 -1.05590323e-02 1.38374944e+02] [-3.86492686e-01 9.22281860e-01 4.42424947e-03 -2.50925097e+01] [ 1.14484560e-02 8.51151600e-07 9.99934464e-01 2.23755929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86361786499998 meters 0.016409987273729675 Centerline is valid? [True, True] Translation: X:138.43, Y:-25.11, Z:2.24 [[ 9.20847120e-01 3.89723610e-01 -1.24935618e-02 1.38432886e+02] [-3.89688389e-01 9.20931868e-01 5.23966722e-03 -2.51146921e+01] [ 1.35477412e-02 4.36634839e-05 9.99908224e-01 2.23774591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92361786499998 meters 0.016410798547875083 Centerline is valid? [True, True] Translation: X:138.49, Y:-25.14, Z:2.24 [[ 9.20880871e-01 3.89595347e-01 -1.39243211e-02 1.38490476e+02] [-3.89551512e-01 9.20986137e-01 5.84424838e-03 -2.51400689e+01] [ 1.51009987e-02 4.23838088e-05 9.99885973e-01 2.23842073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98361786499999 meters 0.016434292107036216 Centerline is valid? [True, True] Translation: X:138.55, Y:-25.16, Z:2.24 [[ 9.21814706e-01 3.87344754e-01 -1.48892162e-02 1.38547157e+02] [-3.87294259e-01 9.21934944e-01 6.25423901e-03 -2.51644535e+01] [ 1.61494354e-02 1.25844709e-06 9.99869589e-01 2.23916309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.043617865 meters 0.01667396910761351 Centerline is valid? [True, True] Translation: X:138.61, Y:-25.19, Z:2.24 [[ 9.22642765e-01 3.85368399e-01 -1.48837045e-02 1.38605525e+02] [-3.85317614e-01 9.22762806e-01 6.25626560e-03 -2.51887678e+01] [ 1.61450959e-02 -3.73447069e-05 9.99869659e-01 2.24088611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.103617865 meters 0.01709449046098209 Centerline is valid? [True, True] Translation: X:138.66, Y:-25.21, Z:2.24 [[ 9.24277920e-01 3.81432739e-01 -1.48119140e-02 1.38661494e+02] [-3.81381864e-01 9.24396589e-01 6.23053557e-03 -2.52144360e+01] [ 1.60686130e-02 -1.09751076e-04 9.99870885e-01 2.24322758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.163617865 meters 0.017308164206081333 Centerline is valid? [True, True] Translation: X:138.72, Y:-25.24, Z:2.24 [[ 9.24795372e-01 3.80172477e-01 -1.49133455e-02 1.38718713e+02] [-3.80120679e-01 9.24915601e-01 6.27699617e-03 -2.52396105e+01] [ 1.61799271e-02 -1.36066000e-04 9.99869087e-01 2.24430137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.223617865 meters 0.01818888474462281 Centerline is valid? [True, True] Translation: X:138.77, Y:-25.26, Z:2.24 [[ 9.26517632e-01 3.75933703e-01 -1.54572913e-02 1.38774412e+02] [-3.75877395e-01 9.26646535e-01 6.51014386e-03 -2.52647588e+01] [ 1.67708279e-02 -2.21716694e-04 9.99859335e-01 2.24480845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.283617865 meters 0.018245114085806993 Centerline is valid? [True, True] Translation: X:138.83, Y:-25.29, Z:2.25 [[ 9.27473407e-01 3.73573745e-01 -1.53537296e-02 1.38831971e+02] [-3.73517829e-01 9.27600446e-01 6.46872401e-03 -2.52874165e+01] [ 1.66586718e-02 -2.64677766e-04 9.99861200e-01 2.24579756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.343617865 meters 0.0190246202049799 Centerline is valid? [True, True] Translation: X:138.89, Y:-25.31, Z:2.25 [[ 9.28604626e-01 3.70722276e-01 -1.60761511e-02 1.38888582e+02] [-3.70660465e-01 9.28743711e-01 6.77778747e-03 -2.53128970e+01] [ 1.74433011e-02 -3.35091155e-04 9.99847798e-01 2.24734259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.403617865 meters 0.019578102023239383 Centerline is valid? [True, True] Translation: X:138.95, Y:-25.34, Z:2.25 [[ 9.29177067e-01 3.69252023e-01 -1.68202854e-02 1.38945616e+02] [-3.69184026e-01 9.29329218e-01 7.09637713e-03 -2.53382880e+01] [ 1.82519343e-02 -3.84010193e-04 9.99833346e-01 2.24872905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.463617865 meters 0.018686301228139673 Centerline is valid? [True, True] Translation: X:139.01, Y:-25.36, Z:2.25 [[ 9.28859793e-01 3.70009793e-01 -1.76702808e-02 1.39005202e+02] [-3.69934786e-01 9.29027771e-01 7.46021577e-03 -2.53598313e+01] [ 1.91765345e-02 -3.92642928e-04 9.99816036e-01 2.24964995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52361786499998 meters 0.019026882088146752 Centerline is valid? [True, True] Translation: X:139.06, Y:-25.38, Z:2.25 [[ 9.28646990e-01 3.70514843e-01 -1.82624837e-02 1.39063222e+02] [-3.70434699e-01 9.28826459e-01 7.71643279e-03 -2.53849634e+01] [ 1.98217309e-02 -4.00784431e-04 9.99803450e-01 2.25003222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58361786499998 meters 0.020007029361069954 Centerline is valid? [True, True] Translation: X:139.12, Y:-25.41, Z:2.25 [[ 9.28531951e-01 3.70726383e-01 -1.97576535e-02 1.39118095e+02] [-3.70632481e-01 9.28742031e-01 8.35489665e-03 -2.54130062e+01] [ 2.14471439e-02 -4.34960340e-04 9.99769889e-01 2.25051375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64361786499998 meters 0.01927488819434986 Centerline is valid? [True, True] Translation: X:139.18, Y:-25.44, Z:2.25 [[ 9.28287826e-01 3.71341914e-01 -1.96696223e-02 1.39175355e+02] [-3.71248862e-01 9.28496097e-01 8.32347503e-03 -2.54376833e+01] [ 2.13540227e-02 -4.24255666e-04 9.99771887e-01 2.25315261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70361786499998 meters 0.019391841204778965 Centerline is valid? [True, True] Translation: X:139.23, Y:-25.46, Z:2.25 [[ 9.28029209e-01 3.71986638e-01 -1.96908263e-02 1.39230516e+02] [-3.71893414e-01 9.28237991e-01 8.33783997e-03 -2.54630490e+01] [ 2.13793381e-02 -4.14870405e-04 9.99771350e-01 2.25468004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.763617865 meters 0.019022308815566106 Centerline is valid? [True, True] Translation: X:139.29, Y:-25.49, Z:2.26 [[ 9.27590349e-01 3.73088960e-01 -1.95134074e-02 1.39286942e+02] [-3.72997545e-01 9.27795492e-01 8.26778519e-03 -2.54880231e+01] [ 2.11890708e-02 -3.90664703e-04 9.99775410e-01 2.25628518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.823617865 meters 0.01899214603528669 Centerline is valid? [True, True] Translation: X:139.34, Y:-25.51, Z:2.26 [[ 9.26456375e-01 3.75868066e-01 -2.00445230e-02 1.39342608e+02] [-3.75772134e-01 9.26673125e-01 8.49837648e-03 -2.55132630e+01] [ 2.17689891e-02 -3.41201887e-04 9.99762969e-01 2.25682388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.883617865 meters 0.01804330011626089 Centerline is valid? [True, True] Translation: X:139.40, Y:-25.54, Z:2.26 [[ 9.25538063e-01 3.78072988e-01 -2.09787856e-02 1.39400585e+02] [-3.77968340e-01 9.25775740e-01 8.90017125e-03 -2.55352855e+01] [ 2.27865651e-02 -3.08130519e-04 9.99740305e-01 2.25769080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.943617865 meters 0.01775921746993566 Centerline is valid? [True, True] Translation: X:139.46, Y:-25.56, Z:2.26 [[ 9.24344614e-01 3.80862330e-01 -2.30416983e-02 1.39457162e+02] [-3.80736783e-01 9.24631718e-01 9.78206600e-03 -2.55583053e+01] [ 2.50307055e-02 -2.69177939e-04 9.99686647e-01 2.25725057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.003617865 meters 0.017327958962069692 Centerline is valid? [True, True] Translation: X:139.52, Y:-25.58, Z:2.26 [[ 9.23390834e-01 3.83083014e-01 -2.44289291e-02 1.39515220e+02] [-3.82942478e-01 9.23713891e-01 1.03781640e-02 -2.55816342e+01] [ 2.65410395e-02 -2.28226850e-04 9.99647699e-01 2.25828509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.063617865 meters 0.017243338580413364 Centerline is valid? [True, True] Translation: X:139.57, Y:-25.61, Z:2.26 [[ 9.23160487e-01 3.83743177e-01 -2.27131937e-02 1.39572245e+02] [-3.83621726e-01 9.23439838e-01 9.65592583e-03 -2.56057577e+01] [ 2.46796636e-02 -2.00694613e-04 9.99695391e-01 2.26058757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.123617865 meters 0.0172814610661358 Centerline is valid? [True, True] Translation: X:139.63, Y:-25.63, Z:2.26 [[ 9.23456539e-01 3.83091223e-01 -2.16595423e-02 1.39629889e+02] [-3.82980455e-01 9.23710490e-01 9.21422517e-03 -2.56302340e+01] [ 2.35370352e-02 -2.13755124e-04 9.99722943e-01 2.26302692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.183617865 meters 0.01767634592242679 Centerline is valid? [True, True] Translation: X:139.69, Y:-25.66, Z:2.27 [[ 9.24046099e-01 3.81712018e-01 -2.08504859e-02 1.39685126e+02] [-3.81608893e-01 9.24281275e-01 8.87564614e-03 -2.56561990e+01] [ 2.26596545e-02 -2.44775360e-04 9.99743207e-01 2.26503427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24361786499998 meters 0.017683555785978574 Centerline is valid? [True, True] Translation: X:139.74, Y:-25.68, Z:2.27 [[ 9.24331827e-01 3.81011655e-01 -2.09950530e-02 1.39742529e+02] [-3.80906822e-01 9.24570196e-01 8.94126085e-03 -2.56804040e+01] [ 2.28181249e-02 -2.67533063e-04 9.99739597e-01 2.26642331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30361786499998 meters 0.017786147110068293 Centerline is valid? [True, True] Translation: X:139.80, Y:-25.70, Z:2.27 [[ 9.24804973e-01 3.79782735e-01 -2.23793810e-02 1.39799598e+02] [-3.79663100e-01 9.25075656e-01 9.53734733e-03 -2.57037825e+01] [ 2.43247404e-02 -3.23561073e-04 9.99704057e-01 2.26679681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36361786499998 meters 0.018047339176279122 Centerline is valid? [True, True] Translation: X:139.86, Y:-25.73, Z:2.27 [[ 9.25503546e-01 3.78040617e-01 -2.29886687e-02 1.39856994e+02] [-3.77913676e-01 9.25788930e-01 9.80360615e-03 -2.57281202e+01] [ 2.49888163e-02 -3.85539978e-04 9.99687656e-01 2.26703274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42361786499998 meters 0.018206880613421874 Centerline is valid? [True, True] Translation: X:139.91, Y:-25.75, Z:2.27 [[ 9.26113693e-01 3.76522769e-01 -2.33245138e-02 1.39913962e+02] [-3.76391440e-01 9.26407260e-01 9.95348179e-03 -2.57526306e+01] [ 2.53557115e-02 -4.38908419e-04 9.99678396e-01 2.26834294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48361786499999 meters 0.01851266797135754 Centerline is valid? [True, True] Translation: X:139.97, Y:-25.78, Z:2.27 [[ 9.26573417e-01 3.75402792e-01 -2.31181254e-02 1.39970717e+02] [-3.75273265e-01 9.26861652e-01 9.87191054e-03 -2.57771721e+01] [ 2.51332467e-02 -4.71435469e-04 9.99683999e-01 2.26964814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.543617865 meters 0.018825406948019385 Centerline is valid? [True, True] Translation: X:140.03, Y:-25.80, Z:2.27 [[ 9.26855783e-01 3.74754925e-01 -2.22958011e-02 1.40028416e+02] [-3.74634108e-01 9.27123788e-01 9.52716900e-03 -2.58015663e+01] [ 2.42413211e-02 -4.77544128e-04 9.99706022e-01 2.27141228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.603617865 meters 0.018871094219892727 Centerline is valid? [True, True] Translation: X:140.09, Y:-25.83, Z:2.27 [[ 9.26993568e-01 3.74471932e-01 -2.13001885e-02 1.40086521e+02] [-3.74361438e-01 9.27238131e-01 9.10832523e-03 -2.58258134e+01] [ 2.31611591e-02 -4.69389693e-04 9.99731634e-01 2.27338674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.663617865 meters 0.018996382531043632 Centerline is valid? [True, True] Translation: X:140.14, Y:-25.85, Z:2.27 [[ 9.26676490e-01 3.75267707e-01 -2.10909991e-02 1.40144658e+02] [-3.75159432e-01 9.26916363e-01 9.02528619e-03 -2.58486537e+01] [ 2.29364906e-02 -4.51033286e-04 9.99736822e-01 2.27459501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.723617865 meters 0.01909001951870671 Centerline is valid? [True, True] Translation: X:140.20, Y:-25.87, Z:2.28 [[ 9.26172069e-01 3.76490026e-01 -2.14606198e-02 1.40201321e+02] [-3.76378129e-01 9.26420570e-01 9.18863580e-03 -2.58708430e+01] [ 2.33409894e-02 -4.32949903e-04 9.99727468e-01 2.27507137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.783617865 meters 0.01844937065382164 Centerline is valid? [True, True] Translation: X:140.26, Y:-25.89, Z:2.28 [[ 9.25752859e-01 3.77517379e-01 -2.15005415e-02 1.40259445e+02] [-3.77405243e-01 9.26002408e-01 9.20993476e-03 -2.58922724e+01] [ 2.33864636e-02 -4.11706328e-04 9.99726414e-01 2.27653194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.843617865 meters 0.017765881105105973 Centerline is valid? [True, True] Translation: X:140.32, Y:-25.91, Z:2.28 [[ 9.24928420e-01 3.79539971e-01 -2.13735387e-02 1.40317471e+02] [-3.79429557e-01 9.25175269e-01 9.16154254e-03 -2.59143207e+01] [ 2.32514410e-02 -3.64018749e-04 9.99729582e-01 2.27837298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.903617865 meters 0.0174796122462307 Centerline is valid? [True, True] Translation: X:140.38, Y:-25.94, Z:2.28 [[ 9.24121957e-01 3.81499816e-01 -2.13658341e-02 1.40375107e+02] [-3.81389862e-01 9.24368859e-01 9.16435938e-03 -2.59367803e+01] [ 2.32461131e-02 -3.20273234e-04 9.99729721e-01 2.27994995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.963617865 meters 0.017357603776066155 Centerline is valid? [True, True] Translation: X:140.43, Y:-25.96, Z:2.28 [[ 9.23743197e-01 3.82459279e-01 -2.05768316e-02 1.40432813e+02] [-3.82357407e-01 9.23972302e-01 8.83164486e-03 -2.59607607e+01] [ 2.23901670e-02 -2.90467880e-04 9.99749267e-01 2.28143103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02361786499998 meters 0.017887211076454787 Centerline is valid? [True, True] Translation: X:140.49, Y:-25.99, Z:2.28 [[ 9.23097852e-01 3.84081855e-01 -1.92739158e-02 1.40488780e+02] [-3.83992724e-01 9.23299015e-01 8.27749884e-03 -2.59860463e+01] [ 2.09748246e-02 -2.39897974e-04 9.99779975e-01 2.28212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08361786499998 meters 0.01674779450661452 Centerline is valid? [True, True] Translation: X:140.55, Y:-26.01, Z:2.28 [[ 9.22716674e-01 3.85003067e-01 -1.91462057e-02 1.40547860e+02] [-3.84915202e-01 9.22915266e-01 8.22790047e-03 -2.60070284e+01] [ 2.08380925e-02 -2.22355312e-04 9.99782839e-01 2.28449647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14361786499998 meters 0.0165266633840864 Centerline is valid? [True, True] Translation: X:140.61, Y:-26.03, Z:2.29 [[ 9.21821686e-01 3.87133873e-01 -1.92910453e-02 1.40605520e+02] [-3.87045009e-01 9.22023498e-01 8.29635929e-03 -2.60294489e+01] [ 2.09985988e-02 -1.81261084e-04 9.99779489e-01 2.28543266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20361786499998 meters 0.016328671814129603 Centerline is valid? [True, True] Translation: X:140.66, Y:-26.05, Z:2.29 [[ 9.21203670e-01 3.88615769e-01 -1.90153318e-02 1.40663045e+02] [-3.88529631e-01 9.21399892e-01 8.18317781e-03 -2.60523057e+01] [ 2.07008367e-02 -1.50353559e-04 9.99785703e-01 2.28638584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.263617865 meters 0.016127758004880657 Centerline is valid? [True, True] Translation: X:140.72, Y:-26.08, Z:2.29 [[ 9.20835817e-01 3.89504692e-01 -1.86411734e-02 1.40720946e+02] [-3.89421983e-01 9.21024472e-01 8.02756937e-03 -2.60761331e+01] [ 2.02957528e-02 -1.32790706e-04 9.99794011e-01 2.28771892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.323617865 meters 0.01614171052216332 Centerline is valid? [True, True] Translation: X:140.78, Y:-26.10, Z:2.29 [[ 9.20726713e-01 3.89724629e-01 -1.94173658e-02 1.40778778e+02] [-3.89634797e-01 9.20931428e-01 8.36842043e-03 -2.60996992e+01] [ 2.11434419e-02 -1.39346865e-04 9.99776443e-01 2.28850651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.383617865 meters 0.01615162752313872 Centerline is valid? [True, True] Translation: X:140.84, Y:-26.12, Z:2.29 [[ 9.20866791e-01 3.89409635e-01 -1.90916012e-02 1.40836269e+02] [-3.89322597e-01 9.21064663e-01 8.23418503e-03 -2.61240894e+01] [ 2.07910703e-02 -1.49795766e-04 9.99783831e-01 2.28958101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.443617865 meters 0.01644503613140432 Centerline is valid? [True, True] Translation: X:140.89, Y:-26.15, Z:2.29 [[ 9.21561235e-01 3.87804708e-01 -1.82317832e-02 1.40892044e+02] [-3.87724911e-01 9.21741544e-01 7.86884248e-03 -2.61498460e+01] [ 1.98565662e-02 -1.82703663e-04 9.99802822e-01 2.29072058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.503617865 meters 0.016483152568609136 Centerline is valid? [True, True] Translation: X:140.95, Y:-26.17, Z:2.29 [[ 9.22486541e-01 3.85614821e-01 -1.78827137e-02 1.40949158e+02] [-3.85537548e-01 9.22659827e-01 7.72284192e-03 -2.61747002e+01] [ 1.94777038e-02 -2.29760149e-04 9.99810265e-01 2.29322377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.563617865 meters 0.01716726080581408 Centerline is valid? [True, True] Translation: X:141.01, Y:-26.20, Z:2.29 [[ 9.23810867e-01 3.82451086e-01 -1.74542069e-02 1.41005913e+02] [-3.82376815e-01 9.23975693e-01 7.54260292e-03 -2.61996611e+01] [ 1.90119396e-02 -2.93854485e-04 9.99819214e-01 2.29418209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.623617865 meters 0.018838711142033768 Centerline is valid? [True, True] Translation: X:141.06, Y:-26.23, Z:2.29 [[ 9.25557963e-01 3.78218380e-01 -1.71264296e-02 1.41061543e+02] [-3.78146060e-01 9.25716325e-01 7.40561785e-03 -2.62253164e+01] [ 1.86551562e-02 -3.78036704e-04 9.99825906e-01 2.29493673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.683617865 meters 0.019732305029627095 Centerline is valid? [True, True] Translation: X:141.12, Y:-26.25, Z:2.30 [[ 9.27292307e-01 3.73967161e-01 -1.66595451e-02 1.41118299e+02] [-3.73897974e-01 9.27441834e-01 7.20754590e-03 -2.62506821e+01] [ 1.81461445e-02 -4.54531717e-04 9.99835242e-01 2.29702666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74361786499998 meters 0.019138188252232128 Centerline is valid? [True, True] Translation: X:141.18, Y:-26.27, Z:2.30 [[ 9.27990777e-01 3.72227659e-01 -1.67238420e-02 1.41176283e+02] [-3.72157624e-01 9.28141330e-01 7.23707514e-03 -2.62717423e+01] [ 1.82159285e-02 -4.92033671e-04 9.99833955e-01 2.29752047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80361786499998 meters 0.020990035540886347 Centerline is valid? [True, True] Translation: X:141.23, Y:-26.30, Z:2.30 [[ 9.28647912e-01 3.70559364e-01 -1.72862478e-02 1.41231630e+02] [-3.70484160e-01 9.28808623e-01 7.48518993e-03 -2.62970562e+01] [ 1.88293233e-02 -5.46824977e-04 9.99822563e-01 2.29742870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86361786499998 meters 0.021878297908714827 Centerline is valid? [True, True] Translation: X:141.29, Y:-26.32, Z:2.30 [[ 9.28947790e-01 3.69802621e-01 -1.73788612e-02 1.41287218e+02] [-3.69726396e-01 9.29110164e-01 7.52956320e-03 -2.63217298e+01] [ 1.89313288e-02 -5.69147362e-04 9.99820624e-01 2.29925716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92361786499998 meters 0.023862682064187644 Centerline is valid? [True, True] Translation: X:141.34, Y:-26.35, Z:2.30 [[ 9.28960449e-01 3.69764932e-01 -1.75037200e-02 1.41344109e+02] [-3.69687549e-01 9.29125160e-01 7.58637197e-03 -2.63469996e+01] [ 1.90683209e-02 -5.76532182e-04 9.99818017e-01 2.30026561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98361786499999 meters 0.020658823894478248 Centerline is valid? [True, True] Translation: X:141.41, Y:-26.36, Z:2.30 [[ 9.28329230e-01 3.71318656e-01 -1.80913215e-02 1.41405398e+02] [-3.71236209e-01 9.28505323e-01 7.84489315e-03 -2.63626408e+01] [ 1.97108435e-02 -5.66490032e-04 9.99805562e-01 2.30111123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.043617865 meters 0.020018258659855254 Centerline is valid? [True, True] Translation: X:141.46, Y:-26.38, Z:2.30 [[ 9.27817392e-01 3.72593692e-01 -1.81336161e-02 1.41463473e+02] [-3.72511002e-01 9.27994420e-01 7.86829298e-03 -2.63839646e+01] [ 1.97595709e-02 -5.45367547e-04 9.99804612e-01 2.30267206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.103617865 meters 0.01919876597247389 Centerline is valid? [True, True] Translation: X:141.52, Y:-26.40, Z:2.30 [[ 9.26799897e-01 3.75105300e-01 -1.83838112e-02 1.41523482e+02] [-3.75020710e-01 9.26982072e-01 7.98160832e-03 -2.64030069e+01] [ 2.00354070e-02 -5.03043839e-04 9.99799145e-01 2.30464627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.163617865 meters 0.018837519853251924 Centerline is valid? [True, True] Translation: X:141.58, Y:-26.42, Z:2.31 [[ 9.25916185e-01 3.77306525e-01 -1.78607066e-02 1.41582753e+02] [-3.77227030e-01 9.26088326e-01 7.75762043e-03 -2.64219627e+01] [ 1.94675926e-02 -4.45365030e-04 9.99810389e-01 2.30558117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.223617865 meters 0.019014421557294093 Centerline is valid? [True, True] Translation: X:141.64, Y:-26.44, Z:2.31 [[ 9.25465012e-01 3.78425040e-01 -1.75784415e-02 1.41639880e+02] [-3.78348145e-01 9.25631845e-01 7.63988068e-03 -2.64439326e+01] [ 1.91622874e-02 -4.19671538e-04 9.99816298e-01 2.30686570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.283617865 meters 0.01844340785585057 Centerline is valid? [True, True] Translation: X:141.70, Y:-26.46, Z:2.31 [[ 9.25135588e-01 3.79190554e-01 -1.84029024e-02 1.41700257e+02] [-3.79106323e-01 9.25318508e-01 8.00342667e-03 -2.64631100e+01] [ 2.00633700e-02 -4.27598169e-04 9.99798619e-01 2.30768601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.343617865 meters 0.01852845842733598 Centerline is valid? [True, True] Translation: X:141.76, Y:-26.48, Z:2.31 [[ 9.24744322e-01 3.80113619e-01 -1.90151341e-02 1.41759064e+02] [-3.80023756e-01 9.24939703e-01 8.27588899e-03 -2.64845675e+01] [ 2.07336306e-02 -4.26878680e-04 9.99784944e-01 2.30944037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.403617865 meters 0.018392123544522628 Centerline is valid? [True, True] Translation: X:141.82, Y:-26.51, Z:2.31 [[ 9.24498858e-01 3.80751003e-01 -1.81806179e-02 1.41817061e+02] [-3.80668880e-01 9.24677519e-01 7.91766828e-03 -2.65056775e+01] [ 1.98258688e-02 -3.99079843e-04 9.99803368e-01 2.31209152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.463617865 meters 0.018385493598093775 Centerline is valid? [True, True] Translation: X:141.87, Y:-26.53, Z:2.32 [[ 9.23954226e-01 3.82112602e-01 -1.72785094e-02 1.41874865e+02] [-3.82038583e-01 9.24115703e-01 7.52918283e-03 -2.65265336e+01] [ 1.88443375e-02 -3.55563048e-04 9.99822366e-01 2.31529194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52361786499998 meters 0.017874932410692733 Centerline is valid? [True, True] Translation: X:141.93, Y:-26.55, Z:2.32 [[ 9.23536736e-01 3.83126396e-01 -1.71482513e-02 1.41933393e+02] [-3.83053606e-01 9.23695866e-01 7.47548703e-03 -2.65486026e+01] [ 1.87038253e-02 -3.35187383e-04 9.99825012e-01 2.31697296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58361786499998 meters 0.017653545686067862 Centerline is valid? [True, True] Translation: X:141.99, Y:-26.57, Z:2.32 [[ 9.23350067e-01 3.83575036e-01 -1.71710662e-02 1.41991356e+02] [-3.83502035e-01 9.23509655e-01 7.49047883e-03 -2.65720506e+01] [ 1.87308061e-02 -3.31195285e-04 9.99824508e-01 2.31840091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64361786499998 meters 0.017546779992213615 Centerline is valid? [True, True] Translation: X:142.05, Y:-26.59, Z:2.32 [[ 9.22653205e-01 3.85253108e-01 -1.70618347e-02 1.42048610e+02] [-3.85181218e-01 9.22810898e-01 7.44829591e-03 -2.65929734e+01] [ 1.86143262e-02 -3.00295816e-04 9.99826693e-01 2.31959462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70361786499998 meters 0.016986092638910877 Centerline is valid? [True, True] Translation: X:142.11, Y:-26.61, Z:2.32 [[ 9.21530706e-01 3.87876703e-01 -1.82433789e-02 1.42107287e+02] [-3.87794920e-01 9.21711230e-01 7.96929533e-03 -2.66142280e+01] [ 1.99062312e-02 -2.69260708e-04 9.99801815e-01 2.32105791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.763617865 meters 0.01685663443589237 Centerline is valid? [True, True] Translation: X:142.16, Y:-26.64, Z:2.32 [[ 9.20704014e-01 3.89759517e-01 -1.97898236e-02 1.42163737e+02] [-3.89663585e-01 9.20916638e-01 8.65080627e-03 -2.66365601e+01] [ 2.15965119e-02 -2.53458467e-04 9.99766736e-01 2.32087177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.823617865 meters 0.016484269444772135 Centerline is valid? [True, True] Translation: X:142.22, Y:-26.66, Z:2.32 [[ 9.19756090e-01 3.91978153e-01 -2.00465073e-02 1.42222354e+02] [-3.91880121e-01 9.19974502e-01 8.76851269e-03 -2.66581707e+01] [ 2.18793410e-02 -2.09065222e-04 9.99760597e-01 2.32225057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.883617865 meters 0.01621331020939119 Centerline is valid? [True, True] Translation: X:142.28, Y:-26.68, Z:2.32 [[ 9.18723238e-01 3.94437203e-01 -1.91547413e-02 1.42280581e+02] [-3.94348122e-01 9.18922886e-01 8.38378732e-03 -2.66805679e+01] [ 2.09086078e-02 -1.48743974e-04 9.99781380e-01 2.32481659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.943617865 meters 0.01609358304060785 Centerline is valid? [True, True] Translation: X:142.34, Y:-26.70, Z:2.33 [[ 9.17991741e-01 3.96129976e-01 -1.92926042e-02 1.42338267e+02] [-3.96039864e-01 9.18194439e-01 8.44969583e-03 -2.67036802e+01] [ 2.10615397e-02 -1.16110637e-04 9.99778174e-01 2.32602617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.003617865 meters 0.015969315349149988 Centerline is valid? [True, True] Translation: X:142.40, Y:-26.73, Z:2.33 [[ 9.17226608e-01 3.97887993e-01 -1.95062535e-02 1.42396010e+02] [-3.97796150e-01 9.17433997e-01 8.54895799e-03 -2.67272565e+01] [ 2.12972278e-02 -8.18192023e-05 9.99773185e-01 2.32668616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.063617865 meters 0.01601796002087817 Centerline is valid? [True, True] Translation: X:142.45, Y:-26.75, Z:2.33 [[ 9.16598143e-01 3.99334142e-01 -1.94958297e-02 1.42454205e+02] [-3.99242597e-01 9.16805454e-01 8.55036408e-03 -2.67515583e+01] [ 2.12883353e-02 -5.36821486e-05 9.99773376e-01 2.32883093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.123617865 meters 0.015897009049882022 Centerline is valid? [True, True] Translation: X:142.51, Y:-26.78, Z:2.33 [[ 9.16253153e-01 4.00126558e-01 -1.94653085e-02 1.42510959e+02] [-4.00035347e-01 9.16459893e-01 8.54313109e-03 -2.67764835e+01] [ 2.12575082e-02 -4.08593390e-05 9.99774033e-01 2.33005004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.183617865 meters 0.015976835007604863 Centerline is valid? [True, True] Translation: X:142.57, Y:-26.80, Z:2.33 [[ 9.16403455e-01 3.99713228e-01 -2.08337159e-02 1.42568560e+02] [-3.99608484e-01 9.16640241e-01 9.15028964e-03 -2.68030961e+01] [ 2.27545142e-02 -6.00274062e-05 9.99741081e-01 2.32916477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24361786499998 meters 0.016056296279543556 Centerline is valid? [True, True] Translation: X:142.63, Y:-26.83, Z:2.33 [[ 9.16734408e-01 3.98937014e-01 -2.11490757e-02 1.42625711e+02] [-3.98828717e-01 9.16978326e-01 9.29534908e-03 -2.68303958e+01] [ 2.31015028e-02 -8.65076332e-05 9.99733121e-01 2.32962900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30361786499998 meters 0.016267901579869997 Centerline is valid? [True, True] Translation: X:142.68, Y:-26.86, Z:2.33 [[ 9.17774755e-01 3.96577702e-01 -2.03868776e-02 1.42681759e+02] [-3.96476351e-01 9.18001146e-01 8.96648775e-03 -2.68592039e+01] [ 2.22710861e-02 -1.46301261e-04 9.99751958e-01 2.33309404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36361786499998 meters 0.016660360285805004 Centerline is valid? [True, True] Translation: X:142.74, Y:-26.89, Z:2.33 [[ 9.18476094e-01 3.94985945e-01 -1.96918411e-02 1.42736715e+02] [-3.94890908e-01 9.18687145e-01 8.66610878e-03 -2.68870739e+01] [ 2.15136325e-02 -1.83484730e-04 9.99768538e-01 2.33422296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42361786499998 meters 0.017749090475851367 Centerline is valid? [True, True] Translation: X:142.79, Y:-26.92, Z:2.34 [[ 9.19507865e-01 3.92602755e-01 -1.91927779e-02 1.42790078e+02] [-3.92511886e-01 9.19708117e-01 8.44979145e-03 -2.69175909e+01] [ 2.09691651e-02 -2.36256232e-04 9.99780095e-01 2.33518041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48361786499999 meters 0.017063583392785485 Centerline is valid? [True, True] Translation: X:142.85, Y:-26.94, Z:2.34 [[ 9.20146480e-01 3.91138790e-01 -1.84635675e-02 1.42846401e+02] [-3.91054307e-01 9.20331667e-01 8.13334094e-03 -2.69430760e+01] [ 2.01738710e-02 -2.63607444e-04 9.99796452e-01 2.33860709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.543617865 meters 0.01722545471325392 Centerline is valid? [True, True] Translation: X:142.90, Y:-26.97, Z:2.34 [[ 9.19952731e-01 3.91593130e-01 -1.84876600e-02 1.42903840e+02] [-3.91508407e-01 9.20138443e-01 8.14948280e-03 -2.69698264e+01] [ 2.02024881e-02 -2.59064658e-04 9.99795875e-01 2.33959738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.603617865 meters 0.017211933011861323 Centerline is valid? [True, True] Translation: X:142.96, Y:-27.00, Z:2.34 [[ 9.19539290e-01 3.92490203e-01 -1.99733618e-02 1.42960620e+02] [-3.92391372e-01 9.19756147e-01 8.81140778e-03 -2.69972135e+01] [ 2.18290135e-02 -2.65060833e-04 9.99761684e-01 2.34011477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.663617865 meters 0.017501486737645882 Centerline is valid? [True, True] Translation: X:143.02, Y:-27.03, Z:2.34 [[ 9.19682938e-01 3.92111048e-01 -2.07898854e-02 1.43015565e+02] [-3.92003719e-01 9.19917845e-01 9.17840687e-03 -2.70255053e+01] [ 2.27239413e-02 -2.91511799e-04 9.99741735e-01 2.34167315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.723617865 meters 0.017936074690359034 Centerline is valid? [True, True] Translation: X:143.07, Y:-27.05, Z:2.34 [[ 9.20637526e-01 3.89882504e-01 -2.04494011e-02 1.43069956e+02] [-3.89777986e-01 9.20864547e-01 9.03374196e-03 -2.70547842e+01] [ 2.23532264e-02 -3.46075496e-04 9.99750076e-01 2.34365266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.783617865 meters 0.0184182746512903 Centerline is valid? [True, True] Translation: X:143.13, Y:-27.08, Z:2.35 [[ 9.21329355e-01 3.88302153e-01 -1.93302345e-02 1.43125807e+02] [-3.88208309e-01 9.21532041e-01 8.54436658e-03 -2.70827759e+01] [ 2.11312264e-02 -3.68018093e-04 9.99776643e-01 2.34531137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.843617865 meters 0.019214841337216213 Centerline is valid? [True, True] Translation: X:143.18, Y:-27.11, Z:2.35 [[ 9.22200898e-01 3.86256996e-01 -1.87359538e-02 1.43180599e+02] [-3.86168306e-01 9.22391114e-01 8.28686358e-03 -2.71121870e+01] [ 2.04827364e-02 -4.06921490e-04 9.99790124e-01 2.34692290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.903617865 meters 0.019174738945725953 Centerline is valid? [True, True] Translation: X:143.24, Y:-27.14, Z:2.35 [[ 9.22660182e-01 3.85149799e-01 -1.89161478e-02 1.43235255e+02] [-3.85059052e-01 9.22853964e-01 8.37184499e-03 -2.71408682e+01] [ 2.06812564e-02 -4.40534071e-04 9.99786023e-01 2.34896389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.963617865 meters 0.019190577271013365 Centerline is valid? [True, True] Translation: X:143.29, Y:-27.17, Z:2.35 [[ 9.22184960e-01 3.86283226e-01 -1.89781118e-02 1.43291083e+02] [-3.86192017e-01 9.22380123e-01 8.40442711e-03 -2.71675610e+01] [ 2.07515223e-02 -4.21241018e-04 9.99784575e-01 2.35059003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02361786499998 meters 0.018806136007504314 Centerline is valid? [True, True] Translation: X:143.35, Y:-27.19, Z:2.35 [[ 9.21565916e-01 3.87770936e-01 -1.87073120e-02 1.43347991e+02] [-3.87682508e-01 9.21755690e-01 8.28981771e-03 -2.71930921e+01] [ 2.04581217e-02 -3.87115790e-04 9.99790636e-01 2.35150838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08361786499998 meters 0.018772812267117404 Centerline is valid? [True, True] Translation: X:143.40, Y:-27.22, Z:2.35 [[ 9.20816353e-01 3.89564049e-01 -1.83601865e-02 1.43404010e+02] [-3.89479138e-01 9.20999312e-01 8.14054213e-03 -2.72211574e+01] [ 2.00809817e-02 -3.45034711e-04 9.99798297e-01 2.35293546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14361786499998 meters 0.018697029629338977 Centerline is valid? [True, True] Translation: X:143.46, Y:-27.25, Z:2.35 [[ 9.20383706e-01 3.90592613e-01 -1.82001095e-02 1.43460399e+02] [-3.90509326e-01 9.20563581e-01 8.07210248e-03 -2.72476235e+01] [ 1.99072615e-02 -3.22119109e-04 9.99801779e-01 2.35448115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20361786499998 meters 0.01881746049705266 Centerline is valid? [True, True] Translation: X:143.52, Y:-27.28, Z:2.36 [[ 9.19773806e-01 3.92003600e-01 -1.86902212e-02 1.43516188e+02] [-3.91915945e-01 9.19963633e-01 8.29497821e-03 -2.72753602e+01] [ 2.04459851e-02 -3.04507986e-04 9.99790913e-01 2.35514360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.263617865 meters 0.018800660473738084 Centerline is valid? [True, True] Translation: X:143.57, Y:-27.30, Z:2.36 [[ 9.18612665e-01 3.94728049e-01 -1.84536727e-02 1.43571076e+02] [-3.94643044e-01 9.18797968e-01 8.19519590e-03 -2.73033806e+01] [ 2.01900707e-02 -2.45597179e-04 9.99796130e-01 2.35715012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.323617865 meters 0.018425264523458263 Centerline is valid? [True, True] Translation: X:143.63, Y:-27.33, Z:2.36 [[ 9.17058747e-01 3.98302894e-01 -1.89224352e-02 1.43627554e+02] [-3.98214162e-01 9.17253931e-01 8.40877785e-03 -2.73285251e+01] [ 2.07059186e-02 -1.76161612e-04 9.99785594e-01 2.35756234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.383617865 meters 0.018231688964049128 Centerline is valid? [True, True] Translation: X:143.68, Y:-27.35, Z:2.36 [[ 9.16064932e-01 4.00565103e-01 -1.93038514e-02 1.43683500e+02] [-4.00473145e-01 9.16268291e-01 8.58366322e-03 -2.73549060e+01] [ 2.11258229e-02 -1.32518782e-04 9.99776816e-01 2.35873940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.443617865 meters 0.01801644222513758 Centerline is valid? [True, True] Translation: X:143.74, Y:-27.38, Z:2.36 [[ 9.15107428e-01 4.02765426e-01 -1.89316491e-02 1.43739494e+02] [-4.02677343e-01 9.15303231e-01 8.42332089e-03 -2.73824095e+01] [ 2.07208220e-02 -8.48973391e-05 9.99785297e-01 2.36066892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.503617865 meters 0.01823117305734567 Centerline is valid? [True, True] Translation: X:143.79, Y:-27.41, Z:2.36 [[ 9.14872222e-01 4.03265810e-01 -1.96342671e-02 1.43794213e+02] [-4.03171057e-01 9.15082881e-01 8.74177928e-03 -2.74113803e+01] [ 2.14922424e-02 -8.16428151e-05 9.99769012e-01 2.36140276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.563617865 meters 0.018393437651234034 Centerline is valid? [True, True] Translation: X:143.85, Y:-27.44, Z:2.36 [[ 9.15079884e-01 4.02821841e-01 -1.90622634e-02 1.43850453e+02] [-4.02732314e-01 9.15278403e-01 8.49280702e-03 -2.74402931e+01] [ 2.08683662e-02 -9.46073906e-05 9.99782227e-01 2.36288616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.623617865 meters 0.01880254001120028 Centerline is valid? [True, True] Translation: X:143.90, Y:-27.47, Z:2.37 [[ 9.15673151e-01 4.01508363e-01 -1.82678821e-02 1.43904867e+02] [-4.01425770e-01 9.15855348e-01 8.14442058e-03 -2.74708261e+01] [ 2.00007905e-02 -1.24428608e-04 9.99799956e-01 2.36512015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.683617865 meters 0.01926740084307114 Centerline is valid? [True, True] Translation: X:143.96, Y:-27.50, Z:2.37 [[ 9.16428292e-01 3.99790236e-01 -1.80818455e-02 1.43957840e+02] [-3.99708890e-01 9.16606644e-01 8.06619047e-03 -2.75008578e+01] [ 1.97987240e-02 -1.64610750e-04 9.99803973e-01 2.36624053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74361786499998 meters 0.019754014183256643 Centerline is valid? [True, True] Translation: X:144.01, Y:-27.53, Z:2.37 [[ 9.17245315e-01 3.97937568e-01 -1.75135284e-02 1.44012232e+02] [-3.97860866e-01 9.17412476e-01 7.81534285e-03 -2.75303149e+01] [ 1.91771479e-02 -2.00639060e-04 9.99816081e-01 2.36814441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80361786499998 meters 0.02070970521826594 Centerline is valid? [True, True] Translation: X:144.06, Y:-27.56, Z:2.37 [[ 9.18574942e-01 3.94877491e-01 -1.70834385e-02 1.44064965e+02] [-3.94803898e-01 9.18733747e-01 7.62777980e-03 -2.75614779e+01] [ 1.87071701e-02 -2.62079256e-04 9.99824971e-01 2.36990662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86361786499998 meters 0.02093935182746599 Centerline is valid? [True, True] Translation: X:144.12, Y:-27.59, Z:2.37 [[ 9.18844834e-01 3.94264699e-01 -1.67187660e-02 1.44121036e+02] [-3.94194041e-01 9.18996884e-01 7.46896608e-03 -2.75888983e+01] [ 1.83092435e-02 -2.72382968e-04 9.99832335e-01 2.37124848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92361786499998 meters 0.02068810788263023 Centerline is valid? [True, True] Translation: X:144.18, Y:-27.62, Z:2.37 [[ 9.19667454e-01 3.92369067e-01 -1.60714167e-02 1.44176974e+02] [-3.92303414e-01 9.19807819e-01 7.18381388e-03 -2.76160164e+01] [ 1.76013211e-02 -3.01848195e-04 9.99845039e-01 2.37322362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98361786499999 meters 0.020428953113213532 Centerline is valid? [True, True] Translation: X:144.23, Y:-27.64, Z:2.37 [[ 9.19743656e-01 3.92173649e-01 -1.64753067e-02 1.44234525e+02] [-3.92104537e-01 9.19891150e-01 7.36913968e-03 -2.76420077e+01] [ 1.80454713e-02 -3.17676949e-04 9.99837117e-01 2.37399115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.043617865 meters 0.020603021535436094 Centerline is valid? [True, True] Translation: X:144.29, Y:-27.67, Z:2.37 [[ 9.19556546e-01 3.92612405e-01 -1.64699194e-02 1.44291305e+02] [-3.92543309e-01 9.19703975e-01 7.37219190e-03 -2.76700351e+01] [ 1.80418643e-02 -3.13990666e-04 9.99837183e-01 2.37473063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.103617865 meters 0.020579112847069887 Centerline is valid? [True, True] Translation: X:144.35, Y:-27.70, Z:2.38 [[ 9.18858245e-01 3.94232975e-01 -1.67298405e-02 1.44347044e+02] [-3.94161849e-01 9.19010487e-01 7.49403840e-03 -2.76968759e+01] [ 1.83292959e-02 -2.91694122e-04 9.99831962e-01 2.37540726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.163617865 meters 0.020757130528664673 Centerline is valid? [True, True] Translation: X:144.40, Y:-27.72, Z:2.38 [[ 9.17993720e-01 3.96240468e-01 -1.67636778e-02 1.44401856e+02] [-3.96169302e-01 9.18146734e-01 7.51392288e-03 -2.77236499e+01] [ 1.83688363e-02 -2.56479509e-04 9.99831246e-01 2.37632303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.223617865 meters 0.020468269652831675 Centerline is valid? [True, True] Translation: X:144.46, Y:-27.75, Z:2.38 [[ 9.17420610e-01 3.97592566e-01 -1.61113666e-02 1.44459150e+02] [-3.97526966e-01 9.17562042e-01 7.22563145e-03 -2.77485884e+01] [ 1.76560358e-02 -2.24240539e-04 9.99844095e-01 2.37800861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.283617865 meters 0.020368787054429127 Centerline is valid? [True, True] Translation: X:144.51, Y:-27.77, Z:2.38 [[ 9.16769132e-01 3.99140863e-01 -1.48637190e-02 1.44514345e+02] [-3.99085170e-01 9.16889600e-01 6.66998295e-03 -2.77745326e+01] [ 1.62906521e-02 -1.82944657e-04 9.99867282e-01 2.38002744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.343617865 meters 0.020304838867915048 Centerline is valid? [True, True] Translation: X:144.57, Y:-27.80, Z:2.38 [[ 9.16205950e-01 4.00456409e-01 -1.41887792e-02 1.44570622e+02] [-4.00405762e-01 9.16315797e-01 6.37062084e-03 -2.77999892e+01] [ 1.55525585e-02 -1.55531758e-04 9.99879040e-01 2.38185564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.403617865 meters 0.020217209201083466 Centerline is valid? [True, True] Translation: X:144.63, Y:-27.82, Z:2.38 [[ 9.15321021e-01 4.02491601e-01 -1.37091062e-02 1.44627323e+02] [-4.02444495e-01 9.15423670e-01 6.15891553e-03 -2.78249978e+01] [ 1.50285521e-02 -1.20230527e-04 9.99887058e-01 2.38309346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.463617865 meters 0.020121236837458287 Centerline is valid? [True, True] Translation: X:144.68, Y:-27.85, Z:2.38 [[ 9.14417937e-01 4.04525963e-01 -1.40918942e-02 1.44682788e+02] [-4.04476366e-01 9.14526510e-01 6.33503277e-03 -2.78499596e+01] [ 1.54500961e-02 -9.30294267e-05 9.99880636e-01 2.38290305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52361786499998 meters 0.019920629850508995 Centerline is valid? [True, True] Translation: X:144.74, Y:-27.87, Z:2.38 [[ 9.13831412e-01 4.05849453e-01 -1.40844709e-02 1.44740493e+02] [-4.05800009e-01 9.13939941e-01 6.33534507e-03 -2.78744485e+01] [ 1.54435569e-02 -7.39588931e-05 9.99880738e-01 2.38262030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58361786499998 meters 0.019938629845327124 Centerline is valid? [True, True] Translation: X:144.80, Y:-27.90, Z:2.38 [[ 9.13608767e-01 4.06360993e-01 -1.37755078e-02 1.44796319e+02] [-4.06313685e-01 9.13712613e-01 6.20086796e-03 -2.79002079e+01] [ 1.51066461e-02 -6.79899776e-05 9.99885886e-01 2.38297434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64361786499998 meters 0.019972283400336743 Centerline is valid? [True, True] Translation: X:144.85, Y:-27.93, Z:2.38 [[ 9.13716255e-01 4.06130484e-01 -1.34400388e-02 1.44852962e+02] [-4.06085368e-01 9.13815093e-01 6.05386782e-03 -2.79264699e+01] [ 1.47403706e-02 -7.37143269e-05 9.99891352e-01 2.38356291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70361786499998 meters 0.01997611417704504 Centerline is valid? [True, True] Translation: X:144.91, Y:-27.95, Z:2.38 [[ 9.13598931e-01 4.06390407e-01 -1.35584476e-02 1.44910648e+02] [-4.06344455e-01 9.13699530e-01 6.11164543e-03 -2.79526814e+01] [ 1.48720613e-02 -7.41927300e-05 9.99889402e-01 2.38429886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.763617865 meters 0.01995185995336846 Centerline is valid? [True, True] Translation: X:144.97, Y:-27.98, Z:2.39 [[ 9.12912461e-01 4.07949315e-01 -1.29689577e-02 1.44968298e+02] [-4.07907373e-01 9.13004575e-01 5.84989123e-03 -2.79767985e+01] [ 1.42271768e-02 -5.03051315e-05 9.99898787e-01 2.38511537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.823617865 meters 0.01978631626484316 Centerline is valid? [True, True] Translation: X:145.03, Y:-28.00, Z:2.39 [[ 9.12364535e-01 4.09166097e-01 -1.31931839e-02 1.45026318e+02] [-4.09122758e-01 9.12459919e-01 5.95530920e-03 -2.80006639e+01] [ 1.44749621e-02 -3.57811362e-05 9.99895232e-01 2.38580465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.883617865 meters 0.01969251559479358 Centerline is valid? [True, True] Translation: X:145.08, Y:-28.03, Z:2.39 [[ 9.12255989e-01 4.09398369e-01 -1.34902345e-02 1.45083652e+02] [-4.09353011e-01 9.12355728e-01 6.09408378e-03 -2.80252121e+01] [ 1.48028007e-02 -3.70963165e-05 9.99890432e-01 2.38621532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.943617865 meters 0.019817178786212 Centerline is valid? [True, True] Translation: X:145.14, Y:-28.05, Z:2.39 [[ 9.12505728e-01 4.08839295e-01 -1.35545927e-02 1.45140991e+02] [-4.08793402e-01 9.12606393e-01 6.12582196e-03 -2.80507251e+01] [ 1.48744847e-02 -4.88195411e-05 9.99889368e-01 2.38738082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.003617865 meters 0.019959790453831953 Centerline is valid? [True, True] Translation: X:145.20, Y:-28.08, Z:2.39 [[ 9.13383197e-01 4.06872378e-01 -1.36383194e-02 1.45198428e+02] [-4.06825630e-01 9.13485009e-01 6.16811033e-03 -2.80765792e+01] [ 1.49680341e-02 -8.54304307e-05 9.99887969e-01 2.38759753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.063617865 meters 0.020359736275511586 Centerline is valid? [True, True] Translation: X:145.25, Y:-28.10, Z:2.39 [[ 9.14689256e-01 4.03945996e-01 -1.30842265e-02 1.45253561e+02] [-4.03902611e-01 9.14782824e-01 5.92162579e-03 -2.81034631e+01] [ 1.43612427e-02 -1.31694244e-04 9.99896863e-01 2.38963728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.123617865 meters 0.020382062125587654 Centerline is valid? [True, True] Translation: X:145.31, Y:-28.13, Z:2.39 [[ 9.15604307e-01 4.01890262e-01 -1.23680826e-02 1.45310701e+02] [-4.01851270e-01 9.15687825e-01 5.60042395e-03 -2.81277189e+01] [ 1.35760585e-02 -1.57642602e-04 9.99907829e-01 2.39024323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.183617865 meters 0.020960871176460234 Centerline is valid? [True, True] Translation: X:145.37, Y:-28.15, Z:2.39 [[ 9.16095496e-01 4.00729198e-01 -1.36070236e-02 1.45366190e+02] [-4.00681809e-01 9.16196524e-01 6.16578076e-03 -2.81541684e+01] [ 1.49375161e-02 -1.96357167e-04 9.99888410e-01 2.39094183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24361786499998 meters 0.02067570090250277 Centerline is valid? [True, True] Translation: X:145.42, Y:-28.18, Z:2.39 [[ 9.16349945e-01 4.00124009e-01 -1.42672936e-02 1.45423213e+02] [-4.00071774e-01 9.16460981e-01 6.46889654e-03 -2.81782825e+01] [ 1.56637787e-02 -2.19831524e-04 9.99877291e-01 2.39138706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30361786499998 meters 0.02109035301759374 Centerline is valid? [True, True] Translation: X:145.48, Y:-28.20, Z:2.39 [[ 9.16784899e-01 3.99106599e-01 -1.48112257e-02 1.45479345e+02] [-3.99050102e-01 9.16904499e-01 6.71980648e-03 -2.82046069e+01] [ 1.62623986e-02 -2.50195972e-04 9.99867727e-01 2.39249005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36361786499998 meters 0.021310338790839697 Centerline is valid? [True, True] Translation: X:145.54, Y:-28.23, Z:2.39 [[ 9.17041226e-01 3.98503242e-01 -1.51840441e-02 1.45535634e+02] [-3.98443711e-01 9.17166884e-01 6.89323222e-03 -2.82309741e+01] [ 1.66732778e-02 -2.71391226e-04 9.99860954e-01 2.39396504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42361786499998 meters 0.02170831064193202 Centerline is valid? [True, True] Translation: X:145.59, Y:-28.26, Z:2.39 [[ 9.17108445e-01 3.98342772e-01 -1.53341139e-02 1.45592006e+02] [-3.98281965e-01 9.17236587e-01 6.96558726e-03 -2.82573526e+01] [ 1.68397016e-02 -2.80897884e-04 9.99858163e-01 2.39440918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48361786499999 meters 0.021597191301677386 Centerline is valid? [True, True] Translation: X:145.65, Y:-28.28, Z:2.40 [[ 9.16490663e-01 3.99748930e-01 -1.56734861e-02 1.45648271e+02] [-3.99685528e-01 9.16624636e-01 7.12432495e-03 -2.82823667e+01] [ 1.72146448e-02 -2.64911725e-04 9.99851782e-01 2.39609835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.543617865 meters 0.020762281848614998 Centerline is valid? [True, True] Translation: X:145.71, Y:-28.31, Z:2.40 [[ 9.15333980e-01 4.02390429e-01 -1.56731627e-02 1.45705907e+02] [-4.02327345e-01 9.15468129e-01 7.12832728e-03 -2.83053323e+01] [ 1.72166516e-02 -2.19058254e-04 9.99851758e-01 2.39799434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.603617865 meters 0.020694611510604054 Centerline is valid? [True, True] Translation: X:145.76, Y:-28.33, Z:2.40 [[ 9.14539094e-01 4.04175732e-01 -1.61314687e-02 1.45762327e+02] [-4.04109101e-01 9.14681333e-01 7.34130821e-03 -2.83300825e+01] [ 1.77223319e-02 -1.95040031e-04 9.99842928e-01 2.39899052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.663617865 meters 0.02032763445700627 Centerline is valid? [True, True] Translation: X:145.82, Y:-28.35, Z:2.40 [[ 9.13705899e-01 4.06032386e-01 -1.67102351e-02 1.45819857e+02] [-4.05961112e-01 9.13858672e-01 7.60939575e-03 -2.83525932e+01] [ 1.83604544e-02 -1.69044142e-04 9.99831418e-01 2.40007698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.723617865 meters 0.02027794854463418 Centerline is valid? [True, True] Translation: X:145.88, Y:-28.38, Z:2.40 [[ 9.13245481e-01 4.07045629e-01 -1.72205527e-02 1.45877854e+02] [-4.06970016e-01 9.13407812e-01 7.84697766e-03 -2.83778709e+01] [ 1.89234653e-02 -1.57968291e-04 9.99820923e-01 2.40157464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.783617865 meters 0.02032150542183073 Centerline is valid? [True, True] Translation: X:145.94, Y:-28.40, Z:2.40 [[ 9.13085711e-01 4.07417259e-01 -1.69015363e-02 1.45935356e+02] [-4.07344383e-01 9.13242111e-01 7.70714415e-03 -2.84041284e+01] [ 1.85752183e-02 -1.52537320e-04 9.99827454e-01 2.40276912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.843617865 meters 0.0203262048001295 Centerline is valid? [True, True] Translation: X:145.99, Y:-28.43, Z:2.40 [[ 9.13105084e-01 4.07373350e-01 -1.69133203e-02 1.45992693e+02] [-4.07300260e-01 9.13261698e-01 7.71811816e-03 -2.84309371e+01] [ 1.85904432e-02 -1.58653183e-04 9.99827170e-01 2.40445626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.903617865 meters 0.020415872244635824 Centerline is valid? [True, True] Translation: X:146.05, Y:-28.46, Z:2.41 [[ 9.13716078e-01 4.05960234e-01 -1.78666764e-02 1.46048343e+02] [-4.05878282e-01 9.13890720e-01 8.15921571e-03 -2.84586423e+01] [ 1.96405069e-02 -2.03510658e-04 9.99807086e-01 2.40524879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.963617865 meters 0.02067568544941852 Centerline is valid? [True, True] Translation: X:146.10, Y:-28.49, Z:2.41 [[ 9.14388790e-01 4.04446698e-01 -1.77766550e-02 1.46103688e+02] [-4.04365184e-01 9.14561540e-01 8.12321898e-03 -2.84863073e+01] [ 1.95432541e-02 -2.39519994e-04 9.99808984e-01 2.40621126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02361786499998 meters 0.021846196319614652 Centerline is valid? [True, True] Translation: X:146.16, Y:-28.52, Z:2.41 [[ 9.16098717e-01 4.00554118e-01 -1.78756556e-02 1.46156663e+02] [-4.00470861e-01 9.16273044e-01 8.17308941e-03 -2.85161995e+01] [ 1.96527459e-02 -3.28677554e-04 9.99806812e-01 2.40735947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08361786499998 meters 0.021916559399672846 Centerline is valid? [True, True] Translation: X:146.21, Y:-28.54, Z:2.41 [[ 9.17853483e-01 3.96482505e-01 -1.86174030e-02 1.46211899e+02] [-3.96391305e-01 9.18042174e-01 8.51469201e-03 -2.85444475e+01] [ 2.04674875e-02 -4.35463067e-04 9.99790424e-01 2.40880857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14361786499998 meters 0.022680928181016642 Centerline is valid? [True, True] Translation: X:146.27, Y:-28.57, Z:2.41 [[ 9.18926885e-01 3.93979223e-01 -1.88082841e-02 1.46266893e+02] [-3.93885568e-01 9.19119211e-01 8.60441679e-03 -2.85741918e+01] [ 2.06770167e-02 -4.98518242e-04 9.99786083e-01 2.40933506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20361786499998 meters 0.02293112609311781 Centerline is valid? [True, True] Translation: X:146.32, Y:-28.60, Z:2.41 [[ 9.19063888e-01 3.93660465e-01 -1.87885329e-02 1.46322866e+02] [-3.93566831e-01 9.19255774e-01 8.60067030e-03 -2.86008727e+01] [ 2.06572113e-02 -5.10022112e-04 9.99786487e-01 2.41069022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.263617865 meters 0.022428714820573684 Centerline is valid? [True, True] Translation: X:146.38, Y:-28.63, Z:2.41 [[ 9.18216174e-01 3.95662834e-01 -1.81653281e-02 1.46379922e+02] [-3.95575601e-01 9.18395729e-01 8.32038182e-03 -2.86259993e+01] [ 1.99750256e-02 -4.54148574e-04 9.99800376e-01 2.41277247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.323617865 meters 0.022041252536774084 Centerline is valid? [True, True] Translation: X:146.44, Y:-28.65, Z:2.41 [[ 9.16550699e-01 3.99533886e-01 -1.75353950e-02 1.46435896e+02] [-3.99453227e-01 9.16718356e-01 8.03586328e-03 -2.86487726e+01] [ 1.92856182e-02 -3.60705978e-04 9.99813950e-01 2.41355912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.383617865 meters 0.020975987072228225 Centerline is valid? [True, True] Translation: X:146.49, Y:-28.67, Z:2.41 [[ 9.14412540e-01 4.04349516e-01 -1.87396647e-02 1.46494646e+02] [-4.04258375e-01 9.14604500e-01 8.58923075e-03 -2.86696578e+01] [ 2.06124330e-02 -2.78433914e-04 9.99787502e-01 2.41395432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.443617865 meters 0.020416155053358333 Centerline is valid? [True, True] Translation: X:146.55, Y:-28.69, Z:2.41 [[ 9.12797540e-01 4.07978636e-01 -1.88171372e-02 1.46553297e+02] [-4.07887399e-01 9.12991452e-01 8.63004380e-03 -2.86911736e+01] [ 2.07007590e-02 -2.02209580e-04 9.99785696e-01 2.41484503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.503617865 meters 0.02025449700873958 Centerline is valid? [True, True] Translation: X:146.61, Y:-28.71, Z:2.42 [[ 9.11388330e-01 4.11146988e-01 -1.81512195e-02 1.46610568e+02] [-4.11062621e-01 9.11569053e-01 8.32968863e-03 -2.87131896e+01] [ 1.99708164e-02 -1.30293133e-04 9.99800555e-01 2.41547740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.563617865 meters 0.020108605627188993 Centerline is valid? [True, True] Translation: X:146.67, Y:-28.74, Z:2.42 [[ 9.11138084e-01 4.11713567e-01 -1.78698345e-02 1.46669452e+02] [-4.11631808e-01 9.11313296e-01 8.20549667e-03 -2.87368551e+01] [ 1.96633321e-02 -1.20548239e-04 9.99806651e-01 2.41692785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.623617865 meters 0.020278871682690262 Centerline is valid? [True, True] Translation: X:146.73, Y:-28.76, Z:2.42 [[ 9.11321622e-01 4.11307309e-01 -1.78661365e-02 1.46726932e+02] [-4.11225389e-01 9.11496725e-01 8.20975313e-03 -2.87621263e+01] [ 1.96616564e-02 -1.34716624e-04 9.99806682e-01 2.41713603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.683617865 meters 0.02026750539160427 Centerline is valid? [True, True] Translation: X:146.78, Y:-28.79, Z:2.42 [[ 9.12458240e-01 4.08759946e-01 -1.83102690e-02 1.46783045e+02] [-4.08673269e-01 9.12641916e-01 8.41977556e-03 -2.87875228e+01] [ 2.01523860e-02 -1.99776105e-04 9.99796900e-01 2.41710268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74361786499998 meters 0.02089023827101132 Centerline is valid? [True, True] Translation: X:146.84, Y:-28.82, Z:2.42 [[ 9.14606729e-01 4.03915763e-01 -1.86168609e-02 1.46839031e+02] [-4.03825047e-01 9.14796128e-01 8.56594118e-03 -2.88150464e+01] [ 2.04905510e-02 -3.16512696e-04 9.99789997e-01 2.41743588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80361786499998 meters 0.021185159422486142 Centerline is valid? [True, True] Translation: X:146.89, Y:-28.84, Z:2.42 [[ 9.16114990e-01 4.00503374e-01 -1.81761719e-02 1.46894539e+02] [-4.00416128e-01 9.16295202e-01 8.36823530e-03 -2.88421516e+01] [ 2.00062456e-02 -3.88233392e-04 9.99799780e-01 2.41899751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86361786499998 meters 0.022238253695155617 Centerline is valid? [True, True] Translation: X:146.95, Y:-28.87, Z:2.42 [[ 9.18046666e-01 3.96096605e-01 -1.72568366e-02 1.46948578e+02] [-3.96017104e-01 9.18208726e-01 7.94912332e-03 -2.88693971e+01] [ 1.89939987e-02 -4.63663688e-04 9.99819490e-01 2.42065942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92361786499998 meters 0.022230931802364004 Centerline is valid? [True, True] Translation: X:147.01, Y:-28.89, Z:2.42 [[ 9.19303524e-01 3.93182742e-01 -1.69811923e-02 1.47005305e+02] [-3.93105249e-01 9.19460203e-01 7.82295643e-03 -2.88949596e+01] [ 1.86893820e-02 -5.16275575e-04 9.99825205e-01 2.42215070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98361786499999 meters 0.023618831076386973 Centerline is valid? [True, True] Translation: X:147.06, Y:-28.92, Z:2.42 [[ 9.20557741e-01 3.90272181e-01 -1.61576646e-02 1.47059428e+02] [-3.90201552e-01 9.20699367e-01 7.44480473e-03 -2.89222982e+01] [ 1.77818517e-02 -5.48626832e-04 9.99841740e-01 2.42355431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.043617865 meters 0.023981053982310666 Centerline is valid? [True, True] Translation: X:147.12, Y:-28.95, Z:2.43 [[ 9.20893162e-01 3.89512243e-01 -1.53621871e-02 1.47115999e+02] [-3.89448278e-01 9.21021132e-01 7.07911039e-03 -2.89474037e+01] [ 1.69062991e-02 -5.36327053e-04 9.99856934e-01 2.42571602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.103617865 meters 0.022919442675346357 Centerline is valid? [True, True] Translation: X:147.17, Y:-28.97, Z:2.43 [[ 9.20270098e-01 3.90979544e-01 -1.54253848e-02 1.47174264e+02] [-3.90915183e-01 9.20399223e-01 7.11263756e-03 -2.89683038e+01] [ 1.69784080e-02 -5.15530559e-04 9.99855724e-01 2.42688141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.163617865 meters 0.022823655862121574 Centerline is valid? [True, True] Translation: X:147.23, Y:-28.99, Z:2.43 [[ 9.19438573e-01 3.92964964e-01 -1.45343728e-02 1.47232046e+02] [-3.92908007e-01 9.19553332e-01 6.70578122e-03 -2.89925248e+01] [ 1.60002680e-02 -4.54882464e-04 9.99871884e-01 2.42740973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.223617865 meters 0.0232346239988499 Centerline is valid? [True, True] Translation: X:147.29, Y:-29.02, Z:2.43 [[ 9.18661818e-01 3.94804714e-01 -1.37732516e-02 1.47287522e+02] [-3.94753743e-01 9.18764973e-01 6.35658341e-03 -2.90174226e+01] [ 1.51639903e-02 -4.02507829e-04 9.99884939e-01 2.42853837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.283617865 meters 0.022819504841753224 Centerline is valid? [True, True] Translation: X:147.35, Y:-29.04, Z:2.43 [[ 9.17742591e-01 3.96924788e-01 -1.41156086e-02 1.47345739e+02] [-3.96871442e-01 9.17851060e-01 6.51845198e-03 -2.90406113e+01] [ 1.55433615e-02 -3.80179072e-04 9.99879122e-01 2.42866250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.343617865 meters 0.022469584074182515 Centerline is valid? [True, True] Translation: X:147.40, Y:-29.06, Z:2.43 [[ 9.16846067e-01 3.99030054e-01 -1.29732256e-02 1.47403212e+02] [-3.98985192e-01 9.16937792e-01 5.99182456e-03 -2.90644263e+01] [ 1.42865589e-02 -3.17455891e-04 9.99897892e-01 2.42968470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.403617865 meters 0.022031658874576164 Centerline is valid? [True, True] Translation: X:147.46, Y:-29.09, Z:2.43 [[ 9.15541921e-01 4.02007864e-01 -1.31403168e-02 1.47460692e+02] [-4.01962091e-01 9.15636173e-01 6.07266709e-03 -2.90868646e+01] [ 1.44730093e-02 -2.77872087e-04 9.99895222e-01 2.43017216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.463617865 meters 0.02176014505588801 Centerline is valid? [True, True] Translation: X:147.52, Y:-29.11, Z:2.43 [[ 9.14561508e-01 4.04216162e-01 -1.36580692e-02 1.47517185e+02] [-4.04166898e-01 9.14663451e-01 6.31582128e-03 -2.91105286e+01] [ 1.50454938e-02 -2.56067546e-04 9.99886777e-01 2.43027304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52361786499998 meters 0.02075451357876311 Centerline is valid? [True, True] Translation: X:147.58, Y:-29.13, Z:2.43 [[ 9.13428466e-01 4.06758308e-01 -1.40041391e-02 1.47575722e+02] [-4.06706760e-01 9.13535784e-01 6.47939225e-03 -2.91327700e+01] [ 1.54288288e-02 -2.22883307e-04 9.99880944e-01 2.43086627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58361786499998 meters 0.020550980711454628 Centerline is valid? [True, True] Translation: X:147.63, Y:-29.16, Z:2.43 [[ 9.13283433e-01 4.07094256e-01 -1.36980532e-02 1.47633366e+02] [-4.07044919e-01 9.13386129e-01 6.34149177e-03 -2.91577207e+01] [ 1.50931967e-02 -2.15856424e-04 9.99886068e-01 2.43156851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64361786499998 meters 0.02094637546718066 Centerline is valid? [True, True] Translation: X:147.69, Y:-29.18, Z:2.43 [[ 9.13400715e-01 4.06822571e-01 -1.39473782e-02 1.47689028e+02] [-4.06771317e-01 9.13507167e-01 6.46158016e-03 -2.91837876e+01] [ 1.53697466e-02 -2.28618544e-04 9.99881852e-01 2.43207368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70361786499998 meters 0.020875902042370383 Centerline is valid? [True, True] Translation: X:147.75, Y:-29.21, Z:2.43 [[ 9.13516949e-01 4.06558508e-01 -1.40343665e-02 1.47745910e+02] [-4.06506516e-01 9.13624717e-01 6.50614315e-03 -2.92102693e+01] [ 1.54672719e-02 -2.38410631e-04 9.99880346e-01 2.43316581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.763617865 meters 0.021098172212772767 Centerline is valid? [True, True] Translation: X:147.80, Y:-29.24, Z:2.43 [[ 9.13785119e-01 4.05991537e-01 -1.29471271e-02 1.47802359e+02] [-4.05947177e-01 9.13876807e-01 6.00592569e-03 -2.92369288e+01] [ 1.42704341e-02 -2.32275835e-04 9.99898145e-01 2.43493655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.823617865 meters 0.02118837469501477 Centerline is valid? [True, True] Translation: X:147.86, Y:-29.26, Z:2.43 [[ 9.14123643e-01 4.05217647e-01 -1.32899997e-02 1.47858975e+02] [-4.05170770e-01 9.14220211e-01 6.16874763e-03 -2.92633426e+01] [ 1.46496717e-02 -2.54278640e-04 9.99892655e-01 2.43477108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.883617865 meters 0.020541555598412604 Centerline is valid? [True, True] Translation: X:147.92, Y:-29.29, Z:2.44 [[ 9.14154139e-01 4.05150033e-01 -1.32537404e-02 1.47916616e+02] [-4.05103352e-01 9.14250176e-01 6.15547444e-03 -2.92881635e+01] [ 1.46111251e-02 -2.57917787e-04 9.99893219e-01 2.43539523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.943617865 meters 0.020588193630287823 Centerline is valid? [True, True] Translation: X:147.97, Y:-29.32, Z:2.44 [[ 9.13856412e-01 4.05799346e-01 -1.39049851e-02 1.47972235e+02] [-4.05747964e-01 9.13962155e-01 6.46289747e-03 -2.93156223e+01] [ 1.53312698e-02 -2.64240878e-04 9.99882434e-01 2.43593316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.003617865 meters 0.020564210626398693 Centerline is valid? [True, True] Translation: X:148.03, Y:-29.34, Z:2.44 [[ 9.13229799e-01 4.07195899e-01 -1.42419756e-02 1.48028427e+02] [-4.07142098e-01 9.13340811e-01 6.62383171e-03 -2.93422612e+01] [ 1.57049747e-02 -2.50572662e-04 9.99876638e-01 2.43663860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.063617865 meters 0.020443845950587694 Centerline is valid? [True, True] Translation: X:148.08, Y:-29.37, Z:2.44 [[ 9.12359019e-01 4.09170054e-01 -1.34494642e-02 1.48084685e+02] [-4.09122233e-01 9.12458122e-01 6.25893659e-03 -2.93687664e+01] [ 1.48330423e-02 -2.07922411e-04 9.99889963e-01 2.43783957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.123617865 meters 0.020407717695039518 Centerline is valid? [True, True] Translation: X:148.14, Y:-29.40, Z:2.44 [[ 9.11724340e-01 4.10596044e-01 -1.30236702e-02 1.48139171e+02] [-4.10551297e-01 9.11817337e-01 6.06443782e-03 -2.93956488e+01] [ 1.43652424e-02 -1.82210885e-04 9.99896798e-01 2.43937647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.183617865 meters 0.020400363701239765 Centerline is valid? [True, True] Translation: X:148.20, Y:-29.42, Z:2.44 [[ 9.11791680e-01 4.10472625e-01 -1.21719148e-02 1.48195720e+02] [-4.10433491e-01 9.11872904e-01 5.67061293e-03 -2.94226127e+01] [ 1.34268707e-02 -1.74656206e-04 9.99909840e-01 2.44086442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24361786499998 meters 0.02089930126957939 Centerline is valid? [True, True] Translation: X:148.25, Y:-29.45, Z:2.44 [[ 9.12010785e-01 4.09955480e-01 -1.31466044e-02 1.48250686e+02] [-4.09909703e-01 9.12105512e-01 6.12954346e-03 -2.94521128e+01] [ 1.45039302e-02 -2.01289049e-04 9.99894792e-01 2.44057960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30361786499998 meters 0.02064342820427034 Centerline is valid? [True, True] Translation: X:148.31, Y:-29.48, Z:2.44 [[ 9.11910609e-01 4.10173536e-01 -1.32932740e-02 1.48308126e+02] [-4.10126695e-01 9.12007472e-01 6.20208184e-03 -2.94786299e+01] [ 1.46674951e-02 -2.03817701e-04 9.99892406e-01 2.44063143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36361786499998 meters 0.020521337435930185 Centerline is valid? [True, True] Translation: X:148.36, Y:-29.51, Z:2.44 [[ 9.11370565e-01 4.11382696e-01 -1.29603337e-02 1.48364152e+02] [-4.11338232e-01 9.11462695e-01 6.05104833e-03 -2.95050929e+01] [ 1.43021573e-02 -1.83666590e-04 9.99897702e-01 2.44209501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42361786499998 meters 0.02073454425381723 Centerline is valid? [True, True] Translation: X:148.42, Y:-29.53, Z:2.44 [[ 9.10969548e-01 4.12277660e-01 -1.27127134e-02 1.48418737e+02] [-4.12234914e-01 9.11058232e-01 5.93915053e-03 -2.95321384e+01] [ 1.40306013e-02 -1.69760941e-04 9.99901552e-01 2.44368255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48361786499999 meters 0.020713531020815305 Centerline is valid? [True, True] Translation: X:148.47, Y:-29.56, Z:2.44 [[ 9.10645731e-01 4.12966469e-01 -1.35295376e-02 1.48474720e+02] [-4.12918072e-01 9.10746213e-01 6.32459980e-03 -2.95600351e+01] [ 1.49338228e-02 -1.72879242e-04 9.99888469e-01 2.44455540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.543617865 meters 0.02099348744613605 Centerline is valid? [True, True] Translation: X:148.53, Y:-29.59, Z:2.45 [[ 9.10872987e-01 4.12453320e-01 -1.38802406e-02 1.48529707e+02] [-4.12402248e-01 9.10978717e-01 6.49331801e-03 -2.95874327e+01] [ 1.53227944e-02 -1.90345530e-04 9.99882581e-01 2.44574394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.603617865 meters 0.021285732023142975 Centerline is valid? [True, True] Translation: X:148.58, Y:-29.62, Z:2.45 [[ 9.11727519e-01 4.10555715e-01 -1.40333557e-02 1.48584628e+02] [-4.10503222e-01 9.11835485e-01 6.56903989e-03 -2.96154722e+01] [ 1.54930686e-02 -2.28436705e-04 9.99879949e-01 2.44637350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.663617865 meters 0.0217725383660829 Centerline is valid? [True, True] Translation: X:148.64, Y:-29.65, Z:2.45 [[ 9.12685890e-01 4.08412677e-01 -1.42671596e-02 1.48638134e+02] [-4.08358096e-01 9.12797355e-01 6.68240807e-03 -2.96451003e+01] [ 1.57522057e-02 -2.72829450e-04 9.99875889e-01 2.44833776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.723617865 meters 0.021784011511845933 Centerline is valid? [True, True] Translation: X:148.69, Y:-29.67, Z:2.45 [[ 9.13033175e-01 4.07630725e-01 -1.44087789e-02 1.48693862e+02] [-4.07574896e-01 9.13146815e-01 6.75263777e-03 -2.96728121e+01] [ 1.59099132e-02 -2.92725738e-04 9.99873386e-01 2.44964388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.783617865 meters 0.021854272349792408 Centerline is valid? [True, True] Translation: X:148.75, Y:-29.70, Z:2.45 [[ 9.13077411e-01 4.07503743e-01 -1.51770026e-02 1.48749820e+02] [-4.07441706e-01 9.13203482e-01 7.11732022e-03 -2.97007531e+01] [ 1.67600262e-02 -3.14920500e-04 9.99859491e-01 2.45025803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.843617865 meters 0.021728400699028233 Centerline is valid? [True, True] Translation: X:148.81, Y:-29.73, Z:2.45 [[ 9.12552146e-01 4.08671156e-01 -1.53774753e-02 1.48805421e+02] [-4.08607547e-01 9.12681650e-01 7.21646688e-03 -2.97289524e+01] [ 1.69839014e-02 -3.02049858e-04 9.99855718e-01 2.45160208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.903617865 meters 0.021726209934739126 Centerline is valid? [True, True] Translation: X:148.86, Y:-29.76, Z:2.45 [[ 9.11987008e-01 4.09936291e-01 -1.52293907e-02 1.48859564e+02] [-4.09874004e-01 9.12114115e-01 7.15134296e-03 -2.97563825e+01] [ 1.68225372e-02 -2.79800540e-04 9.99858452e-01 2.45315129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.963617865 meters 0.021550249842157063 Centerline is valid? [True, True] Translation: X:148.92, Y:-29.78, Z:2.45 [[ 9.10829217e-01 4.12537000e-01 -1.42605084e-02 1.48915867e+02] [-4.12482649e-01 9.10940819e-01 6.69992958e-03 -2.97833665e+01] [ 1.57544480e-02 -2.20279353e-04 9.99875867e-01 2.45463918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02361786499998 meters 0.021021112578693955 Centerline is valid? [True, True] Translation: X:148.97, Y:-29.81, Z:2.46 [[ 9.09903869e-01 4.14583406e-01 -1.39838370e-02 1.48973099e+02] [-4.14531326e-01 9.10011299e-01 6.57380943e-03 -2.98086078e+01] [ 1.54508419e-02 -1.84796170e-04 9.99880612e-01 2.45523673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08361786499998 meters 0.02119518343023599 Centerline is valid? [True, True] Translation: X:149.03, Y:-29.84, Z:2.46 [[ 9.09070438e-01 4.16404778e-01 -1.40712382e-02 1.49027201e+02] [-4.16352197e-01 9.09179320e-01 6.61912791e-03 -2.98373656e+01] [ 1.55495153e-02 -1.58662551e-04 9.99879086e-01 2.45644706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14361786499998 meters 0.020874709803012266 Centerline is valid? [True, True] Translation: X:149.08, Y:-29.86, Z:2.46 [[ 9.08581154e-01 4.17496770e-01 -1.32941374e-02 1.49083467e+02] [-4.17449924e-01 9.08678397e-01 6.25552330e-03 -2.98645144e+01] [ 1.46917562e-02 -1.34013934e-04 9.99892061e-01 2.45837684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20361786499998 meters 0.020803523477397137 Centerline is valid? [True, True] Translation: X:149.14, Y:-29.89, Z:2.46 [[ 9.08586925e-01 4.17486805e-01 -1.32123770e-02 1.49139654e+02] [-4.17440479e-01 9.08682975e-01 6.22078032e-03 -2.98922799e+01] [ 1.46029558e-02 -1.36738666e-04 9.99893362e-01 2.45873859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.263617865 meters 0.02093895581485229 Centerline is valid? [True, True] Translation: X:149.20, Y:-29.92, Z:2.46 [[ 9.08721616e-01 4.17184341e-01 -1.35000310e-02 1.49195938e+02] [-4.17135872e-01 9.08821877e-01 6.36088309e-03 -2.99212489e+01] [ 1.49227844e-02 -1.48924738e-04 9.99888638e-01 2.45931271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.323617865 meters 0.021004890762470727 Centerline is valid? [True, True] Translation: X:149.25, Y:-29.95, Z:2.46 [[ 9.09149125e-01 4.16243561e-01 -1.37537796e-02 1.49251580e+02] [-4.16193072e-01 9.09253138e-01 6.48518889e-03 -2.99498431e+01] [ 1.52050854e-02 -1.71776008e-04 9.99884381e-01 2.45965654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.383617865 meters 0.021264897118413978 Centerline is valid? [True, True] Translation: X:149.31, Y:-29.98, Z:2.46 [[ 9.09483809e-01 4.15497987e-01 -1.41641878e-02 1.49306109e+02] [-4.15444282e-01 9.09594077e-01 6.68305665e-03 -2.99784541e+01] [ 1.56604579e-02 -1.93700975e-04 9.99877349e-01 2.46018750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.443617865 meters 0.02153381298569645 Centerline is valid? [True, True] Translation: X:149.36, Y:-30.01, Z:2.46 [[ 9.10223418e-01 4.13859066e-01 -1.46288022e-02 1.49360960e+02] [-4.13801502e-01 9.10340936e-01 6.90639456e-03 -3.00076772e+01] [ 1.61754714e-02 -2.32941764e-04 9.99869141e-01 2.46065964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.503617865 meters 0.02161887988363597 Centerline is valid? [True, True] Translation: X:149.42, Y:-30.04, Z:2.46 [[ 9.10723917e-01 4.12746824e-01 -1.48998609e-02 1.49415605e+02] [-4.12686886e-01 9.10845756e-01 7.03865179e-03 -3.00362632e+01] [ 1.64766563e-02 -2.61291313e-04 9.99864217e-01 2.46117147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.563617865 meters 0.02235154078416952 Centerline is valid? [True, True] Translation: X:149.47, Y:-30.07, Z:2.46 [[ 9.11519891e-01 4.10983944e-01 -1.49561696e-02 1.49469151e+02] [-4.10923249e-01 9.11642534e-01 7.06926447e-03 -3.00652920e+01] [ 1.65400346e-02 -2.97937353e-04 9.99863160e-01 2.46256979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.623617865 meters 0.021810856626390967 Centerline is valid? [True, True] Translation: X:149.53, Y:-30.09, Z:2.46 [[ 9.11573784e-01 4.10864048e-01 -1.49656234e-02 1.49526964e+02] [-4.10803194e-01 9.11696573e-01 7.07772096e-03 -3.00909749e+01] [ 1.65520886e-02 -3.03938990e-04 9.99862959e-01 2.46369488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.683617865 meters 0.02212609568335977 Centerline is valid? [True, True] Translation: X:149.58, Y:-30.12, Z:2.47 [[ 9.11937461e-01 4.10073979e-01 -1.44706024e-02 1.49581063e+02] [-4.10016909e-01 9.12052210e-01 6.84835002e-03 -3.01186976e+01] [ 1.60062751e-02 -3.12075245e-04 9.99871843e-01 2.46562486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74361786499998 meters 0.022667164680154374 Centerline is valid? [True, True] Translation: X:149.64, Y:-30.15, Z:2.47 [[ 9.12600151e-01 4.08646183e-01 -1.30100715e-02 1.49635116e+02] [-4.08599882e-01 9.12692831e-01 6.15889800e-03 -3.01460553e+01] [ 1.43910092e-02 -3.04697545e-04 9.99896398e-01 2.46775491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80361786499998 meters 0.023053187020097714 Centerline is valid? [True, True] Translation: X:149.69, Y:-30.17, Z:2.47 [[ 9.13039287e-01 4.07681617e-01 -1.24482698e-02 1.49691014e+02] [-4.07639104e-01 9.13124090e-01 5.89550884e-03 -3.01734418e+01] [ 1.37703056e-02 -3.08429642e-04 9.99905137e-01 2.46974478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86361786499998 meters 0.022400866102551337 Centerline is valid? [True, True] Translation: X:149.75, Y:-30.20, Z:2.47 [[ 9.13036575e-01 4.07685253e-01 -1.25278412e-02 1.49748659e+02] [-4.07642147e-01 9.13122465e-01 5.93664541e-03 -3.01979107e+01] [ 1.38597360e-02 -3.13498319e-04 9.99903900e-01 2.47010336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92361786499998 meters 0.022298647101904306 Centerline is valid? [True, True] Translation: X:149.80, Y:-30.22, Z:2.47 [[ 9.12287838e-01 4.09333081e-01 -1.33164987e-02 1.49804609e+02] [-4.09284480e-01 9.12384969e-01 6.31522601e-03 -3.02223757e+01] [ 1.47348042e-02 -3.11067616e-04 9.99891388e-01 2.47029727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98361786499999 meters 0.022130995703182863 Centerline is valid? [True, True] Translation: X:149.86, Y:-30.25, Z:2.47 [[ 9.11646249e-01 4.10737024e-01 -1.40076569e-02 1.49861741e+02] [-4.10683351e-01 9.11753806e-01 6.64696040e-03 -3.02470801e+01] [ 1.55016872e-02 -3.06965036e-04 9.99879795e-01 2.47020528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.043617865 meters 0.021342492082422372 Centerline is valid? [True, True] Translation: X:149.92, Y:-30.27, Z:2.47 [[ 9.10958414e-01 4.12277787e-01 -1.34830885e-02 1.49919651e+02] [-4.12228173e-01 9.11058149e-01 6.40174124e-03 -3.02692116e+01] [ 1.49231734e-02 -2.73611102e-04 9.99888606e-01 2.47058129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.103617865 meters 0.021749299220097988 Centerline is valid? [True, True] Translation: X:149.97, Y:-30.29, Z:2.47 [[ 9.10316204e-01 4.13707605e-01 -1.30547495e-02 1.49974984e+02] [-4.13661186e-01 9.10409774e-01 6.20214000e-03 -3.02949763e+01] [ 1.44510441e-02 -2.45665370e-04 9.99895548e-01 2.47192604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.163617865 meters 0.021296041192667182 Centerline is valid? [True, True] Translation: X:150.03, Y:-30.32, Z:2.47 [[ 9.09987163e-01 4.14453476e-01 -1.23158432e-02 1.50032575e+02] [-4.14412189e-01 9.10070473e-01 5.85418925e-03 -3.03187223e+01] [ 1.36345743e-02 -2.23401532e-04 9.99907020e-01 2.47302539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.223617865 meters 0.02131656731525181 Centerline is valid? [True, True] Translation: X:150.09, Y:-30.34, Z:2.47 [[ 9.10075101e-01 4.14282516e-01 -1.15458860e-02 1.50089706e+02] [-4.14246179e-01 9.10148312e-01 5.49112244e-03 -3.03447002e+01] [ 1.27833446e-02 -2.14494664e-04 9.99918267e-01 2.47353569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.283617865 meters 0.020861234263622734 Centerline is valid? [True, True] Translation: X:150.15, Y:-30.37, Z:2.47 [[ 9.10629042e-01 4.13076575e-01 -1.10675542e-02 1.50146325e+02] [-4.13043054e-01 9.10696268e-01 5.26714567e-03 -3.03695030e+01] [ 1.22549148e-02 -2.25039444e-04 9.99924880e-01 2.47374603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.343617865 meters 0.021110375693575906 Centerline is valid? [True, True] Translation: X:150.20, Y:-30.40, Z:2.47 [[ 9.10862006e-01 4.12556968e-01 -1.12762923e-02 1.50201774e+02] [-4.12522087e-01 9.10931770e-01 5.37004726e-03 -3.03961615e+01] [ 1.24873833e-02 -2.39652390e-04 9.99922001e-01 2.47395784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.403617865 meters 0.020945426293943706 Centerline is valid? [True, True] Translation: X:150.26, Y:-30.42, Z:2.47 [[ 9.10983645e-01 4.12301486e-01 -1.07834899e-02 1.50258380e+02] [-4.12269537e-01 9.11047435e-01 5.13808915e-03 -3.04222846e+01] [ 1.19427126e-02 -2.35010790e-04 9.99928656e-01 2.47491858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.463617865 meters 0.02094455772671934 Centerline is valid? [True, True] Translation: X:150.31, Y:-30.45, Z:2.48 [[ 9.11115238e-01 4.12029917e-01 -1.00184929e-02 1.50314817e+02] [-4.12002294e-01 9.11170290e-01 4.77625165e-03 -3.04490054e+01] [ 1.10965117e-02 -2.24073583e-04 9.99938407e-01 2.47610618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52361786499998 meters 0.021233850474676658 Centerline is valid? [True, True] Translation: X:150.37, Y:-30.48, Z:2.48 [[ 9.11347347e-01 4.11526869e-01 -9.57335429e-03 1.50370400e+02] [-4.11501589e-01 9.11397601e-01 4.56680806e-03 -3.04751264e+01] [ 1.06044963e-02 -2.22497908e-04 9.99943746e-01 2.47652021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58361786499998 meters 0.021037432909744264 Centerline is valid? [True, True] Translation: X:150.43, Y:-30.50, Z:2.48 [[ 9.11070919e-01 4.12138469e-01 -9.57402387e-03 1.50427533e+02] [-4.12113195e-01 9.11121197e-01 4.56943313e-03 -3.05015565e+01] [ 1.06063353e-02 -2.17496078e-04 9.99943728e-01 2.47639393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64361786499998 meters 0.02097907156488499 Centerline is valid? [True, True] Translation: X:150.48, Y:-30.53, Z:2.48 [[ 9.10845520e-01 4.12619637e-01 -1.02700606e-02 1.50484076e+02] [-4.12590540e-01 9.10903388e-01 4.90558327e-03 -3.05282659e+01] [ 1.13791730e-02 -2.30898682e-04 9.99935228e-01 2.47662852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70361786499998 meters 0.020727421320275975 Centerline is valid? [True, True] Translation: X:150.54, Y:-30.55, Z:2.48 [[ 9.10761167e-01 4.12786456e-01 -1.10199391e-02 1.50541146e+02] [-4.12752926e-01 9.10827799e-01 5.26710550e-03 -3.05536669e+01] [ 1.22114567e-02 -2.48563043e-04 9.99925406e-01 2.47583869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.763617865 meters 0.02109733040696442 Centerline is valid? [True, True] Translation: X:150.60, Y:-30.58, Z:2.48 [[ 9.10625401e-01 4.13073114e-01 -1.14883523e-02 1.50596887e+02] [-4.13036642e-01 9.10697829e-01 5.49515233e-03 -3.05812565e+01] [ 1.27323172e-02 -2.58914837e-04 9.99918907e-01 2.47679991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.823617865 meters 0.021389323290046947 Centerline is valid? [True, True] Translation: X:150.65, Y:-30.61, Z:2.48 [[ 9.10541437e-01 4.13269165e-01 -1.10855009e-02 1.50652668e+02] [-4.13235176e-01 9.10608881e-01 5.30612622e-03 -3.06087950e+01] [ 1.22874139e-02 -2.50528902e-04 9.99924475e-01 2.47779134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.883617865 meters 0.021808920873703695 Centerline is valid? [True, True] Translation: X:150.71, Y:-30.64, Z:2.48 [[ 9.10735293e-01 4.12868628e-01 -1.00360466e-02 1.50707463e+02] [-4.12840729e-01 9.10790559e-01 4.80531574e-03 -3.06364767e+01] [ 1.11247006e-02 -2.33081860e-04 9.99938091e-01 2.47881632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.943617865 meters 0.021393843684350947 Centerline is valid? [True, True] Translation: X:150.76, Y:-30.66, Z:2.48 [[ 9.10528621e-01 4.13335985e-01 -9.53907232e-03 1.50764752e+02] [-4.13310785e-01 9.10578561e-01 4.56931537e-03 -3.06635451e+01] [ 1.05747372e-02 -2.17890954e-04 9.99944062e-01 2.47992880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.003617865 meters 0.02085940197927969 Centerline is valid? [True, True] Translation: X:150.82, Y:-30.69, Z:2.48 [[ 9.09757749e-01 4.15011184e-01 -1.03225793e-02 1.50820481e+02] [-4.14981738e-01 9.09816283e-01 4.94850127e-03 -3.06905679e+01] [ 1.14453341e-02 -2.18255489e-04 9.99934476e-01 2.48068004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.063617865 meters 0.02054810855402459 Centerline is valid? [True, True] Translation: X:150.88, Y:-30.72, Z:2.48 [[ 9.08710796e-01 4.17307865e-01 -9.94160421e-03 1.50877074e+02] [-4.17280660e-01 9.08765158e-01 4.76857102e-03 -3.07164485e+01] [ 1.10245457e-02 -1.84812800e-04 9.99939211e-01 2.48162869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.123617865 meters 0.01993930422159168 Centerline is valid? [True, True] Translation: X:150.93, Y:-30.74, Z:2.48 [[ 9.06791561e-01 4.21463268e-01 -9.88828608e-03 1.50932616e+02] [-4.21436568e-01 9.06845464e-01 4.74590467e-03 -3.07412692e+01] [ 1.09673719e-02 -1.36260958e-04 9.99939847e-01 2.48292388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.183617865 meters 0.019540134798672275 Centerline is valid? [True, True] Translation: X:150.99, Y:-30.77, Z:2.48 [[ 9.05280500e-01 4.24684384e-01 -1.05066941e-02 1.50988016e+02] [-4.24654422e-01 9.05341462e-01 5.04571304e-03 -3.07671288e+01] [ 1.16549813e-02 -1.06071507e-04 9.99932073e-01 2.48358655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24361786499998 meters 0.01919277444579931 Centerline is valid? [True, True] Translation: X:151.04, Y:-30.79, Z:2.48 [[ 9.04618593e-01 4.26082567e-01 -1.09017265e-02 1.51044590e+02] [-4.26050377e-01 9.04684275e-01 5.23823655e-03 -3.07929504e+01] [ 1.20945418e-02 -9.39214742e-05 9.99926854e-01 2.48354188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30361786499998 meters 0.019321378920129115 Centerline is valid? [True, True] Translation: X:151.10, Y:-30.82, Z:2.48 [[ 9.04316703e-01 4.26688158e-01 -1.21867305e-02 1.51098905e+02] [-4.26647932e-01 9.04398809e-01 5.85971815e-03 -3.08219126e+01] [ 1.35219369e-02 -9.95976437e-05 9.99908569e-01 2.48284820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36361786499998 meters 0.019115803956200484 Centerline is valid? [True, True] Translation: X:151.16, Y:-30.85, Z:2.48 [[ 9.04315560e-01 4.26683313e-01 -1.24385712e-02 1.51155260e+02] [-4.26641361e-01 9.04401095e-01 5.98404784e-03 -3.08505147e+01] [ 1.38027507e-02 -1.04658643e-04 9.99904732e-01 2.48365403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42361786499998 meters 0.019064536391401828 Centerline is valid? [True, True] Translation: X:151.21, Y:-30.88, Z:2.48 [[ 9.04483589e-01 4.26322087e-01 -1.26061881e-02 1.51211333e+02] [-4.26278905e-01 9.04571426e-01 6.06879855e-03 -3.08795154e+01] [ 1.39904604e-02 -1.15376628e-04 9.99902122e-01 2.48441779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48361786499999 meters 0.019088532984131757 Centerline is valid? [True, True] Translation: X:151.27, Y:-30.91, Z:2.49 [[ 9.04474344e-01 4.26335560e-01 -1.28121202e-02 1.51267693e+02] [-4.26290896e-01 9.04565075e-01 6.17228067e-03 -3.09077322e+01] [ 1.42208592e-02 -1.20979313e-04 9.99898871e-01 2.48543937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.543617865 meters 0.0192687019382279 Centerline is valid? [True, True] Translation: X:151.32, Y:-30.94, Z:2.49 [[ 9.05031681e-01 4.25128272e-01 -1.35502552e-02 1.51321664e+02] [-4.25078104e-01 9.05133100e-01 6.53268611e-03 -3.09377412e+01] [ 1.50420140e-02 -1.52371092e-04 9.99886851e-01 2.48625513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.603617865 meters 0.019218281542593165 Centerline is valid? [True, True] Translation: X:151.38, Y:-30.97, Z:2.49 [[ 9.05274406e-01 4.24602326e-01 -1.38244215e-02 1.51377847e+02] [-4.24549985e-01 9.05379941e-01 6.66887342e-03 -3.09664021e+01] [ 1.53479731e-02 -1.68002489e-04 9.99882199e-01 2.48731151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.663617865 meters 0.019375515928043315 Centerline is valid? [True, True] Translation: X:151.43, Y:-31.00, Z:2.49 [[ 9.05519265e-01 4.24090150e-01 -1.35057492e-02 1.51433737e+02] [-4.24040071e-01 9.05619961e-01 6.51957972e-03 -3.09951045e+01] [ 1.49959656e-02 -1.76626186e-04 9.99887539e-01 2.48882139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.723617865 meters 0.019511669024996698 Centerline is valid? [True, True] Translation: X:151.49, Y:-31.02, Z:2.49 [[ 9.05764028e-01 4.23560456e-01 -1.37137076e-02 1.51488775e+02] [-4.23508689e-01 9.05867818e-01 6.62475250e-03 -3.10248984e+01] [ 1.52287896e-02 -1.92588189e-04 9.99884017e-01 2.49066713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.783617865 meters 0.01970081074465901 Centerline is valid? [True, True] Translation: X:151.55, Y:-31.05, Z:2.49 [[ 9.05829487e-01 4.23418114e-01 -1.37855452e-02 1.51545192e+02] [-4.23365714e-01 9.05934358e-01 6.66414944e-03 -3.10533315e+01] [ 1.53105206e-02 -2.00255892e-04 9.99882767e-01 2.49125217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.843617865 meters 0.01974061292451704 Centerline is valid? [True, True] Translation: X:151.60, Y:-31.08, Z:2.49 [[ 9.05341453e-01 4.24455166e-01 -1.39522377e-02 1.51600654e+02] [-4.24401541e-01 9.05448936e-01 6.74950095e-03 -3.10783254e+01] [ 1.54978994e-02 -1.89251812e-04 9.99879882e-01 2.49139868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.903617865 meters 0.01966417491276931 Centerline is valid? [True, True] Translation: X:151.66, Y:-31.11, Z:2.49 [[ 9.05190284e-01 4.24746684e-01 -1.48594864e-02 1.51657178e+02] [-4.24685826e-01 9.05312219e-01 7.19266114e-03 -3.11053638e+01] [ 1.65075336e-02 -2.00113708e-04 9.99863721e-01 2.49233883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.963617865 meters 0.02006596648422661 Centerline is valid? [True, True] Translation: X:151.71, Y:-31.13, Z:2.49 [[ 9.05850125e-01 4.23339148e-01 -1.48160915e-02 1.51711845e+02] [-4.23278375e-01 9.05971254e-01 7.17662830e-03 -3.11339971e+01] [ 1.64611007e-02 -2.29618491e-04 9.99864481e-01 2.49371668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02361786499998 meters 0.020012295165251322 Centerline is valid? [True, True] Translation: X:151.77, Y:-31.16, Z:2.49 [[ 9.06179664e-01 4.22634651e-01 -1.47772994e-02 1.51768789e+02] [-4.22574032e-01 9.06300111e-01 7.16216267e-03 -3.11594435e+01] [ 1.64196462e-02 -2.45703173e-04 9.99865158e-01 2.49498259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08361786499998 meters 0.020356768313985762 Centerline is valid? [True, True] Translation: X:151.82, Y:-31.19, Z:2.50 [[ 9.06338215e-01 4.22285631e-01 -1.50294825e-02 1.51824828e+02] [-4.22222798e-01 9.06462784e-01 7.28907719e-03 -3.11851672e+01] [ 1.67017391e-02 -2.60579046e-04 9.99860482e-01 2.49603145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14361786499998 meters 0.02070974229886123 Centerline is valid? [True, True] Translation: X:151.88, Y:-31.21, Z:2.50 [[ 9.06854474e-01 4.21171798e-01 -1.51419817e-02 1.51880938e+02] [-4.21107783e-01 9.06980834e-01 7.34854743e-03 -3.12125067e+01] [ 1.68284881e-02 -2.87656773e-04 9.99858350e-01 2.49672576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20361786499998 meters 0.02116677972871057 Centerline is valid? [True, True] Translation: X:151.94, Y:-31.24, Z:2.50 [[ 9.07488032e-01 4.19799090e-01 -1.53034560e-02 1.51935356e+02] [-4.19733431e-01 9.07617002e-01 7.43136122e-03 -3.12395246e+01] [ 1.70093555e-02 -3.20499279e-04 9.99855279e-01 2.49758488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.263617865 meters 0.021789743464762146 Centerline is valid? [True, True] Translation: X:151.99, Y:-31.27, Z:2.50 [[ 9.08487840e-01 4.17625437e-01 -1.54544231e-02 1.51991917e+02] [-4.17558117e-01 9.08619205e-01 7.50728727e-03 -3.12658092e+01] [ 1.71774198e-02 -3.67159394e-04 9.99852390e-01 2.49821380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.323617865 meters 0.022156401366903142 Centerline is valid? [True, True] Translation: X:152.05, Y:-31.29, Z:2.50 [[ 9.08950555e-01 4.16626739e-01 -1.52002985e-02 1.52047387e+02] [-4.16561403e-01 9.09077562e-01 7.38814644e-03 -3.12925774e+01] [ 1.68963497e-02 -3.83602134e-04 9.99857173e-01 2.49958375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.383617865 meters 0.02280426158714118 Centerline is valid? [True, True] Translation: X:152.10, Y:-31.32, Z:2.50 [[ 9.09324096e-01 4.15842521e-01 -1.43068723e-02 1.52101892e+02] [-4.15784486e-01 9.09436559e-01 6.95745650e-03 -3.13196171e+01] [ 1.59043989e-02 -3.78007313e-04 9.99873446e-01 2.50218539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.443617865 meters 0.02200191565955149 Centerline is valid? [True, True] Translation: X:152.16, Y:-31.34, Z:2.50 [[ 9.09180538e-01 4.16165642e-01 -1.40323838e-02 1.52160152e+02] [-4.16109796e-01 9.09288745e-01 6.82753799e-03 -3.13434565e+01] [ 1.56008754e-02 -3.68452297e-04 9.99878231e-01 2.50338371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.503617865 meters 0.021055341665167815 Centerline is valid? [True, True] Translation: X:152.22, Y:-31.36, Z:2.50 [[ 9.08328104e-01 4.17997832e-01 -1.47603459e-02 1.52219509e+02] [-4.17936198e-01 9.08447953e-01 7.18683785e-03 -3.13642567e+01] [ 1.64130886e-02 -3.59123947e-04 9.99865232e-01 2.50378873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.563617865 meters 0.020448186175902106 Centerline is valid? [True, True] Translation: X:152.28, Y:-31.39, Z:2.50 [[ 9.07287732e-01 4.20209135e-01 -1.59139500e-02 1.52277817e+02] [-4.20137740e-01 9.07427221e-01 7.75363831e-03 -3.13859295e+01] [ 1.76989010e-02 -3.48729953e-04 9.99843301e-01 2.50408003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.623617865 meters 0.020321480284835873 Centerline is valid? [True, True] Translation: X:152.34, Y:-31.41, Z:2.50 [[ 9.06428629e-01 4.22021671e-01 -1.68774574e-02 1.52335171e+02] [-4.21941579e-01 9.06585680e-01 8.22853538e-03 -3.14096699e+01] [ 1.87734814e-02 -3.37279037e-04 9.99823706e-01 2.50491959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.683617865 meters 0.02037316581569643 Centerline is valid? [True, True] Translation: X:152.39, Y:-31.43, Z:2.51 [[ 9.05828254e-01 4.23318239e-01 -1.66385898e-02 1.52392304e+02] [-4.23240524e-01 9.05981000e-01 8.11708563e-03 -3.14329237e+01] [ 1.85103566e-02 -3.10560035e-04 9.99828620e-01 2.50652838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74361786499998 meters 0.020158716235319615 Centerline is valid? [True, True] Translation: X:152.45, Y:-31.46, Z:2.51 [[ 9.05315346e-01 4.24413340e-01 -1.66565622e-02 1.52448786e+02] [-4.24335549e-01 9.05468515e-01 8.13086400e-03 -3.14579733e+01] [ 1.85328398e-02 -2.93024497e-04 9.99828209e-01 2.50767909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80361786499998 meters 0.020134816774162744 Centerline is valid? [True, True] Translation: X:152.50, Y:-31.48, Z:2.51 [[ 9.05013578e-01 4.25053807e-01 -1.67237834e-02 1.52504512e+02] [-4.24975402e-01 9.05168039e-01 8.16874964e-03 -3.14840214e+01] [ 1.86099924e-02 -2.85632760e-04 9.99826778e-01 2.50910937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86361786499998 meters 0.02004579743930649 Centerline is valid? [True, True] Translation: X:152.56, Y:-31.51, Z:2.51 [[ 9.04464982e-01 4.26236556e-01 -1.62940165e-02 1.52561712e+02] [-4.26162230e-01 9.04611702e-01 7.96382699e-03 -3.15089936e+01] [ 1.81342322e-02 -2.59108211e-04 9.99835528e-01 2.51023089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92361786499998 meters 0.01984576808073681 Centerline is valid? [True, True] Translation: X:152.62, Y:-31.53, Z:2.51 [[ 9.03812618e-01 4.27580711e-01 -1.72478404e-02 1.52618985e+02] [-4.27497570e-01 9.03977142e-01 8.43532479e-03 -3.15336935e+01] [ 1.91984356e-02 -2.50543126e-04 9.99815662e-01 2.51051953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98361786499999 meters 0.01968323309529291 Centerline is valid? [True, True] Translation: X:152.68, Y:-31.56, Z:2.51 [[ 9.03434928e-01 4.28360517e-01 -1.76804563e-02 1.52676318e+02] [-4.28273195e-01 9.03607884e-01 8.65232136e-03 -3.15598357e+01] [ 1.96825125e-02 -2.44743818e-04 9.99806251e-01 2.51119343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.043617865 meters 0.01985862472025988 Centerline is valid? [True, True] Translation: X:152.73, Y:-31.59, Z:2.51 [[ 9.03887797e-01 4.27382084e-01 -1.82045342e-02 1.52732146e+02] [-4.27289185e-01 9.04071057e-01 8.91494891e-03 -3.15862330e+01] [ 2.02682819e-02 -2.79512974e-04 9.99794538e-01 2.51119498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.103617865 meters 0.019956171617050933 Centerline is valid? [True, True] Translation: X:152.79, Y:-31.61, Z:2.51 [[ 9.04465666e-01 4.26138707e-01 -1.86456838e-02 1.52788108e+02] [-4.26040870e-01 9.04657781e-01 9.13660163e-03 -3.16135928e+01] [ 2.07614225e-02 -3.19919128e-04 9.99784407e-01 2.51177491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.163617865 meters 0.020340699662121712 Centerline is valid? [True, True] Translation: X:152.84, Y:-31.64, Z:2.51 [[ 9.05629629e-01 4.23646451e-01 -1.89383265e-02 1.52843766e+02] [-4.23544852e-01 9.05827541e-01 9.28568823e-03 -3.16419719e+01] [ 2.10887066e-02 -3.88163691e-04 9.99777533e-01 2.51322000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.223617865 meters 0.02108313562630424 Centerline is valid? [True, True] Translation: X:152.90, Y:-31.67, Z:2.51 [[ 9.07237734e-01 4.20207910e-01 -1.85743494e-02 1.52898478e+02] [-4.20109365e-01 9.07427737e-01 9.11172211e-03 -3.16708235e+01] [ 2.06836976e-02 -4.63239969e-04 9.99785962e-01 2.51433170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.283617865 meters 0.021192914458519823 Centerline is valid? [True, True] Translation: X:152.95, Y:-31.70, Z:2.52 [[ 9.07972227e-01 4.18643454e-01 -1.80025785e-02 1.52954205e+02] [-4.18550531e-01 9.08150551e-01 8.83348834e-03 -3.16978188e+01] [ 2.00471337e-02 -4.85573287e-04 9.99798918e-01 2.51585495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.343617865 meters 0.021578298102775922 Centerline is valid? [True, True] Translation: X:153.01, Y:-31.73, Z:2.52 [[ 9.08725145e-01 4.17026188e-01 -1.75433635e-02 1.53009807e+02] [-4.16937545e-01 9.08894326e-01 8.61323694e-03 -3.17253853e+01] [ 1.95370089e-02 -5.12578084e-04 9.99809003e-01 2.51755658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.403617865 meters 0.021981405718019216 Centerline is valid? [True, True] Translation: X:153.06, Y:-31.75, Z:2.52 [[ 9.08726017e-01 4.17022311e-01 -1.75902850e-02 1.53064754e+02] [-4.16933090e-01 9.08896101e-01 8.64152023e-03 -3.17533392e+01] [ 1.95914482e-02 -5.18802390e-04 9.99807935e-01 2.51814460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.463617865 meters 0.021848984250122945 Centerline is valid? [True, True] Translation: X:153.12, Y:-31.78, Z:2.52 [[ 9.08365570e-01 4.17796031e-01 -1.78456607e-02 1.53121744e+02] [-4.17704239e-01 9.08540705e-01 8.77251482e-03 -3.17786745e+01] [ 1.98786311e-02 -5.14442287e-04 9.99802268e-01 2.51794098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52361786499998 meters 0.020379310514784282 Centerline is valid? [True, True] Translation: X:153.18, Y:-31.80, Z:2.52 [[ 9.07156609e-01 4.20429328e-01 -1.74947560e-02 1.53181030e+02] [-4.20341514e-01 9.07325177e-01 8.60439292e-03 -3.18001201e+01] [ 1.94909717e-02 -4.51759670e-04 9.99809931e-01 2.51875116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58361786499998 meters 0.02110213954131374 Centerline is valid? [True, True] Translation: X:153.24, Y:-31.83, Z:2.52 [[ 9.06365093e-01 4.22158271e-01 -1.68734417e-02 1.53235219e+02] [-4.22076847e-01 9.06522053e-01 8.30073545e-03 -3.18278128e+01] [ 1.88003711e-02 -4.01607803e-04 9.99823177e-01 2.51945898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64361786499998 meters 0.019712336612259643 Centerline is valid? [True, True] Translation: X:153.29, Y:-31.85, Z:2.52 [[ 9.05253322e-01 4.24568457e-01 -1.60639035e-02 1.53294002e+02] [-4.24494987e-01 9.05395776e-01 7.90533162e-03 -3.18487353e+01] [ 1.79005448e-02 -3.37281209e-04 9.99839716e-01 2.51980886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70361786499998 meters 0.019995048510458288 Centerline is valid? [True, True] Translation: X:153.35, Y:-31.88, Z:2.52 [[ 9.04705284e-01 4.25756352e-01 -1.54879804e-02 1.53349505e+02] [-4.25688154e-01 9.04837795e-01 7.62635247e-03 -3.18754707e+01] [ 1.72610781e-02 -3.06551597e-04 9.99850970e-01 2.52065277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.763617865 meters 0.019941716584728285 Centerline is valid? [True, True] Translation: X:153.41, Y:-31.90, Z:2.52 [[ 9.04170834e-01 4.26906231e-01 -1.50390159e-02 1.53406361e+02] [-4.26842018e-01 9.04295854e-01 7.40945353e-03 -3.19017671e+01] [ 1.67628616e-02 -2.80127876e-04 9.99859454e-01 2.52170818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.823617865 meters 0.019317985248916546 Centerline is valid? [True, True] Translation: X:153.46, Y:-31.93, Z:2.52 [[ 9.03868186e-01 4.27552941e-01 -1.48588464e-02 1.53464364e+02] [-4.27490306e-01 9.03990272e-01 7.32303681e-03 -3.19259555e+01] [ 1.65632385e-02 -2.67047193e-04 9.99862784e-01 2.52162298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.883617865 meters 0.0193954444711803 Centerline is valid? [True, True] Translation: X:153.52, Y:-31.95, Z:2.52 [[ 9.03655616e-01 4.28007779e-01 -1.46924871e-02 1.53519724e+02] [-4.27946518e-01 9.03775013e-01 7.24598787e-03 -3.19527336e+01] [ 1.63800419e-02 -2.60278926e-04 9.99865804e-01 2.52237555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.943617865 meters 0.01919506129828398 Centerline is valid? [True, True] Translation: X:153.58, Y:-31.98, Z:2.52 [[ 9.03589121e-01 4.28149878e-01 -1.46418358e-02 1.53576192e+02] [-4.28088982e-01 9.03707704e-01 7.22561256e-03 -3.19803820e+01] [ 1.63255850e-02 -2.60976304e-04 9.99866695e-01 2.52283659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.003617865 meters 0.018975143245272257 Centerline is valid? [True, True] Translation: X:153.63, Y:-32.01, Z:2.52 [[ 9.03088151e-01 4.29229550e-01 -1.39207049e-02 1.53632384e+02] [-4.29174562e-01 9.03195405e-01 6.87428298e-03 -3.20066953e+01] [ 1.55237621e-02 -2.33671054e-04 9.99879472e-01 2.52328567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.063617865 meters 0.018745341118540666 Centerline is valid? [True, True] Translation: X:153.69, Y:-32.03, Z:2.52 [[ 9.01961851e-01 4.31622592e-01 -1.29134490e-02 1.53688124e+02] [-4.31575468e-01 9.02054270e-01 6.38046739e-03 -3.20335344e+01] [ 1.44025857e-02 -1.81810378e-04 9.99896261e-01 2.52406247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.123617865 meters 0.01858340429428693 Centerline is valid? [True, True] Translation: X:153.74, Y:-32.06, Z:2.52 [[ 9.01220057e-01 4.33169778e-01 -1.28977538e-02 1.53743762e+02] [-4.33122872e-01 9.01312331e-01 6.37654000e-03 -3.20613374e+01] [ 1.43870290e-02 -1.60353564e-04 9.99896488e-01 2.52408953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.183617865 meters 0.018292794138538265 Centerline is valid? [True, True] Translation: X:153.80, Y:-32.09, Z:2.52 [[ 9.00286106e-01 4.35106034e-01 -1.29486165e-02 1.53799598e+02] [-4.35058902e-01 9.00379210e-01 6.40552048e-03 -3.20881052e+01] [ 1.44457457e-02 -1.33390227e-04 9.99895646e-01 2.52430326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24361786499998 meters 0.017951119644974912 Centerline is valid? [True, True] Translation: X:153.85, Y:-32.11, Z:2.52 [[ 8.98738480e-01 4.38287825e-01 -1.31501621e-02 1.53854988e+02] [-4.38239495e-01 8.98834676e-01 6.50928349e-03 -3.21137989e+01] [ 1.46727614e-02 -8.72231389e-05 9.99892345e-01 2.52328689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30361786499998 meters 0.01784603670826483 Centerline is valid? [True, True] Translation: X:153.91, Y:-32.14, Z:2.52 [[ 8.97805501e-01 4.40202303e-01 -1.29311718e-02 1.53910753e+02] [-4.40155717e-01 8.97898618e-01 6.40436106e-03 -3.21419278e+01] [ 1.44300957e-02 -5.81414123e-05 9.99895879e-01 2.52395116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36361786499998 meters 0.0177552192541262 Centerline is valid? [True, True] Translation: X:153.97, Y:-32.17, Z:2.53 [[ 8.97395477e-01 4.41072695e-01 -1.16719969e-02 1.53966239e+02] [-4.41034776e-01 8.97471379e-01 5.78360333e-03 -3.21723745e+01] [ 1.30262726e-02 -4.24229515e-05 9.99915154e-01 2.52580918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42361786499998 meters 0.017569207955960904 Centerline is valid? [True, True] Translation: X:154.02, Y:-32.20, Z:2.53 [[ 8.97060206e-01 4.41763439e-01 -1.13159507e-02 1.54021980e+02] [-4.41727806e-01 8.97131575e-01 5.61098700e-03 -3.22020127e+01] [ 1.26306256e-02 -3.48230802e-05 9.99920230e-01 2.52630658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48361786499999 meters 0.0175912255531857 Centerline is valid? [True, True] Translation: X:154.08, Y:-32.23, Z:2.53 [[ 8.96815815e-01 4.42260024e-01 -1.12900585e-02 1.54077743e+02] [-4.42224543e-01 8.96886877e-01 5.60207757e-03 -3.22313450e+01] [ 1.26034803e-02 -3.12908097e-05 9.99920572e-01 2.52703911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.543617865 meters 0.017536304776333375 Centerline is valid? [True, True] Translation: X:154.13, Y:-32.26, Z:2.53 [[ 8.96917125e-01 4.42059884e-01 -1.10783732e-02 1.54131459e+02] [-4.42025659e-01 8.96985539e-01 5.50083247e-03 -3.22618131e+01] [ 1.23688380e-02 -3.68656108e-05 9.99923502e-01 2.52754709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.603617865 meters 0.017425658784157423 Centerline is valid? [True, True] Translation: X:154.18, Y:-32.29, Z:2.53 [[ 8.97731097e-01 4.40380330e-01 -1.20017868e-02 1.54184003e+02] [-4.40339955e-01 8.97811317e-01 5.96353008e-03 -3.22945236e+01] [ 1.34015613e-02 -6.87801462e-05 9.99910193e-01 2.52773770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.663617865 meters 0.017429665308887083 Centerline is valid? [True, True] Translation: X:154.24, Y:-32.33, Z:2.53 [[ 8.98608521e-01 4.38586678e-01 -1.20188141e-02 1.54238078e+02] [-4.38545977e-01 8.98688887e-01 5.97577645e-03 -3.23260469e+01] [ 1.34220706e-02 -9.90810663e-05 9.99909915e-01 2.52845925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.723617865 meters 0.01763961813936783 Centerline is valid? [True, True] Translation: X:154.29, Y:-32.36, Z:2.53 [[ 9.00015321e-01 4.35684086e-01 -1.23206518e-02 1.54289875e+02] [-4.35640991e-01 9.00099636e-01 6.12963850e-03 -3.23601880e+01] [ 1.37604001e-02 -1.49387616e-04 9.99905310e-01 2.52981689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.783617865 meters 0.01815027231269051 Centerline is valid? [True, True] Translation: X:154.34, Y:-32.40, Z:2.53 [[ 9.01626188e-01 4.32354518e-01 -1.18232067e-02 1.54341426e+02] [-4.32314505e-01 9.01703683e-01 5.88524643e-03 -3.23953368e+01] [ 1.32055419e-02 -1.94948539e-04 9.99912784e-01 2.53091497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.843617865 meters 0.018469683230314456 Centerline is valid? [True, True] Translation: X:154.39, Y:-32.43, Z:2.53 [[ 9.02525940e-01 4.30481614e-01 -1.15112259e-02 1.54394580e+02] [-4.30443488e-01 9.02599320e-01 5.73337584e-03 -3.24277258e+01] [ 1.28581375e-02 -2.19588188e-04 9.99917307e-01 2.53205487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.903617865 meters 0.018697497405555062 Centerline is valid? [True, True] Translation: X:154.45, Y:-32.46, Z:2.53 [[ 9.02837375e-01 4.29840877e-01 -1.10224778e-02 1.54447154e+02] [-4.29805834e-01 9.02904630e-01 5.49307230e-03 -3.24606169e+01] [ 1.23133932e-02 -2.21825725e-04 9.99924163e-01 2.53339116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.963617865 meters 0.018537697868896627 Centerline is valid? [True, True] Translation: X:154.50, Y:-32.49, Z:2.53 [[ 9.01699438e-01 4.32213930e-01 -1.13684895e-02 1.54501339e+02] [-4.32176795e-01 9.01771079e-01 5.66904086e-03 -3.24917214e+01] [ 1.27020135e-02 -1.98573610e-04 9.99919306e-01 2.53469780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02361786499998 meters 0.01833480085420544 Centerline is valid? [True, True] Translation: X:154.56, Y:-32.52, Z:2.54 [[ 9.00266513e-01 4.35182186e-01 -1.16905795e-02 1.54556294e+02] [-4.35143121e-01 9.00342400e-01 5.83323216e-03 -3.25198658e+01] [ 1.30640431e-02 -1.64388345e-04 9.99914648e-01 2.53538748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08361786499998 meters 0.01801425922545277 Centerline is valid? [True, True] Translation: X:154.61, Y:-32.55, Z:2.54 [[ 8.98715193e-01 4.38358469e-01 -1.23634199e-02 1.54612305e+02] [-4.38315020e-01 8.98800220e-01 6.17313216e-03 -3.25479667e+01] [ 1.38182893e-02 -1.28815045e-04 9.99904515e-01 2.53563635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14361786499998 meters 0.017742947520405956 Centerline is valid? [True, True] Translation: X:154.67, Y:-32.58, Z:2.54 [[ 8.96833640e-01 4.42164758e-01 -1.34070482e-02 1.54666922e+02] [-4.42114054e-01 8.96933844e-01 6.69645651e-03 -3.25762452e+01] [ 1.49861724e-02 -7.81630218e-05 9.99887698e-01 2.53660974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20361786499998 meters 0.017728290034702786 Centerline is valid? [True, True] Translation: X:154.72, Y:-32.61, Z:2.54 [[ 8.95916757e-01 4.43997022e-01 -1.41354049e-02 1.54721078e+02] [-4.43940823e-01 8.96028260e-01 7.06426425e-03 -3.26068637e+01] [ 1.58022346e-02 -5.37094157e-05 9.99875135e-01 2.53850993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.263617865 meters 0.01765673139804829 Centerline is valid? [True, True] Translation: X:154.78, Y:-32.64, Z:2.54 [[ 8.95722741e-01 4.44376225e-01 -1.45100444e-02 1.54775088e+02] [-4.44316987e-01 8.95840258e-01 7.25589200e-03 -3.26374299e+01] [ 1.62230278e-02 -5.22082834e-05 9.99868397e-01 2.53900268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.323617865 meters 0.01767521568307358 Centerline is valid? [True, True] Translation: X:154.83, Y:-32.67, Z:2.54 [[ 8.95527431e-01 4.44773269e-01 -1.43999472e-02 1.54830939e+02] [-4.44714906e-01 8.95643197e-01 7.20530145e-03 -3.26660766e+01] [ 1.61019403e-02 -4.86739286e-05 9.99870354e-01 2.54039040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.383617865 meters 0.01755298720762771 Centerline is valid? [True, True] Translation: X:154.89, Y:-32.69, Z:2.54 [[ 8.95132012e-01 4.45578517e-01 -1.40878173e-02 1.54887994e+02] [-4.45522683e-01 8.95242863e-01 7.05369123e-03 -3.26931343e+01] [ 1.57549911e-02 -3.75426689e-05 9.99875882e-01 2.54173231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.443617865 meters 0.017542133779387722 Centerline is valid? [True, True] Translation: X:154.94, Y:-32.72, Z:2.54 [[ 8.95283340e-01 4.45272140e-01 -1.41584707e-02 1.54944455e+02] [-4.45215630e-01 8.95395287e-01 7.09388279e-03 -3.27211058e+01] [ 1.58361363e-02 -4.74626429e-05 9.99874599e-01 2.54279753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.503617865 meters 0.01755081245245741 Centerline is valid? [True, True] Translation: X:155.00, Y:-32.75, Z:2.54 [[ 8.96128425e-01 4.43535821e-01 -1.51598905e-02 1.55000232e+02] [-4.43470693e-01 8.96256642e-01 7.60109773e-03 -3.27497872e+01] [ 1.69585116e-02 -8.85926100e-05 9.99856190e-01 2.54285893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.563617865 meters 0.017913285916463583 Centerline is valid? [True, True] Translation: X:155.05, Y:-32.78, Z:2.54 [[ 8.98377881e-01 4.38921352e-01 -1.62858550e-02 1.55054932e+02] [-4.38845321e-01 8.98525464e-01 8.17157991e-03 -3.27795232e+01] [ 1.82199364e-02 -1.94195364e-04 9.99833984e-01 2.54297099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.623617865 meters 0.018822163589611033 Centerline is valid? [True, True] Translation: X:155.11, Y:-32.81, Z:2.54 [[ 9.00704501e-01 4.34104819e-01 -1.68643741e-02 1.55108562e+02] [-4.34022346e-01 9.00862316e-01 8.46705563e-03 -3.28085200e+01] [ 1.88680687e-02 -3.06799918e-04 9.99821935e-01 2.54251067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.683617865 meters 0.01927029672096621 Centerline is valid? [True, True] Translation: X:155.16, Y:-32.84, Z:2.54 [[ 9.01790693e-01 4.31838905e-01 -1.69913768e-02 1.55163869e+02] [-4.31754691e-01 9.01950680e-01 8.53560589e-03 -3.28359884e+01] [ 1.90113905e-02 -3.61223313e-04 9.99819202e-01 2.54395533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74361786499998 meters 0.020270351856296588 Centerline is valid? [True, True] Translation: X:155.22, Y:-32.86, Z:2.55 [[ 9.03306370e-01 4.28673909e-01 -1.66217070e-02 1.55217498e+02] [-4.28592706e-01 9.03459186e-01 8.35411518e-03 -3.28644731e+01] [ 1.85982251e-02 -4.22383102e-04 9.99826949e-01 2.54581202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80361786499998 meters 0.02004548153669148 Centerline is valid? [True, True] Translation: X:155.27, Y:-32.89, Z:2.55 [[ 9.03967429e-01 4.27302535e-01 -1.59822118e-02 1.55273600e+02] [-4.27227227e-01 9.04108597e-01 8.03380047e-03 -3.28908679e+01] [ 1.78825184e-02 -4.34257944e-04 9.99840001e-01 2.54785874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86361786499998 meters 0.020546324333310443 Centerline is valid? [True, True] Translation: X:155.33, Y:-32.92, Z:2.55 [[ 9.04679304e-01 4.25841525e-01 -1.46407746e-02 1.55329727e+02] [-4.25778072e-01 9.04797664e-01 7.36351652e-03 -3.29178488e+01] [ 1.63826298e-02 -4.27900215e-04 9.99865704e-01 2.54998038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92361786499998 meters 0.020579749560711815 Centerline is valid? [True, True] Translation: X:155.39, Y:-32.94, Z:2.55 [[ 9.04566179e-01 4.26085234e-01 -1.45396395e-02 1.55386693e+02] [-4.26022615e-01 9.04682924e-01 7.31697772e-03 -3.29446097e+01] [ 1.62714197e-02 -4.24475350e-04 9.99867522e-01 2.55159624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98361786499999 meters 0.021377451469443618 Centerline is valid? [True, True] Translation: X:155.44, Y:-32.97, Z:2.55 [[ 9.04208473e-01 4.26830844e-01 -1.49153522e-02 1.55441411e+02] [-4.26764962e-01 9.04331382e-01 7.51120304e-03 -3.29723428e+01] [ 1.66944342e-02 -4.26343721e-04 9.99860547e-01 2.55258055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.043617865 meters 0.020032463544907123 Centerline is valid? [True, True] Translation: X:155.50, Y:-33.00, Z:2.55 [[ 9.03640347e-01 4.27998587e-01 -1.58535159e-02 1.55499059e+02] [-4.27924253e-01 9.03779299e-01 7.98825280e-03 -3.29952980e+01] [ 1.77470404e-02 -4.34403586e-04 9.99842415e-01 2.55267769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.103617865 meters 0.020475024861111985 Centerline is valid? [True, True] Translation: X:155.55, Y:-33.02, Z:2.55 [[ 9.03591628e-01 4.28090720e-01 -1.61401548e-02 1.55554105e+02] [-4.28013599e-01 9.03735657e-01 8.13769286e-03 -3.30230899e+01] [ 1.80701042e-02 -4.44945385e-04 9.99836623e-01 2.55356977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.163617865 meters 0.020265102965123467 Centerline is valid? [True, True] Translation: X:155.61, Y:-33.05, Z:2.56 [[ 9.03995461e-01 4.27282809e-01 -1.48864639e-02 1.55610868e+02] [-4.27217021e-01 9.04117922e-01 7.51001108e-03 -3.30487324e+01] [ 1.66680174e-02 -4.29265168e-04 9.99860987e-01 2.55562820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.223617865 meters 0.021043557128730014 Centerline is valid? [True, True] Translation: X:155.67, Y:-33.08, Z:2.56 [[ 9.04068952e-01 4.27133649e-01 -1.47028907e-02 1.55665914e+02] [-4.27069381e-01 9.04188399e-01 7.42186441e-03 -3.30766210e+01] [ 1.64643112e-02 -4.30722768e-04 9.99864361e-01 2.55712467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.283617865 meters 0.021067695865029566 Centerline is valid? [True, True] Translation: X:155.72, Y:-33.10, Z:2.56 [[ 9.03943928e-01 4.27406747e-01 -1.44515584e-02 1.55722321e+02] [-4.27344617e-01 9.04059342e-01 7.29960639e-03 -3.31036328e+01] [ 1.61849674e-02 -4.22639172e-04 9.99868926e-01 2.55796901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.343617865 meters 0.0204764840452496 Centerline is valid? [True, True] Translation: X:155.78, Y:-33.13, Z:2.56 [[ 9.02846054e-01 4.29707387e-01 -1.48514351e-02 1.55779375e+02] [-4.29641995e-01 9.02968108e-01 7.50678719e-03 -3.31282596e+01] [ 1.66360942e-02 -3.96672981e-04 9.99861532e-01 2.55900519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.403617865 meters 0.019789392814234336 Centerline is valid? [True, True] Translation: X:155.84, Y:-33.15, Z:2.56 [[ 9.00849104e-01 4.33855981e-01 -1.54880305e-02 1.55836224e+02] [-4.33785395e-01 9.00982171e-01 7.83314165e-03 -3.31526514e+01] [ 1.73528947e-02 -3.37997201e-04 9.99849370e-01 2.55956977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.463617865 meters 0.019433641936430247 Centerline is valid? [True, True] Translation: X:155.89, Y:-33.18, Z:2.56 [[ 8.99499447e-01 4.36642687e-01 -1.56175661e-02 1.55892664e+02] [-4.36571310e-01 8.99634971e-01 7.90000968e-03 -3.31781321e+01] [ 1.74995901e-02 -2.87873050e-04 9.99846829e-01 2.56088593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52361786499998 meters 0.019052370569393393 Centerline is valid? [True, True] Translation: X:155.95, Y:-33.20, Z:2.56 [[ 8.98008209e-01 4.39748504e-01 -1.42305832e-02 1.55948620e+02] [-4.39689570e-01 8.98120932e-01 7.20231640e-03 -3.32030273e+01] [ 1.59479925e-02 -2.10700248e-04 9.99872800e-01 2.56202079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58361786499998 meters 0.01889857478217038 Centerline is valid? [True, True] Translation: X:156.00, Y:-33.23, Z:2.56 [[ 8.97342209e-01 4.41113878e-01 -1.39823817e-02 1.56004661e+02] [-4.41057088e-01 8.97451119e-01 7.08047432e-03 -3.32301139e+01] [ 1.56717996e-02 -1.86579903e-04 9.99877172e-01 2.56353617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64361786499998 meters 0.018935037328215217 Centerline is valid? [True, True] Translation: X:156.06, Y:-33.26, Z:2.56 [[ 8.97295879e-01 4.41222525e-01 -1.35199420e-02 1.56059808e+02] [-4.41169384e-01 8.97397710e-01 6.85014493e-03 -3.32578017e+01] [ 1.51552032e-02 -1.82022352e-04 9.99885137e-01 2.56473826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70361786499998 meters 0.01922446509736114 Centerline is valid? [True, True] Translation: X:156.11, Y:-33.29, Z:2.57 [[ 8.97756330e-01 4.40314846e-01 -1.25063350e-02 1.56114093e+02] [-4.40269235e-01 8.97843417e-01 6.34023035e-03 -3.32861514e+01] [ 1.40204281e-02 -1.85827397e-04 9.99901692e-01 2.56599011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.763617865 meters 0.019331882023898166 Centerline is valid? [True, True] Translation: X:156.17, Y:-33.31, Z:2.57 [[ 8.98675473e-01 4.38421351e-01 -1.30043447e-02 1.56169123e+02] [-4.38371785e-01 8.98769530e-01 6.59625483e-03 -3.33147171e+01] [ 1.45798477e-02 -2.27154641e-04 9.99893683e-01 2.56552478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.823617865 meters 0.01923369009000973 Centerline is valid? [True, True] Translation: X:156.22, Y:-33.34, Z:2.57 [[ 8.99737349e-01 4.36209118e-01 -1.39394689e-02 1.56224730e+02] [-4.36151834e-01 8.99845278e-01 7.07489609e-03 -3.33429200e+01] [ 1.56294994e-02 -2.85823329e-04 9.99877811e-01 2.56572764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.883617865 meters 0.02077173652755324 Centerline is valid? [True, True] Translation: X:156.28, Y:-33.37, Z:2.57 [[ 9.02452788e-01 4.30599926e-01 -1.27541800e-02 1.56276032e+02] [-4.30551352e-01 9.02542840e-01 6.47722046e-03 -3.33749693e+01] [ 1.43002845e-02 -3.54056210e-04 9.99897683e-01 2.56724688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.943617865 meters 0.02079853541994273 Centerline is valid? [True, True] Translation: X:156.33, Y:-33.40, Z:2.57 [[ 9.04277983e-01 4.26763993e-01 -1.24025525e-02 1.56330663e+02] [-4.26717698e-01 9.04362942e-01 6.29881082e-03 -3.34040252e+01] [ 1.39045145e-02 -4.03487317e-04 9.99903246e-01 2.56816996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.003617865 meters 0.023360062760111662 Centerline is valid? [True, True] Translation: X:156.38, Y:-33.44, Z:2.57 [[ 9.06131099e-01 4.22820130e-01 -1.22298419e-02 1.56381571e+02] [-4.22774744e-01 9.06213511e-01 6.21198627e-03 -3.34375457e+01] [ 1.37094008e-02 -4.58405663e-04 9.99905917e-01 2.56931319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.063617865 meters 0.024097467122708837 Centerline is valid? [True, True] Translation: X:156.44, Y:-33.47, Z:2.57 [[ 9.05729002e-01 4.23675103e-01 -1.24250550e-02 1.56435901e+02] [-4.23628330e-01 9.05814110e-01 6.31159498e-03 -3.34663813e+01] [ 1.39288558e-02 -4.52989318e-04 9.99902886e-01 2.56968941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.123617865 meters 0.021139997772200544 Centerline is valid? [True, True] Translation: X:156.49, Y:-33.49, Z:2.57 [[ 9.03269996e-01 4.28884126e-01 -1.27169562e-02 1.56493157e+02] [-4.28835589e-01 9.03359429e-01 6.46369658e-03 -3.34881695e+01] [ 1.42601591e-02 -3.84979802e-04 9.99898245e-01 2.56932876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.183617865 meters 0.020417368209251142 Centerline is valid? [True, True] Translation: X:156.55, Y:-33.52, Z:2.57 [[ 9.01409159e-01 4.32778501e-01 -1.28178084e-02 1.56548515e+02] [-4.32729581e-01 9.01500229e-01 6.51513440e-03 -3.35151029e+01] [ 1.43748673e-02 -3.26156951e-04 9.99896623e-01 2.57060236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24361786499998 meters 0.01976504613233743 Centerline is valid? [True, True] Translation: X:156.60, Y:-33.54, Z:2.57 [[ 8.99628934e-01 4.36482296e-01 -1.22876056e-02 1.56604436e+02] [-4.36437684e-01 8.99712809e-01 6.24565966e-03 -3.35417370e+01] [ 1.37814360e-02 -2.56002022e-04 9.99904999e-01 2.57192493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30361786499998 meters 0.01922852061680176 Centerline is valid? [True, True] Translation: X:156.66, Y:-33.57, Z:2.57 [[ 8.98078804e-01 4.39679903e-01 -1.16638613e-02 1.56660239e+02] [-4.39639933e-01 8.98154521e-01 5.93175653e-03 -3.35690302e+01] [ 1.30840239e-02 -1.99285613e-04 9.99914381e-01 2.57331732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36361786499998 meters 0.01861368197496083 Centerline is valid? [True, True] Translation: X:156.72, Y:-33.60, Z:2.58 [[ 8.96518363e-01 4.42874267e-01 -1.08262734e-02 1.56715416e+02] [-4.42840031e-01 8.96583718e-01 5.50857865e-03 -3.35979280e+01] [ 1.21462682e-02 -1.44234680e-04 9.99926221e-01 2.57530373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42361786499998 meters 0.018451806587361935 Centerline is valid? [True, True] Translation: X:156.77, Y:-33.63, Z:2.58 [[ 8.95420606e-01 4.45093101e-01 -1.06803400e-02 1.56768820e+02] [-4.45059902e-01 8.95484293e-01 5.43742446e-03 -3.36276651e+01] [ 1.19842368e-02 -1.15390848e-04 9.99928180e-01 2.57643514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48361786499999 meters 0.018197159990078246 Centerline is valid? [True, True] Translation: X:156.82, Y:-33.66, Z:2.58 [[ 8.94771015e-01 4.46402649e-01 -1.04645095e-02 1.56824020e+02] [-4.46370837e-01 8.94832199e-01 5.33013722e-03 -3.36557485e+01] [ 1.17433674e-02 -9.82004376e-05 9.99931039e-01 2.57699321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.543617865 meters 0.017913459200589735 Centerline is valid? [True, True] Translation: X:156.88, Y:-33.69, Z:2.58 [[ 8.94092302e-01 4.47743380e-01 -1.11723734e-02 1.56878572e+02] [-4.47707180e-01 8.94162098e-01 5.69413850e-03 -3.36854767e+01] [ 1.25394257e-02 -8.91335840e-05 9.99921374e-01 2.57674395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.603617865 meters 0.017870764119245694 Centerline is valid? [True, True] Translation: X:156.93, Y:-33.72, Z:2.58 [[ 8.94349274e-01 4.47216684e-01 -1.16881440e-02 1.56932521e+02] [-4.47176973e-01 8.94425641e-01 5.96057344e-03 -3.37177619e+01] [ 1.31198436e-02 -1.04165692e-04 9.99913926e-01 2.57676364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.663617865 meters 0.018039386198708734 Centerline is valid? [True, True] Translation: X:156.99, Y:-33.75, Z:2.58 [[ 8.94986839e-01 4.45926245e-01 -1.21795997e-02 1.56985924e+02] [-4.45882942e-01 8.95069699e-01 6.21577297e-03 -3.37488292e+01] [ 1.36733670e-02 -1.32359238e-04 9.99906506e-01 2.57745633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.723617865 meters 0.0186653456452962 Centerline is valid? [True, True] Translation: X:157.04, Y:-33.78, Z:2.58 [[ 8.96639368e-01 4.42581396e-01 -1.26314023e-02 1.57038483e+02] [-4.42534432e-01 8.96728315e-01 6.45032419e-03 -3.37819837e+01] [ 1.41817296e-02 -1.93784153e-04 9.99899415e-01 2.57729916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.783617865 meters 0.019049439774314152 Centerline is valid? [True, True] Translation: X:157.09, Y:-33.81, Z:2.58 [[ 8.97893757e-01 4.40035490e-01 -1.24727302e-02 1.57091959e+02] [-4.39989401e-01 8.97980352e-01 6.37294111e-03 -3.38129616e+01] [ 1.40045869e-02 -2.34354927e-04 9.99901903e-01 2.57763376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.843617865 meters 0.019298570864834292 Centerline is valid? [True, True] Translation: X:157.15, Y:-33.84, Z:2.58 [[ 8.97530756e-01 4.40778597e-01 -1.23600022e-02 1.57146329e+02] [-4.40733356e-01 8.97615830e-01 6.31911853e-03 -3.38407190e+01] [ 1.38798658e-02 -2.24137981e-04 9.99903645e-01 2.57837158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.903617865 meters 0.019022283328690996 Centerline is valid? [True, True] Translation: X:157.20, Y:-33.87, Z:2.58 [[ 8.96643684e-01 4.42510338e-01 -1.46528052e-02 1.57202724e+02] [-4.42446906e-01 8.96763371e-01 7.49606200e-03 -3.38680300e+01] [ 1.64571839e-02 -2.38208322e-04 9.99864543e-01 2.57722230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.963617865 meters 0.018955385482153364 Centerline is valid? [True, True] Translation: X:157.26, Y:-33.90, Z:2.58 [[ 8.96375628e-01 4.43019830e-01 -1.56257608e-02 1.57258644e+02] [-4.42947735e-01 8.96511779e-01 7.99590976e-03 -3.38967369e+01] [ 1.75510252e-02 -2.45943265e-04 9.99845939e-01 2.57695856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02361786499998 meters 0.01903470425366014 Centerline is valid? [True, True] Translation: X:157.31, Y:-33.92, Z:2.58 [[ 8.95889340e-01 4.44002118e-01 -1.56336244e-02 1.57314548e+02] [-4.43930006e-01 8.96025706e-01 8.00523483e-03 -3.39225870e+01] [ 1.75624706e-02 -2.31569574e-04 9.99845741e-01 2.57702168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08361786499998 meters 0.018832976912820085 Centerline is valid? [True, True] Translation: X:157.37, Y:-33.95, Z:2.58 [[ 8.95055338e-01 4.45678714e-01 -1.56979224e-02 1.57371378e+02] [-4.45606189e-01 8.95192964e-01 8.04252955e-03 -3.39486767e+01] [ 1.76370539e-02 -2.03417624e-04 9.99844434e-01 2.57913144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14361786499998 meters 0.018673615110805113 Centerline is valid? [True, True] Translation: X:157.43, Y:-33.98, Z:2.58 [[ 8.94343551e-01 4.47107288e-01 -1.56424456e-02 1.57427455e+02] [-4.47035411e-01 8.94480319e-01 8.01869673e-03 -3.39757145e+01] [ 1.75770774e-02 -1.78742621e-04 9.99845495e-01 2.58044050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20361786499998 meters 0.01863212551817892 Centerline is valid? [True, True] Translation: X:157.48, Y:-34.00, Z:2.58 [[ 8.93903150e-01 4.47989210e-01 -1.55828621e-02 1.57483191e+02] [-4.47917932e-01 8.94038948e-01 7.99287862e-03 -3.40038758e+01] [ 1.75124090e-02 -1.65016013e-04 9.99846632e-01 2.58262316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.263617865 meters 0.018560106092316075 Centerline is valid? [True, True] Translation: X:157.54, Y:-34.03, Z:2.58 [[ 8.93958945e-01 4.47873272e-01 -1.57142407e-02 1.57539651e+02] [-4.47800672e-01 8.94097032e-01 8.06569078e-03 -3.40317774e+01] [ 1.76624633e-02 -1.73548875e-04 9.99843991e-01 2.58262808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.323617865 meters 0.019066170707560757 Centerline is valid? [True, True] Translation: X:157.59, Y:-34.06, Z:2.58 [[ 8.94688431e-01 4.46398607e-01 -1.61522694e-02 1.57592519e+02] [-4.46321560e-01 8.94834196e-01 8.29618526e-03 -3.40627658e+01] [ 1.81570085e-02 -2.13394919e-04 9.99835125e-01 2.58209419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.383617865 meters 0.01894248249438906 Centerline is valid? [True, True] Translation: X:157.65, Y:-34.09, Z:2.58 [[ 8.95530517e-01 4.44685875e-01 -1.67202073e-02 1.57646998e+02] [-4.44602924e-01 8.95686555e-01 8.59277760e-03 -3.40916903e+01] [ 1.87971517e-02 -2.61241536e-04 9.99823284e-01 2.58283391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.443617865 meters 0.019469580509647654 Centerline is valid? [True, True] Translation: X:157.70, Y:-34.12, Z:2.58 [[ 8.96922609e-01 4.41848616e-01 -1.73099715e-02 1.57700694e+02] [-4.41759075e-01 8.97089565e-01 8.90127039e-03 -3.41230468e+01] [ 1.94616088e-02 -3.36913649e-04 9.99810548e-01 2.58333980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.503617865 meters 0.01994516956814497 Centerline is valid? [True, True] Translation: X:157.75, Y:-34.15, Z:2.58 [[ 8.98532015e-01 4.38597145e-01 -1.65155501e-02 1.57754927e+02] [-4.38514997e-01 8.98683699e-01 8.49749553e-03 -3.41534612e+01] [ 1.85692329e-02 -3.92955364e-04 9.99827500e-01 2.58417816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.563617865 meters 0.020556629218923823 Centerline is valid? [True, True] Translation: X:157.81, Y:-34.18, Z:2.59 [[ 9.00055529e-01 4.35476385e-01 -1.61357684e-02 1.57808349e+02] [-4.35397393e-01 9.00200042e-01 8.30632696e-03 -3.41848920e+01] [ 1.81426287e-02 -4.50683986e-04 9.99835307e-01 2.58549014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.623617865 meters 0.020545598277807303 Centerline is valid? [True, True] Translation: X:157.86, Y:-34.21, Z:2.59 [[ 9.00757377e-01 4.34056020e-01 -1.52157195e-02 1.57863567e+02] [-4.33985553e-01 9.00885767e-01 7.83418711e-03 -3.42137272e+01] [ 1.71081013e-02 -4.53299374e-04 9.99853543e-01 2.58659193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.683617865 meters 0.020682916547603798 Centerline is valid? [True, True] Translation: X:157.92, Y:-34.24, Z:2.59 [[ 9.00931489e-01 4.33730462e-01 -1.41541183e-02 1.57918654e+02] [-4.33669380e-01 9.01042563e-01 7.29164821e-03 -3.42422789e+01] [ 1.59160729e-02 -4.31067788e-04 9.99873238e-01 2.58736984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74361786499998 meters 0.020502350834824785 Centerline is valid? [True, True] Translation: X:157.97, Y:-34.27, Z:2.59 [[ 9.00260578e-01 4.35120111e-01 -1.41908530e-02 1.57974040e+02] [-4.35058814e-01 9.00372323e-01 7.31495076e-03 -3.42705435e+01] [ 1.59599334e-02 -4.11506146e-04 9.99872547e-01 2.58779308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80361786499998 meters 0.019565979711527366 Centerline is valid? [True, True] Translation: X:158.03, Y:-34.30, Z:2.59 [[ 8.99116759e-01 4.37487947e-01 -1.39049988e-02 1.58031921e+02] [-4.37429312e-01 8.99224200e-01 7.17179617e-03 -3.42951143e+01] [ 1.56412858e-02 -3.65828055e-04 9.99877601e-01 2.58783790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86361786499998 meters 0.02000064365157521 Centerline is valid? [True, True] Translation: X:158.09, Y:-34.32, Z:2.59 [[ 8.98455990e-01 4.38866842e-01 -1.31426593e-02 1.58086239e+02] [-4.38814590e-01 8.98552052e-01 6.77979825e-03 -3.43221887e+01] [ 1.47847922e-02 -3.24159677e-04 9.99890646e-01 2.58827785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92361786499998 meters 0.019721761922868217 Centerline is valid? [True, True] Translation: X:158.14, Y:-34.35, Z:2.59 [[ 8.98790535e-01 4.38210119e-01 -1.21435853e-02 1.58142361e+02] [-4.38165407e-01 8.98872513e-01 6.26749552e-03 -3.43487968e+01] [ 1.36620150e-02 -3.12266645e-04 9.99906622e-01 2.58977583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98361786499999 meters 0.02151491014773518 Centerline is valid? [True, True] Translation: X:158.20, Y:-34.38, Z:2.59 [[ 9.00176822e-01 4.35379512e-01 -1.12413795e-02 1.58196192e+02] [-4.35340932e-01 9.00246949e-01 5.80540277e-03 -3.43778881e+01] [ 1.26475710e-02 -3.32056401e-04 9.99919961e-01 2.59061800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.043617865 meters 0.02140509907201884 Centerline is valid? [True, True] Translation: X:158.25, Y:-34.40, Z:2.59 [[ 9.01952704e-01 4.31718243e-01 -1.00338784e-02 1.58252285e+02] [-4.31687262e-01 9.02008448e-01 5.18343799e-03 -3.44034176e+01] [ 1.12884279e-02 -3.43718402e-04 9.99936225e-01 2.59073647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.103617865 meters 0.021914875481987613 Centerline is valid? [True, True] Translation: X:158.31, Y:-34.43, Z:2.59 [[ 9.02456281e-01 4.30662813e-01 -1.01095145e-02 1.58307647e+02] [-4.30631302e-01 9.02512832e-01 5.22199042e-03 -3.44324497e+01] [ 1.13728836e-02 -3.59144677e-04 9.99935262e-01 2.59167973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.163617865 meters 0.02289965137780934 Centerline is valid? [True, True] Translation: X:158.36, Y:-34.46, Z:2.59 [[ 9.03532375e-01 4.28403064e-01 -1.00030963e-02 1.58362811e+02] [-4.28372031e-01 9.03587663e-01 5.17084043e-03 -3.44612399e+01] [ 1.12538783e-02 -3.86975052e-04 9.99936598e-01 2.59251911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.223617865 meters 0.024591744588143397 Centerline is valid? [True, True] Translation: X:158.42, Y:-34.49, Z:2.59 [[ 9.04598050e-01 4.26138881e-01 -1.03933520e-02 1.58417568e+02] [-4.26105227e-01 9.04657652e-01 5.37280247e-03 -3.44889189e+01] [ 1.16919854e-02 -4.31565041e-04 9.99931553e-01 2.59256424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.283617865 meters 0.0218709235283476 Centerline is valid? [True, True] Translation: X:158.48, Y:-34.51, Z:2.59 [[ 9.04406579e-01 4.26542959e-01 -1.04806714e-02 1.58477217e+02] [-4.26508735e-01 9.04467201e-01 5.42051719e-03 -3.45101424e+01] [ 1.17915070e-02 -4.32253494e-04 9.99930384e-01 2.59194136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.343617865 meters 0.02518835353113215 Centerline is valid? [True, True] Translation: X:158.53, Y:-34.54, Z:2.59 [[ 9.03734757e-01 4.27969572e-01 -1.02730217e-02 1.58530262e+02] [-4.27936739e-01 9.03793050e-01 5.31690816e-03 -3.45409147e+01] [ 1.15601605e-02 -4.08871318e-04 9.99933096e-01 2.59352645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.403617865 meters 0.022196365136297115 Centerline is valid? [True, True] Translation: X:158.59, Y:-34.56, Z:2.59 [[ 9.02700047e-01 4.30147390e-01 -1.02882543e-02 1.58589906e+02] [-4.30114562e-01 9.02758592e-01 5.32813775e-03 -3.45617071e+01] [ 1.15796945e-02 -3.84582192e-04 9.99932879e-01 2.59409182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.463617865 meters 0.021078420099111747 Centerline is valid? [True, True] Translation: X:158.65, Y:-34.59, Z:2.59 [[ 9.01998367e-01 4.31630866e-01 -9.68200288e-03 1.58647375e+02] [-4.31601869e-01 9.02050263e-01 5.01496316e-03 -3.45863262e+01] [ 1.08982661e-02 -3.44718050e-04 9.99940553e-01 2.59495891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52361786499998 meters 0.02034809797563945 Centerline is valid? [True, True] Translation: X:158.70, Y:-34.61, Z:2.60 [[ 9.00574750e-01 4.34593575e-01 -9.67183445e-03 1.58704073e+02] [-4.34564764e-01 9.00626630e-01 5.01378864e-03 -3.46099400e+01] [ 1.08896720e-02 -3.12252996e-04 9.99940657e-01 2.59559185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58361786499998 meters 0.019582316785705593 Centerline is valid? [True, True] Translation: X:158.76, Y:-34.63, Z:2.60 [[ 8.99123926e-01 4.37591737e-01 -9.46766647e-03 1.58761612e+02] [-4.37564293e-01 8.99173731e-01 4.90824768e-03 -3.46332830e+01] [ 1.06608856e-02 -2.70410142e-04 9.99943135e-01 2.59564254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64361786499998 meters 0.019789061986180023 Centerline is valid? [True, True] Translation: X:158.82, Y:-34.66, Z:2.60 [[ 8.98385086e-01 4.39096938e-01 -9.90531165e-03 1.58817118e+02] [-4.39066992e-01 8.98439652e-01 5.13492201e-03 -3.46595167e+01] [ 1.11540533e-02 -2.64041956e-04 9.99937757e-01 2.59604071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70361786499998 meters 0.019057827504464643 Centerline is valid? [True, True] Translation: X:158.87, Y:-34.69, Z:2.60 [[ 8.98099677e-01 4.39678931e-01 -9.97033454e-03 1.58873556e+02] [-4.39648596e-01 8.98154981e-01 5.17132510e-03 -3.46854223e+01] [ 1.12286283e-02 -2.60921818e-04 9.99936923e-01 2.59681013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.763617865 meters 0.019976501817144075 Centerline is valid? [True, True] Translation: X:158.93, Y:-34.71, Z:2.60 [[ 8.98409371e-01 4.39068237e-01 -8.92667275e-03 1.58928160e+02] [-4.39043866e-01 8.98453685e-01 4.63241269e-03 -3.47135657e+01] [ 1.00541473e-02 -2.42602056e-04 9.99949426e-01 2.59787990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.823617865 meters 0.019587399289646926 Centerline is valid? [True, True] Translation: X:158.98, Y:-34.74, Z:2.60 [[ 8.98912176e-01 4.38043399e-01 -8.65332323e-03 1.58984350e+02] [-4.38020430e-01 8.98953791e-01 4.49271710e-03 -3.47404315e+01] [ 9.74694279e-03 -2.48225747e-04 9.99952467e-01 2.59834497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.883617865 meters 0.020715808035734765 Centerline is valid? [True, True] Translation: X:159.04, Y:-34.77, Z:2.60 [[ 8.99757856e-01 4.36304009e-01 -8.63778664e-03 1.59038256e+02] [-4.36281015e-01 8.99799277e-01 4.48740226e-03 -3.47688323e+01] [ 9.73014577e-03 -2.69073110e-04 9.99952625e-01 2.59889027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.943617865 meters 0.021184680047168822 Centerline is valid? [True, True] Translation: X:159.10, Y:-34.80, Z:2.60 [[ 8.99825936e-01 4.36160083e-01 -8.81283352e-03 1.59095745e+02] [-4.36136118e-01 8.99869049e-01 4.58055969e-03 -3.47956119e+01] [ 9.92825341e-03 -2.78111406e-04 9.99950675e-01 2.59863382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.003617865 meters 0.021546027938756703 Centerline is valid? [True, True] Translation: X:159.15, Y:-34.82, Z:2.60 [[ 8.99429990e-01 4.36964947e-01 -9.34492655e-03 1.59150735e+02] [-4.36938000e-01 8.99478489e-01 4.86134560e-03 -3.48228547e+01] [ 1.05297980e-02 -2.89286511e-04 9.99944518e-01 2.59910711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.063617865 meters 0.019028140135008437 Centerline is valid? [True, True] Translation: X:159.21, Y:-34.84, Z:2.60 [[ 8.98241350e-01 4.39397552e-01 -9.60568366e-03 1.59210228e+02] [-4.39369201e-01 8.98292669e-01 4.99863640e-03 -3.48444137e+01] [ 1.08251038e-02 -2.69540352e-04 9.99941371e-01 2.59789687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.123617865 meters 0.018502519185052108 Centerline is valid? [True, True] Translation: X:159.27, Y:-34.87, Z:2.60 [[ 8.96414834e-01 4.43107771e-01 -9.79537152e-03 1.59267294e+02] [-4.43078487e-01 8.96468321e-01 5.09949133e-03 -3.48689712e+01] [ 1.10408645e-02 -2.31141284e-04 9.99939021e-01 2.59791394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.183617865 meters 0.018308788889952098 Centerline is valid? [True, True] Translation: X:159.32, Y:-34.90, Z:2.60 [[ 8.95086280e-01 4.45781733e-01 -9.95985501e-03 1.59323310e+02] [-4.45751625e-01 8.95141668e-01 5.18481067e-03 -3.48956402e+01] [ 1.12267751e-02 -2.01231337e-04 9.99936958e-01 2.59838520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24361786499998 meters 0.017683761425034254 Centerline is valid? [True, True] Translation: X:159.38, Y:-34.92, Z:2.60 [[ 8.93499700e-01 4.48968507e-01 -9.25018897e-03 1.59380414e+02] [-4.48942675e-01 8.93547568e-01 4.81853409e-03 -3.49217078e+01] [ 1.04288539e-02 -1.52554185e-04 9.99945606e-01 2.59977304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30361786499998 meters 0.017509332801909985 Centerline is valid? [True, True] Translation: X:159.44, Y:-34.95, Z:2.60 [[ 8.92625763e-01 4.50704315e-01 -9.21237868e-03 1.59436049e+02] [-4.50678777e-01 8.92673290e-01 4.79968323e-03 -3.49488905e+01] [ 1.03868823e-02 -1.32497354e-04 9.99946046e-01 2.60068016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36361786499998 meters 0.017430624387783242 Centerline is valid? [True, True] Translation: X:159.49, Y:-34.98, Z:2.60 [[ 8.92003113e-01 4.51937653e-01 -9.09968540e-03 1.59491188e+02] [-4.51912766e-01 8.92049519e-01 4.74431327e-03 -3.49761942e+01] [ 1.02615038e-02 -1.19678210e-04 9.99947342e-01 2.60126130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42361786499998 meters 0.017139606766312165 Centerline is valid? [True, True] Translation: X:159.55, Y:-35.00, Z:2.60 [[ 8.91939218e-01 4.52064736e-01 -9.05022766e-03 1.59547880e+02] [-4.52040120e-01 8.91985123e-01 4.71909230e-03 -3.50039604e+01] [ 1.02060037e-02 -1.18077501e-04 9.99947910e-01 2.60152519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48361786499999 meters 0.01809477334231105 Centerline is valid? [True, True] Translation: X:159.60, Y:-35.04, Z:2.60 [[ 8.92863224e-01 4.50245636e-01 -8.60984260e-03 1.59600208e+02] [-4.50223235e-01 8.92904725e-01 4.49331944e-03 -3.50357943e+01] [ 9.71086661e-03 -1.35568498e-04 9.99952839e-01 2.60363942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.543617865 meters 0.018603382984873424 Centerline is valid? [True, True] Translation: X:159.65, Y:-35.07, Z:2.60 [[ 8.93831706e-01 4.48316454e-01 -8.78853182e-03 1.59654633e+02] [-4.48293012e-01 8.93874897e-01 4.58743461e-03 -3.50665848e+01] [ 9.91247039e-03 -1.60557105e-04 9.99950857e-01 2.60444730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.603617865 meters 0.019999588229084545 Centerline is valid? [True, True] Translation: X:159.71, Y:-35.10, Z:2.60 [[ 8.95877243e-01 4.44193919e-01 -9.78407675e-03 1.59707320e+02] [-4.44164576e-01 8.95930638e-01 5.11098904e-03 -3.50990413e+01] [ 1.10361244e-02 -2.33078473e-04 9.99939073e-01 2.60391644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.663617865 meters 0.018915575569493016 Centerline is valid? [True, True] Translation: X:159.76, Y:-35.13, Z:2.60 [[ 8.97556819e-01 4.40760198e-01 -1.10545988e-02 1.59762656e+02] [-4.40722454e-01 8.97624838e-01 5.77658879e-03 -3.51272016e+01] [ 1.24689729e-02 -3.12806757e-04 9.99922210e-01 2.60320282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.723617865 meters 0.019020375491629236 Centerline is valid? [True, True] Translation: X:159.82, Y:-35.16, Z:2.60 [[ 8.98002943e-01 4.39838545e-01 -1.15224902e-02 1.59817265e+02] [-4.39797455e-01 8.98076800e-01 6.02164021e-03 -3.51557399e+01] [ 1.29966306e-02 -3.39888755e-04 9.99915482e-01 2.60367004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.783617865 meters 0.019781652259861778 Centerline is valid? [True, True] Translation: X:159.87, Y:-35.19, Z:2.61 [[ 8.97804294e-01 4.40244649e-01 -1.14934449e-02 1.59871151e+02] [-4.40203757e-01 8.97877796e-01 6.00966746e-03 -3.51855912e+01] [ 1.29654330e-02 -3.36047604e-04 9.99915889e-01 2.60512000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.843617865 meters 0.01934553561313894 Centerline is valid? [True, True] Translation: X:159.93, Y:-35.21, Z:2.61 [[ 8.97069524e-01 4.41733715e-01 -1.17300153e-02 1.59926448e+02] [-4.41691196e-01 8.97146153e-01 6.13737778e-03 -3.52135048e+01] [ 1.32346248e-02 -3.24610086e-04 9.99912366e-01 2.60598910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.903617865 meters 0.018973322944773524 Centerline is valid? [True, True] Translation: X:159.98, Y:-35.24, Z:2.61 [[ 8.95407654e-01 4.45099983e-01 -1.14515291e-02 1.59982106e+02] [-4.45059691e-01 8.95480838e-01 5.99503083e-03 -3.52396411e+01] [ 1.29230130e-02 -2.71382493e-04 9.99916458e-01 2.60638368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.963617865 meters 0.01758203033846594 Centerline is valid? [True, True] Translation: X:160.04, Y:-35.26, Z:2.61 [[ 8.93479622e-01 4.48953908e-01 -1.15997037e-02 1.60039063e+02] [-4.48912845e-01 8.93554889e-01 6.07605451e-03 -3.52646710e+01] [ 1.30928404e-02 -2.21574882e-04 9.99914261e-01 2.60726817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02361786499998 meters 0.017533669115325366 Centerline is valid? [True, True] Translation: X:160.09, Y:-35.29, Z:2.61 [[ 8.92709052e-01 4.50488518e-01 -1.14299953e-02 1.60093966e+02] [-4.50448727e-01 8.92782200e-01 5.99068644e-03 -3.52934874e+01] [ 1.29032318e-02 -1.99313192e-04 9.99916730e-01 2.60843809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08361786499998 meters 0.017172019950949705 Centerline is valid? [True, True] Translation: X:160.15, Y:-35.32, Z:2.61 [[ 8.90756939e-01 4.54325158e-01 -1.18628543e-02 1.60149442e+02] [-4.54282584e-01 8.90835915e-01 6.22139464e-03 -3.53202670e+01] [ 1.33943928e-02 -1.52662313e-04 9.99910279e-01 2.60945660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14361786499998 meters 0.017089443307452202 Centerline is valid? [True, True] Translation: X:160.21, Y:-35.35, Z:2.61 [[ 8.89485890e-01 4.56831205e-01 -1.09590863e-02 1.60205335e+02] [-4.56795024e-01 8.89553393e-01 5.75043680e-03 -3.53480739e+01] [ 1.23756714e-02 -1.08876304e-04 9.99923413e-01 2.61025240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20361786499998 meters 0.01700723615347389 Centerline is valid? [True, True] Translation: X:160.26, Y:-35.38, Z:2.61 [[ 8.88835652e-01 4.58098811e-01 -1.08010508e-02 1.60259955e+02] [-4.58063721e-01 8.88901272e-01 5.67069306e-03 -3.53776081e+01] [ 1.21988055e-02 -9.27446559e-05 9.99925588e-01 2.61133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.263617865 meters 0.01704661838317855 Centerline is valid? [True, True] Translation: X:160.31, Y:-35.41, Z:2.61 [[ 8.88162013e-01 4.59396464e-01 -1.10962907e-02 1.60314478e+02] [-4.59359487e-01 8.88231322e-01 5.82921392e-03 -3.54074799e+01] [ 1.25339932e-02 -8.00999774e-05 9.99921443e-01 2.61186377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.323617865 meters 0.017180578972128484 Centerline is valid? [True, True] Translation: X:160.37, Y:-35.44, Z:2.61 [[ 8.87680819e-01 4.60333328e-01 -1.07699065e-02 1.60368926e+02] [-4.60298525e-01 8.87746148e-01 5.66084482e-03 -3.54371929e+01] [ 1.21668186e-02 -6.76512729e-05 9.99925979e-01 2.61259725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.383617865 meters 0.01735917639838952 Centerline is valid? [True, True] Translation: X:160.42, Y:-35.47, Z:2.61 [[ 8.88236152e-01 4.59274393e-01 -1.01769212e-02 1.60422549e+02] [-4.59243212e-01 8.88294447e-01 5.35225447e-03 -3.54692313e+01] [ 1.14982560e-02 -8.03839276e-05 9.99933890e-01 2.61318318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.443617865 meters 0.018087524102059337 Centerline is valid? [True, True] Translation: X:160.47, Y:-35.50, Z:2.61 [[ 8.90524979e-01 4.54811660e-01 -1.05647874e-02 1.60473422e+02] [-4.54777701e-01 8.90587633e-01 5.55972486e-03 -3.55038017e+01] [ 1.19374967e-02 -1.46444123e-04 9.99928735e-01 2.61310434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.503617865 meters 0.018516384378923875 Centerline is valid? [True, True] Translation: X:160.53, Y:-35.54, Z:2.61 [[ 8.92514613e-01 4.50907978e-01 -9.98300583e-03 1.60526742e+02] [-4.50877383e-01 8.92570423e-01 5.25600603e-03 -3.55366148e+01] [ 1.12805108e-02 -1.89950646e-04 9.99936355e-01 2.61346497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.563617865 meters 0.021083146705252458 Centerline is valid? [True, True] Translation: X:160.58, Y:-35.57, Z:2.62 [[ 8.95707541e-01 4.44547521e-01 -9.24680959e-03 1.60575131e+02] [-4.44520892e-01 8.95755233e-01 4.87232805e-03 -3.55741298e+01] [ 1.04488594e-02 -2.53780934e-04 9.99945377e-01 2.61509374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.623617865 meters 0.021102746785577466 Centerline is valid? [True, True] Translation: X:160.63, Y:-35.61, Z:2.61 [[ 8.97549461e-01 4.40803209e-01 -9.87399732e-03 1.60628317e+02] [-4.40772619e-01 8.97603715e-01 5.20277419e-03 -3.56066784e+01] [ 1.11563362e-02 -3.17559515e-04 9.99937716e-01 2.61480389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.683617865 meters 0.021393248884222577 Centerline is valid? [True, True] Translation: X:160.68, Y:-35.64, Z:2.62 [[ 8.97763856e-01 4.40369162e-01 -9.74986932e-03 1.60682339e+02] [-4.40339312e-01 8.97816740e-01 5.13725954e-03 -3.56376026e+01] [ 1.10158866e-02 -3.18795190e-04 9.99939272e-01 2.61525146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74361786499998 meters 0.02324366006582118 Centerline is valid? [True, True] Translation: X:160.73, Y:-35.67, Z:2.62 [[ 8.96822066e-01 4.42283339e-01 -9.77905854e-03 1.60733783e+02] [-4.42253389e-01 8.96875330e-01 5.15573195e-03 -3.56705864e+01] [ 1.10508907e-02 -2.98952399e-04 9.99938892e-01 2.61704810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80361786499998 meters 0.0197483475311213 Centerline is valid? [True, True] Translation: X:160.79, Y:-35.69, Z:2.62 [[ 8.95081780e-01 4.45806588e-01 -9.22459427e-03 1.60790951e+02] [-4.45780088e-01 8.95129279e-01 4.86687642e-03 -3.56930044e+01] [ 1.04268900e-02 -2.44111956e-04 9.99945609e-01 2.61627361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86361786499998 meters 0.01973025393262142 Centerline is valid? [True, True] Translation: X:160.84, Y:-35.72, Z:2.62 [[ 8.93797529e-01 4.48382209e-01 -8.90912680e-03 1.60844554e+02] [-4.48357627e-01 8.93841906e-01 4.69957103e-03 -3.57225402e+01] [ 1.00705549e-02 -2.05990022e-04 9.99949269e-01 2.61756950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92361786499998 meters 0.019446914008038087 Centerline is valid? [True, True] Translation: X:160.90, Y:-35.75, Z:2.62 [[ 8.91677694e-01 4.52597140e-01 -8.16816159e-03 1.60897782e+02] [-4.52576635e-01 8.91715093e-01 4.31075017e-03 -3.57519397e+01] [ 9.23470617e-03 -1.47080684e-04 9.99957348e-01 2.61998295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98361786499999 meters 0.018805066179620276 Centerline is valid? [True, True] Translation: X:160.95, Y:-35.78, Z:2.62 [[ 8.90113443e-01 4.55689770e-01 -6.70018141e-03 1.60952787e+02] [-4.55676052e-01 8.90138655e-01 3.53707534e-03 -3.57801711e+01] [ 7.57589951e-03 -9.52860973e-05 9.99971298e-01 2.62229911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.043617865 meters 0.018232510240470696 Centerline is valid? [True, True] Translation: X:161.01, Y:-35.81, Z:2.62 [[ 8.88267246e-01 4.59299588e-01 -5.01878520e-03 1.61008236e+02] [-4.59291947e-01 8.88281423e-01 2.64980202e-03 -3.58079209e+01] [ 5.67514663e-03 -4.86447240e-05 9.99983895e-01 2.62404531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.103617865 meters 0.0182079065912454 Centerline is valid? [True, True] Translation: X:161.06, Y:-35.84, Z:2.62 [[ 8.87785873e-01 4.60235054e-01 -4.46534555e-03 1.61062827e+02] [-4.60229015e-01 8.87797101e-01 2.35808071e-03 -3.58382902e+01] [ 5.04959224e-03 -3.83891565e-05 9.99987250e-01 2.62485689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.163617865 meters 0.01828270643558133 Centerline is valid? [True, True] Translation: X:161.12, Y:-35.87, Z:2.62 [[ 8.88238248e-01 4.59361368e-01 -4.46634242e-03 1.61117703e+02] [-4.59355308e-01 8.88249476e-01 2.36002497e-03 -3.58695515e+01] [ 5.05133061e-03 -4.46263482e-05 9.99987241e-01 2.62448521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.223617865 meters 0.01944295695004207 Centerline is valid? [True, True] Translation: X:161.17, Y:-35.90, Z:2.63 [[ 8.89872273e-01 4.56181728e-01 -5.05648139e-03 1.61169149e+02] [-4.56173891e-01 8.89886636e-01 2.67495456e-03 -3.59038420e+01] [ 5.71996061e-03 -7.37331059e-05 9.99983638e-01 2.62582238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.283617865 meters 0.020090076455637578 Centerline is valid? [True, True] Translation: X:161.22, Y:-35.94, Z:2.63 [[ 8.91102991e-01 4.53764696e-01 -5.74986576e-03 1.61222293e+02] [-4.53754498e-01 8.91121535e-01 3.04395899e-03 -3.59358929e+01] [ 6.50507033e-03 -1.03453508e-04 9.99978836e-01 2.62624330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.343617865 meters 0.019816692764820593 Centerline is valid? [True, True] Translation: X:161.28, Y:-35.97, Z:2.63 [[ 8.92633363e-01 4.50750417e-01 -5.45347634e-03 1.61276008e+02] [-4.50741179e-01 8.92650014e-01 2.88837184e-03 -3.59664278e+01] [ 6.16998055e-03 -1.20150719e-04 9.99980958e-01 2.62514630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.403617865 meters 0.01958980410239441 Centerline is valid? [True, True] Translation: X:161.33, Y:-36.00, Z:2.62 [[ 8.93220242e-01 4.49575695e-01 -6.26839740e-03 1.61330765e+02] [-4.49563446e-01 8.93242225e-01 3.32210206e-03 -3.59963324e+01] [ 7.09273358e-03 -1.49326478e-04 9.99974835e-01 2.62462272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.463617865 meters 0.020508043354448897 Centerline is valid? [True, True] Translation: X:161.38, Y:-36.03, Z:2.63 [[ 8.93755437e-01 4.48500062e-01 -6.99388007e-03 1.61382936e+02] [-4.48484756e-01 8.93782783e-01 3.70950852e-03 -3.60280467e+01] [ 7.91472439e-03 -1.78744804e-04 9.99968662e-01 2.62539053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52361786499998 meters 0.020658973537393897 Centerline is valid? [True, True] Translation: X:161.44, Y:-36.06, Z:2.63 [[ 8.93659561e-01 4.48682825e-01 -7.50410688e-03 1.61437529e+02] [-4.48665194e-01 8.93691046e-01 3.98221623e-03 -3.60592163e+01] [ 8.49310515e-03 -1.91914038e-04 9.99963915e-01 2.62602798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58361786499998 meters 0.020490093114961687 Centerline is valid? [True, True] Translation: X:161.49, Y:-36.09, Z:2.63 [[ 8.93217535e-01 4.49551732e-01 -8.10403279e-03 1.61492293e+02] [-4.49531162e-01 8.93254275e-01 4.30520400e-03 -3.60895421e+01] [ 9.17437385e-03 -2.02468427e-04 9.99957894e-01 2.62671159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64361786499998 meters 0.02046857000473075 Centerline is valid? [True, True] Translation: X:161.55, Y:-36.12, Z:2.63 [[ 8.92769560e-01 4.50432736e-01 -8.53596740e-03 1.61547206e+02] [-4.50409956e-01 8.92810343e-01 4.53461235e-03 -3.61185942e+01] [ 9.66353783e-03 -2.03679176e-04 9.99953286e-01 2.62722675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70361786499998 meters 0.02059537464401128 Centerline is valid? [True, True] Translation: X:161.60, Y:-36.15, Z:2.63 [[ 8.92300451e-01 4.51370798e-01 -8.01920192e-03 1.61601625e+02] [-4.51350711e-01 8.92336466e-01 4.26227035e-03 -3.61484332e+01] [ 9.07969068e-03 -1.83753265e-04 9.99958762e-01 2.62906280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.763617865 meters 0.02091710037219959 Centerline is valid? [True, True] Translation: X:161.66, Y:-36.18, Z:2.63 [[ 8.92197907e-01 4.51593314e-01 -6.80987922e-03 1.61655123e+02] [-4.51578817e-01 8.92223881e-01 3.62187675e-03 -3.61789739e+01] [ 7.71155219e-03 -1.56233650e-04 9.99970253e-01 2.63082582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.823617865 meters 0.020180394811808833 Centerline is valid? [True, True] Translation: X:161.71, Y:-36.21, Z:2.63 [[ 8.92143243e-01 4.51716752e-01 -5.69299230e-03 1.61709567e+02] [-4.51706627e-01 8.92161397e-01 3.02720042e-03 -3.62079655e+01] [ 6.44650511e-03 -1.29134045e-04 9.99979213e-01 2.63184738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.883617865 meters 0.019960579802429573 Centerline is valid? [True, True] Translation: X:161.76, Y:-36.24, Z:2.63 [[ 8.91453078e-01 4.53081283e-01 -5.36292111e-03 1.61764620e+02] [-4.53072314e-01 8.91469202e-01 2.85309322e-03 -3.62365352e+01] [ 6.07356214e-03 -1.13607656e-04 9.99981549e-01 2.63251673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.943617865 meters 0.020816405048982325 Centerline is valid? [True, True] Translation: X:161.82, Y:-36.27, Z:2.63 [[ 8.90797169e-01 4.54369251e-01 -5.38409626e-03 1.61817919e+02] [-4.54360224e-01 8.90813433e-01 2.86606209e-03 -3.62674891e+01] [ 6.09847575e-03 -1.06760812e-04 9.99981398e-01 2.63485150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.003617865 meters 0.019054251984312796 Centerline is valid? [True, True] Translation: X:161.88, Y:-36.29, Z:2.63 [[ 8.88234783e-01 4.59357844e-01 -5.41673990e-03 1.61875873e+02] [-4.59348790e-01 8.88251296e-01 2.88509447e-03 -3.62908121e+01] [ 6.13671701e-03 -7.44683428e-05 9.99981167e-01 2.63423269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.063617865 meters 0.01834476084794851 Centerline is valid? [True, True] Translation: X:161.93, Y:-36.32, Z:2.63 [[ 8.85119655e-01 4.65318543e-01 -6.46911919e-03 1.61932685e+02] [-4.65305767e-01 8.85143295e-01 3.44841306e-03 -3.63151237e+01] [ 7.33070801e-03 -4.21397134e-05 9.99973129e-01 2.63403583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.123617865 meters 0.018000265392071238 Centerline is valid? [True, True] Translation: X:161.99, Y:-36.34, Z:2.63 [[ 8.83615720e-01 4.68161083e-01 -6.96133783e-03 1.61988853e+02] [-4.68146357e-01 8.83643141e-01 3.71325755e-03 -3.63423991e+01] [ 7.88974110e-03 -2.21677958e-05 9.99968875e-01 2.63450722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.183617865 meters 0.01791255580740427 Centerline is valid? [True, True] Translation: X:162.04, Y:-36.37, Z:2.63 [[ 8.82533762e-01 4.70175169e-01 -8.33483696e-03 1.62044496e+02] [-4.70154118e-01 8.82573119e-01 4.44910293e-03 -3.63692477e+01] [ 9.44796077e-03 -7.82562671e-06 9.99955367e-01 2.63423440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24361786499998 meters 0.017786313072542668 Centerline is valid? [True, True] Translation: X:162.10, Y:-36.39, Z:2.63 [[ 8.81487456e-01 4.72125013e-01 -8.82253127e-03 1.62102549e+02] [-4.72101500e-01 8.81531606e-01 4.71191194e-03 -3.63941955e+01] [ 1.00019516e-02 1.16389760e-05 9.99949979e-01 2.63374882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30361786499998 meters 0.017512267663634236 Centerline is valid? [True, True] Translation: X:162.16, Y:-36.42, Z:2.63 [[ 8.82351675e-01 4.70443264e-01 -1.17752873e-02 1.62156251e+02] [-4.70401151e-01 8.82430244e-01 6.29456747e-03 -3.64248328e+01] [ 1.33521065e-02 -1.49134267e-05 9.99910857e-01 2.63177004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36361786499998 meters 0.017724181081023693 Centerline is valid? [True, True] Translation: X:162.21, Y:-36.46, Z:2.63 [[ 8.85268858e-01 4.64902229e-01 -1.28439560e-02 1.62208562e+02] [-4.64851476e-01 8.85362019e-01 6.87023352e-03 -3.64593940e+01] [ 1.45655377e-02 -1.11471892e-04 9.99893911e-01 2.63200954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42361786499998 meters 0.018044786434038826 Centerline is valid? [True, True] Translation: X:162.26, Y:-36.49, Z:2.63 [[ 8.87403306e-01 4.60785320e-01 -1.38658373e-02 1.62262489e+02] [-4.60725592e-01 8.87511605e-01 7.42152279e-03 -3.64910561e+01] [ 1.57258203e-02 -1.97537746e-04 9.99876322e-01 2.63268963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48361786499999 meters 0.018277727732658625 Centerline is valid? [True, True] Translation: X:162.32, Y:-36.52, Z:2.63 [[ 8.89140194e-01 4.57398335e-01 -1.47132029e-02 1.62317446e+02] [-4.57330538e-01 8.89261877e-01 7.87990208e-03 -3.65202094e+01] [ 1.66881445e-02 -2.77540664e-04 9.99860705e-01 2.63419398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.543617865 meters 0.019959433497457567 Centerline is valid? [True, True] Translation: X:162.37, Y:-36.55, Z:2.64 [[ 8.89962340e-01 4.55763714e-01 -1.56993593e-02 1.62369303e+02] [-4.55686176e-01 8.90100739e-01 8.41326807e-03 -3.65528687e+01] [ 1.78084736e-02 -3.33510746e-04 9.99841361e-01 2.63516823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.603617865 meters 0.0190028499143286 Centerline is valid? [True, True] Translation: X:162.43, Y:-36.58, Z:2.64 [[ 8.89801648e-01 4.56011757e-01 -1.75015372e-02 1.62426239e+02] [-4.55915328e-01 8.89973673e-01 9.38478775e-03 -3.65790846e+01] [ 1.98554809e-02 -3.71380516e-04 9.99802792e-01 2.63539932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.663617865 meters 0.01949493492121527 Centerline is valid? [True, True] Translation: X:162.48, Y:-36.61, Z:2.64 [[ 8.89840862e-01 4.55876623e-01 -1.89669399e-02 1.62480076e+02] [-4.55763192e-01 8.90042884e-01 1.01772950e-02 -3.66087016e+01] [ 2.15209807e-02 -4.11739865e-04 9.99768312e-01 2.63520640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.723617865 meters 0.019139235975433117 Centerline is valid? [True, True] Translation: X:162.54, Y:-36.64, Z:2.64 [[ 8.89641114e-01 4.56199701e-01 -2.05065834e-02 1.62536999e+02] [-4.56067040e-01 8.89877315e-01 1.10099398e-02 -3.66366219e+01] [ 2.32710747e-02 -4.42518347e-04 9.99729094e-01 2.63606867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.783617865 meters 0.019526513702792177 Centerline is valid? [True, True] Translation: X:162.59, Y:-36.66, Z:2.64 [[ 8.88798267e-01 4.57808292e-01 -2.11945171e-02 1.62590922e+02] [-4.57666868e-01 8.89050837e-01 1.13862763e-02 -3.66647383e+01] [ 2.40557349e-02 -4.20074420e-04 9.99710531e-01 2.63604136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.843617865 meters 0.01820560075782372 Centerline is valid? [True, True] Translation: X:162.65, Y:-36.69, Z:2.64 [[ 8.86972486e-01 4.61350595e-01 -2.08671297e-02 1.62648413e+02] [-4.61214377e-01 8.87217856e-01 1.12149333e-02 -3.66899841e+01] [ 2.36877062e-02 -3.23117082e-04 9.99719355e-01 2.63915451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.903617865 meters 0.017309740878624136 Centerline is valid? [True, True] Translation: X:162.70, Y:-36.72, Z:2.64 [[ 8.85503618e-01 4.64161577e-01 -2.09134640e-02 1.62704740e+02] [-4.64025448e-01 8.85750511e-01 1.12434979e-02 -3.67160954e+01] [ 2.37429111e-02 -2.51778605e-04 9.99718066e-01 2.64155130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.963617865 meters 0.01718285116336198 Centerline is valid? [True, True] Translation: X:162.76, Y:-36.74, Z:2.64 [[ 8.84208476e-01 4.66638604e-01 -2.05860067e-02 1.62759118e+02] [-4.66507230e-01 8.84448064e-01 1.10736894e-02 -3.67432663e+01] [ 2.33746647e-02 -1.87929137e-04 9.99726758e-01 2.64155205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02361786499998 meters 0.01698088641215997 Centerline is valid? [True, True] Translation: X:162.81, Y:-36.77, Z:2.64 [[ 8.83969305e-01 4.67114179e-01 -2.00651970e-02 1.62814769e+02] [-4.66989351e-01 8.84196988e-01 1.07996589e-02 -3.67728124e+01] [ 2.27862606e-02 -1.76333671e-04 9.99740344e-01 2.64338917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08361786499998 meters 0.017144361750433892 Centerline is valid? [True, True] Translation: X:162.87, Y:-36.80, Z:2.65 [[ 8.84408771e-01 4.66311725e-01 -1.93520167e-02 1.62867956e+02] [-4.66195288e-01 8.84620448e-01 1.04218865e-02 -3.68044189e+01] [ 2.19790375e-02 -1.95388836e-04 9.99758413e-01 2.64508204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14361786499998 meters 0.017462585355749856 Centerline is valid? [True, True] Translation: X:162.92, Y:-36.84, Z:2.65 [[ 8.84913158e-01 4.65363582e-01 -1.91164583e-02 1.62920186e+02] [-4.65249640e-01 8.85119590e-01 1.02997597e-02 -3.68375261e+01] [ 2.17134848e-02 -2.20467508e-04 9.99764210e-01 2.64563664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20361786499998 meters 0.017320884333072176 Centerline is valid? [True, True] Translation: X:162.97, Y:-36.87, Z:2.65 [[ 8.85464512e-01 4.64336513e-01 -1.85526403e-02 1.62974105e+02] [-4.64228847e-01 8.85658819e-01 1.00017211e-02 -3.68675772e+01] [ 2.10754738e-02 -2.43498278e-04 9.99777858e-01 2.64678887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.263617865 meters 0.017923991890262992 Centerline is valid? [True, True] Translation: X:163.03, Y:-36.90, Z:2.65 [[ 8.86688507e-01 4.61997561e-01 -1.84863601e-02 1.63026069e+02] [-4.61890041e-01 8.86881143e-01 9.97137243e-03 -3.68995413e+01] [ 2.10019539e-02 -3.02835722e-04 9.99779389e-01 2.64666538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.323617865 meters 0.01755486421264468 Centerline is valid? [True, True] Translation: X:163.08, Y:-36.93, Z:2.65 [[ 8.87654436e-01 4.60095516e-01 -1.95376043e-02 1.63079678e+02] [-4.59974830e-01 8.87869347e-01 1.05441540e-02 -3.69309027e+01] [ 2.21981579e-02 -3.72758886e-04 9.99753521e-01 2.64730813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.383617865 meters 0.017872335314868235 Centerline is valid? [True, True] Translation: X:163.13, Y:-36.96, Z:2.65 [[ 8.88134002e-01 4.59179171e-01 -1.92998346e-02 1.63133581e+02] [-4.59061058e-01 8.88343589e-01 1.04217291e-02 -3.69626061e+01] [ 2.19303253e-02 -3.96089518e-04 9.99759423e-01 2.64806187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.443617865 meters 0.017363576846602842 Centerline is valid? [True, True] Translation: X:163.19, Y:-36.99, Z:2.65 [[ 8.86702213e-01 4.61958785e-01 -1.87954082e-02 1.63189790e+02] [-4.61847270e-01 8.86901334e-01 1.01549535e-02 -3.69896371e+01] [ 2.13608425e-02 -3.23811761e-04 9.99771779e-01 2.64910507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.503617865 meters 0.017258996970382957 Centerline is valid? [True, True] Translation: X:163.24, Y:-37.02, Z:2.65 [[ 8.85501978e-01 4.64178529e-01 -2.06043767e-02 1.63244433e+02] [-4.64044960e-01 8.85741611e-01 1.11387785e-02 -3.70166524e+01] [ 2.34205357e-02 -3.02053206e-04 9.99725656e-01 2.64864237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.563617865 meters 0.01740236059977621 Centerline is valid? [True, True] Translation: X:163.30, Y:-37.05, Z:2.65 [[ 8.85529057e-01 4.64091153e-01 -2.13937311e-02 1.63298934e+02] [-4.63946977e-01 8.85787389e-01 1.15716913e-02 -3.70469409e+01] [ 2.43206168e-02 -3.21511994e-04 9.99704158e-01 2.64903512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.623617865 meters 0.01736655953763856 Centerline is valid? [True, True] Translation: X:163.35, Y:-37.07, Z:2.65 [[ 8.86493030e-01 4.62226375e-01 -2.18377245e-02 1.63354617e+02] [-4.62075421e-01 8.86761879e-01 1.18184636e-02 -3.70747861e+01] [ 2.48276672e-02 -3.86309888e-04 9.99691671e-01 2.65056553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.683617865 meters 0.0180273146347775 Centerline is valid? [True, True] Translation: X:163.41, Y:-37.10, Z:2.65 [[ 8.87460025e-01 4.60381148e-01 -2.15384087e-02 1.63409261e+02] [-4.60233600e-01 8.87721244e-01 1.16630404e-02 -3.71045631e+01] [ 2.44895469e-02 -4.37782772e-04 9.99699990e-01 2.65192357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74361786499998 meters 0.018835433920329745 Centerline is valid? [True, True] Translation: X:163.46, Y:-37.13, Z:2.65 [[ 8.89459670e-01 4.56558219e-01 -2.03982322e-02 1.63462797e+02] [-4.56424738e-01 8.89693387e-01 1.10514972e-02 -3.71348497e+01] [ 2.31938241e-02 -5.19603262e-04 9.99730852e-01 2.65469739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80361786499998 meters 0.01995733514266161 Centerline is valid? [True, True] Translation: X:163.52, Y:-37.17, Z:2.66 [[ 8.91428594e-01 4.52702895e-01 -2.03752186e-02 1.63516544e+02] [-4.52568602e-01 8.91661202e-01 1.10435587e-02 -3.71662100e+01] [ 2.31672429e-02 -6.23359824e-04 9.99731409e-01 2.65604563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86361786499998 meters 0.020297123178169302 Centerline is valid? [True, True] Translation: X:163.57, Y:-37.20, Z:2.66 [[ 8.91900666e-01 4.51762045e-01 -2.05974736e-02 1.63571319e+02] [-4.51624479e-01 8.92138230e-01 1.11672642e-02 -3.71956937e+01] [ 2.34207398e-02 -6.57767113e-04 9.99725480e-01 2.65655866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92361786499998 meters 0.02138996622940155 Centerline is valid? [True, True] Translation: X:163.62, Y:-37.23, Z:2.66 [[ 8.92352923e-01 4.50894742e-01 -2.00048025e-02 1.63624905e+02] [-4.50764630e-01 8.92576881e-01 1.08517601e-02 -3.72259032e+01] [ 2.27488258e-02 -6.66142509e-04 9.99740990e-01 2.65729827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98361786499999 meters 0.020093026633715642 Centerline is valid? [True, True] Translation: X:163.68, Y:-37.25, Z:2.66 [[ 8.92335994e-01 4.50935527e-01 -1.98399668e-02 1.63680783e+02] [-4.50807427e-01 8.92556277e-01 1.07682882e-02 -3.72538070e+01] [ 2.25640906e-02 -6.64926745e-04 9.99745177e-01 2.65906730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.043617865 meters 0.02084891501857966 Centerline is valid? [True, True] Translation: X:163.73, Y:-37.29, Z:2.66 [[ 8.92054965e-01 4.51479720e-01 -2.00997906e-02 1.63733692e+02] [-4.51348240e-01 8.92281133e-01 1.09153921e-02 -3.72850394e+01] [ 2.28627421e-02 -6.65124568e-04 9.99738392e-01 2.65941507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.103617865 meters 0.01996464147320838 Centerline is valid? [True, True] Translation: X:163.79, Y:-37.31, Z:2.66 [[ 8.91592262e-01 4.52402714e-01 -1.98751988e-02 1.63788991e+02] [-4.52274290e-01 8.91813533e-01 1.07976318e-02 -3.73131669e+01] [ 2.26098492e-02 -6.38043575e-04 9.99744161e-01 2.66032815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.163617865 meters 0.020009686949707062 Centerline is valid? [True, True] Translation: X:163.84, Y:-37.34, Z:2.66 [[ 8.91237377e-01 4.53090570e-01 -2.01214391e-02 1.63843954e+02] [-4.52958977e-01 8.91464264e-01 1.09376404e-02 -3.73428894e+01] [ 2.28932856e-02 -6.33847434e-04 9.99737713e-01 2.65990674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.223617865 meters 0.019990321528489924 Centerline is valid? [True, True] Translation: X:163.90, Y:-37.37, Z:2.66 [[ 8.91138197e-01 4.53305964e-01 -1.96574648e-02 1.63899531e+02] [-4.53180285e-01 8.91354766e-01 1.06915813e-02 -3.73733414e+01] [ 2.23683325e-02 -6.19300949e-04 9.99749606e-01 2.66033020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.283617865 meters 0.020642054002690202 Centerline is valid? [True, True] Translation: X:163.95, Y:-37.41, Z:2.66 [[ 8.91151104e-01 4.53315380e-01 -1.88381548e-02 1.63952317e+02] [-4.53199839e-01 8.91349992e-01 1.02516924e-02 -3.74055047e+01] [ 2.14386390e-02 -5.98358310e-04 9.99769987e-01 2.66161312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.343617865 meters 0.019692749881678136 Centerline is valid? [True, True] Translation: X:164.01, Y:-37.43, Z:2.66 [[ 8.91442774e-01 4.52804682e-01 -1.72539779e-02 1.64007811e+02] [-4.52707589e-01 8.91609558e-01 9.39336105e-03 -3.74342073e+01] [ 1.96371694e-02 -5.62637109e-04 9.99807014e-01 2.66369952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.403617865 meters 0.020059864487449765 Centerline is valid? [True, True] Translation: X:164.06, Y:-37.47, Z:2.66 [[ 8.91375829e-01 4.52949617e-01 -1.69049143e-02 1.64063154e+02] [-4.52856338e-01 8.91535944e-01 9.20860646e-03 -3.74651020e+01] [ 1.92423735e-02 -5.52831643e-04 9.99814696e-01 2.66466752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.463617865 meters 0.019920542410903536 Centerline is valid? [True, True] Translation: X:164.12, Y:-37.49, Z:2.67 [[ 8.91129290e-01 4.53472722e-01 -1.58454520e-02 1.64117618e+02] [-4.53390759e-01 8.91270008e-01 8.63665200e-03 -3.74941020e+01] [ 1.80390622e-02 -5.12192046e-04 9.99837152e-01 2.66586924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52361786499998 meters 0.01934414489340727 Centerline is valid? [True, True] Translation: X:164.17, Y:-37.52, Z:2.67 [[ 8.90912853e-01 4.53930916e-01 -1.48664940e-02 1.64172987e+02] [-4.53858759e-01 8.91036754e-01 8.10735244e-03 -3.75231469e+01] [ 1.69267705e-02 -4.75655962e-04 9.99856619e-01 2.66755250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58361786499998 meters 0.01940503231919918 Centerline is valid? [True, True] Translation: X:164.23, Y:-37.55, Z:2.67 [[ 8.90896363e-01 4.53995814e-01 -1.38373039e-02 1.64227368e+02] [-4.53933247e-01 8.91003705e-01 7.55009657e-03 -3.75542032e+01] [ 1.57568013e-02 -4.45141275e-04 9.99875755e-01 2.66855144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64361786499998 meters 0.01951993384305702 Centerline is valid? [True, True] Translation: X:164.28, Y:-37.58, Z:2.67 [[ 8.90245405e-01 4.55298554e-01 -1.28975048e-02 1.64282195e+02] [-4.55244269e-01 8.90338738e-01 7.04181371e-03 -3.75844252e+01] [ 1.46892758e-02 -3.97427133e-04 9.99892028e-01 2.67001755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70361786499998 meters 0.0189054664791416 Centerline is valid? [True, True] Translation: X:164.34, Y:-37.61, Z:2.67 [[ 8.88697558e-01 4.58325804e-01 -1.24140042e-02 1.64336229e+02] [-4.58275787e-01 8.88784195e-01 6.77927020e-03 -3.76112400e+01] [ 1.41404852e-02 -3.35683342e-04 9.99899962e-01 2.67128800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.763617865 meters 0.01849912256198087 Centerline is valid? [True, True] Translation: X:164.39, Y:-37.64, Z:2.67 [[ 8.87437529e-01 4.60747807e-01 -1.28876366e-02 1.64391705e+02] [-4.60694155e-01 8.87531049e-01 7.03790950e-03 -3.76394689e+01] [ 1.46808790e-02 -3.08446172e-04 9.99892183e-01 2.67187764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.823617865 meters 0.017997629854246633 Centerline is valid? [True, True] Translation: X:164.45, Y:-37.67, Z:2.67 [[ 8.85918418e-01 4.63665525e-01 -1.27607954e-02 1.64447532e+02] [-4.63613171e-01 8.86010278e-01 6.97240184e-03 -3.76664444e+01] [ 1.45390582e-02 -2.60906388e-04 9.99894268e-01 2.67217900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.883617865 meters 0.017274231391899993 Centerline is valid? [True, True] Translation: X:164.50, Y:-37.69, Z:2.67 [[ 8.85314042e-01 4.64817296e-01 -1.28034677e-02 1.64503304e+02] [-4.64764657e-01 8.85406585e-01 6.99948163e-03 -3.76940024e+01] [ 1.45897547e-02 -2.46140111e-04 9.99893534e-01 2.67284474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.943617865 meters 0.016907756541174063 Centerline is valid? [True, True] Translation: X:164.56, Y:-37.72, Z:2.67 [[ 8.84506743e-01 4.66368203e-01 -1.21869346e-02 1.64559146e+02] [-4.66320610e-01 8.84590670e-01 6.66593149e-03 -3.77211212e+01] [ 1.38892271e-02 -2.13042564e-04 9.99903517e-01 2.67448597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.003617865 meters 0.017287946402683125 Centerline is valid? [True, True] Translation: X:164.61, Y:-37.75, Z:2.68 [[ 8.84388603e-01 4.66590453e-01 -1.22535091e-02 1.64614189e+02] [-4.66542307e-01 8.84473461e-01 6.70608308e-03 -3.77492373e+01] [ 1.39668979e-02 -2.14003037e-04 9.99902435e-01 2.67521932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.063617865 meters 0.017367919459618558 Centerline is valid? [True, True] Translation: X:164.67, Y:-37.78, Z:2.68 [[ 8.86023854e-01 4.63502458e-01 -1.12783820e-02 1.64669484e+02] [-4.63461372e-01 8.86095600e-01 6.17615158e-03 -3.77767424e+01] [ 1.28563861e-02 -2.45123225e-04 9.99917323e-01 2.67610898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.123617865 meters 0.01830800407975791 Centerline is valid? [True, True] Translation: X:164.72, Y:-37.81, Z:2.68 [[ 8.87829974e-01 4.60034183e-01 -1.12466486e-02 1.64723519e+02] [-4.59993025e-01 8.87901156e-01 6.16072366e-03 -3.78074960e+01] [ 1.28200558e-02 -2.96295204e-04 9.99917776e-01 2.67688229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.183617865 meters 0.020031249707972317 Centerline is valid? [True, True] Translation: X:164.78, Y:-37.84, Z:2.68 [[ 8.90949308e-01 4.53945837e-01 -1.19376653e-02 1.64776372e+02] [-4.53898900e-01 8.91029186e-01 6.54050712e-03 -3.78377438e+01] [ 1.36058442e-02 -4.08767153e-04 9.99907353e-01 2.67702711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24361786499998 meters 0.02066057572059986 Centerline is valid? [True, True] Translation: X:164.83, Y:-37.87, Z:2.68 [[ 8.92658336e-01 4.50582993e-01 -1.16645461e-02 1.64830182e+02] [-4.50537891e-01 8.92734431e-01 6.39093698e-03 -3.78663454e+01] [ 1.32929895e-02 -4.49603157e-04 9.99911543e-01 2.67781409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30361786499998 meters 0.023077480499829554 Centerline is valid? [True, True] Translation: X:164.88, Y:-37.90, Z:2.68 [[ 8.93847683e-01 4.48233980e-01 -1.10733222e-02 1.64883759e+02] [-4.48193148e-01 8.93916152e-01 6.06751588e-03 -3.78960726e+01] [ 1.26182883e-02 -4.60447888e-04 9.99920280e-01 2.67863560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36361786499998 meters 0.021310506404832983 Centerline is valid? [True, True] Translation: X:164.94, Y:-37.92, Z:2.68 [[ 8.93985575e-01 4.47943960e-01 -1.16619336e-02 1.64942338e+02] [-4.47898601e-01 8.94061501e-01 6.39348880e-03 -3.79181179e+01] [ 1.32904105e-02 -4.92323025e-04 9.99911557e-01 2.67761786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42361786499998 meters 0.0218938247904151 Centerline is valid? [True, True] Translation: X:165.00, Y:-37.95, Z:2.68 [[ 8.93913987e-01 4.48081717e-01 -1.18557402e-02 1.64997699e+02] [-4.48034799e-01 8.93992463e-01 6.50348903e-03 -3.79453264e+01] [ 1.35130369e-02 -5.01775646e-04 9.99908569e-01 2.67769083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48361786499999 meters 0.022415214328615433 Centerline is valid? [True, True] Translation: X:165.05, Y:-37.97, Z:2.68 [[ 8.93919764e-01 4.48073284e-01 -1.17382591e-02 1.65054703e+02] [-4.48027240e-01 8.93996690e-01 6.44285161e-03 -3.79717522e+01] [ 1.33808345e-02 -5.00332546e-04 9.99910347e-01 2.67856636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.543617865 meters 0.023195593011151906 Centerline is valid? [True, True] Translation: X:165.11, Y:-38.00, Z:2.68 [[ 8.93661204e-01 4.48599909e-01 -1.13037017e-02 1.65110765e+02] [-4.48557202e-01 8.93732563e-01 6.20827732e-03 -3.79971282e+01] [ 1.28875190e-02 -4.77739761e-04 9.99916838e-01 2.68019834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.603617865 meters 0.022858542048916096 Centerline is valid? [True, True] Translation: X:165.17, Y:-38.02, Z:2.68 [[ 8.93492026e-01 4.48946440e-01 -1.09130268e-02 1.65168134e+02] [-4.48906626e-01 8.93558551e-01 5.99641547e-03 -3.80234445e+01] [ 1.24434978e-02 -4.58819374e-04 9.99922471e-01 2.68157455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.663617865 meters 0.02242646764327537 Centerline is valid? [True, True] Translation: X:165.23, Y:-38.05, Z:2.68 [[ 8.93786584e-01 4.48367428e-01 -1.05920291e-02 1.65225651e+02] [-4.48329838e-01 8.93849227e-01 5.82367250e-03 -3.80472304e+01] [ 1.20788221e-02 -4.56397656e-04 9.99926944e-01 2.68231731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.723617865 meters 0.02195904598348629 Centerline is valid? [True, True] Translation: X:165.28, Y:-38.08, Z:2.68 [[ 8.93880631e-01 4.48173914e-01 -1.08425237e-02 1.65281687e+02] [-4.48134468e-01 8.93946262e-01 5.96479902e-03 -3.80750466e+01] [ 1.23659009e-02 -4.72909721e-04 9.99923427e-01 2.68294496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.783617865 meters 0.021922084830179864 Centerline is valid? [True, True] Translation: X:165.34, Y:-38.10, Z:2.68 [[ 8.94470466e-01 4.46992785e-01 -1.09560773e-02 1.65338567e+02] [-4.46952378e-01 8.94537424e-01 6.03069255e-03 -3.81006892e+01] [ 1.24962972e-02 -4.97431565e-04 9.99921795e-01 2.68383677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.843617865 meters 0.023389813711460587 Centerline is valid? [True, True] Translation: X:165.39, Y:-38.13, Z:2.69 [[ 8.94779488e-01 4.46372815e-01 -1.09990374e-02 1.65392665e+02] [-4.46331995e-01 8.94846941e-01 6.05821818e-03 -3.81297151e+01] [ 1.25466789e-02 -5.11547050e-04 9.99921156e-01 2.68513169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.903617865 meters 0.022828064225093505 Centerline is valid? [True, True] Translation: X:165.45, Y:-38.15, Z:2.69 [[ 8.94422329e-01 4.47085765e-01 -1.10912807e-02 1.65450642e+02] [-4.47044294e-01 8.94490951e-01 6.11048376e-03 -3.81538039e+01] [ 1.26529605e-02 -5.07059382e-04 9.99919820e-01 2.68601292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96361786499997 meters 0.02253341039997019 Centerline is valid? [True, True] Translation: X:165.51, Y:-38.18, Z:2.69 [[ 8.93595726e-01 4.48727020e-01 -1.14341410e-02 1.65506899e+02] [-4.48683031e-01 8.93668736e-01 6.30301843e-03 -3.81796472e+01] [ 1.30466690e-02 -5.02045280e-04 9.99914763e-01 2.68678022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02361786499998 meters 0.021034284471980788 Centerline is valid? [True, True] Translation: X:165.57, Y:-38.20, Z:2.69 [[ 8.92002821e-01 4.51865050e-01 -1.22042327e-02 1.65565049e+02] [-4.51815167e-01 8.92086170e-01 6.73195207e-03 -3.82024897e+01] [ 1.39291611e-02 -4.90862787e-04 9.99902864e-01 2.68746850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08361786499998 meters 0.020411213775004156 Centerline is valid? [True, True] Translation: X:165.62, Y:-38.23, Z:2.69 [[ 8.90370995e-01 4.55028766e-01 -1.37226884e-02 1.65621685e+02] [-4.54966056e-01 8.90476600e-01 7.57057651e-03 -3.82272328e+01] [ 1.56645630e-02 -4.97264335e-04 9.99877180e-01 2.68762272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14361786499998 meters 0.019676117192085136 Centerline is valid? [True, True] Translation: X:165.68, Y:-38.25, Z:2.69 [[ 8.89139074e-01 4.57396222e-01 -1.48460137e-02 1.65677964e+02] [-4.57323136e-01 8.89262870e-01 8.19123850e-03 -3.82535608e+01] [ 1.69486503e-02 -4.93724642e-04 9.99856239e-01 2.68827236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20361786499998 meters 0.018363137238820944 Centerline is valid? [True, True] Translation: X:165.73, Y:-38.28, Z:2.69 [[ 8.87383086e-01 4.60787863e-01 -1.50267878e-02 1.65734295e+02] [-4.60713395e-01 8.87510199e-01 8.29539452e-03 -3.82791170e+01] [ 1.71588445e-02 -4.38150362e-04 9.99852680e-01 2.69004242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.263617865 meters 0.018355482003073065 Centerline is valid? [True, True] Translation: X:165.79, Y:-38.31, Z:2.69 [[ 8.86182842e-01 4.63093673e-01 -1.49740137e-02 1.65788529e+02] [-4.63020036e-01 8.86309255e-01 8.26748675e-03 -3.83074479e+01] [ 1.71002278e-02 -3.93236526e-04 9.99853703e-01 2.69113730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.323617865 meters 0.017701382801453218 Centerline is valid? [True, True] Translation: X:165.84, Y:-38.34, Z:2.69 [[ 8.85218873e-01 4.64930994e-01 -1.50571376e-02 1.65843868e+02] [-4.64856727e-01 8.85346846e-01 8.31772437e-03 -3.83354216e+01] [ 1.71979571e-02 -3.63594892e-04 9.99852038e-01 2.69191985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.383617865 meters 0.018997754764680044 Centerline is valid? [True, True] Translation: X:165.90, Y:-38.37, Z:2.69 [[ 8.86017542e-01 4.63409341e-01 -1.49899511e-02 1.65895365e+02] [-4.63335439e-01 8.86144247e-01 8.28519192e-03 -3.83685491e+01] [ 1.71226942e-02 -3.95449819e-04 9.99853318e-01 2.69303156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.443617865 meters 0.019148217736602583 Centerline is valid? [True, True] Translation: X:165.95, Y:-38.40, Z:2.69 [[ 8.87497881e-01 4.60585133e-01 -1.44514980e-02 1.65949176e+02] [-4.60516007e-01 8.87615426e-01 7.99142185e-03 -3.83999020e+01] [ 1.65081026e-02 -4.37223818e-04 9.99863636e-01 2.69482555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.503617865 meters 0.02066211291706054 Centerline is valid? [True, True] Translation: X:166.00, Y:-38.43, Z:2.70 [[ 8.89781062e-01 4.56172388e-01 -1.40148060e-02 1.66000104e+02] [-4.56106810e-01 8.89891284e-01 7.75113320e-03 -3.84333871e+01] [ 1.60075067e-02 -5.04563054e-04 9.99871744e-01 2.69603357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.563617865 meters 0.02159599112592145 Centerline is valid? [True, True] Translation: X:166.05, Y:-38.47, Z:2.70 [[ 8.90770405e-01 4.54244364e-01 -1.37892593e-02 1.66053234e+02] [-4.54180644e-01 8.90876970e-01 7.62667769e-03 -3.84664055e+01] [ 1.57489089e-02 -5.30804089e-04 9.99875837e-01 2.69721334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.623617865 meters 0.021919720644833184 Centerline is valid? [True, True] Translation: X:166.11, Y:-38.50, Z:2.70 [[ 8.91312763e-01 4.53178168e-01 -1.38241110e-02 1.66107094e+02] [-4.53113979e-01 8.91419791e-01 7.64713674e-03 -3.84977485e+01] [ 1.57886016e-02 -5.52092634e-04 9.99875200e-01 2.69724424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.683617865 meters 0.020992332318294317 Centerline is valid? [True, True] Translation: X:166.16, Y:-38.53, Z:2.70 [[ 8.90473557e-01 4.54799796e-01 -1.46284144e-02 1.66162128e+02] [-4.54728059e-01 8.90593529e-01 8.09678034e-03 -3.85269014e+01] [ 1.67103853e-02 -5.58018287e-04 9.99860216e-01 2.69650997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74361786499998 meters 0.022792039863353354 Centerline is valid? [True, True] Translation: X:166.21, Y:-38.56, Z:2.70 [[ 8.89653368e-01 4.56375466e-01 -1.54375852e-02 1.66212982e+02] [-4.56295722e-01 8.89787119e-01 8.54963866e-03 -3.85606249e+01] [ 1.76380098e-02 -5.62110735e-04 9.99844280e-01 2.69628703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80361786499998 meters 0.02279685530716793 Centerline is valid? [True, True] Translation: X:166.26, Y:-38.59, Z:2.70 [[ 8.88703973e-01 4.58233089e-01 -1.50892005e-02 1.66264734e+02] [-4.58157099e-01 8.88831913e-01 8.36086626e-03 -3.85928236e+01] [ 1.72429885e-02 -5.17110752e-04 9.99851195e-01 2.69701022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86361786499998 meters 0.020409179949138507 Centerline is valid? [True, True] Translation: X:166.32, Y:-38.62, Z:2.70 [[ 8.88325437e-01 4.58982055e-01 -1.46078850e-02 1.66320147e+02] [-4.58910873e-01 8.88445402e-01 8.09798447e-03 -3.86201237e+01] [ 1.66951379e-02 -4.89928315e-04 9.99860506e-01 2.69822462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92361786499998 meters 0.020175714418594913 Centerline is valid? [True, True] Translation: X:166.37, Y:-38.65, Z:2.70 [[ 8.87895388e-01 4.59833037e-01 -1.39770809e-02 1.66373084e+02] [-4.59767910e-01 8.88005275e-01 7.75239931e-03 -3.86531184e+01] [ 1.59765309e-02 -4.57106294e-04 9.99872263e-01 2.69961895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98361786499999 meters 0.020794972043673338 Centerline is valid? [True, True] Translation: X:166.43, Y:-38.69, Z:2.70 [[ 8.87685808e-01 4.60256452e-01 -1.33381191e-02 1.66425259e+02] [-4.60197132e-01 8.87785904e-01 7.40188965e-03 -3.86876924e+01] [ 1.52481616e-02 -4.32388243e-04 9.99883647e-01 2.70125739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.043617865 meters 0.020955250370202974 Centerline is valid? [True, True] Translation: X:166.48, Y:-38.72, Z:2.70 [[ 8.87461977e-01 4.60684651e-01 -1.34496308e-02 1.66479006e+02] [-4.60624316e-01 8.87563781e-01 7.46816976e-03 -3.87200136e+01] [ 1.53778764e-02 -4.32489696e-04 9.99881660e-01 2.70264142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.103617865 meters 0.02113761063624219 Centerline is valid? [True, True] Translation: X:166.53, Y:-38.75, Z:2.70 [[ 8.86774403e-01 4.61991166e-01 -1.39756975e-02 1.66531440e+02] [-4.61926103e-01 8.86884421e-01 7.76522737e-03 -3.87522136e+01] [ 1.59822948e-02 -4.30265396e-04 9.99872182e-01 2.70362361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.163617865 meters 0.019653492865619886 Centerline is valid? [True, True] Translation: X:166.59, Y:-38.78, Z:2.71 [[ 8.86211515e-01 4.63085180e-01 -1.34635006e-02 1.66586537e+02] [-4.63024870e-01 8.86313690e-01 7.48415846e-03 -3.87811409e+01] [ 1.53986878e-02 -3.98611781e-04 9.99881354e-01 2.70546674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.223617865 meters 0.020160682232647196 Centerline is valid? [True, True] Translation: X:166.64, Y:-38.81, Z:2.71 [[ 8.85799985e-01 4.63883899e-01 -1.30428075e-02 1.66639331e+02] [-4.63827328e-01 8.85895923e-01 7.25419563e-03 -3.88127335e+01] [ 1.49196745e-02 -3.76155838e-04 9.99888625e-01 2.70668959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.283617865 meters 0.019125491332998044 Centerline is valid? [True, True] Translation: X:166.69, Y:-38.84, Z:2.71 [[ 8.85794427e-01 4.63898410e-01 -1.29033870e-02 1.66694441e+02] [-4.63842992e-01 8.85888325e-01 7.18016083e-03 -3.88426199e+01] [ 1.47618251e-02 -3.75000824e-04 9.99890968e-01 2.70725773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.343617865 meters 0.02284869747230609 Centerline is valid? [True, True] Translation: X:166.74, Y:-38.88, Z:2.71 [[ 8.86044681e-01 4.63411119e-01 -1.32271566e-02 1.66744075e+02] [-4.63352754e-01 8.86143316e-01 7.36534441e-03 -3.88800918e+01] [ 1.51343389e-02 -3.97184798e-04 9.99885390e-01 2.70827001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.403617865 meters 0.022113709114789704 Centerline is valid? [True, True] Translation: X:166.80, Y:-38.91, Z:2.71 [[ 8.86561176e-01 4.62388537e-01 -1.43569478e-02 1.66797793e+02] [-4.62319597e-01 8.86677301e-01 7.99714935e-03 -3.89113885e+01] [ 1.64277699e-02 -4.52463804e-04 9.99864953e-01 2.70788682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46361786499997 meters 0.020107227352203324 Centerline is valid? [True, True] Translation: X:166.85, Y:-38.94, Z:2.71 [[ 8.86182835e-01 4.63100267e-01 -1.47691029e-02 1.66853200e+02] [-4.63027335e-01 8.86305780e-01 8.23115690e-03 -3.89400616e+01] [ 1.69017922e-02 -4.55811610e-04 9.99857051e-01 2.70855977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52361786499998 meters 0.0200127582377585 Centerline is valid? [True, True] Translation: X:166.91, Y:-38.97, Z:2.71 [[ 8.84932742e-01 4.65468124e-01 -1.52796330e-02 1.66906787e+02] [-4.65390329e-01 8.85064541e-01 8.52056869e-03 -3.89719863e+01] [ 1.74895145e-02 -4.29136795e-04 9.99846955e-01 2.70876994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58361786499998 meters 0.019794338225896796 Centerline is valid? [True, True] Translation: X:166.96, Y:-39.01, Z:2.71 [[ 8.83894596e-01 4.67445523e-01 -1.50008857e-02 1.66959886e+02] [-4.67370752e-01 8.84021795e-01 8.36941543e-03 -3.90052564e+01] [ 1.71733557e-02 -3.86705826e-04 9.99852452e-01 2.71005956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64361786499998 meters 0.021759134891564554 Centerline is valid? [True, True] Translation: X:167.01, Y:-39.04, Z:2.71 [[ 8.83664633e-01 4.67871909e-01 -1.52542944e-02 1.67011256e+02] [-4.67794619e-01 8.83796202e-01 8.51275342e-03 -3.90397123e+01] [ 1.74645656e-02 -3.86542309e-04 9.99847408e-01 2.71075085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70361786499998 meters 0.019155820653234252 Centerline is valid? [True, True] Translation: X:167.07, Y:-39.07, Z:2.71 [[ 8.83870099e-01 4.67493593e-01 -1.49461671e-02 1.67066782e+02] [-4.67419260e-01 8.83996374e-01 8.34547187e-03 -3.90679868e+01] [ 1.71138121e-02 -3.90186702e-04 9.99853472e-01 2.71259887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.763617865 meters 0.020647139515961137 Centerline is valid? [True, True] Translation: X:167.12, Y:-39.11, Z:2.71 [[ 8.85138188e-01 4.65090937e-01 -1.48596141e-02 1.67116045e+02] [-4.65017047e-01 8.85262802e-01 8.30165538e-03 -3.91053510e+01] [ 1.70156883e-02 -4.38138334e-04 9.99855127e-01 2.71426122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.823617865 meters 0.020178573402280447 Centerline is valid? [True, True] Translation: X:167.17, Y:-39.14, Z:2.72 [[ 8.85901163e-01 4.63651833e-01 -1.43564073e-02 1.67168860e+02] [-4.63582637e-01 8.86017366e-01 8.02278826e-03 -3.91381133e+01] [ 1.64398066e-02 -4.52016300e-04 9.99864755e-01 2.71564377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.883617865 meters 0.020905693981645282 Centerline is valid? [True, True] Translation: X:167.22, Y:-39.17, Z:2.72 [[ 8.86329522e-01 4.62803196e-01 -1.52702662e-02 1.67219054e+02] [-4.62724695e-01 8.86460913e-01 8.53851568e-03 -3.91742081e+01] [ 1.74881465e-02 -5.02009232e-04 9.99846945e-01 2.71603424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.943617865 meters 0.020664131036521496 Centerline is valid? [True, True] Translation: X:167.27, Y:-39.21, Z:2.72 [[ 8.85741773e-01 4.63866322e-01 -1.70161125e-02 1.67271491e+02] [-4.63768934e-01 8.85905042e-01 9.52012489e-03 -3.92081521e+01] [ 1.94907252e-02 -5.40827923e-04 9.99809891e-01 2.71554070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.003617865 meters 0.02030794171790114 Centerline is valid? [True, True] Translation: X:167.33, Y:-39.24, Z:2.72 [[ 8.85006541e-01 4.65236856e-01 -1.78350489e-02 1.67325014e+02] [-4.65130041e-01 8.85186069e-01 9.98342530e-03 -3.92406566e+01] [ 2.04319942e-02 -5.39779684e-04 9.99791099e-01 2.71561581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.063617865 meters 0.020191469046953524 Centerline is valid? [True, True] Translation: X:167.38, Y:-39.28, Z:2.72 [[ 8.83978821e-01 4.67126730e-01 -1.93406706e-02 1.67376261e+02] [-4.67001476e-01 8.84190208e-01 1.08303700e-02 -3.92755596e+01] [ 2.21599869e-02 -5.41696026e-04 9.99754291e-01 2.71607856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.123617865 meters 0.020143308608598372 Centerline is valid? [True, True] Translation: X:167.43, Y:-39.31, Z:2.72 [[ 8.83390977e-01 4.68212562e-01 -1.99343356e-02 1.67428546e+02] [-4.68079635e-01 8.83615702e-01 1.11689676e-02 -3.93089225e+01] [ 2.28437429e-02 -5.35708650e-04 9.99738904e-01 2.71671246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.183617865 meters 0.020189872531447623 Centerline is valid? [True, True] Translation: X:167.48, Y:-39.34, Z:2.72 [[ 8.82499334e-01 4.69844749e-01 -2.09961099e-02 1.67478969e+02] [-4.69697608e-01 8.82748909e-01 1.17694781e-02 -3.93440172e+01] [ 2.40641206e-02 -5.24734015e-04 9.99710279e-01 2.71696237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24361786499998 meters 0.019080827607735645 Centerline is valid? [True, True] Translation: X:167.53, Y:-39.38, Z:2.72 [[ 8.81185609e-01 4.72269807e-01 -2.17520264e-02 1.67530505e+02] [-4.72112496e-01 8.81453912e-01 1.21980318e-02 -3.93790647e+01] [ 2.49341710e-02 -4.79326622e-04 9.99688980e-01 2.71894196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30361786499998 meters 0.01901553056593727 Centerline is valid? [True, True] Translation: X:167.58, Y:-39.41, Z:2.72 [[ 8.80322944e-01 4.73857614e-01 -2.21466960e-02 1.67582514e+02] [-4.73694872e-01 8.80601363e-01 1.24260867e-02 -3.94138423e+01] [ 2.53906065e-02 -4.48192933e-04 9.99677506e-01 2.72044039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36361786499998 meters 0.017168989050625083 Centerline is valid? [True, True] Translation: X:167.64, Y:-39.44, Z:2.72 [[ 8.75987621e-01 4.81886865e-01 -2.07541914e-02 1.67638408e+02] [-4.81746086e-01 8.76233420e-01 1.16491020e-02 -3.94407346e+01] [ 2.37990653e-02 -2.06218643e-04 9.99716741e-01 2.72228471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42361786499998 meters 0.017158730609175745 Centerline is valid? [True, True] Translation: X:167.69, Y:-39.48, Z:2.72 [[ 8.74712110e-01 4.84093390e-01 -2.30719334e-02 1.67689959e+02] [-4.83920071e-01 8.75016321e-01 1.29538682e-02 -3.94762121e+01] [ 2.64592002e-02 -1.65933717e-04 9.99649880e-01 2.72239217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48361786499999 meters 0.016771995824600993 Centerline is valid? [True, True] Translation: X:167.74, Y:-39.51, Z:2.73 [[ 8.73821511e-01 4.85744344e-01 -2.20997646e-02 1.67744184e+02] [-4.85585683e-01 8.74100920e-01 1.24147621e-02 -3.95063945e+01] [ 2.53478251e-02 -1.16956837e-04 9.99678685e-01 2.72629516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.543617865 meters 0.016875750090282377 Centerline is valid? [True, True] Translation: X:167.80, Y:-39.54, Z:2.73 [[ 8.74413928e-01 4.84661293e-01 -2.24435610e-02 1.67797917e+02] [-4.84497115e-01 8.74701896e-01 1.26150323e-02 -3.95374884e+01] [ 2.57454432e-02 -1.56919370e-04 9.99668519e-01 2.72741549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.603617865 meters 0.01699901659429545 Centerline is valid? [True, True] Translation: X:167.85, Y:-39.57, Z:2.73 [[ 8.74956533e-01 4.83734366e-01 -2.12633229e-02 1.67851218e+02] [-4.83586567e-01 8.75214848e-01 1.19583048e-02 -3.95684193e+01] [ 2.43946189e-02 -1.80339590e-04 9.99702391e-01 2.72951010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.663617865 meters 0.017615421380383908 Centerline is valid? [True, True] Translation: X:167.90, Y:-39.60, Z:2.73 [[ 8.77099480e-01 4.79858194e-01 -2.07994123e-02 1.67903695e+02] [-4.79715523e-01 8.77346015e-01 1.17040975e-02 -3.96014392e+01] [ 2.38645886e-02 -2.87856921e-04 9.99715159e-01 2.73177603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.723617865 meters 0.01817458087733429 Centerline is valid? [True, True] Translation: X:167.96, Y:-39.63, Z:2.73 [[ 8.79818199e-01 4.74851146e-01 -2.08884403e-02 1.67956455e+02] [-4.74705718e-01 8.80066023e-01 1.17591225e-02 -3.96339083e+01] [ 2.39670394e-02 -4.30027893e-04 9.99712657e-01 2.73316354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.783617865 meters 0.01854978368944597 Centerline is valid? [True, True] Translation: X:168.01, Y:-39.66, Z:2.73 [[ 8.80710261e-01 4.73131055e-01 -2.22809514e-02 1.68010686e+02] [-4.72964934e-01 8.80991908e-01 1.25470741e-02 -3.96640100e+01] [ 2.55657483e-02 -5.12228246e-04 9.99673012e-01 2.73286981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.843617865 meters 0.018933028364335948 Centerline is valid? [True, True] Translation: X:168.07, Y:-39.69, Z:2.73 [[ 8.80930275e-01 4.72663412e-01 -2.34765563e-02 1.68065783e+02] [-4.72478608e-01 8.81242863e-01 1.32280423e-02 -3.96932707e+01] [ 2.69409593e-02 -5.60812345e-04 9.99636869e-01 2.73225558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.903617865 meters 0.01859635992081397 Centerline is valid? [True, True] Translation: X:168.12, Y:-39.72, Z:2.73 [[ 8.80069599e-01 4.74260733e-01 -2.35426792e-02 1.68120992e+02] [-4.74075255e-01 8.80384284e-01 1.32727232e-02 -3.97214582e+01] [ 2.70213362e-02 -5.19918553e-04 9.99634722e-01 2.73362461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96361786499997 meters 0.01829092460111199 Centerline is valid? [True, True] Translation: X:168.18, Y:-39.75, Z:2.74 [[ 8.78640343e-01 4.76975559e-01 -2.20332202e-02 1.68175392e+02] [-4.76813796e-01 8.78916460e-01 1.24281802e-02 -3.97493492e+01] [ 2.52932981e-02 -4.14157148e-04 9.99679988e-01 2.73539242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02361786499998 meters 0.018174929579297543 Centerline is valid? [True, True] Translation: X:168.23, Y:-39.78, Z:2.74 [[ 8.78328811e-01 4.77555756e-01 -2.18860548e-02 1.68229777e+02] [-4.77396165e-01 8.78601354e-01 1.23516220e-02 -3.97785155e+01] [ 2.51277056e-02 -4.00466837e-04 9.99684169e-01 2.73695888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08361786499998 meters 0.018576211260647665 Centerline is valid? [True, True] Translation: X:168.28, Y:-39.81, Z:2.74 [[ 8.79359095e-01 4.75675069e-01 -2.14664997e-02 1.68282740e+02] [-4.75520817e-01 8.79620955e-01 1.21214056e-02 -3.98110831e+01] [ 2.46482334e-02 -4.51300821e-04 9.99696084e-01 2.73910075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14361786499998 meters 0.018858213124659982 Centerline is valid? [True, True] Translation: X:168.33, Y:-39.84, Z:2.74 [[ 8.81076209e-01 4.72526384e-01 -2.05798284e-02 1.68334819e+02] [-4.72383608e-01 8.81316369e-01 1.16268591e-02 -3.98438828e+01] [ 2.36313373e-02 -5.22575308e-04 9.99720604e-01 2.74183603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20361786499998 meters 0.019489669098465237 Centerline is valid? [True, True] Translation: X:168.39, Y:-39.88, Z:2.74 [[ 8.82011189e-01 4.70814554e-01 -1.97463267e-02 1.68387311e+02] [-4.70682549e-01 8.82232029e-01 1.11617795e-02 -3.98770006e+01] [ 2.26759701e-02 -5.50563035e-04 9.99742716e-01 2.74397995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.263617865 meters 0.019465905079459823 Centerline is valid? [True, True] Translation: X:168.44, Y:-39.91, Z:2.75 [[ 8.81581946e-01 4.71641212e-01 -1.91791656e-02 1.68442116e+02] [-4.71516746e-01 8.81790393e-01 1.08471405e-02 -3.99065617e+01] [ 2.20279624e-02 -5.19345488e-04 9.99757220e-01 2.74547917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.323617865 meters 0.019112258059835435 Centerline is valid? [True, True] Translation: X:168.50, Y:-39.94, Z:2.75 [[ 8.80707620e-01 4.73256566e-01 -1.95527499e-02 1.68496938e+02] [-4.73127461e-01 8.80924502e-01 1.10646857e-02 -3.99363028e+01] [ 2.24609316e-02 -4.93810142e-04 9.99747599e-01 2.74623621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.383617865 meters 0.018858109993350115 Centerline is valid? [True, True] Translation: X:168.55, Y:-39.97, Z:2.75 [[ 8.80117851e-01 4.74318183e-01 -2.03673744e-02 1.68551818e+02] [-4.74178221e-01 8.80353349e-01 1.15323341e-02 -3.99660236e+01] [ 2.34004820e-02 -4.92047762e-04 9.99726050e-01 2.74608239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.443617865 meters 0.01880703609691611 Centerline is valid? [True, True] Translation: X:168.61, Y:-40.00, Z:2.75 [[ 8.79982251e-01 4.74561898e-01 -2.05485535e-02 1.68607135e+02] [-4.74419339e-01 8.80221994e-01 1.16418447e-02 -3.99961671e+01] [ 2.36120647e-02 -4.95985487e-04 9.99721073e-01 2.74726123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.503617865 meters 0.01898958604617202 Centerline is valid? [True, True] Translation: X:168.66, Y:-40.03, Z:2.75 [[ 8.80129786e-01 4.74287519e-01 -2.05647465e-02 1.68661296e+02] [-4.74144489e-01 8.80369859e-01 1.16582323e-02 -4.00264164e+01] [ 2.36339371e-02 -5.10096264e-04 9.99720549e-01 2.74772854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.563617865 meters 0.01895604155834214 Centerline is valid? [True, True] Translation: X:168.72, Y:-40.06, Z:2.75 [[ 8.79951645e-01 4.74619255e-01 -2.05345007e-02 1.68716268e+02] [-4.74476575e-01 8.80191062e-01 1.16479042e-02 -4.00575632e+01] [ 2.36026036e-02 -5.06452879e-04 9.99721291e-01 2.74896396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.623617865 meters 0.018779386861238825 Centerline is valid? [True, True] Translation: X:168.77, Y:-40.09, Z:2.75 [[ 8.79371588e-01 4.75683619e-01 -2.07534334e-02 1.68770485e+02] [-4.75538002e-01 8.79616311e-01 1.17793680e-02 -4.00869067e+01] [ 2.38583109e-02 -4.89395325e-04 9.99715230e-01 2.74983798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.683617865 meters 0.019176734261516018 Centerline is valid? [True, True] Translation: X:168.82, Y:-40.12, Z:2.75 [[ 8.79473847e-01 4.75459453e-01 -2.15420648e-02 1.68823663e+02] [-4.75302321e-01 8.79737482e-01 1.22337873e-02 -4.01177137e+01] [ 2.47680316e-02 -5.20302586e-04 9.99693090e-01 2.74923264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74361786499998 meters 0.019715984677444502 Centerline is valid? [True, True] Translation: X:168.88, Y:-40.15, Z:2.75 [[ 8.80270729e-01 4.73975403e-01 -2.16969978e-02 1.68876545e+02] [-4.73815390e-01 8.80537898e-01 1.23282624e-02 -4.01507336e+01] [ 2.49483220e-02 -5.71837052e-04 9.99688579e-01 2.75051649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80361786499998 meters 0.02150261645322433 Centerline is valid? [True, True] Translation: X:168.93, Y:-40.19, Z:2.75 [[ 8.82002526e-01 4.70750672e-01 -2.15719717e-02 1.68927013e+02] [-4.70591398e-01 8.82266039e-01 1.22626178e-02 -4.01855093e+01] [ 2.48048536e-02 -6.64075566e-04 9.99692092e-01 2.75200365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86361786499998 meters 0.020733156838491296 Centerline is valid? [True, True] Translation: X:168.98, Y:-40.22, Z:2.75 [[ 8.83277218e-01 4.68413359e-01 -2.02553915e-02 1.68981485e+02] [-4.68272230e-01 8.83509169e-01 1.15181347e-02 -4.02154948e+01] [ 2.32910723e-02 -6.88668626e-04 9.99728489e-01 2.75486397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92361786499998 meters 0.021391229409778587 Centerline is valid? [True, True] Translation: X:169.03, Y:-40.25, Z:2.76 [[ 8.84035932e-01 4.66996661e-01 -1.98642757e-02 1.69034588e+02] [-4.66860431e-01 8.84258788e-01 1.13019219e-02 -4.02473436e+01] [ 2.28431201e-02 -7.17460721e-04 9.99738804e-01 2.75636709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98361786499999 meters 0.022116939994073773 Centerline is valid? [True, True] Translation: X:169.09, Y:-40.28, Z:2.76 [[ 8.84494590e-01 4.66170542e-01 -1.88240713e-02 1.69087955e+02] [-4.66047899e-01 8.84694596e-01 1.07157596e-02 -4.02791630e+01] [ 2.16489256e-02 -7.05112463e-04 9.99765386e-01 2.75745907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.043617865 meters 0.02090905445753439 Centerline is valid? [True, True] Translation: X:169.14, Y:-40.31, Z:2.76 [[ 8.84312093e-01 4.66503297e-01 -1.91519288e-02 1.69144179e+02] [-4.66376283e-01 8.84519170e-01 1.09087146e-02 -4.03082946e+01] [ 2.20291995e-02 -7.14702869e-04 9.99757072e-01 2.75857381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.103617865 meters 0.020890285713630087 Centerline is valid? [True, True] Translation: X:169.20, Y:-40.34, Z:2.76 [[ 8.83487962e-01 4.68017690e-01 -2.02104661e-02 1.69198505e+02] [-4.67876469e-01 8.83718802e-01 1.15190404e-02 -4.03388191e+01] [ 2.32514836e-02 -7.20932046e-04 9.99729388e-01 2.75891689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.163617865 meters 0.020386953514565886 Centerline is valid? [True, True] Translation: X:169.25, Y:-40.37, Z:2.76 [[ 8.82614495e-01 4.69660425e-01 -2.02666693e-02 1.69252993e+02] [-4.69518698e-01 8.82846881e-01 1.15575386e-02 -4.03681187e+01] [ 2.33204843e-02 -6.85270920e-04 9.99727806e-01 2.75923840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.223617865 meters 0.019951917637318684 Centerline is valid? [True, True] Translation: X:169.31, Y:-40.40, Z:2.76 [[ 8.80972333e-01 4.72749471e-01 -1.98918720e-02 1.69306363e+02] [-4.72613618e-01 8.81196676e-01 1.13484151e-02 -4.03974103e+01] [ 2.28936087e-02 -5.96470075e-04 9.99737729e-01 2.76045573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.283617865 meters 0.019110523257720623 Centerline is valid? [True, True] Translation: X:169.36, Y:-40.43, Z:2.76 [[ 8.78649223e-01 4.77078121e-01 -1.92875332e-02 1.69361172e+02] [-4.76951418e-01 8.78860766e-01 1.10044861e-02 -4.04253312e+01] [ 2.22010558e-02 -4.69866834e-04 9.99753416e-01 2.76209197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.343617865 meters 0.01783409425837931 Centerline is valid? [True, True] Translation: X:169.42, Y:-40.45, Z:2.76 [[ 8.76835138e-01 4.80406631e-01 -1.92252287e-02 1.69417437e+02] [-4.80281517e-01 8.77045791e-01 1.09701723e-02 -4.04529558e+01] [ 2.21315495e-02 -3.85510578e-04 9.99754993e-01 2.76322368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.403617865 meters 0.017236008429173104 Centerline is valid? [True, True] Translation: X:169.47, Y:-40.48, Z:2.76 [[ 8.74386865e-01 4.84814392e-01 -2.00652565e-02 1.69471480e+02] [-4.84679177e-01 8.74617014e-01 1.14531338e-02 -4.04824894e+01] [ 2.31020588e-02 -2.89257731e-04 9.99733070e-01 2.76370779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46361786499997 meters 0.01693909472905513 Centerline is valid? [True, True] Translation: X:169.53, Y:-40.51, Z:2.77 [[ 8.72946355e-01 4.87395838e-01 -2.02474490e-02 1.69525502e+02] [-4.87258698e-01 8.73181107e-01 1.15635493e-02 -4.05132601e+01] [ 2.33157157e-02 -2.28612568e-04 9.99728126e-01 2.76517649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52361786499998 meters 0.016590223900297556 Centerline is valid? [True, True] Translation: X:169.58, Y:-40.54, Z:2.77 [[ 8.71661082e-01 4.89704685e-01 -1.99067623e-02 1.69579444e+02] [-4.89572583e-01 8.71888349e-01 1.13751196e-02 -4.05433780e+01] [ 2.29269235e-02 -1.69444047e-04 9.99737129e-01 2.76699240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58361786499998 meters 0.016708798860409674 Centerline is valid? [True, True] Translation: X:169.63, Y:-40.58, Z:2.77 [[ 8.71604752e-01 4.89868883e-01 -1.82656307e-02 1.69631329e+02] [-4.89757604e-01 8.71796108e-01 1.04420477e-02 -4.05764719e+01] [ 2.10391400e-02 -1.55606900e-04 9.99778641e-01 2.76933534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64361786499998 meters 0.017051371793729366 Centerline is valid? [True, True] Translation: X:169.68, Y:-40.61, Z:2.77 [[ 8.72310915e-01 4.88622016e-01 -1.79497333e-02 1.69682353e+02] [-4.88514217e-01 8.72495553e-01 1.02649623e-02 -4.06106399e+01] [ 2.06767491e-02 -1.85538778e-04 9.99786196e-01 2.77076216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70361786499998 meters 0.01735773385278359 Centerline is valid? [True, True] Translation: X:169.73, Y:-40.65, Z:2.77 [[ 8.73372048e-01 4.86732590e-01 -1.76819520e-02 1.69733786e+02] [-4.86627494e-01 8.73550990e-01 1.01167854e-02 -4.06451400e+01] [ 2.03702558e-02 -2.31193585e-04 9.99792478e-01 2.77277012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.763617865 meters 0.01774683241099445 Centerline is valid? [True, True] Translation: X:169.79, Y:-40.68, Z:2.77 [[ 8.74073026e-01 4.85473976e-01 -1.76455058e-02 1.69786428e+02] [-4.85368949e-01 8.74251079e-01 1.01012201e-02 -4.06790858e+01] [ 2.03304819e-02 -2.64623410e-04 9.99793279e-01 2.77351406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.823617865 meters 0.017811660892893464 Centerline is valid? [True, True] Translation: X:169.84, Y:-40.71, Z:2.77 [[ 8.74622651e-01 4.84468891e-01 -1.80308630e-02 1.69839834e+02] [-4.84358898e-01 8.74808439e-01 1.03273089e-02 -4.07112779e+01] [ 2.07768110e-02 -2.99089311e-04 9.99784094e-01 2.77449778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.883617865 meters 0.01835132385220249 Centerline is valid? [True, True] Translation: X:169.89, Y:-40.74, Z:2.77 [[ 8.75616450e-01 4.82651900e-01 -1.85195803e-02 1.69893024e+02] [-4.82535334e-01 8.75812204e-01 1.06129835e-02 -4.07437138e+01] [ 2.13420511e-02 -3.56551056e-04 9.99772169e-01 2.77461850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.943617865 meters 0.01902723083898904 Centerline is valid? [True, True] Translation: X:169.95, Y:-40.78, Z:2.77 [[ 8.76186751e-01 4.81590332e-01 -1.91710378e-02 1.69945374e+02] [-4.81465050e-01 8.76396367e-01 1.09915369e-02 -4.07761592e+01] [ 2.20948458e-02 -4.00454278e-04 9.99755799e-01 2.77498071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.003617865 meters 0.018673644900864667 Centerline is valid? [True, True] Translation: X:170.00, Y:-40.81, Z:2.78 [[ 8.77176809e-01 4.79791059e-01 -1.90101208e-02 1.70000411e+02] [-4.79667365e-01 8.77382665e-01 1.09031367e-02 -4.08052927e+01] [ 2.19103780e-02 -4.45444099e-04 9.99759840e-01 2.77718316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.063617865 meters 0.019005811532960028 Centerline is valid? [True, True] Translation: X:170.06, Y:-40.83, Z:2.78 [[ 8.77965912e-01 4.78401412e-01 -1.75483888e-02 1.70056002e+02] [-4.78295628e-01 8.78141155e-01 1.00699587e-02 -4.08340094e+01] [ 2.02274449e-02 -4.47762795e-04 9.99795304e-01 2.77953443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.123617865 meters 0.019023424424333666 Centerline is valid? [True, True] Translation: X:170.11, Y:-40.86, Z:2.78 [[ 8.77901458e-01 4.78539360e-01 -1.70032790e-02 1.70111886e+02] [-4.78439966e-01 8.78065995e-01 9.76254171e-03 -4.08633628e+01] [ 1.96017615e-02 -4.35501374e-04 9.99807772e-01 2.78108023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.183617865 meters 0.018988013196140838 Centerline is valid? [True, True] Translation: X:170.17, Y:-40.89, Z:2.78 [[ 8.77160084e-01 4.79939772e-01 -1.57481031e-02 1.70166755e+02] [-4.79854647e-01 8.77301357e-01 9.04685775e-03 -4.08908340e+01] [ 1.81577791e-02 -3.78742037e-04 9.99835062e-01 2.78240144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24361786499998 meters 0.01852396597511619 Centerline is valid? [True, True] Translation: X:170.22, Y:-40.92, Z:2.78 [[ 8.75496266e-01 4.83006089e-01 -1.45398334e-02 1.70223271e+02] [-4.82933906e-01 8.75616944e-01 8.35524728e-03 -4.09162823e+01] [ 1.67669598e-02 -2.93209268e-04 9.99859382e-01 2.78351878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30361786499998 meters 0.018082819590502692 Centerline is valid? [True, True] Translation: X:170.28, Y:-40.94, Z:2.78 [[ 8.73978368e-01 4.85767033e-01 -1.38636574e-02 1.70279413e+02] [-4.85701691e-01 8.74088288e-01 7.97073721e-03 -4.09422480e+01] [ 1.59899820e-02 -2.32650048e-04 9.99872125e-01 2.78449531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36361786499998 meters 0.017591917867279674 Centerline is valid? [True, True] Translation: X:170.34, Y:-40.97, Z:2.79 [[ 8.73866829e-01 4.85971567e-01 -1.37259223e-02 1.70335881e+02] [-4.85907477e-01 8.73974589e-01 7.89564577e-03 -4.09697750e+01] [ 1.58331666e-02 -2.30214668e-04 9.99874621e-01 2.78507901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42361786499998 meters 0.018283868610417527 Centerline is valid? [True, True] Translation: X:170.39, Y:-41.00, Z:2.79 [[ 8.75118331e-01 4.83709567e-01 -1.38910380e-02 1.70389737e+02] [-4.83643558e-01 8.75228528e-01 7.99571927e-03 -4.09976489e+01] [ 1.60254387e-02 -2.78889455e-04 9.99871546e-01 2.78510950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48361786499999 meters 0.0183961947628578 Centerline is valid? [True, True] Translation: X:170.44, Y:-41.03, Z:2.79 [[ 8.75539091e-01 4.82950855e-01 -1.37758067e-02 1.70444504e+02] [-4.82885809e-01 8.75647410e-01 7.93152817e-03 -4.10273742e+01] [ 1.58932878e-02 -2.92221389e-04 9.99873651e-01 2.78586479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.543617865 meters 0.019002070493864008 Centerline is valid? [True, True] Translation: X:170.50, Y:-41.06, Z:2.79 [[ 8.76655076e-01 4.80937550e-01 -1.32268639e-02 1.70498843e+02] [-4.80877295e-01 8.76754795e-01 7.61944827e-03 -4.10571955e+01] [ 1.52611952e-02 -3.19129452e-04 9.99883490e-01 2.78695730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.603617865 meters 0.02002175440185491 Centerline is valid? [True, True] Translation: X:170.55, Y:-41.09, Z:2.79 [[ 8.78497828e-01 4.77574751e-01 -1.28032235e-02 1.70553297e+02] [-4.77517877e-01 8.78591043e-01 7.37949481e-03 -4.10867268e+01] [ 1.47730579e-02 -3.69102071e-04 9.99890804e-01 2.78793419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.663617865 meters 0.02137419254857751 Centerline is valid? [True, True] Translation: X:170.61, Y:-41.12, Z:2.79 [[ 8.80528443e-01 4.73823268e-01 -1.26953524e-02 1.70607497e+02] [-4.73766940e-01 8.80619853e-01 7.31849222e-03 -4.11155057e+01] [ 1.46474513e-02 -4.29502285e-04 9.99892628e-01 2.78831939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.723617865 meters 0.02172645357870061 Centerline is valid? [True, True] Translation: X:170.66, Y:-41.14, Z:2.79 [[ 8.82453865e-01 4.70207010e-01 -1.34366599e-02 1.70662876e+02] [-4.70143482e-01 8.82556003e-01 7.74646130e-03 -4.11420483e+01] [ 1.55010453e-02 -5.18736633e-04 9.99879717e-01 2.78835047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.783617865 meters 0.023149726707666594 Centerline is valid? [True, True] Translation: X:170.72, Y:-41.17, Z:2.79 [[ 8.83667639e-01 4.67911319e-01 -1.38022039e-02 1.70716209e+02] [-4.67843997e-01 8.83775235e-01 7.95784634e-03 -4.11721515e+01] [ 1.59216124e-02 -5.74813033e-04 9.99873078e-01 2.78944438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.843617865 meters 0.026827766776631855 Centerline is valid? [True, True] Translation: X:170.77, Y:-41.20, Z:2.79 [[ 8.85225890e-01 4.64959816e-01 -1.36928589e-02 1.70768784e+02] [-4.64893140e-01 8.85331564e-01 7.89876069e-03 -4.12017502e+01] [ 1.57953265e-02 -6.26471307e-04 9.99875050e-01 2.79101848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.903617865 meters 0.02397337935613953 Centerline is valid? [True, True] Translation: X:170.83, Y:-41.22, Z:2.79 [[ 8.85637451e-01 4.64177487e-01 -1.36222714e-02 1.70827281e+02] [-4.64111401e-01 8.85741980e-01 7.85828937e-03 -4.12246025e+01] [ 1.57134587e-02 -6.37343898e-04 9.99876333e-01 2.79209252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96361786499997 meters 0.02407047205752796 Centerline is valid? [True, True] Translation: X:170.88, Y:-41.25, Z:2.79 [[ 8.85407418e-01 4.64615780e-01 -1.36338257e-02 1.70884104e+02] [-4.64549566e-01 8.85512154e-01 7.86925150e-03 -4.12500882e+01] [ 1.57290968e-02 -6.33905827e-04 9.99876089e-01 2.79331481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02361786499998 meters 0.02415811374030157 Centerline is valid? [True, True] Translation: X:170.94, Y:-41.27, Z:2.80 [[ 8.84155462e-01 4.66999221e-01 -1.34479132e-02 1.70940307e+02] [-4.66935009e-01 8.84257532e-01 7.76620309e-03 -4.12739846e+01] [ 1.55182294e-02 -5.87229397e-04 9.99879413e-01 2.79523080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08361786499998 meters 0.02246505678105739 Centerline is valid? [True, True] Translation: X:171.00, Y:-41.30, Z:2.80 [[ 8.83124102e-01 4.68947729e-01 -1.34107616e-02 1.70998664e+02] [-4.68884087e-01 8.83225748e-01 7.74531656e-03 -4.12980577e+01] [ 1.54768786e-02 -5.51982995e-04 9.99880074e-01 2.79731758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14361786499998 meters 0.021904072274398157 Centerline is valid? [True, True] Translation: X:171.06, Y:-41.32, Z:2.80 [[ 8.82346656e-01 4.70392128e-01 -1.39866038e-02 1.71056917e+02] [-4.70323057e-01 8.82457332e-01 8.07958444e-03 -4.13210447e+01] [ 1.61431540e-02 -5.50772052e-04 9.99869539e-01 2.79892152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20361786499998 meters 0.021370078399766002 Centerline is valid? [True, True] Translation: X:171.11, Y:-41.35, Z:2.80 [[ 8.82459754e-01 4.70170515e-01 -1.42992781e-02 1.71113750e+02] [-4.70098215e-01 8.82575413e-01 8.26487501e-03 -4.13470870e+01] [ 1.65060918e-02 -5.71354457e-04 9.99863602e-01 2.80023050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.263617865 meters 0.022771005806634173 Centerline is valid? [True, True] Translation: X:171.17, Y:-41.37, Z:2.80 [[ 8.83811304e-01 4.67612137e-01 -1.47128835e-02 1.71168086e+02] [-4.67535157e-01 8.83933526e-01 8.50871149e-03 -4.13743211e+01] [ 1.69839877e-02 -6.41305103e-04 9.99855556e-01 2.80131890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.323617865 meters 0.023806897272002383 Centerline is valid? [True, True] Translation: X:171.22, Y:-41.40, Z:2.80 [[ 8.84988410e-01 4.65370011e-01 -1.50421810e-02 1.71223186e+02] [-4.65289182e-01 8.85115959e-01 8.70153191e-03 -4.14036177e+01] [ 1.73635065e-02 -7.01790785e-04 9.99848997e-01 2.80204501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.383617865 meters 0.024916979483796443 Centerline is valid? [True, True] Translation: X:171.28, Y:-41.43, Z:2.80 [[ 8.86411012e-01 4.62623842e-01 -1.59592802e-02 1.71277969e+02] [-4.62532385e-01 8.86554305e-01 9.23347352e-03 -4.14315725e+01] [ 1.84203936e-02 -8.02968675e-04 9.99830008e-01 2.80197565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.443617865 meters 0.025796812229355245 Centerline is valid? [True, True] Translation: X:171.33, Y:-41.46, Z:2.80 [[ 8.86068667e-01 4.63226595e-01 -1.74194795e-02 1.71332871e+02] [-4.63117716e-01 8.86239457e-01 1.00800127e-02 -4.14587341e+01] [ 2.01071600e-02 -8.64313842e-04 9.99797457e-01 2.80223976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.503617865 meters 0.025724451034063546 Centerline is valid? [True, True] Translation: X:171.39, Y:-41.48, Z:2.80 [[ 8.84353925e-01 4.66508088e-01 -1.69805769e-02 1.71387621e+02] [-4.66405153e-01 8.84516595e-01 9.82989337e-03 -4.14835649e+01] [ 1.96053268e-02 -7.73276216e-04 9.99807498e-01 2.80305537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.563617865 meters 0.02330674852576923 Centerline is valid? [True, True] Translation: X:171.44, Y:-41.51, Z:2.80 [[ 8.82439948e-01 4.70125886e-01 -1.67746653e-02 1.71443935e+02] [-4.70026083e-01 8.82599106e-01 9.71075903e-03 -4.15075583e+01] [ 1.93705838e-02 -6.84631474e-04 9.99812138e-01 2.80407827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.623617865 meters 0.021462570333882883 Centerline is valid? [True, True] Translation: X:171.50, Y:-41.53, Z:2.80 [[ 8.78509405e-01 4.77412723e-01 -1.72718706e-02 1.71498700e+02] [-4.77308310e-01 8.78679009e-01 9.99885002e-03 -4.15311852e+01] [ 1.99500084e-02 -5.40076422e-04 9.99800833e-01 2.80419566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.683617865 meters 0.018863373597606564 Centerline is valid? [True, True] Translation: X:171.56, Y:-41.55, Z:2.81 [[ 8.73929656e-01 4.85735986e-01 -1.75359317e-02 1.71555656e+02] [-4.85630023e-01 8.74105500e-01 1.01515958e-02 -4.15547825e+01] [ 2.02592498e-02 -3.55805733e-04 9.99794697e-01 2.80531058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74361786499998 meters 0.017492602028540923 Centerline is valid? [True, True] Translation: X:171.61, Y:-41.58, Z:2.81 [[ 8.71134765e-01 4.90749534e-01 -1.70034074e-02 1.71611800e+02] [-4.90650836e-01 8.71300660e-01 9.84464524e-03 -4.15819256e+01] [ 1.96463352e-02 -2.33276668e-04 9.99806965e-01 2.80765199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80361786499998 meters 0.01698351234418405 Centerline is valid? [True, True] Translation: X:171.67, Y:-41.61, Z:2.81 [[ 8.67502551e-01 4.97155788e-01 -1.65965970e-02 1.71667168e+02] [-4.97062834e-01 8.67661290e-01 9.61376259e-03 -4.16111328e+01] [ 1.91797625e-02 -9.04120248e-05 9.99816047e-01 2.80960395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86361786499998 meters 0.016842644586093206 Centerline is valid? [True, True] Translation: X:171.72, Y:-41.64, Z:2.81 [[ 8.65245359e-01 5.01088485e-01 -1.61492672e-02 1.71720242e+02] [-5.01001117e-01 8.65396054e-01 9.35685884e-03 -4.16423786e+01] [ 1.86641263e-02 -5.17780414e-06 9.99825810e-01 2.81037225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92361786499998 meters 0.017014416365347375 Centerline is valid? [True, True] Translation: X:171.77, Y:-41.68, Z:2.81 [[ 8.64684477e-01 5.02071355e-01 -1.56559697e-02 1.71773159e+02] [-5.01989322e-01 8.64826199e-01 9.07560971e-03 -4.16759519e+01] [ 1.80962964e-02 1.15907609e-05 9.99836249e-01 2.81138216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98361786499999 meters 0.01715417607816615 Centerline is valid? [True, True] Translation: X:171.82, Y:-41.71, Z:2.81 [[ 8.65271458e-01 5.01083216e-01 -1.48631813e-02 1.71824640e+02] [-5.01009047e-01 8.65399105e-01 8.62114114e-03 -4.17135636e+01] [ 1.71824929e-02 -1.30390414e-05 9.99852370e-01 2.81295972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.043617865 meters 0.01715565211817759 Centerline is valid? [True, True] Translation: X:171.88, Y:-41.75, Z:2.81 [[ 8.65850558e-01 5.00082813e-01 -1.48321108e-02 1.71876767e+02] [-5.00008712e-01 8.65977586e-01 8.60865076e-03 -4.17500403e+01] [ 1.71493138e-02 -3.76204554e-05 9.99852939e-01 2.81426567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.103617865 meters 0.017447349077478618 Centerline is valid? [True, True] Translation: X:171.93, Y:-41.79, Z:2.81 [[ 8.66770455e-01 4.98463447e-01 -1.55939309e-02 1.71926853e+02] [-4.98381167e-01 8.66910714e-01 9.05689084e-03 -4.17887890e+01] [ 1.80330748e-02 -7.85239204e-05 9.99837388e-01 2.81445472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.163617865 meters 0.017603097307983536 Centerline is valid? [True, True] Translation: X:171.98, Y:-41.83, Z:2.81 [[ 8.67850062e-01 4.96540556e-01 -1.68447798e-02 1.71976280e+02] [-4.96444056e-01 8.68013513e-01 9.78981662e-03 -4.18282514e+01] [ 1.94825374e-02 -1.33602174e-04 9.99810188e-01 2.81463095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.223617865 meters 0.01807015698442752 Centerline is valid? [True, True] Translation: X:172.02, Y:-41.87, Z:2.82 [[ 8.68893032e-01 4.94656999e-01 -1.84215145e-02 1.72024097e+02] [-4.94541044e-01 8.69088266e-01 1.07117267e-02 -4.18669760e+01] [ 2.13085527e-02 -1.97149705e-04 9.99772928e-01 2.81502115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.283617865 meters 0.018037577332681583 Centerline is valid? [True, True] Translation: X:172.07, Y:-41.90, Z:2.82 [[ 8.69405082e-01 4.93736462e-01 -1.89501753e-02 1.72074940e+02] [-4.93613448e-01 8.69611553e-01 1.10231920e-02 -4.19026624e+01] [ 2.19218431e-02 -2.29557762e-04 9.99759661e-01 2.81606543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.343617865 meters 0.01829530591197933 Centerline is valid? [True, True] Translation: X:172.12, Y:-41.94, Z:2.82 [[ 8.69550610e-01 4.93449361e-01 -1.97348671e-02 1.72124376e+02] [-4.93315728e-01 8.69774490e-01 1.14860050e-02 -4.19386994e+01] [ 2.28326458e-02 -2.52142303e-04 9.99739269e-01 2.81703125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.403617865 meters 0.018123472504151365 Centerline is valid? [True, True] Translation: X:172.18, Y:-41.97, Z:2.82 [[ 8.69649079e-01 4.93280551e-01 -1.96157255e-02 1.72176267e+02] [-4.93148343e-01 8.69870237e-01 1.14228719e-02 -4.19741920e+01] [ 2.26978163e-02 -2.60427523e-04 9.99742337e-01 2.81961979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46361786499997 meters 0.018338860782097604 Centerline is valid? [True, True] Translation: X:172.23, Y:-42.01, Z:2.82 [[ 8.69661778e-01 4.93276828e-01 -1.91406064e-02 1.72226359e+02] [-4.93150791e-01 8.69872349e-01 1.11532113e-02 -4.20124651e+01] [ 2.21515049e-02 -2.60316365e-04 9.99754591e-01 2.82269427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52361786499998 meters 0.018459026688799948 Centerline is valid? [True, True] Translation: X:172.28, Y:-42.05, Z:2.83 [[ 8.69445963e-01 4.93669517e-01 -1.88181890e-02 1.72278935e+02] [-4.93547633e-01 8.69649552e-01 1.09722110e-02 -4.20480789e+01] [ 2.17818757e-02 -2.52071964e-04 9.99762715e-01 2.82544313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58361786499998 meters 0.018544066486395176 Centerline is valid? [True, True] Translation: X:172.33, Y:-42.08, Z:2.83 [[ 8.68678709e-01 4.95014467e-01 -1.89203219e-02 1.72328545e+02] [-4.94891430e-01 8.68884703e-01 1.10383866e-02 -4.20845255e+01] [ 2.19037393e-02 -2.25306285e-04 9.99760059e-01 2.82716511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64361786499998 meters 0.018280908764391916 Centerline is valid? [True, True] Translation: X:172.38, Y:-42.12, Z:2.83 [[ 8.67163396e-01 4.97657514e-01 -1.90956578e-02 1.72380007e+02] [-4.97532696e-01 8.67373606e-01 1.11464933e-02 -4.21189358e+01] [ 2.21102057e-02 -1.65116828e-04 9.99755526e-01 2.82919722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70361786499998 meters 0.018173918607455524 Centerline is valid? [True, True] Translation: X:172.43, Y:-42.15, Z:2.83 [[ 8.65748731e-01 5.00133554e-01 -1.85893236e-02 1.72430976e+02] [-5.00015715e-01 8.65948276e-01 1.08566840e-02 -4.21520419e+01] [ 2.15271847e-02 -1.04206458e-04 9.99768258e-01 2.83010136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.763617865 meters 0.01787703115517924 Centerline is valid? [True, True] Translation: X:172.48, Y:-42.19, Z:2.83 [[ 8.63407016e-01 5.04158595e-01 -1.87732524e-02 1.72483008e+02] [-5.04039237e-01 8.63611088e-01 1.09698106e-02 -4.21852768e+01] [ 2.17433132e-02 -8.95568027e-06 9.99763586e-01 2.83123675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.823617865 meters 0.017937462826376618 Centerline is valid? [True, True] Translation: X:172.54, Y:-42.22, Z:2.83 [[ 8.61202880e-01 5.07908985e-01 -1.89225053e-02 1.72535349e+02] [-5.07788489e-01 8.61410736e-01 1.10632142e-02 -4.22187071e+01] [ 2.19191551e-02 8.09584069e-05 9.99759743e-01 2.83181150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.883617865 meters 0.017918801549439898 Centerline is valid? [True, True] Translation: X:172.59, Y:-42.25, Z:2.83 [[ 8.60052714e-01 5.09880182e-01 -1.82079397e-02 1.72589042e+02] [-5.09768927e-01 8.60245422e-01 1.06515580e-02 -4.22522482e+01] [ 2.10943151e-02 1.20940503e-04 9.99777483e-01 2.83322111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.943617865 meters 0.018054968471248285 Centerline is valid? [True, True] Translation: X:172.64, Y:-42.29, Z:2.83 [[ 8.59760052e-01 5.10369121e-01 -1.83306455e-02 1.72640464e+02] [-5.10256331e-01 8.59955431e-01 1.07299906e-02 -4.22863514e+01] [ 2.12397940e-02 1.28110633e-04 9.99774402e-01 2.83334441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.003617865 meters 0.01784005889933835 Centerline is valid? [True, True] Translation: X:172.69, Y:-42.32, Z:2.83 [[ 8.61096288e-01 5.08106886e-01 -1.84546791e-02 1.72690110e+02] [-5.07991911e-01 8.61294020e-01 1.08088035e-02 -4.23241549e+01] [ 2.13869322e-02 6.74071540e-05 9.99771271e-01 2.83403571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.063617865 meters 0.017843875530613836 Centerline is valid? [True, True] Translation: X:172.74, Y:-42.36, Z:2.83 [[ 8.62331049e-01 5.06004251e-01 -1.85704007e-02 1.72741968e+02] [-5.05887209e-01 8.62530984e-01 1.08827500e-02 -4.23601133e+01] [ 2.15242638e-02 9.99490988e-06 9.99768326e-01 2.83443104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.123617865 meters 0.018015070011498952 Centerline is valid? [True, True] Translation: X:172.79, Y:-42.40, Z:2.83 [[ 8.64626988e-01 5.02074768e-01 -1.84688660e-02 1.72792108e+02] [-5.01957960e-01 8.64824213e-01 1.08299561e-02 -4.23983483e+01] [ 2.14097702e-02 -9.32780139e-05 9.99770780e-01 2.83453474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.183617865 meters 0.018221852881266827 Centerline is valid? [True, True] Translation: X:172.84, Y:-42.44, Z:2.84 [[ 8.66363852e-01 4.99079162e-01 -1.82665220e-02 1.72842349e+02] [-4.98964095e-01 8.66556381e-01 1.07177662e-02 -4.24357648e+01] [ 2.11779850e-02 -1.71146543e-04 9.99775707e-01 2.83521084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24361786499998 meters 0.018780235853874307 Centerline is valid? [True, True] Translation: X:172.89, Y:-42.48, Z:2.84 [[ 8.68695500e-01 4.95040302e-01 -1.74134473e-02 1.72889938e+02] [-4.94934813e-01 8.68869974e-01 1.02225123e-02 -4.24755193e+01] [ 2.01905770e-02 -2.61729166e-04 9.99796115e-01 2.83676299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30361786499998 meters 0.019242907211245663 Centerline is valid? [True, True] Translation: X:172.94, Y:-42.51, Z:2.84 [[ 8.70090034e-01 4.92594307e-01 -1.71517503e-02 1.72939511e+02] [-4.92491389e-01 8.70259012e-01 1.00739259e-02 -4.25140420e+01] [ 1.98888238e-02 -3.18133197e-04 9.99802147e-01 2.83722685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36361786499998 meters 0.018722575102468022 Centerline is valid? [True, True] Translation: X:172.99, Y:-42.55, Z:2.84 [[ 8.69356766e-01 4.93940584e-01 -1.55406543e-02 1.72992334e+02] [-4.93856229e-01 8.69495618e-01 9.13213276e-03 -4.25465645e+01] [ 1.80232618e-02 -2.64232463e-04 9.99837533e-01 2.83979657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42361786499998 meters 0.018110807272079157 Centerline is valid? [True, True] Translation: X:173.05, Y:-42.58, Z:2.84 [[ 8.67355733e-01 4.97470726e-01 -1.47278424e-02 1.73047443e+02] [-4.97395396e-01 8.67480745e-01 8.65896194e-03 -4.25757945e+01] [ 1.70836998e-02 -1.84839292e-04 9.99854046e-01 2.84085121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48361786499999 meters 0.017420745614435643 Centerline is valid? [True, True] Translation: X:173.10, Y:-42.60, Z:2.84 [[ 8.63974293e-01 5.03308682e-01 -1.51258460e-02 1.73104084e+02] [-5.03230029e-01 8.64106686e-01 8.89792218e-03 -4.26018958e+01] [ 1.75487461e-02 -7.57961345e-05 9.99846006e-01 2.84124352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.543617865 meters 0.017395567657540783 Centerline is valid? [True, True] Translation: X:173.16, Y:-42.63, Z:2.84 [[ 8.62927054e-01 5.05071447e-01 -1.61162163e-02 1.73157928e+02] [-5.04982367e-01 8.63077535e-01 9.48567865e-03 -4.26329172e+01] [ 1.87004897e-02 -4.70436676e-05 9.99825129e-01 2.84100990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.603617865 meters 0.01733674628531183 Centerline is valid? [True, True] Translation: X:173.21, Y:-42.66, Z:2.84 [[ 8.62827278e-01 5.05209336e-01 -1.71060113e-02 1.73213288e+02] [-5.05108915e-01 8.62996827e-01 1.00727166e-02 -4.26619816e+01] [ 1.98512639e-02 -5.06158916e-05 9.99802943e-01 2.84062614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.663617865 meters 0.01744666603136032 Centerline is valid? [True, True] Translation: X:173.27, Y:-42.69, Z:2.84 [[ 8.63999070e-01 5.03179528e-01 -1.77755531e-02 1.73266220e+02] [-5.03070532e-01 8.64181897e-01 1.04732246e-02 -4.26931006e+01] [ 2.06312234e-02 -1.06499333e-04 9.99787148e-01 2.84168948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.723617865 meters 0.017834067669666536 Centerline is valid? [True, True] Translation: X:173.32, Y:-42.73, Z:2.84 [[ 8.66604534e-01 4.98645487e-01 -1.86884970e-02 1.73317540e+02] [-4.98523825e-01 8.66805990e-01 1.10168421e-02 -4.27279733e+01] [ 2.16927997e-02 -2.30584350e-04 9.99764657e-01 2.84327884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.783617865 meters 0.018595891724872304 Centerline is valid? [True, True] Translation: X:173.37, Y:-42.76, Z:2.84 [[ 8.68704107e-01 4.94985002e-01 -1.85208607e-02 1.73367551e+02] [-4.94864581e-01 8.68901458e-01 1.09226028e-02 -4.27624374e+01] [ 2.14993274e-02 -3.23191897e-04 9.99768811e-01 2.84480282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.843617865 meters 0.019980170648622637 Centerline is valid? [True, True] Translation: X:173.42, Y:-42.80, Z:2.85 [[ 8.71174732e-01 4.90608573e-01 -1.89159697e-02 1.73418040e+02] [-4.90481878e-01 8.71379959e-01 1.11577471e-02 -4.27967169e+01] [ 2.19570833e-02 -4.42407054e-04 9.99758816e-01 2.84550963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.903617865 meters 0.020532114425507477 Centerline is valid? [True, True] Translation: X:173.47, Y:-42.83, Z:2.85 [[ 8.71732914e-01 4.89607508e-01 -1.91367518e-02 1.73470167e+02] [-4.89477471e-01 8.71942808e-01 1.12936162e-02 -4.28302395e+01] [ 2.22155924e-02 -4.78008130e-04 9.99753089e-01 2.84697910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96361786499997 meters 0.02028155000870848 Centerline is valid? [True, True] Translation: X:173.52, Y:-42.86, Z:2.85 [[ 8.70707906e-01 4.91442779e-01 -1.87546903e-02 1.73522653e+02] [-4.91318188e-01 8.70909761e-01 1.10736480e-02 -4.28619944e+01] [ 2.17757072e-02 -4.27392373e-04 9.99762790e-01 2.84983912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02361786499998 meters 0.01907177719684296 Centerline is valid? [True, True] Translation: X:173.58, Y:-42.89, Z:2.85 [[ 8.67775304e-01 4.96603879e-01 -1.87245665e-02 1.73576333e+02] [-4.96480799e-01 8.67977244e-01 1.10597926e-02 -4.28899705e+01] [ 2.17448335e-02 -3.01027162e-04 9.99763508e-01 2.85094363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08361786499998 meters 0.017813472576891205 Centerline is valid? [True, True] Translation: X:173.63, Y:-42.92, Z:2.85 [[ 8.65307867e-01 5.00863607e-01 -1.94407336e-02 1.73632259e+02] [-5.00731956e-01 8.65526202e-01 1.14849017e-02 -4.29179033e+01] [ 2.25788336e-02 -2.03379283e-04 9.99745045e-01 2.85199052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14361786499998 meters 0.01747130892500052 Centerline is valid? [True, True] Translation: X:173.69, Y:-42.95, Z:2.85 [[ 8.62388081e-01 5.05858021e-01 -1.98610286e-02 1.73686143e+02] [-5.05721808e-01 8.62616749e-01 1.17386756e-02 -4.29470319e+01] [ 2.30705592e-02 -7.91386500e-05 9.99733836e-01 2.85244966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20361786499998 meters 0.017288522808460376 Centerline is valid? [True, True] Translation: X:173.74, Y:-42.98, Z:2.85 [[ 8.61628441e-01 5.07157207e-01 -1.96976417e-02 1.73739376e+02] [-5.07023462e-01 8.61853564e-01 1.16465968e-02 -4.29811988e+01] [ 2.28831382e-02 -4.78725498e-05 9.99738146e-01 2.85484067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.263617865 meters 0.01726900139690477 Centerline is valid? [True, True] Translation: X:173.79, Y:-43.01, Z:2.86 [[ 8.61603729e-01 5.07206150e-01 -1.95175817e-02 1.73792731e+02] [-5.07074695e-01 8.61824761e-01 1.15470358e-02 -4.30139225e+01] [ 2.26774628e-02 -5.20973145e-05 9.99742832e-01 2.85761918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.323617865 meters 0.017478843614102686 Centerline is valid? [True, True] Translation: X:173.84, Y:-43.05, Z:2.86 [[ 8.62356685e-01 5.05944004e-01 -1.90161304e-02 1.73844496e+02] [-5.05818760e-01 8.62566321e-01 1.12572250e-02 -4.30490131e+01] [ 2.20981991e-02 -8.90277373e-05 9.99755801e-01 2.85787203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.383617865 meters 0.01753819063574182 Centerline is valid? [True, True] Translation: X:173.90, Y:-43.08, Z:2.86 [[ 8.63419654e-01 5.04120068e-01 -1.92213032e-02 1.73896741e+02] [-5.03991507e-01 8.63633566e-01 1.13852640e-02 -4.30829949e+01] [ 2.23397027e-02 -1.42887154e-04 9.99750427e-01 2.85943986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.443617865 meters 0.01777294269225607 Centerline is valid? [True, True] Translation: X:173.95, Y:-43.12, Z:2.86 [[ 8.64218959e-01 5.02761117e-01 -1.88904539e-02 1.73949968e+02] [-5.02636482e-01 8.64425374e-01 1.11955476e-02 -4.31161288e+01] [ 2.19580736e-02 -1.80373191e-04 9.99758876e-01 2.86036557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.503617865 meters 0.017948882380622342 Centerline is valid? [True, True] Translation: X:174.00, Y:-43.15, Z:2.86 [[ 8.64855832e-01 5.01695209e-01 -1.80639598e-02 1.74003899e+02] [-5.01580875e-01 8.65044435e-01 1.07121693e-02 -4.31481492e+01] [ 2.10003720e-02 -2.03945357e-04 9.99779447e-01 2.86156184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.563617865 meters 0.018317945569750423 Centerline is valid? [True, True] Translation: X:174.06, Y:-43.18, Z:2.86 [[ 8.65800729e-01 5.00055822e-01 -1.82557456e-02 1.74055133e+02] [-4.99938545e-01 8.65993136e-01 1.08323676e-02 -4.31812021e+01] [ 2.12261388e-02 -2.51920853e-04 9.99774668e-01 2.86234825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.623617865 meters 0.018446379180203896 Centerline is valid? [True, True] Translation: X:174.11, Y:-43.21, Z:2.86 [[ 8.66496721e-01 4.98821666e-01 -1.89836140e-02 1.74108969e+02] [-4.98694423e-01 8.66704596e-01 1.12701447e-02 -4.32125232e+01] [ 2.20749779e-02 -2.98521000e-04 9.99756273e-01 2.86269837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.683617865 meters 0.018620656272500605 Centerline is valid? [True, True] Translation: X:174.16, Y:-43.24, Z:2.86 [[ 8.66914211e-01 4.98107488e-01 -1.86730034e-02 1.74162409e+02] [-4.97984086e-01 8.67115235e-01 1.10914497e-02 -4.32430012e+01] [ 2.17163799e-02 -3.16476830e-04 9.99764122e-01 2.86304963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74361786499998 meters 0.01903733509052788 Centerline is valid? [True, True] Translation: X:174.22, Y:-43.27, Z:2.86 [[ 8.67709063e-01 4.96767157e-01 -1.74176271e-02 1.74215957e+02] [-4.96659433e-01 8.67883796e-01 1.03501107e-02 -4.32735255e+01] [ 2.02580714e-02 -3.30256059e-04 9.99794730e-01 2.86486093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80361786499998 meters 0.019483144894811663 Centerline is valid? [True, True] Translation: X:174.27, Y:-43.31, Z:2.87 [[ 8.68273894e-01 4.95781662e-01 -1.73490178e-02 1.74268366e+02] [-4.95674520e-01 8.68447130e-01 1.03127114e-02 -4.33051228e+01] [ 2.01795579e-02 -3.54792042e-04 9.99796309e-01 2.86637933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86361786499998 meters 0.019539091980984524 Centerline is valid? [True, True] Translation: X:174.32, Y:-43.34, Z:2.87 [[ 8.68380532e-01 4.95599464e-01 -1.72169471e-02 1.74323348e+02] [-4.95493809e-01 8.68551116e-01 1.02393220e-02 -4.33352857e+01] [ 2.00284011e-02 -3.60737182e-04 9.99799346e-01 2.86809695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92361786499998 meters 0.019429555853570316 Centerline is valid? [True, True] Translation: X:174.38, Y:-43.36, Z:2.87 [[ 8.67632481e-01 4.96919849e-01 -1.68683362e-02 1.74378112e+02] [-4.96818568e-01 8.67796379e-01 1.00376854e-02 -4.33639074e+01] [ 1.96262061e-02 -3.28519275e-04 9.99807333e-01 2.86887100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98361786499999 meters 0.018740684394441633 Centerline is valid? [True, True] Translation: X:174.43, Y:-43.39, Z:2.87 [[ 8.67067576e-01 4.97893428e-01 -1.72032817e-02 1.74433588e+02] [-4.97788168e-01 8.67238164e-01 1.02423710e-02 -4.33928389e+01] [ 2.00189517e-02 -3.17237673e-04 9.99799550e-01 2.87051952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.043617865 meters 0.018792246492100328 Centerline is valid? [True, True] Translation: X:174.49, Y:-43.42, Z:2.87 [[ 8.66671125e-01 4.98591343e-01 -1.69656677e-02 1.74488752e+02] [-4.98488999e-01 8.66837114e-01 1.01062653e-02 -4.34221158e+01] [ 1.97453668e-02 -3.01609572e-04 9.99804996e-01 2.87104385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.103617865 meters 0.019361943729293615 Centerline is valid? [True, True] Translation: X:174.54, Y:-43.45, Z:2.87 [[ 8.67179883e-01 4.97703594e-01 -1.70347735e-02 1.74542108e+02] [-4.97600137e-01 8.67347119e-01 1.01527785e-02 -4.34526680e+01] [ 1.98281361e-02 -3.27779712e-04 9.99803349e-01 2.87152947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.163617865 meters 0.01946944171301228 Centerline is valid? [True, True] Translation: X:174.60, Y:-43.48, Z:2.87 [[ 8.67566180e-01 4.97042894e-01 -1.66518549e-02 1.74595846e+02] [-4.96943821e-01 8.67725905e-01 9.92937992e-03 -4.34838650e+01] [ 1.93845736e-02 -3.39357813e-04 9.99812044e-01 2.87382695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.223617865 meters 0.01997343996964032 Centerline is valid? [True, True] Translation: X:174.65, Y:-43.51, Z:2.88 [[ 8.68097860e-01 4.96128513e-01 -1.62050679e-02 1.74649394e+02] [-4.96034433e-01 8.68249027e-01 9.66790238e-03 -4.35149240e+01] [ 1.88665564e-02 -3.54413730e-04 9.99821948e-01 2.87613879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.283617865 meters 0.02041325159115264 Centerline is valid? [True, True] Translation: X:174.70, Y:-43.55, Z:2.88 [[ 8.68225043e-01 4.95915137e-01 -1.59201420e-02 1.74703270e+02] [-4.95824215e-01 8.68370917e-01 9.50255248e-03 -4.35458165e+01] [ 1.85370479e-02 -3.56762144e-04 9.99828111e-01 2.87647503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.343617865 meters 0.020717430563325877 Centerline is valid? [True, True] Translation: X:174.76, Y:-43.58, Z:2.88 [[ 8.68312621e-01 4.95752863e-01 -1.61953967e-02 1.74757980e+02] [-4.95658668e-01 8.68463564e-01 9.67074295e-03 -4.35761825e+01] [ 1.88594104e-02 -3.69839411e-04 9.99822077e-01 2.87740925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.403617865 meters 0.020194456234498705 Centerline is valid? [True, True] Translation: X:174.81, Y:-43.61, Z:2.88 [[ 8.68687041e-01 4.95088325e-01 -1.64430848e-02 1.74812547e+02] [-4.94990999e-01 8.68842560e-01 9.82427712e-03 -4.36059343e+01] [ 1.91503368e-02 -3.95043271e-04 9.99816537e-01 2.87904878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46361786499997 meters 0.020037140469367158 Centerline is valid? [True, True] Translation: X:174.87, Y:-43.64, Z:2.88 [[ 8.69336209e-01 4.93982531e-01 -1.53562539e-02 1.74867364e+02] [-4.93897393e-01 8.69471738e-01 9.17946646e-03 -4.36352756e+01] [ 1.78863248e-02 -3.95628813e-04 9.99839949e-01 2.88099932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52361786499998 meters 0.02025104253800358 Centerline is valid? [True, True] Translation: X:174.92, Y:-43.66, Z:2.88 [[ 8.69883329e-01 4.93036893e-01 -1.47518214e-02 1.74921883e+02] [-4.92958111e-01 8.70008310e-01 8.82275980e-03 -4.36645784e+01] [ 1.71841533e-02 -4.02741666e-04 9.99852260e-01 2.88272181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58361786499998 meters 0.019763932488173926 Centerline is valid? [True, True] Translation: X:174.98, Y:-43.69, Z:2.88 [[ 8.69757804e-01 4.93271147e-01 -1.43156249e-02 1.74977449e+02] [-4.93196911e-01 8.69875521e-01 8.56643158e-03 -4.36940307e+01] [ 1.66783852e-02 -3.90298747e-04 9.99860830e-01 2.88391689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64361786499998 meters 0.02132350690107593 Centerline is valid? [True, True] Translation: X:175.03, Y:-43.73, Z:2.88 [[ 8.69106995e-01 4.94431299e-01 -1.38102204e-02 1.75029651e+02] [-4.94362277e-01 8.69216637e-01 8.26904074e-03 -4.37268139e+01] [ 1.60925459e-02 -3.59429129e-04 9.99870442e-01 2.88468059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70361786499998 meters 0.01932791647819758 Centerline is valid? [True, True] Translation: X:175.09, Y:-43.75, Z:2.89 [[ 8.67813122e-01 4.96697790e-01 -1.38452694e-02 1.75088088e+02] [-4.96628633e-01 8.67923500e-01 8.29454783e-03 -4.37508305e+01] [ 1.61365182e-02 -3.22160246e-04 9.99869746e-01 2.88547097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.763617865 meters 0.018848862036411857 Centerline is valid? [True, True] Translation: X:175.14, Y:-43.78, Z:2.89 [[ 8.66381990e-01 4.99200859e-01 -1.34443504e-02 1.75144413e+02] [-4.99135882e-01 8.66486254e-01 8.05866910e-03 -4.37785788e+01] [ 1.56722394e-02 -2.71328071e-04 9.99877146e-01 2.88674390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.823617865 meters 0.018552709073927438 Centerline is valid? [True, True] Translation: X:175.20, Y:-43.81, Z:2.89 [[ 8.65411191e-01 5.00889975e-01 -1.31416901e-02 1.75199815e+02] [-5.00828065e-01 8.65510934e-01 7.87864289e-03 -4.38064201e+01] [ 1.53206098e-02 -2.36538480e-04 9.99882605e-01 2.88813444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.883617865 meters 0.01820774361139494 Centerline is valid? [True, True] Translation: X:175.26, Y:-43.84, Z:2.89 [[ 8.65250348e-01 5.01171967e-01 -1.29805631e-02 1.75255664e+02] [-5.01111535e-01 8.65347679e-01 7.78617845e-03 -4.38356840e+01] [ 1.51349145e-02 -2.32283723e-04 9.99885434e-01 2.88907089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.943617865 meters 0.018423829717913544 Centerline is valid? [True, True] Translation: X:175.31, Y:-43.87, Z:2.89 [[ 8.65364214e-01 5.00989568e-01 -1.24189131e-02 1.75310138e+02] [-5.00934167e-01 8.65453292e-01 7.45388852e-03 -4.38661619e+01] [ 1.44823096e-02 -2.29270500e-04 9.99895100e-01 2.89004001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.003617865 meters 0.018309432052820967 Centerline is valid? [True, True] Translation: X:175.36, Y:-43.90, Z:2.89 [[ 8.65822444e-01 5.00166620e-01 -1.35958519e-02 1.75364439e+02] [-5.00100034e-01 8.65929142e-01 8.16560281e-03 -4.38957290e+01] [ 1.58572063e-02 -2.70676204e-04 9.99874230e-01 2.89053990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.063617865 meters 0.01866998443312292 Centerline is valid? [True, True] Translation: X:175.42, Y:-43.93, Z:2.89 [[ 8.65682011e-01 5.00401522e-01 -1.38914142e-02 1.75418031e+02] [-5.00331962e-01 8.65793416e-01 8.34791146e-03 -4.39274926e+01] [ 1.62044025e-02 -2.76318275e-04 9.99868662e-01 2.89156725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.123617865 meters 0.018583951871888344 Centerline is valid? [True, True] Translation: X:175.47, Y:-43.96, Z:2.89 [[ 8.65783028e-01 5.00198879e-01 -1.48603482e-02 1.75473141e+02] [-5.00119148e-01 8.65910497e-01 8.93585434e-03 -4.39574774e+01] [ 1.73374359e-02 -3.04566328e-04 9.99849649e-01 2.89227470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.183617865 meters 0.01876590983368517 Centerline is valid? [True, True] Translation: X:175.53, Y:-43.99, Z:2.89 [[ 8.65892955e-01 4.99983129e-01 -1.56927189e-02 1.75527409e+02] [-4.99894064e-01 8.66035081e-01 9.44264500e-03 -4.39897201e+01] [ 1.83116083e-02 -3.31622742e-04 9.99832273e-01 2.89263818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24361786499998 meters 0.018994513673390185 Centerline is valid? [True, True] Translation: X:175.58, Y:-44.02, Z:2.89 [[ 8.66367747e-01 4.99134434e-01 -1.64846501e-02 1.75580694e+02] [-4.99035885e-01 8.66524482e-01 9.92509732e-03 -4.40206804e+01] [ 1.92383107e-02 -3.72352234e-04 9.99814857e-01 2.89353125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30361786499998 meters 0.019296129955364005 Centerline is valid? [True, True] Translation: X:175.63, Y:-44.05, Z:2.89 [[ 8.66787039e-01 4.98408305e-01 -1.64131285e-02 1.75634994e+02] [-4.98310415e-01 8.66942334e-01 9.88538007e-03 -4.40517840e+01] [ 1.91561914e-02 -3.89686468e-04 9.99816427e-01 2.89445084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36361786499998 meters 0.01952846206186868 Centerline is valid? [True, True] Translation: X:175.69, Y:-44.08, Z:2.90 [[ 8.67000283e-01 4.98037964e-01 -1.63919266e-02 1.75688524e+02] [-4.97940158e-01 8.67155133e-01 9.87796369e-03 -4.40829363e+01] [ 1.91339442e-02 -4.01998810e-04 9.99816849e-01 2.89556287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42361786499998 meters 0.01966714282574506 Centerline is valid? [True, True] Translation: X:175.74, Y:-44.12, Z:2.90 [[ 8.66943626e-01 4.98130781e-01 -1.65672865e-02 1.75742721e+02] [-4.98030780e-01 8.67101815e-01 9.98922853e-03 -4.41151640e+01] [ 1.93414664e-02 -4.09079379e-04 9.99812853e-01 2.89655601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48361786499999 meters 0.0192952237849203 Centerline is valid? [True, True] Translation: X:175.80, Y:-44.14, Z:2.90 [[ 8.65948381e-01 4.99864898e-01 -1.63855505e-02 1.75797225e+02] [-4.99767275e-01 8.66103311e-01 9.88556243e-03 -4.41444909e+01] [ 1.91330252e-02 -3.71424834e-04 9.99816878e-01 2.89777800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.543617865 meters 0.018860949521121332 Centerline is valid? [True, True] Translation: X:175.85, Y:-44.17, Z:2.90 [[ 8.64585452e-01 5.02168325e-01 -1.78597307e-02 1.75852062e+02] [-5.02052705e-01 8.64769824e-01 1.07811763e-02 -4.41744294e+01] [ 2.08585214e-02 -3.54722081e-04 9.99782374e-01 2.89766920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.603617865 meters 0.019058745229256373 Centerline is valid? [True, True] Translation: X:175.90, Y:-44.21, Z:2.90 [[ 8.63762811e-01 5.03579035e-01 -1.79432749e-02 1.75903672e+02] [-5.03462514e-01 8.63949100e-01 1.08373682e-02 -4.42068975e+01] [ 2.09595476e-02 -3.27149373e-04 9.99780271e-01 2.89826392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.663617865 meters 0.01858852246159565 Centerline is valid? [True, True] Translation: X:175.96, Y:-44.24, Z:2.90 [[ 8.63069376e-01 5.04800198e-01 -1.69709261e-02 1.75957605e+02] [-5.04696117e-01 8.63236166e-01 1.02543263e-02 -4.42387624e+01] [ 1.98263031e-02 -2.85034514e-04 9.99803399e-01 2.90062174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.723617865 meters 0.01841435321589729 Centerline is valid? [True, True] Translation: X:176.01, Y:-44.27, Z:2.90 [[ 8.62564058e-01 5.05690745e-01 -1.61280944e-02 1.76011004e+02] [-5.05596858e-01 8.62714788e-01 9.74738441e-03 -4.42708975e+01] [ 1.88431076e-02 -2.53429607e-04 9.99822421e-01 2.90324775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.783617865 meters 0.018319642933065285 Centerline is valid? [True, True] Translation: X:176.06, Y:-44.30, Z:2.90 [[ 8.62130109e-01 5.06462877e-01 -1.50675122e-02 1.76063908e+02] [-5.06380968e-01 8.62261737e-01 9.11107128e-03 -4.43037583e+01] [ 1.76065586e-02 -2.25027455e-04 9.99844967e-01 2.90466321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.843617865 meters 0.018223980137111635 Centerline is valid? [True, True] Translation: X:176.12, Y:-44.34, Z:2.91 [[ 8.61218954e-01 5.08007157e-01 -1.51868792e-02 1.76116511e+02] [-5.07924095e-01 8.61352825e-01 9.18830028e-03 -4.43359282e+01] [ 1.77489836e-02 -1.99356471e-04 9.99842455e-01 2.90524544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.903617865 meters 0.01813793641848431 Centerline is valid? [True, True] Translation: X:176.17, Y:-44.37, Z:2.91 [[ 8.60157182e-01 5.09785226e-01 -1.57685171e-02 1.76168691e+02] [-5.09695880e-01 8.60301687e-01 9.54548869e-03 -4.43680429e+01] [ 1.84318310e-02 -1.73472439e-04 9.99830104e-01 2.90591347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96361786499997 meters 0.017961126441219874 Centerline is valid? [True, True] Translation: X:176.22, Y:-44.40, Z:2.91 [[ 8.58922721e-01 5.11866113e-01 -1.56474184e-02 1.76221412e+02] [-5.11778393e-01 8.59065227e-01 9.47689947e-03 -4.44000959e+01] [ 1.82930568e-02 -1.31913619e-04 9.99832659e-01 2.90693564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02361786499998 meters 0.017939848644065413 Centerline is valid? [True, True] Translation: X:176.27, Y:-44.43, Z:2.91 [[ 8.58543922e-01 5.12511189e-01 -1.53171270e-02 1.76273654e+02] [-5.12427147e-01 8.58680538e-01 9.28184708e-03 -4.44344976e+01] [ 1.79095693e-02 -1.19961737e-04 9.99839604e-01 2.90852467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08361786499998 meters 0.01786668834950178 Centerline is valid? [True, True] Translation: X:176.33, Y:-44.47, Z:2.91 [[ 8.58705135e-01 5.12246677e-01 -1.51272434e-02 1.76326121e+02] [-5.12164566e-01 8.58838358e-01 9.17233993e-03 -4.44689016e+01] [ 1.76903576e-02 -1.28697314e-04 9.99843505e-01 2.90947644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14361786499998 meters 0.018056797727677255 Centerline is valid? [True, True] Translation: X:176.38, Y:-44.51, Z:2.91 [[ 8.59638854e-01 5.10692722e-01 -1.46282376e-02 1.76376739e+02] [-5.10615623e-01 8.59763292e-01 8.87510084e-03 -4.45059025e+01] [ 1.71092711e-02 -1.59974862e-04 9.99853613e-01 2.91165699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20361786499998 meters 0.01843156055188938 Centerline is valid? [True, True] Translation: X:176.43, Y:-44.54, Z:2.91 [[ 8.60752204e-01 5.08837222e-01 -1.37958266e-02 1.76425969e+02] [-5.08768342e-01 8.60862733e-01 8.37428965e-03 -4.45419073e+01] [ 1.61374633e-02 -1.89308447e-04 9.99869765e-01 2.91406109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.263617865 meters 0.01850050417836793 Centerline is valid? [True, True] Translation: X:176.48, Y:-44.58, Z:2.92 [[ 8.61146621e-01 5.08168260e-01 -1.38389619e-02 1.76477390e+02] [-5.08098822e-01 8.61257788e-01 8.40293892e-03 -4.45759941e+01] [ 1.61890206e-02 -2.04602224e-04 9.99868928e-01 2.91521484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.323617865 meters 0.01880906010781456 Centerline is valid? [True, True] Translation: X:176.53, Y:-44.61, Z:2.92 [[ 8.61719205e-01 5.07184300e-01 -1.42863074e-02 1.76528214e+02] [-5.07110085e-01 8.61837590e-01 8.67932438e-03 -4.46125653e+01] [ 1.67144938e-02 -2.34409925e-04 9.99860276e-01 2.91591368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.383617865 meters 0.01880218677026424 Centerline is valid? [True, True] Translation: X:176.58, Y:-44.65, Z:2.92 [[ 8.62153872e-01 5.06420775e-01 -1.51227844e-02 1.76580063e+02] [-5.06337407e-01 8.62286453e-01 9.19260340e-03 -4.46470506e+01] [ 1.76954974e-02 -2.68207186e-04 9.99843386e-01 2.91623994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.443617865 meters 0.0195762174341527 Centerline is valid? [True, True] Translation: X:176.63, Y:-44.68, Z:2.92 [[ 8.62284828e-01 5.06186674e-01 -1.54895381e-02 1.76630684e+02] [-5.06099079e-01 8.62423892e-01 9.42083150e-03 -4.46835571e+01] [ 1.81272471e-02 -2.84199111e-04 9.99835648e-01 2.91627397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.503617865 meters 0.018945968126812297 Centerline is valid? [True, True] Translation: X:176.68, Y:-44.72, Z:2.92 [[ 8.62005625e-01 5.06631532e-01 -1.64557821e-02 1.76683062e+02] [-5.06532629e-01 8.62162631e-01 1.00146637e-02 -4.47185813e+01] [ 1.92613048e-02 -2.97305853e-04 9.99814440e-01 2.91782970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.563617865 meters 0.01869036028091191 Centerline is valid? [True, True] Translation: X:176.73, Y:-44.75, Z:2.92 [[ 8.61350136e-01 5.07720872e-01 -1.71889140e-02 1.76734953e+02] [-5.07613044e-01 8.61521579e-01 1.04673879e-02 -4.47534797e+01] [ 2.01231317e-02 -2.90769056e-04 9.99797467e-01 2.91933403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.623617865 meters 0.018663737559478397 Centerline is valid? [True, True] Translation: X:176.79, Y:-44.79, Z:2.92 [[ 8.60373379e-01 5.09410750e-01 -1.60728592e-02 1.76786497e+02] [-5.09316670e-01 8.60523463e-01 9.79283067e-03 -4.47886241e+01] [ 1.88196457e-02 -2.39315702e-04 9.99822866e-01 2.92139133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.683617865 meters 0.018705868162453648 Centerline is valid? [True, True] Translation: X:176.84, Y:-44.82, Z:2.92 [[ 8.59775524e-01 5.10410639e-01 -1.63409982e-02 1.76838159e+02] [-5.10313469e-01 8.59930770e-01 9.96166870e-03 -4.48236589e+01] [ 1.91366688e-02 -2.25767459e-04 9.99816852e-01 2.92304440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74361786499998 meters 0.018679846270207218 Centerline is valid? [True, True] Translation: X:176.89, Y:-44.86, Z:2.92 [[ 8.59046454e-01 5.11580205e-01 -1.80245570e-02 1.76889765e+02] [-5.11462097e-01 8.59235499e-01 1.09945750e-02 -4.48608140e+01] [ 2.11119462e-02 -2.25972971e-04 9.99777092e-01 2.92389273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80361786499998 meters 0.018760248263186237 Centerline is valid? [True, True] Translation: X:176.94, Y:-44.90, Z:2.92 [[ 8.58309322e-01 5.12787135e-01 -1.88271728e-02 1.76940229e+02] [-5.12658404e-01 8.58515760e-01 1.14913390e-02 -4.48969974e+01] [ 2.20560354e-02 -2.11215044e-04 9.99756714e-01 2.92489273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86361786499998 meters 0.01860265843743428 Centerline is valid? [True, True] Translation: X:176.99, Y:-44.93, Z:2.93 [[ 8.57825999e-01 5.13590467e-01 -1.89575443e-02 1.76992666e+02] [-5.13459991e-01 8.58035427e-01 1.15777390e-02 -4.49316043e+01] [ 2.22124610e-02 -1.97744999e-04 9.99753253e-01 2.92682082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92361786499998 meters 0.018850145463266126 Centerline is valid? [True, True] Translation: X:177.04, Y:-44.97, Z:2.93 [[ 8.57681524e-01 5.13814903e-01 -1.94074732e-02 1.77042354e+02] [-5.13678049e-01 8.57901046e-01 1.18599024e-02 -4.49689149e+01] [ 2.27434861e-02 -2.02826197e-04 9.99741313e-01 2.92781329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98361786499999 meters 0.01910760734894481 Centerline is valid? [True, True] Translation: X:177.09, Y:-45.01, Z:2.93 [[ 8.58719892e-01 5.12058023e-01 -1.99180049e-02 1.77091890e+02] [-5.11913242e-01 8.58950821e-01 1.21786992e-02 -4.50059775e+01] [ 2.33447873e-02 -2.61800775e-04 9.99727439e-01 2.92887082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.043617865 meters 0.018988693681823526 Centerline is valid? [True, True] Translation: X:177.14, Y:-45.04, Z:2.93 [[ 8.59154850e-01 5.11321041e-01 -2.00932063e-02 1.77143031e+02] [-5.11173352e-01 8.59389731e-01 1.22920850e-02 -4.50404913e+01] [ 2.35530969e-02 -2.89692771e-04 9.99722545e-01 2.93109660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.103617865 meters 0.01914243182158345 Centerline is valid? [True, True] Translation: X:177.19, Y:-45.08, Z:2.93 [[ 8.59446813e-01 5.10818366e-01 -2.03905170e-02 1.77192592e+02] [-5.10665991e-01 8.59688606e-01 1.24798587e-02 -4.50759157e+01] [ 2.39044362e-02 -3.13031190e-04 9.99714199e-01 2.93248703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.163617865 meters 0.018891551845987373 Centerline is valid? [True, True] Translation: X:177.25, Y:-45.11, Z:2.93 [[ 8.58591216e-01 5.12272747e-01 -1.99438416e-02 1.77245734e+02] [-5.12127262e-01 8.58822775e-01 1.22109996e-02 -4.51085029e+01] [ 2.33835877e-02 -2.70471981e-04 9.99726530e-01 2.93458847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.223617865 meters 0.01857524858806269 Centerline is valid? [True, True] Translation: X:177.30, Y:-45.14, Z:2.94 [[ 8.56753097e-01 5.15328833e-01 -2.02564776e-02 1.77297509e+02] [-5.15179447e-01 8.56992506e-01 1.24089753e-02 -4.51402120e+01] [ 2.37543523e-02 -1.95707105e-04 9.99717806e-01 2.93613274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.283617865 meters 0.01813769671113435 Centerline is valid? [True, True] Translation: X:177.35, Y:-45.17, Z:2.94 [[ 8.54322337e-01 5.19285851e-01 -2.18070954e-02 1.77350052e+02] [-5.19113824e-01 8.54600605e-01 1.33657246e-02 -4.51705365e+01] [ 2.55769886e-02 -9.82723452e-05 9.99672850e-01 2.93562556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.343617865 meters 0.018095546491162077 Centerline is valid? [True, True] Translation: X:177.40, Y:-45.20, Z:2.94 [[ 8.53002036e-01 5.21399711e-01 -2.30188677e-02 1.77404473e+02] [-5.21208591e-01 8.53312568e-01 1.41161550e-02 -4.52020842e+01] [ 2.70024482e-02 -4.34773393e-05 9.99635366e-01 2.93593784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.403617865 meters 0.017935402151339753 Centerline is valid? [True, True] Translation: X:177.46, Y:-45.23, Z:2.94 [[ 8.52323403e-01 5.22487032e-01 -2.34971816e-02 1.77458376e+02] [-5.22288059e-01 8.52647231e-01 1.44181502e-02 -4.52336810e+01] [ 2.75681033e-02 -1.66295335e-05 9.99619927e-01 2.93762447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46361786499997 meters 0.017731221394860646 Centerline is valid? [True, True] Translation: X:177.51, Y:-45.27, Z:2.94 [[ 8.53301773e-01 5.20941301e-01 -2.22765522e-02 1.77510310e+02] [-5.20761746e-01 8.53592500e-01 1.36765526e-02 -4.52672306e+01] [ 2.61397790e-02 -6.94503495e-05 9.99658295e-01 2.94206780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52361786499998 meters 0.017765556158010308 Centerline is valid? [True, True] Translation: X:177.56, Y:-45.30, Z:2.95 [[ 8.54111155e-01 5.19649932e-01 -2.14028619e-02 1.77563139e+02] [-5.19483604e-01 8.54379269e-01 1.31472229e-02 -4.53012235e+01] [ 2.51181150e-02 -1.10753907e-04 9.99684484e-01 2.94524170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58361786499998 meters 0.017944673821845614 Centerline is valid? [True, True] Translation: X:177.61, Y:-45.33, Z:2.95 [[ 8.55287972e-01 5.17707476e-01 -2.14814894e-02 1.77614229e+02] [-5.17539121e-01 8.55557677e-01 1.32030220e-02 -4.53341129e+01] [ 2.52139563e-02 -1.74874766e-04 9.99682062e-01 2.94624001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64361786499998 meters 0.01806178478542269 Centerline is valid? [True, True] Translation: X:177.67, Y:-45.37, Z:2.95 [[ 8.56671996e-01 5.15366816e-01 -2.25862013e-02 1.77666748e+02] [-5.15179689e-01 8.56969647e-01 1.38892795e-02 -4.53676199e+01] [ 2.65137628e-02 -2.62604653e-04 9.99648414e-01 2.94705107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70361786499998 meters 0.018253483118674124 Centerline is valid? [True, True] Translation: X:177.72, Y:-45.40, Z:2.95 [[ 8.57597513e-01 5.13792260e-01 -2.33242413e-02 1.77718893e+02] [-5.13591902e-01 8.57914568e-01 1.43510120e-02 -4.54013248e+01] [ 2.73836453e-02 -3.28250685e-04 9.99624944e-01 2.94793851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.763617865 meters 0.018619801524692843 Centerline is valid? [True, True] Translation: X:177.77, Y:-45.44, Z:2.95 [[ 8.58759451e-01 5.11811824e-01 -2.41010647e-02 1.77770348e+02] [-5.11596885e-01 8.59097484e-01 1.48371082e-02 -4.54368459e+01] [ 2.82989715e-02 -4.11477256e-04 9.99599419e-01 2.94942997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.823617865 meters 0.018829517361432055 Centerline is valid? [True, True] Translation: X:177.82, Y:-45.47, Z:2.95 [[ 8.59069545e-01 5.11300725e-01 -2.38973873e-02 1.77823617e+02] [-5.11088973e-01 8.59401758e-01 1.47200319e-02 -4.54699072e+01] [ 2.80638197e-02 -4.31840001e-04 9.99606040e-01 2.94990031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.883617865 meters 0.01883382046802342 Centerline is valid? [True, True] Translation: X:177.88, Y:-45.50, Z:2.95 [[ 8.59227975e-01 5.11075628e-01 -2.29997595e-02 1.77877402e+02] [-5.10879178e-01 8.59535641e-01 1.41756150e-02 -4.55031211e+01] [ 2.70139244e-02 -4.29986783e-04 9.99634965e-01 2.95144518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.943617865 meters 0.01949006642988032 Centerline is valid? [True, True] Translation: X:177.93, Y:-45.54, Z:2.95 [[ 8.60311281e-01 5.09311847e-01 -2.15857079e-02 1.77927792e+02] [-5.09138074e-01 8.60581913e-01 1.33113386e-02 -4.55373282e+01] [ 2.53558923e-02 -4.61789027e-04 9.99678381e-01 2.95230148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.003617865 meters 0.01986117342263628 Centerline is valid? [True, True] Translation: X:177.98, Y:-45.57, Z:2.95 [[ 8.61325475e-01 5.07643855e-01 -2.03995672e-02 1.77979027e+02] [-5.07488048e-01 8.61566874e-01 1.25858261e-02 -4.55716465e+01] [ 2.39647086e-02 -4.87956151e-04 9.99712686e-01 2.95412182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.063617865 meters 0.019949167237359865 Centerline is valid? [True, True] Translation: X:178.03, Y:-45.60, Z:2.96 [[ 8.61941937e-01 5.06626175e-01 -1.96473056e-02 1.78031404e+02] [-5.06481246e-01 8.62165684e-01 1.21276698e-02 -4.56046454e+01] [ 2.30834277e-02 -5.02355347e-04 9.99733416e-01 2.95565683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.123617865 meters 0.019856013040264176 Centerline is valid? [True, True] Translation: X:178.08, Y:-45.64, Z:2.96 [[ 8.61150528e-01 5.07984523e-01 -1.92741375e-02 1.78084950e+02] [-5.07845245e-01 8.61366073e-01 1.19036244e-02 -4.56361293e+01] [ 2.26489451e-02 -4.62533358e-04 9.99743373e-01 2.95580359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.183617865 meters 0.019778449850466832 Centerline is valid? [True, True] Translation: X:178.14, Y:-45.67, Z:2.96 [[ 8.60347698e-01 5.09317861e-01 -1.99287312e-02 1.78138235e+02] [-5.09169160e-01 8.60578361e-01 1.23146620e-02 -4.56677758e+01] [ 2.34223122e-02 -4.47795823e-04 9.99725560e-01 2.95547713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24361786499998 meters 0.01991605518585805 Centerline is valid? [True, True] Translation: X:178.19, Y:-45.70, Z:2.96 [[ 8.60522494e-01 5.09018709e-01 -2.00247636e-02 1.78190951e+02] [-5.08868333e-01 8.60755330e-01 1.23806550e-02 -4.57003694e+01] [ 2.35384070e-02 -4.63864043e-04 9.99722826e-01 2.95612092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30361786499998 meters 0.020075360056804617 Centerline is valid? [True, True] Translation: X:178.24, Y:-45.73, Z:2.96 [[ 8.60727927e-01 5.08699531e-01 -1.92930560e-02 1.78244169e+02] [-5.08559718e-01 8.60944002e-01 1.19347486e-02 -4.57329923e+01] [ 2.26814418e-02 -4.60900287e-04 9.99742637e-01 2.95758851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36361786499998 meters 0.02035529108872637 Centerline is valid? [True, True] Translation: X:178.30, Y:-45.77, Z:2.96 [[ 8.60511342e-01 5.09098303e-01 -1.84159752e-02 1.78296087e+02] [-5.08970869e-01 8.60708271e-01 1.13985330e-02 -4.57654782e+01] [ 2.16537559e-02 -4.35372054e-04 9.99765435e-01 2.95962056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42361786499998 meters 0.020027680174131354 Centerline is valid? [True, True] Translation: X:178.35, Y:-45.80, Z:2.96 [[ 8.59927357e-01 5.10093260e-01 -1.81605759e-02 1.78349769e+02] [-5.09969439e-01 8.60119003e-01 1.12459748e-02 -4.57972979e+01] [ 2.13567524e-02 -4.09382688e-04 9.99771835e-01 2.96095195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48361786499999 meters 0.01965098359213412 Centerline is valid? [True, True] Translation: X:178.40, Y:-45.83, Z:2.96 [[ 8.59325202e-01 5.11099065e-01 -1.83832443e-02 1.78403889e+02] [-5.10972288e-01 8.59521722e-01 1.13899291e-02 -4.58275332e+01] [ 2.16221800e-02 -3.94324750e-04 9.99766136e-01 2.96140117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.543617865 meters 0.019806218953219063 Centerline is valid? [True, True] Translation: X:178.46, Y:-45.86, Z:2.96 [[ 8.59141406e-01 5.11412800e-01 -1.82480829e-02 1.78457280e+02] [-5.11287817e-01 8.59335090e-01 1.13124291e-02 -4.58605115e+01] [ 2.14665390e-02 -3.88953781e-04 9.99769492e-01 2.96218364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.603617865 meters 0.019572695085229096 Centerline is valid? [True, True] Translation: X:178.51, Y:-45.89, Z:2.96 [[ 8.58306594e-01 5.12831055e-01 -1.77228502e-02 1.78511148e+02] [-5.12713334e-01 8.58489480e-01 1.09931507e-02 -4.58910209e+01] [ 2.08525095e-02 -3.48752142e-04 9.99782502e-01 2.96380058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.663617865 meters 0.019755664196277632 Centerline is valid? [True, True] Translation: X:178.56, Y:-45.92, Z:2.97 [[ 8.57847403e-01 5.13610872e-01 -1.73696501e-02 1.78563042e+02] [-5.13497845e-01 8.58023172e-01 1.07795492e-02 -4.59230215e+01] [ 2.04400560e-02 -3.27930414e-04 9.99791026e-01 2.96563820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.723617865 meters 0.019747920326883352 Centerline is valid? [True, True] Translation: X:178.62, Y:-45.96, Z:2.97 [[ 8.57703521e-01 5.13876132e-01 -1.66129673e-02 1.78616933e+02] [-5.13772691e-01 8.57864339e-01 1.03149606e-02 -4.59559957e+01] [ 1.95522842e-02 -3.11889081e-04 9.99808787e-01 2.96683582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.783617865 meters 0.01978925622862478 Centerline is valid? [True, True] Translation: X:178.67, Y:-45.99, Z:2.97 [[ 8.57453864e-01 5.14289900e-01 -1.66963900e-02 1.78671658e+02] [-5.14185374e-01 8.57616350e-01 1.03729368e-02 -4.59865750e+01] [ 1.96537937e-02 -3.09275217e-04 9.99806798e-01 2.96762343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.843617865 meters 0.01998247876138616 Centerline is valid? [True, True] Translation: X:178.73, Y:-46.02, Z:2.97 [[ 8.57184207e-01 5.14762309e-01 -1.59687427e-02 1.78725222e+02] [-5.14666674e-01 8.57332888e-01 9.92643874e-03 -4.60182844e+01] [ 1.88002848e-02 -2.90206850e-04 9.99823217e-01 2.96844024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.903617865 meters 0.02011417286470494 Centerline is valid? [True, True] Translation: X:178.78, Y:-46.05, Z:2.97 [[ 8.57240699e-01 5.14679880e-01 -1.55886358e-02 1.78778127e+02] [-5.14588635e-01 8.57382375e-01 9.69535855e-03 -4.60519595e+01] [ 1.83554276e-02 -2.89521118e-04 9.99831483e-01 2.97088472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96361786499997 meters 0.01970336036580499 Centerline is valid? [True, True] Translation: X:178.83, Y:-46.08, Z:2.97 [[ 8.57112016e-01 5.14892509e-01 -1.56427894e-02 1.78832507e+02] [-5.14800559e-01 8.57254700e-01 9.73470849e-03 -4.60829430e+01] [ 1.84221832e-02 -2.90818897e-04 9.99830255e-01 2.97247089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02361786499998 meters 0.019664991674232503 Centerline is valid? [True, True] Translation: X:178.89, Y:-46.11, Z:2.97 [[ 8.56471053e-01 5.15956730e-01 -1.56840035e-02 1.78886583e+02] [-5.15864367e-01 8.56614603e-01 9.76611568e-03 -4.61127811e+01] [ 1.84740396e-02 -2.73576818e-04 9.99829303e-01 2.97295238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08361786499998 meters 0.019464758743441567 Centerline is valid? [True, True] Translation: X:178.94, Y:-46.14, Z:2.97 [[ 8.55521440e-01 5.17546072e-01 -1.51370103e-02 1.78941770e+02] [-5.17460203e-01 8.55655309e-01 9.43025641e-03 -4.61417323e+01] [ 1.78326554e-02 -2.34986139e-04 9.99840958e-01 2.97384798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14361786499998 meters 0.019298251246158745 Centerline is valid? [True, True] Translation: X:179.00, Y:-46.17, Z:2.98 [[ 8.55171179e-01 5.18151028e-01 -1.42044697e-02 1.78997141e+02] [-5.18075425e-01 8.55289113e-01 8.85361949e-03 -4.61717603e+01] [ 1.67364404e-02 -2.12373521e-04 9.99859913e-01 2.97675983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20361786499998 meters 0.01955448331166657 Centerline is valid? [True, True] Translation: X:179.05, Y:-46.20, Z:2.98 [[ 8.55311741e-01 5.17932447e-01 -1.37042237e-02 1.79050292e+02] [-5.17861968e-01 8.55421496e-01 8.54675324e-03 -4.62032748e+01] [ 1.61495284e-02 -2.13242124e-04 9.99869565e-01 2.97877802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.263617865 meters 0.019408833422598245 Centerline is valid? [True, True] Translation: X:179.11, Y:-46.23, Z:2.98 [[ 8.55701593e-01 5.17310630e-01 -1.28255824e-02 1.79105976e+02] [-5.17248789e-01 8.55797679e-01 8.00147906e-03 -4.62318386e+01] [ 1.51153539e-02 -2.12861393e-04 9.99885734e-01 2.98087604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.323617865 meters 0.01984670002899591 Centerline is valid? [True, True] Translation: X:179.16, Y:-46.26, Z:2.98 [[ 8.56008885e-01 5.16801106e-01 -1.28610281e-02 1.79159639e+02] [-5.16738799e-01 8.56105464e-01 8.02792424e-03 -4.62613355e+01] [ 1.51592366e-02 -2.26182233e-04 9.99885067e-01 2.98264659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.383617865 meters 0.019750169802530176 Centerline is valid? [True, True] Translation: X:179.21, Y:-46.29, Z:2.98 [[ 8.55765297e-01 5.17204865e-01 -1.28407255e-02 1.79214866e+02] [-5.17142742e-01 8.55861600e-01 8.01912584e-03 -4.62912078e+01] [ 1.51374148e-02 -2.22001614e-04 9.99885398e-01 2.98369663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.443617865 meters 0.019427228911768284 Centerline is valid? [True, True] Translation: X:179.27, Y:-46.32, Z:2.98 [[ 8.55433375e-01 5.17730254e-01 -1.37522484e-02 1.79272005e+02] [-5.17658976e-01 8.55543880e-01 8.59388975e-03 -4.63190371e+01] [ 1.62149686e-02 -2.32525312e-04 9.99868502e-01 2.98426898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.503617865 meters 0.019948594678268435 Centerline is valid? [True, True] Translation: X:179.33, Y:-46.35, Z:2.98 [[ 8.55171798e-01 5.18126195e-01 -1.50479911e-02 1.79326510e+02] [-5.18040801e-01 8.55304146e-01 9.40987447e-03 -4.63491842e+01] [ 1.77461116e-02 -2.51585923e-04 9.99842494e-01 2.98444104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.563617865 meters 0.01980829190828452 Centerline is valid? [True, True] Translation: X:179.38, Y:-46.38, Z:2.99 [[ 8.55113347e-01 5.18215433e-01 -1.52947396e-02 1.79382173e+02] [-5.18127129e-01 8.55250079e-01 9.56973338e-03 -4.63792649e+01] [ 1.80400108e-02 -2.58587198e-04 9.99837232e-01 2.98545305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.623617865 meters 0.019661812732894936 Centerline is valid? [True, True] Translation: X:179.44, Y:-46.41, Z:2.99 [[ 8.55253127e-01 5.18007779e-01 -1.44924019e-02 1.79439328e+02] [-5.17928381e-01 8.55375869e-01 9.07281549e-03 -4.64070128e+01] [ 1.70962399e-02 -2.53527584e-04 9.99853816e-01 2.98740367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.683617865 meters 0.02005777632234248 Centerline is valid? [True, True] Translation: X:179.49, Y:-46.44, Z:2.99 [[ 8.55603697e-01 5.17450756e-01 -1.36758102e-02 1.79492420e+02] [-5.17379903e-01 8.55712949e-01 8.56653483e-03 -4.64372061e+01] [ 1.61353278e-02 -2.53969522e-04 9.99869785e-01 2.98910459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74361786499998 meters 0.02038627885790335 Centerline is valid? [True, True] Translation: X:179.55, Y:-46.47, Z:2.99 [[ 8.57246913e-01 5.14735934e-01 -1.32154413e-02 1.79547103e+02] [-5.14669387e-01 8.57348721e-01 8.28207071e-03 -4.64660358e+01] [ 1.55933211e-02 -2.98196480e-04 9.99878372e-01 2.99016423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80361786499998 meters 0.021809059087436626 Centerline is valid? [True, True] Translation: X:179.60, Y:-46.50, Z:2.99 [[ 8.59528630e-01 5.10894668e-01 -1.40418038e-02 1.79599259e+02] [-5.10818949e-01 8.59643229e-01 8.80453428e-03 -4.64979933e+01] [ 1.65691312e-02 -3.94929812e-04 9.99862645e-01 2.99080490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86361786499998 meters 0.022781287404456108 Centerline is valid? [True, True] Translation: X:179.65, Y:-46.53, Z:2.99 [[ 8.61728774e-01 5.07162378e-01 -1.44859691e-02 1.79652425e+02] [-5.07081190e-01 8.61850386e-01 9.08730399e-03 -4.65284414e+01] [ 1.70934768e-02 -4.85228859e-04 9.99853778e-01 2.99216896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92361786499998 meters 0.022822779013311985 Centerline is valid? [True, True] Translation: X:179.71, Y:-46.56, Z:2.99 [[ 8.62733912e-01 5.05451237e-01 -1.44652706e-02 1.79706853e+02] [-5.05370025e-01 8.62855015e-01 9.07526773e-03 -4.65590429e+01] [ 1.70685366e-02 -5.19227046e-04 9.99854187e-01 2.99359692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98361786499999 meters 0.022698377204123835 Centerline is valid? [True, True] Translation: X:179.76, Y:-46.59, Z:2.99 [[ 8.64181312e-01 5.02963582e-01 -1.47748029e-02 1.79761668e+02] [-5.02878410e-01 8.64307407e-01 9.27423747e-03 -4.65877783e+01] [ 1.74345752e-02 -5.84693340e-04 9.99847835e-01 2.99469789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.043617865 meters 0.023205243676452474 Centerline is valid? [True, True] Translation: X:179.82, Y:-46.62, Z:3.00 [[ 8.64988896e-01 5.01564276e-01 -1.50826402e-02 1.79815320e+02] [-5.01475255e-01 8.65120155e-01 9.47026019e-03 -4.66197884e+01] [ 1.77982402e-02 -6.28099057e-04 9.99841401e-01 2.99552481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.103617865 meters 0.02430438970616381 Centerline is valid? [True, True] Translation: X:179.87, Y:-46.65, Z:3.00 [[ 8.65789579e-01 5.00161522e-01 -1.57116753e-02 1.79868243e+02] [-5.00064588e-01 8.65931854e-01 9.87072996e-03 -4.66524769e+01] [ 1.85421994e-02 -6.89122720e-04 9.99827841e-01 2.99686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.163617865 meters 0.02389481370296172 Centerline is valid? [True, True] Translation: X:179.92, Y:-46.68, Z:3.00 [[ 8.65300182e-01 5.01033953e-01 -1.48517156e-02 1.79923032e+02] [-5.00947386e-01 8.65427392e-01 9.33517757e-03 -4.66824463e+01] [ 1.75303225e-02 -6.37802715e-04 9.99846129e-01 2.99884194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.223617865 meters 0.023963593244720024 Centerline is valid? [True, True] Translation: X:179.98, Y:-46.71, Z:3.00 [[ 8.64040210e-01 5.03203816e-01 -1.48470656e-02 1.79975182e+02] [-5.03117541e-01 8.64167555e-01 9.33684730e-03 -4.67124257e+01] [ 1.75286896e-02 -5.97592347e-04 9.99846182e-01 2.99988755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.283617865 meters 0.023313590171965562 Centerline is valid? [True, True] Translation: X:180.03, Y:-46.74, Z:3.00 [[ 8.61404480e-01 5.07706331e-01 -1.47174554e-02 1.80028173e+02] [-5.07622206e-01 8.61530051e-01 9.25566271e-03 -4.67404703e+01] [ 1.73786886e-02 -5.01962170e-04 9.99848853e-01 3.00055931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.343617865 meters 0.022117874242123553 Centerline is valid? [True, True] Translation: X:180.08, Y:-46.77, Z:3.00 [[ 8.59218655e-01 5.11380322e-01 -1.52796736e-02 1.80082521e+02] [-5.11290221e-01 8.59354391e-01 9.60941355e-03 -4.67699275e+01] [ 1.80447196e-02 -4.44239710e-04 9.99837082e-01 3.00170918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.403617865 meters 0.022098236372744665 Centerline is valid? [True, True] Translation: X:180.14, Y:-46.80, Z:3.00 [[ 8.58598948e-01 5.12414654e-01 -1.54618557e-02 1.80135683e+02] [-5.12322529e-01 8.58738050e-01 9.72561803e-03 -4.68023332e+01] [ 1.82612330e-02 -4.28948395e-04 9.99833158e-01 3.00296998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46361786499997 meters 0.022739768885800062 Centerline is valid? [True, True] Translation: X:180.19, Y:-46.84, Z:3.00 [[ 8.59090189e-01 5.11590083e-01 -1.54801382e-02 1.80186991e+02] [-5.11497518e-01 8.59229529e-01 9.74194765e-03 -4.68360778e+01] [ 1.82848757e-02 -4.51159358e-04 9.99832716e-01 3.00408205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52361786499998 meters 0.023769002861423177 Centerline is valid? [True, True] Translation: X:180.24, Y:-46.87, Z:3.01 [[ 8.60362734e-01 5.09457647e-01 -1.51285185e-02 1.80237269e+02] [-5.09368860e-01 8.60495594e-01 9.52349848e-03 -4.68713672e+01] [ 1.78698427e-02 -4.87666955e-04 9.99840203e-01 3.00548201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58361786499998 meters 0.02515289148518478 Centerline is valid? [True, True] Translation: X:180.29, Y:-46.91, Z:3.01 [[ 8.61422605e-01 5.07660010e-01 -1.52449899e-02 1.80287879e+02] [-5.07569487e-01 8.61557328e-01 9.60137941e-03 -4.69061301e+01] [ 1.80086691e-02 -5.32953574e-04 9.99837689e-01 3.00653959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64361786499998 meters 0.026456209063365505 Centerline is valid? [True, True] Translation: X:180.34, Y:-46.94, Z:3.01 [[ 8.62862113e-01 5.05180543e-01 -1.61738538e-02 1.80338736e+02] [-5.05078127e-01 8.63013459e-01 1.01909656e-02 -4.69409190e+01] [ 1.91065310e-02 -6.24338272e-04 9.99817259e-01 3.00654556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70361786499998 meters 0.02430359266810475 Centerline is valid? [True, True] Translation: X:180.39, Y:-46.97, Z:3.01 [[ 8.63235769e-01 5.04495667e-01 -1.75536365e-02 1.80393126e+02] [-5.04374816e-01 8.63413943e-01 1.10638520e-02 -4.69714058e+01] [ 2.07377199e-02 -6.97100597e-04 9.99784707e-01 3.00765068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.763617865 meters 0.024802685032578112 Centerline is valid? [True, True] Translation: X:180.44, Y:-47.01, Z:3.01 [[ 8.62825192e-01 5.05185183e-01 -1.79058573e-02 1.80444690e+02] [-5.05059456e-01 8.63010685e-01 1.12917848e-02 -4.70050076e+01] [ 2.11573886e-02 -6.99313888e-04 9.99775913e-01 3.00902829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.823617865 meters 0.023936546654588664 Centerline is valid? [True, True] Translation: X:180.50, Y:-47.04, Z:3.01 [[ 8.61665501e-01 5.07174596e-01 -1.75069368e-02 1.80499144e+02] [-5.07054708e-01 8.61843094e-01 1.10455670e-02 -4.70351011e+01] [ 2.06902636e-02 -6.40609252e-04 9.99785728e-01 3.01130252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.883617865 meters 0.023851931380438066 Centerline is valid? [True, True] Translation: X:180.55, Y:-47.07, Z:3.01 [[ 8.61074046e-01 5.08190644e-01 -1.71393050e-02 1.80552165e+02] [-5.08075827e-01 8.61244390e-01 1.08191835e-02 -4.70677188e+01] [ 2.02593381e-02 -6.08051542e-04 9.99794574e-01 3.01282070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.943617865 meters 0.02384739647611563 Centerline is valid? [True, True] Translation: X:180.60, Y:-47.10, Z:3.01 [[ 8.59601493e-01 5.10679494e-01 -1.70800710e-02 1.80604507e+02] [-5.10565847e-01 8.59770987e-01 1.07873009e-02 -4.70994732e+01] [ 2.01938029e-02 -5.52278993e-04 9.99795932e-01 3.01402445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.003617865 meters 0.022864235159814967 Centerline is valid? [True, True] Translation: X:180.66, Y:-47.13, Z:3.02 [[ 8.57732532e-01 5.13791674e-01 -1.76923461e-02 1.80658498e+02] [-5.13670301e-01 8.57914836e-01 1.11783987e-02 -4.71291665e+01] [ 2.09218944e-02 -5.00043444e-04 9.99780988e-01 3.01502489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.063617865 meters 0.022718809108935256 Centerline is valid? [True, True] Translation: X:180.71, Y:-47.16, Z:3.02 [[ 8.55947065e-01 5.16765526e-01 -1.75503171e-02 1.80711174e+02] [-5.16646676e-01 8.56126866e-01 1.10905941e-02 -4.71611041e+01] [ 2.07565347e-02 -4.25648478e-04 9.99784469e-01 3.01616970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.123617865 meters 0.020993460129861332 Centerline is valid? [True, True] Translation: X:180.77, Y:-47.19, Z:3.02 [[ 8.52735051e-01 5.22066742e-01 -1.70073318e-02 1.80766638e+02] [-5.21956096e-01 8.52904586e-01 1.07518067e-02 -4.71883363e+01] [ 2.01187919e-02 -2.91361911e-04 9.99797554e-01 3.01913824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.183617865 meters 0.020151270462995582 Centerline is valid? [True, True] Translation: X:180.82, Y:-47.22, Z:3.02 [[ 8.49567027e-01 5.27202250e-01 -1.71363401e-02 1.80821907e+02] [-5.27090922e-01 8.49739818e-01 1.08352122e-02 -4.72168642e+01] [ 2.02737787e-02 -1.72829752e-04 9.99794451e-01 3.02063305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24361786499998 meters 0.02018318010014997 Centerline is valid? [True, True] Translation: X:180.87, Y:-47.25, Z:3.02 [[ 8.48182177e-01 5.29427227e-01 -1.71407742e-02 1.80874200e+02] [-5.29316183e-01 8.48355347e-01 1.08435935e-02 -4.72489378e+01] [ 2.02823611e-02 -1.24453634e-04 9.99794284e-01 3.02068560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30361786499998 meters 0.019863618718137754 Centerline is valid? [True, True] Translation: X:180.93, Y:-47.28, Z:3.02 [[ 8.47435548e-01 5.30614169e-01 -1.73665068e-02 1.80928042e+02] [-5.30500312e-01 8.47613469e-01 1.09920867e-02 -4.72807329e+01] [ 2.05526420e-02 -1.02147689e-04 9.99788767e-01 3.02308052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36361786499998 meters 0.02005847555938989 Centerline is valid? [True, True] Translation: X:180.98, Y:-47.32, Z:3.02 [[ 8.47922433e-01 5.29833623e-01 -1.74321554e-02 1.80980484e+02] [-5.29718595e-01 8.48101595e-01 1.10405626e-02 -4.73156558e+01] [ 2.06339001e-02 -1.27403838e-04 9.99787090e-01 3.02404225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42361786499998 meters 0.02038531934315184 Centerline is valid? [True, True] Translation: X:181.03, Y:-47.35, Z:3.03 [[ 8.50025628e-01 5.26475678e-01 -1.67270101e-02 1.81029998e+02] [-5.26368997e-01 8.50190166e-01 1.06000509e-02 -4.73512374e+01] [ 1.98018084e-02 -2.05735367e-04 9.99803904e-01 3.02580118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48361786499999 meters 0.020914247209738605 Centerline is valid? [True, True] Translation: X:181.08, Y:-47.39, Z:3.03 [[ 8.53080801e-01 5.21508718e-01 -1.67870213e-02 1.81080564e+02] [-5.21400214e-01 8.53245891e-01 1.06426411e-02 -4.73880832e+01] [ 1.98736871e-02 -3.26276278e-04 9.99802446e-01 3.02735027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.543617865 meters 0.02190414590630832 Centerline is valid? [True, True] Translation: X:181.13, Y:-47.43, Z:3.03 [[ 8.56504600e-01 5.15857074e-01 -1.70689291e-02 1.81129382e+02] [-5.15743739e-01 8.56674536e-01 1.08229051e-02 -4.74261012e+01] [ 2.02055891e-02 -4.66674721e-04 9.99795737e-01 3.02800748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.603617865 meters 0.022745365638126024 Centerline is valid? [True, True] Translation: X:181.18, Y:-47.46, Z:3.03 [[ 8.58551903e-01 5.12452334e-01 -1.67700819e-02 1.81179964e+02] [-5.12342262e-01 8.58715503e-01 1.06343902e-02 -4.74622846e+01] [ 1.98503474e-02 -5.38154189e-04 9.99802818e-01 3.02891628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.663617865 meters 0.02347580023026267 Centerline is valid? [True, True] Translation: X:181.23, Y:-47.50, Z:3.03 [[ 8.59937242e-01 5.10113335e-01 -1.70975161e-02 1.81230688e+02] [-5.09998426e-01 8.60106981e-01 1.08437170e-02 -4.74986347e+01] [ 2.02372176e-02 -6.05209823e-04 9.99795023e-01 3.03051321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.723617865 meters 0.024000460808182102 Centerline is valid? [True, True] Translation: X:181.28, Y:-47.53, Z:3.03 [[ 8.60141685e-01 5.09780473e-01 -1.67377338e-02 1.81280587e+02] [-5.09670241e-01 8.60304311e-01 1.06178328e-02 -4.75345370e+01] [ 1.98123083e-02 -6.02115744e-04 9.99803536e-01 3.03251057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.783617865 meters 0.02353322229060668 Centerline is valid? [True, True] Translation: X:181.33, Y:-47.57, Z:3.03 [[ 8.59320592e-01 5.11174650e-01 -1.63889077e-02 1.81333765e+02] [-5.11069133e-01 8.59476679e-01 1.04009853e-02 -4.75675659e+01] [ 1.94026040e-02 -5.61916015e-04 9.99811594e-01 3.03333098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.843617865 meters 0.022525425325740065 Centerline is valid? [True, True] Translation: X:181.39, Y:-47.60, Z:3.03 [[ 8.56879716e-01 5.15269934e-01 -1.59388532e-02 1.81386929e+02] [-5.15170806e-01 8.57027820e-01 1.01171080e-02 -4.75995068e+01] [ 1.88730821e-02 -4.57912766e-04 9.99821783e-01 3.03491303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.903617865 meters 0.022388974758559395 Centerline is valid? [True, True] Translation: X:181.44, Y:-47.63, Z:3.04 [[ 8.54859974e-01 5.18604948e-01 -1.62274938e-02 1.81438113e+02] [-5.18502775e-01 8.55013891e-01 1.03013755e-02 -4.76319822e+01] [ 1.92170769e-02 -3.92233058e-04 9.99815258e-01 3.03586702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96361786499997 meters 0.02086339193009745 Centerline is valid? [True, True] Translation: X:181.49, Y:-47.66, Z:3.04 [[ 8.51521400e-01 5.24072912e-01 -1.60900154e-02 1.81492315e+02] [-5.23973427e-01 8.51673359e-01 1.02145535e-02 -4.76612400e+01] [ 1.90566083e-02 -2.67170351e-04 9.99818371e-01 3.03753757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02361786499998 meters 0.020480272431146564 Centerline is valid? [True, True] Translation: X:181.55, Y:-47.69, Z:3.04 [[ 8.48095533e-01 5.29611484e-01 -1.56730033e-02 1.81545483e+02] [-5.29518004e-01 8.48240329e-01 9.95122854e-03 -4.76929048e+01] [ 1.85647584e-02 -1.40455056e-04 9.99827650e-01 3.03881858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08361786499998 meters 0.020379170115245183 Centerline is valid? [True, True] Translation: X:181.60, Y:-47.73, Z:3.04 [[ 8.46303272e-01 5.32495439e-01 -1.48114707e-02 1.81597940e+02] [-5.32412311e-01 8.46432869e-01 9.40900604e-03 -4.77255072e+01] [ 1.75471684e-02 -7.70632728e-05 9.99846034e-01 3.04010314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14361786499998 meters 0.020240787013955965 Centerline is valid? [True, True] Translation: X:181.65, Y:-47.76, Z:3.04 [[ 8.45334922e-01 5.34013500e-01 -1.54418610e-02 1.81649882e+02] [-5.33923297e-01 8.45475948e-01 9.81494712e-03 -4.77612569e+01] [ 1.82970363e-02 -5.21482387e-05 9.99832594e-01 3.04109964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20361786499998 meters 0.020161778970812304 Centerline is valid? [True, True] Translation: X:181.70, Y:-47.80, Z:3.04 [[ 8.46429054e-01 5.32264785e-01 -1.58762348e-02 1.81700957e+02] [-5.32169011e-01 8.46577929e-01 1.00972420e-02 -4.77988043e+01] [ 1.88148763e-02 -9.77588659e-05 9.99822980e-01 3.04115905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.263617865 meters 0.020174988426511924 Centerline is valid? [True, True] Translation: X:181.75, Y:-47.84, Z:3.04 [[ 8.47961814e-01 5.29810534e-01 -1.61728186e-02 1.81751436e+02] [-5.29710582e-01 8.48116013e-01 1.02920924e-02 -4.78358763e+01] [ 1.91692854e-02 -1.60388142e-04 9.99816240e-01 3.04223399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.323617865 meters 0.020491589138505552 Centerline is valid? [True, True] Translation: X:181.80, Y:-47.88, Z:3.04 [[ 8.50423779e-01 5.25822042e-01 -1.70462650e-02 1.81800012e+02] [-5.25710075e-01 8.50594561e-01 1.08540213e-02 -4.78759442e+01] [ 2.02067440e-02 -2.69124586e-04 9.99795787e-01 3.04321211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.383617865 meters 0.02104079457885051 Centerline is valid? [True, True] Translation: X:181.85, Y:-47.91, Z:3.04 [[ 8.51965669e-01 5.23307851e-01 -1.74181670e-02 1.81848852e+02] [-5.23190306e-01 8.52143637e-01 1.10962111e-02 -4.79135723e+01] [ 2.06495146e-02 -3.40574762e-04 9.99786718e-01 3.04344466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.443617865 meters 0.021321882387674077 Centerline is valid? [True, True] Translation: X:181.90, Y:-47.95, Z:3.04 [[ 8.54018648e-01 5.19933998e-01 -1.79105237e-02 1.81898005e+02] [-5.19808909e-01 8.54206326e-01 1.14127376e-02 -4.79519750e+01] [ 2.12331530e-02 -4.36640966e-04 9.99774456e-01 3.04486648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.503617865 meters 0.021683630730709235 Centerline is valid? [True, True] Translation: X:181.95, Y:-47.99, Z:3.05 [[ 8.55680396e-01 5.17166322e-01 -1.87097744e-02 1.81945603e+02] [-5.17029089e-01 8.55884755e-01 1.19250704e-02 -4.79916935e+01] [ 2.21806555e-02 -5.30551335e-04 9.99753838e-01 3.04657665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.563617865 meters 0.022675098100814355 Centerline is valid? [True, True] Translation: X:181.99, Y:-48.03, Z:3.05 [[ 8.56364296e-01 5.16010502e-01 -1.93223977e-02 1.81992679e+02] [-5.15863714e-01 8.56582058e-01 1.23209915e-02 -4.80323421e+01] [ 2.29089802e-02 -5.83533385e-04 9.99737385e-01 3.04681434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.623617865 meters 0.02269427906470614 Centerline is valid? [True, True] Translation: X:182.04, Y:-48.07, Z:3.05 [[ 8.55929050e-01 5.16730244e-01 -1.93730929e-02 1.82042348e+02] [-5.16582770e-01 8.56148077e-01 1.23576531e-02 -4.80691789e+01] [ 2.29718093e-02 -5.69468319e-04 9.99735951e-01 3.04830441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.683617865 meters 0.020884549213811048 Centerline is valid? [True, True] Translation: X:182.09, Y:-48.10, Z:3.05 [[ 8.54296009e-01 5.19459986e-01 -1.84296669e-02 1.82093976e+02] [-5.19327032e-01 8.54494643e-01 1.17617270e-02 -4.81035291e+01] [ 2.18577982e-02 -4.76972179e-04 9.99760976e-01 3.05212616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74361786499998 meters 0.0204248216231528 Centerline is valid? [True, True] Translation: X:182.14, Y:-48.14, Z:3.05 [[ 8.52628700e-01 5.22191468e-01 -1.84491287e-02 1.82144984e+02] [-5.22058732e-01 8.52828177e-01 1.17805047e-02 -4.81385998e+01] [ 2.18856158e-02 -4.12867642e-04 9.99760396e-01 3.05379569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80361786499998 meters 0.0200020707647832 Centerline is valid? [True, True] Translation: X:182.20, Y:-48.17, Z:3.05 [[ 8.50860768e-01 5.25066659e-01 -1.84650357e-02 1.82197004e+02] [-5.24934247e-01 8.51061035e-01 1.17962419e-02 -4.81735906e+01] [ 2.19086857e-02 -3.44029783e-04 9.99759917e-01 3.05480702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86361786499998 meters 0.01944577301232087 Centerline is valid? [True, True] Translation: X:182.25, Y:-48.21, Z:3.06 [[ 8.47916391e-01 5.29795532e-01 -1.88278492e-02 1.82248230e+02] [-5.29658927e-01 8.48125369e-01 1.20324406e-02 -4.82090493e+01] [ 2.23431098e-02 -2.30165168e-04 9.99750335e-01 3.05571099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92361786499998 meters 0.019184124326286627 Centerline is valid? [True, True] Translation: X:182.30, Y:-48.24, Z:3.06 [[ 8.46167606e-01 5.32569818e-01 -1.92294397e-02 1.82299679e+02] [-5.32427884e-01 8.46386060e-01 1.22957827e-02 -4.82436138e+01] [ 2.28238925e-02 -1.66003133e-04 9.99739487e-01 3.05648452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98361786499999 meters 0.019081348201081788 Centerline is valid? [True, True] Translation: X:182.35, Y:-48.28, Z:3.06 [[ 8.44559184e-01 5.35102581e-01 -1.96217350e-02 1.82348790e+02] [-5.34955325e-01 8.44787084e-01 1.25532266e-02 -4.82794817e+01] [ 2.32934522e-02 -1.05191159e-04 9.99728665e-01 3.05737818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.043617865 meters 0.01900384916033482 Centerline is valid? [True, True] Translation: X:182.40, Y:-48.32, Z:3.06 [[ 8.44290229e-01 5.35545927e-01 -1.90937063e-02 1.82400491e+02] [-5.35406463e-01 8.44506099e-01 1.22216466e-02 -4.83158045e+01] [ 2.26700044e-02 -9.57230639e-05 9.99742998e-01 3.05911759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.103617865 meters 0.01907820678444675 Centerline is valid? [True, True] Translation: X:182.45, Y:-48.35, Z:3.06 [[ 8.45165110e-01 5.34158863e-01 -1.92417851e-02 1.82450984e+02] [-5.34016700e-01 8.45384108e-01 1.23237644e-02 -4.83539170e+01] [ 2.28495473e-02 -1.40181100e-04 9.99738905e-01 3.05997699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.163617865 meters 0.019495273062794645 Centerline is valid? [True, True] Translation: X:182.50, Y:-48.39, Z:3.06 [[ 8.47405589e-01 5.30606163e-01 -1.89965062e-02 1.82499296e+02] [-5.30466553e-01 8.47618453e-01 1.21734674e-02 -4.83929013e+01] [ 2.25611060e-02 -2.38853201e-04 9.99745437e-01 3.06146776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.223617865 meters 0.020200288057433992 Centerline is valid? [True, True] Translation: X:182.55, Y:-48.43, Z:3.06 [[ 8.49320863e-01 5.27565827e-01 -1.81209875e-02 1.82548812e+02] [-5.27437975e-01 8.49514098e-01 1.16181068e-02 -4.84304499e+01] [ 2.15233505e-02 -3.09803545e-04 9.99768298e-01 3.06261287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.283617865 meters 0.020457353524114968 Centerline is valid? [True, True] Translation: X:182.60, Y:-48.47, Z:3.06 [[ 8.51984138e-01 5.23271598e-01 -1.76029469e-02 1.82599118e+02] [-5.23149937e-01 8.52165868e-01 1.12905708e-02 -4.84669804e+01] [ 2.09086655e-02 -4.10406683e-04 9.99781306e-01 3.06434228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.343617865 meters 0.021195377094974148 Centerline is valid? [True, True] Translation: X:182.65, Y:-48.50, Z:3.06 [[ 8.53186105e-01 5.21301268e-01 -1.78454045e-02 1.82648312e+02] [-5.21175743e-01 8.53372586e-01 1.14487895e-02 -4.85036421e+01] [ 2.11970475e-02 -4.67356165e-04 9.99775208e-01 3.06430721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.403617865 meters 0.022847094597076446 Centerline is valid? [True, True] Translation: X:182.70, Y:-48.54, Z:3.06 [[ 8.53175056e-01 5.21329631e-01 -1.75425012e-02 1.82697642e+02] [-5.21208222e-01 8.53355261e-01 1.12600156e-02 -4.85414600e+01] [ 2.08401655e-02 -4.63468594e-04 9.99782713e-01 3.06424861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46361786499997 meters 0.022707914250175067 Centerline is valid? [True, True] Translation: X:182.75, Y:-48.58, Z:3.07 [[ 8.52759941e-01 5.22023052e-01 -1.71001957e-02 1.82749371e+02] [-5.21907712e-01 8.52931263e-01 1.09818404e-02 -4.85758088e+01] [ 2.03180654e-02 -4.40149598e-04 9.99793470e-01 3.06541994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52361786499998 meters 0.022624532313399434 Centerline is valid? [True, True] Translation: X:182.80, Y:-48.61, Z:3.07 [[ 8.51940693e-01 5.23392163e-01 -1.60529977e-02 1.82800580e+02] [-5.23290674e-01 8.52091835e-01 1.03138956e-02 -4.86090254e+01] [ 1.90768404e-02 -3.86443362e-04 9.99817946e-01 3.06761666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58361786499998 meters 0.020319100254007474 Centerline is valid? [True, True] Translation: X:182.86, Y:-48.64, Z:3.07 [[ 8.50415604e-01 5.25895352e-01 -1.50791130e-02 1.82856417e+02] [-5.25806124e-01 8.50549223e-01 9.69225762e-03 -4.86364565e+01] [ 1.79226410e-02 -3.13757181e-04 9.99839327e-01 3.06991574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64361786499998 meters 0.019941677462182034 Centerline is valid? [True, True] Translation: X:182.91, Y:-48.67, Z:3.07 [[ 8.49291048e-01 5.27728393e-01 -1.44034397e-02 1.82909830e+02] [-5.27647167e-01 8.49413134e-01 9.26257632e-03 -4.86681484e+01] [ 1.71225953e-02 -2.66689021e-04 9.99853362e-01 3.07137720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70361786499998 meters 0.019756122125103394 Centerline is valid? [True, True] Translation: X:182.96, Y:-48.70, Z:3.07 [[ 8.47331048e-01 5.30864949e-01 -1.45774130e-02 1.82962595e+02] [-5.30782125e-01 8.47456407e-01 9.37946466e-03 -4.86998566e+01] [ 1.73329511e-02 -2.10081347e-04 9.99849751e-01 3.07234806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.763617865 meters 0.01968025062836368 Centerline is valid? [True, True] Translation: X:183.01, Y:-48.73, Z:3.07 [[ 8.46414894e-01 5.32315062e-01 -1.49165006e-02 1.83014454e+02] [-5.32228478e-01 8.46546301e-01 9.60252386e-03 -4.87317477e+01] [ 1.77390765e-02 -1.88732809e-04 9.99842632e-01 3.07266176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.823617865 meters 0.019591340215105692 Centerline is valid? [True, True] Translation: X:183.07, Y:-48.76, Z:3.07 [[ 8.45393811e-01 5.33912007e-01 -1.57249071e-02 1.83066047e+02] [-5.33815996e-01 8.45540029e-01 1.01262603e-02 -4.87638123e+01] [ 1.87025704e-02 -1.66470784e-04 9.99825078e-01 3.07215660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.883617865 meters 0.01942350577233622 Centerline is valid? [True, True] Translation: X:183.12, Y:-48.80, Z:3.07 [[ 8.45061040e-01 5.34451649e-01 -1.52733093e-02 1.83119597e+02] [-5.34361079e-01 8.45199036e-01 9.84003776e-03 -4.87966197e+01] [ 1.81680108e-02 -1.53970478e-04 9.99834936e-01 3.07361329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.943617865 meters 0.019588345071421587 Centerline is valid? [True, True] Translation: X:183.17, Y:-48.83, Z:3.07 [[ 8.46239244e-01 5.32589926e-01 -1.50702616e-02 1.83171041e+02] [-5.32501352e-01 8.46373400e-01 9.71484210e-03 -4.88310194e+01] [ 1.79290956e-02 -1.96145957e-04 9.99839242e-01 3.07483524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.003617865 meters 0.020885559574131254 Centerline is valid? [True, True] Translation: X:183.22, Y:-48.87, Z:3.08 [[ 8.48653110e-01 5.28746670e-01 -1.46580690e-02 1.83220195e+02] [-5.28662216e-01 8.48779644e-01 9.45396556e-03 -4.88682175e+01] [ 1.74402234e-02 -2.73970043e-04 9.99847870e-01 3.07538994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.063617865 meters 0.021207025113584917 Centerline is valid? [True, True] Translation: X:183.27, Y:-48.90, Z:3.08 [[ 8.50620681e-01 5.25578277e-01 -1.45578869e-02 1.83271256e+02] [-5.25494430e-01 8.50745179e-01 9.39388402e-03 -4.89030034e+01] [ 1.73222734e-02 -3.40543562e-04 9.99849900e-01 3.07602309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.123617865 meters 0.022024687059195563 Centerline is valid? [True, True] Translation: X:183.32, Y:-48.94, Z:3.08 [[ 8.53957534e-01 5.20137517e-01 -1.46114059e-02 1.83320200e+02] [-5.20052173e-01 8.54082405e-01 9.43305010e-03 -4.89390436e+01] [ 1.73858279e-02 -4.56730839e-04 9.99848751e-01 3.07712112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.183617865 meters 0.023150272016846277 Centerline is valid? [True, True] Translation: X:183.37, Y:-48.97, Z:3.08 [[ 8.55992746e-01 5.16782643e-01 -1.45642693e-02 1.83369554e+02] [-5.16697316e-01 8.56116478e-01 9.40532604e-03 -4.89748378e+01] [ 1.73292202e-02 -5.25571992e-04 9.99849700e-01 3.07820308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24361786499998 meters 0.023796627206963888 Centerline is valid? [True, True] Translation: X:183.42, Y:-49.01, Z:3.08 [[ 8.58104216e-01 5.13276889e-01 -1.42825165e-02 1.83420237e+02] [-5.13194310e-01 8.58222868e-01 9.22544823e-03 -4.90093431e+01] [ 1.69927917e-02 -5.86689802e-04 9.99855440e-01 3.07884173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30361786499998 meters 0.02411952490911674 Centerline is valid? [True, True] Translation: X:183.47, Y:-49.04, Z:3.08 [[ 8.59324907e-01 5.11227685e-01 -1.43860317e-02 1.83471566e+02] [-5.11143604e-01 8.59445085e-01 9.29313379e-03 -4.90437660e+01] [ 1.71149115e-02 -6.32493261e-04 9.99853329e-01 3.07977074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36361786499998 meters 0.024980415564249125 Centerline is valid? [True, True] Translation: X:183.52, Y:-49.08, Z:3.08 [[ 8.59298851e-01 5.11293882e-01 -1.35665228e-02 1.83522642e+02] [-5.11219081e-01 8.59405730e-01 8.76590913e-03 -4.90790620e+01] [ 1.61411031e-02 -5.97070339e-04 9.99869546e-01 3.08111496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42361786499998 meters 0.023748734227009814 Centerline is valid? [True, True] Translation: X:183.58, Y:-49.11, Z:3.08 [[ 8.57597394e-01 5.14171526e-01 -1.24238510e-02 1.83575816e+02] [-5.14109032e-01 8.57687233e-01 8.03197926e-03 -4.91096010e+01] [ 1.47855934e-02 -5.00990474e-04 9.99890562e-01 3.08317824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48361786499999 meters 0.022587545193984707 Centerline is valid? [True, True] Translation: X:183.63, Y:-49.14, Z:3.08 [[ 8.53713811e-01 5.20624137e-01 -1.11012129e-02 1.83628308e+02] [-5.20574777e-01 8.53785914e-01 7.17744325e-03 -4.91387498e+01] [ 1.32148094e-02 -3.48470985e-04 9.99912620e-01 3.08474244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.543617865 meters 0.021615389865535475 Centerline is valid? [True, True] Translation: X:183.68, Y:-49.17, Z:3.09 [[ 8.50881185e-01 5.25238294e-01 -1.12224710e-02 1.83681868e+02] [-5.25188248e-01 8.50955143e-01 7.25592388e-03 -4.91696732e+01] [ 1.33609085e-02 -2.80019243e-04 9.99910700e-01 3.08531276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.603617865 meters 0.020403778541699398 Centerline is valid? [True, True] Translation: X:183.74, Y:-49.20, Z:3.08 [[ 8.47330158e-01 5.30935982e-01 -1.17722638e-02 1.83735558e+02] [-5.30881446e-01 8.47411909e-01 7.61232256e-03 -4.91991444e+01] [ 1.40176124e-02 -2.00474077e-04 9.99901728e-01 3.08493079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.663617865 meters 0.02010219191343817 Centerline is valid? [True, True] Translation: X:183.79, Y:-49.23, Z:3.08 [[ 8.45120551e-01 5.34440235e-01 -1.20370604e-02 1.83787610e+02] [-5.34383568e-01 8.45206256e-01 7.78380212e-03 -4.92309092e+01] [ 1.43337758e-02 -1.45843819e-04 9.99897256e-01 3.08489645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.723617865 meters 0.02001875399226872 Centerline is valid? [True, True] Translation: X:183.84, Y:-49.26, Z:3.09 [[ 8.44531132e-01 5.35368091e-01 -1.21727040e-02 1.83839696e+02] [-5.35310181e-01 8.44618842e-01 7.87535640e-03 -4.92645471e+01] [ 1.44975097e-02 -1.34811286e-04 9.99894896e-01 3.08613856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.783617865 meters 0.020017037727746868 Centerline is valid? [True, True] Translation: X:183.89, Y:-49.30, Z:3.09 [[ 8.44394596e-01 5.35588463e-01 -1.19484083e-02 1.83892484e+02] [-5.35532635e-01 8.44479118e-01 7.73402911e-03 -4.92989274e+01] [ 1.42324381e-02 -1.31809803e-04 9.99898705e-01 3.08683734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.843617865 meters 0.02018089197669602 Centerline is valid? [True, True] Translation: X:183.94, Y:-49.33, Z:3.09 [[ 8.45175320e-01 5.34361886e-01 -1.16641748e-02 1.83943568e+02] [-5.34308505e-01 8.45255790e-01 7.55451749e-03 -4.93343929e+01] [ 1.38960575e-02 -1.52623919e-04 9.99903433e-01 3.08826881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.903617865 meters 0.020888891890911414 Centerline is valid? [True, True] Translation: X:183.99, Y:-49.37, Z:3.09 [[ 8.46992651e-01 5.31463610e-01 -1.22426030e-02 1.83992975e+02] [-5.31404433e-01 8.47081098e-01 7.93363440e-03 -4.93712851e+01] [ 1.45869156e-02 -2.13956502e-04 9.99893582e-01 3.08873559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96361786499997 meters 0.02136426733651154 Centerline is valid? [True, True] Translation: X:184.04, Y:-49.41, Z:3.09 [[ 8.48306290e-01 5.29349168e-01 -1.28800955e-02 1.84043638e+02] [-5.29283388e-01 8.48404024e-01 8.34903643e-03 -4.94069531e+01] [ 1.53470803e-02 -2.65319546e-04 9.99882191e-01 3.08916201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02361786499998 meters 0.02254543149899171 Centerline is valid? [True, True] Translation: X:184.09, Y:-49.44, Z:3.09 [[ 8.51062745e-01 5.24880446e-01 -1.38824086e-02 1.84093435e+02] [-5.24803356e-01 8.51175878e-01 9.00347077e-03 -4.94444649e+01] [ 1.65421171e-02 -3.76983905e-04 9.99863099e-01 3.08999882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08361786499998 meters 0.02458210326976416 Centerline is valid? [True, True] Translation: X:184.14, Y:-49.48, Z:3.09 [[ 8.54190919e-01 5.19758987e-01 -1.44384517e-02 1.84141640e+02] [-5.19674840e-01 8.54312794e-01 9.36541473e-03 -4.94830264e+01] [ 1.72027125e-02 -4.96552126e-04 9.99851899e-01 3.09184327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14361786499998 meters 0.02655993901198867 Centerline is valid? [True, True] Translation: X:184.19, Y:-49.52, Z:3.09 [[ 8.56370036e-01 5.16151400e-01 -1.47680088e-02 1.84189191e+02] [-5.16062820e-01 8.56497164e-01 9.57985560e-03 -4.95202699e+01] [ 1.75934135e-02 -5.82681035e-04 9.99845054e-01 3.09371689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20361786499998 meters 0.02443767748255945 Centerline is valid? [True, True] Translation: X:184.24, Y:-49.55, Z:3.10 [[ 8.56271805e-01 5.16321572e-01 -1.45131046e-02 1.84244648e+02] [-5.16236034e-01 8.56394599e-01 9.41523953e-03 -4.95507987e+01] [ 1.72902356e-02 -5.69816605e-04 9.99850350e-01 3.09586546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.263617865 meters 0.023580150244064336 Centerline is valid? [True, True] Translation: X:184.30, Y:-49.58, Z:3.10 [[ 8.54859386e-01 5.18656605e-01 -1.45174464e-02 1.84298143e+02] [-5.18571263e-01 8.54982484e-01 9.42325025e-03 -4.95820624e+01] [ 1.72995934e-02 -5.27223390e-04 9.99850212e-01 3.09733471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.323617865 meters 0.02369822802818332 Centerline is valid? [True, True] Translation: X:184.35, Y:-49.62, Z:3.10 [[ 8.52658012e-01 5.22268450e-01 -1.44906971e-02 1.84348652e+02] [-5.22183924e-01 8.52781015e-01 9.40691391e-03 -4.96157466e+01] [ 1.72703257e-02 -4.54071453e-04 9.99850754e-01 3.09879892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.383617865 meters 0.022198189032174485 Centerline is valid? [True, True] Translation: X:184.40, Y:-49.65, Z:3.10 [[ 8.50763510e-01 5.25341918e-01 -1.47417702e-02 1.84402531e+02] [-5.25254883e-01 8.50891127e-01 9.57065623e-03 -4.96463083e+01] [ 1.75715084e-02 -3.99178297e-04 9.99845529e-01 3.10027255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.443617865 meters 0.021544206542265507 Centerline is valid? [True, True] Translation: X:184.45, Y:-49.68, Z:3.10 [[ 8.47431964e-01 5.30700833e-01 -1.46864601e-02 1.84454265e+02] [-5.30615234e-01 8.47559168e-01 9.53575347e-03 -4.96769898e+01] [ 1.75082762e-02 -2.88042827e-04 9.99846677e-01 3.10149030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.503617865 meters 0.020763666305354395 Centerline is valid? [True, True] Translation: X:184.51, Y:-49.71, Z:3.10 [[ 8.44398074e-01 5.35516006e-01 -1.46458164e-02 1.84508542e+02] [-5.35431593e-01 8.44525057e-01 9.50984565e-03 -4.97083495e+01] [ 1.74614335e-02 -1.88262570e-04 9.99847520e-01 3.10320441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.563617865 meters 0.020589616805995584 Centerline is valid? [True, True] Translation: X:184.56, Y:-49.74, Z:3.10 [[ 8.42642681e-01 5.38260728e-01 -1.51228373e-02 1.84560231e+02] [-5.38171127e-01 8.42778363e-01 9.82183709e-03 -4.97401983e+01] [ 1.80319092e-02 -1.37624753e-04 9.99837402e-01 3.10377847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.623617865 meters 0.020400965783850245 Centerline is valid? [True, True] Translation: X:184.61, Y:-49.77, Z:3.10 [[ 8.40591942e-01 5.41451977e-01 -1.53279095e-02 1.84613931e+02] [-5.41360368e-01 8.40731676e-01 9.95994917e-03 -4.97718672e+01] [ 1.82794932e-02 -7.43302691e-05 9.99832913e-01 3.10438139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.683617865 meters 0.020419703377818434 Centerline is valid? [True, True] Translation: X:184.67, Y:-49.81, Z:3.11 [[ 8.39603258e-01 5.42991488e-01 -1.50537104e-02 1.84666242e+02] [-5.42903284e-01 8.39738199e-01 9.78680973e-03 -4.98054388e+01] [ 1.79553300e-02 -4.43285141e-05 9.99838789e-01 3.10619593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74361786499998 meters 0.020425864211293256 Centerline is valid? [True, True] Translation: X:184.72, Y:-49.84, Z:3.11 [[ 8.39573580e-01 5.43020987e-01 -1.56336658e-02 1.84718770e+02] [-5.42925752e-01 8.39719123e-01 1.01696785e-02 -4.98394169e+01] [ 1.86502370e-02 -5.02736565e-05 9.99826068e-01 3.10726361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80361786499998 meters 0.020414116778756018 Centerline is valid? [True, True] Translation: X:184.77, Y:-49.87, Z:3.11 [[ 8.39640125e-01 5.42911320e-01 -1.58669261e-02 1.84771672e+02] [-5.42813085e-01 8.39790031e-01 1.03275693e-02 -4.98740991e+01] [ 1.89318406e-02 -5.86664587e-05 9.99820775e-01 3.10881692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86361786499998 meters 0.020430388902058498 Centerline is valid? [True, True] Translation: X:184.82, Y:-49.91, Z:3.11 [[ 8.40563880e-01 5.41470910e-01 -1.61746016e-02 1.84824554e+02] [-5.41368438e-01 8.40719480e-01 1.05342671e-02 -4.99087869e+01] [ 1.93023018e-02 -9.83056084e-05 9.99813688e-01 3.10955413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92361786499998 meters 0.0205570317983985 Centerline is valid? [True, True] Translation: X:184.88, Y:-49.94, Z:3.11 [[ 8.41121192e-01 5.40606171e-01 -1.61278595e-02 1.84876216e+02] [-5.40504006e-01 8.41275789e-01 1.05102842e-02 -4.99433887e+01] [ 1.92499022e-02 -1.23250098e-04 9.99814696e-01 3.11002127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98361786499999 meters 0.020502734901730654 Centerline is valid? [True, True] Translation: X:184.93, Y:-49.98, Z:3.11 [[ 8.41375131e-01 5.40202496e-01 -1.64058742e-02 1.84929542e+02] [-5.40096578e-01 8.41535052e-01 1.06977771e-02 -4.99770096e+01] [ 1.95850841e-02 -1.40087023e-04 9.99808184e-01 3.11178537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.043617865 meters 0.02063036847372097 Centerline is valid? [True, True] Translation: X:184.98, Y:-50.01, Z:3.11 [[ 8.41122983e-01 5.40604137e-01 -1.61026332e-02 1.84981150e+02] [-5.40502053e-01 8.41277094e-01 1.05062630e-02 -5.00104276e+01] [ 1.92265057e-02 -1.33552939e-04 9.99815145e-01 3.11295999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.103617865 meters 0.02053954273481526 Centerline is valid? [True, True] Translation: X:185.04, Y:-50.04, Z:3.11 [[ 8.40509813e-01 5.41550402e-01 -1.63222735e-02 1.85035384e+02] [-5.41445573e-01 8.40668275e-01 1.06557020e-02 -5.00421644e+01] [ 1.94922172e-02 -1.18599352e-04 9.99810002e-01 3.11462540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.163617865 meters 0.020626115970886635 Centerline is valid? [True, True] Translation: X:185.09, Y:-50.07, Z:3.12 [[ 8.40179808e-01 5.42058939e-01 -1.64315657e-02 1.85088856e+02] [-5.41952671e-01 8.40340463e-01 1.07335145e-02 -5.00749553e+01] [ 1.96263070e-02 -1.12951222e-04 9.99807379e-01 3.11508671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.223617865 meters 0.020746623521909938 Centerline is valid? [True, True] Translation: X:185.14, Y:-50.11, Z:3.12 [[ 8.39838251e-01 5.42581088e-01 -1.66576023e-02 1.85142042e+02] [-5.42471847e-01 8.40003424e-01 1.08877432e-02 -5.01084179e+01] [ 1.98999265e-02 -1.07662914e-04 9.99801971e-01 3.11601433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.283617865 meters 0.020758644131456748 Centerline is valid? [True, True] Translation: X:185.20, Y:-50.14, Z:3.12 [[ 8.39101522e-01 5.43707465e-01 -1.70536893e-02 1.85196589e+02] [-5.43593062e-01 8.39274797e-01 1.11534288e-02 -5.01406762e+01] [ 2.03769342e-02 -8.85919118e-05 9.99792365e-01 3.11671340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.343617865 meters 0.020757603410699203 Centerline is valid? [True, True] Translation: X:185.25, Y:-50.17, Z:3.12 [[ 8.38674946e-01 5.44366947e-01 -1.69988726e-02 1.85249369e+02] [-5.44253281e-01 8.38847198e-01 1.11240479e-02 -5.01730264e+01] [ 2.03150207e-02 -7.77680695e-05 9.99793626e-01 3.11790622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.403617865 meters 0.020776664280590763 Centerline is valid? [True, True] Translation: X:185.30, Y:-50.21, Z:3.12 [[ 8.38518195e-01 5.44617357e-01 -1.67084370e-02 1.85302872e+02] [-5.44507472e-01 8.38684642e-01 1.09400260e-02 -5.02065283e+01] [ 1.99712376e-02 -7.55420893e-05 9.99800552e-01 3.12004082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46361786499997 meters 0.020837075433021268 Centerline is valid? [True, True] Translation: X:185.36, Y:-50.24, Z:3.12 [[ 8.38635777e-01 5.44428170e-01 -1.69706150e-02 1.85356429e+02] [-5.44314632e-01 8.38807463e-01 1.11185149e-02 -5.02398818e+01] [ 2.02883112e-02 -8.70303224e-05 9.99794167e-01 3.12141865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52361786499998 meters 0.02082698649829629 Centerline is valid? [True, True] Translation: X:185.41, Y:-50.27, Z:3.12 [[ 8.38860546e-01 5.44067369e-01 -1.74264888e-02 1.85409244e+02] [-5.43947425e-01 8.39041529e-01 1.14241571e-02 -5.02731222e+01] [ 2.08370589e-02 -1.04180965e-04 9.99782879e-01 3.12141965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58361786499998 meters 0.020861923323902506 Centerline is valid? [True, True] Translation: X:185.46, Y:-50.31, Z:3.12 [[ 8.38794073e-01 5.44148829e-01 -1.80708276e-02 1.85461870e+02] [-5.44019719e-01 8.38988700e-01 1.18535127e-02 -5.03071701e+01] [ 2.16112952e-02 -1.11769648e-04 9.99766442e-01 3.12205014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64361786499998 meters 0.020786682223111898 Centerline is valid? [True, True] Translation: X:185.51, Y:-50.34, Z:3.12 [[ 8.39006605e-01 5.43818921e-01 -1.81355221e-02 1.85514062e+02] [-5.43688669e-01 8.39202577e-01 1.19023327e-02 -5.03405831e+01] [ 2.16920906e-02 -1.26057924e-04 9.99764691e-01 3.12310071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70361786499998 meters 0.020772643554351093 Centerline is valid? [True, True] Translation: X:185.57, Y:-50.37, Z:3.12 [[ 8.39155914e-01 5.43608627e-01 -1.75217819e-02 1.85567316e+02] [-5.43486899e-01 8.39338813e-01 1.15042356e-02 -5.03748315e+01] [ 2.09605133e-02 -1.30988435e-04 9.99780296e-01 3.12466272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.763617865 meters 0.020755926791039905 Centerline is valid? [True, True] Translation: X:185.62, Y:-50.41, Z:3.13 [[ 8.39493238e-01 5.43108006e-01 -1.68759121e-02 1.85621633e+02] [-5.42994859e-01 8.39662833e-01 1.10864570e-02 -5.04075025e+01] [ 2.01912197e-02 -1.43472127e-04 9.99796126e-01 3.12669933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.823617865 meters 0.02073351539579007 Centerline is valid? [True, True] Translation: X:185.68, Y:-50.44, Z:3.13 [[ 8.39607446e-01 5.42931095e-01 -1.68867662e-02 1.85675042e+02] [-5.42817631e-01 8.39777234e-01 1.11002723e-02 -5.04409588e+01] [ 2.02078048e-02 -1.53436890e-04 9.99795790e-01 3.12783866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.883617865 meters 0.020861604399997506 Centerline is valid? [True, True] Translation: X:185.73, Y:-50.47, Z:3.13 [[ 8.40081457e-01 5.42179030e-01 -1.74655509e-02 1.85726864e+02] [-5.42057351e-01 8.40262974e-01 1.14874841e-02 -5.04730255e+01] [ 2.09039288e-02 -1.83092137e-04 9.99781472e-01 3.12819017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.943617865 meters 0.02121885786981563 Centerline is valid? [True, True] Translation: X:185.78, Y:-50.51, Z:3.13 [[ 8.41279021e-01 5.40327493e-01 -1.71990733e-02 1.85779361e+02] [-5.40209000e-01 8.41454780e-01 1.13176594e-02 -5.05054712e+01] [ 2.05874850e-02 -2.30215263e-04 9.99788029e-01 3.12914920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.003617865 meters 0.021706844055031378 Centerline is valid? [True, True] Translation: X:185.83, Y:-50.54, Z:3.13 [[ 8.43396277e-01 5.37031599e-01 -1.67266677e-02 1.85830747e+02] [-5.36918767e-01 8.43562071e-01 1.10122623e-02 -5.05397041e+01] [ 2.00239152e-02 -3.06839215e-04 9.99799454e-01 3.13058468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.063617865 meters 0.02266077041361685 Centerline is valid? [True, True] Translation: X:185.88, Y:-50.58, Z:3.13 [[ 8.44880127e-01 5.34708485e-01 -1.62605928e-02 1.85880608e+02] [-5.34601321e-01 8.45036514e-01 1.07106708e-02 -5.05755052e+01] [ 1.94678812e-02 -3.56298553e-04 9.99810419e-01 3.13194623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.123617865 meters 0.022871868905070765 Centerline is valid? [True, True] Translation: X:185.93, Y:-50.61, Z:3.13 [[ 8.46918452e-01 5.31512801e-01 -1.49424784e-02 1.85932893e+02] [-5.31421733e-01 8.47050166e-01 9.84671836e-03 -5.06081824e+01] [ 1.78906857e-02 -3.98609696e-04 9.99839869e-01 3.13353055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.183617865 meters 0.023745139662259624 Centerline is valid? [True, True] Translation: X:185.98, Y:-50.64, Z:3.13 [[ 8.47810510e-01 5.30095180e-01 -1.47118682e-02 1.85982876e+02] [-5.30006611e-01 8.47938040e-01 9.69914572e-03 -5.06429243e+01] [ 1.76162231e-02 -4.25650266e-04 9.99844732e-01 3.13436029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24361786499998 meters 0.023841540206918768 Centerline is valid? [True, True] Translation: X:186.04, Y:-50.68, Z:3.14 [[ 8.47983742e-01 5.29816279e-01 -1.47744055e-02 1.86035892e+02] [-5.29726863e-01 8.48112328e-01 9.74324098e-03 -5.06757834e+01] [ 1.76924832e-02 -4.35710451e-04 9.99843381e-01 3.13576901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30361786499998 meters 0.022638552349920002 Centerline is valid? [True, True] Translation: X:186.09, Y:-50.70, Z:3.14 [[ 8.46789404e-01 5.31720809e-01 -1.48555216e-02 1.86091714e+02] [-5.31630618e-01 8.46919607e-01 9.80131025e-03 -5.07047096e+01] [ 1.77929931e-02 -4.01995534e-04 9.99841611e-01 3.13744119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36361786499998 meters 0.022193591266892874 Centerline is valid? [True, True] Translation: X:186.15, Y:-50.73, Z:3.14 [[ 8.45198030e-01 5.34242702e-01 -1.50008435e-02 1.86146276e+02] [-5.34151094e-01 8.45331065e-01 9.89942923e-03 -5.07345035e+01] [ 1.79693768e-02 -3.54261137e-04 9.99838475e-01 3.13837280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42361786499998 meters 0.022093900505988688 Centerline is valid? [True, True] Translation: X:186.20, Y:-50.77, Z:3.14 [[ 8.44287565e-01 5.35678244e-01 -1.50773788e-02 1.86199407e+02] [-5.35585833e-01 8.44422116e-01 9.95515084e-03 -5.07674647e+01] [ 1.80644299e-02 -3.29779559e-04 9.99836770e-01 3.13935091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48361786499999 meters 0.021943410419825244 Centerline is valid? [True, True] Translation: X:186.25, Y:-50.80, Z:3.14 [[ 8.43109283e-01 5.37512201e-01 -1.57280382e-02 1.86253228e+02] [-5.37411855e-01 8.43255916e-01 1.03903235e-02 -5.07988744e+01] [ 1.88476869e-02 -3.07743983e-04 9.99822319e-01 3.14014260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.543617865 meters 0.021704656065043786 Centerline is valid? [True, True] Translation: X:186.31, Y:-50.83, Z:3.14 [[ 8.42678513e-01 5.38187391e-01 -1.57243546e-02 1.86306125e+02] [-5.38087109e-01 8.42825156e-01 1.03932194e-02 -5.08306634e+01] [ 1.88463813e-02 -2.97070173e-04 9.99822347e-01 3.14109488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.603617865 meters 0.02184175202661476 Centerline is valid? [True, True] Translation: X:186.36, Y:-50.86, Z:3.14 [[ 8.42718869e-01 5.38141635e-01 -1.51158226e-02 1.86359124e+02] [-5.38048866e-01 8.42854374e-01 9.99609238e-03 -5.08642639e+01] [ 1.81197507e-02 -2.90844474e-04 9.99835782e-01 3.14260843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.663617865 meters 0.021941908684221426 Centerline is valid? [True, True] Translation: X:186.41, Y:-50.90, Z:3.14 [[ 8.43526582e-01 5.36897035e-01 -1.42996279e-02 1.86411135e+02] [-5.36813746e-01 8.43647723e-01 9.46155947e-03 -5.08976714e+01] [ 1.71437318e-02 -3.04840069e-04 9.99852989e-01 3.14486319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.723617865 meters 0.02206764763176102 Centerline is valid? [True, True] Translation: X:186.46, Y:-50.93, Z:3.15 [[ 8.44118328e-01 5.35961791e-01 -1.44639955e-02 1.86463257e+02] [-5.35876353e-01 8.44242174e-01 9.57528408e-03 -5.09308828e+01] [ 1.73431014e-02 -3.31759630e-04 9.99849542e-01 3.14505434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.783617865 meters 0.021763871181681854 Centerline is valid? [True, True] Translation: X:186.52, Y:-50.96, Z:3.15 [[ 8.44253823e-01 5.35742648e-01 -1.46730149e-02 1.86516566e+02] [-5.35654598e-01 8.44381250e-01 9.71882029e-03 -5.09643112e+01] [ 1.75964052e-02 -3.45483298e-04 9.99845112e-01 3.14574715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.843617865 meters 0.021743633549475616 Centerline is valid? [True, True] Translation: X:186.57, Y:-51.00, Z:3.15 [[ 8.44040520e-01 5.36056061e-01 -1.54757911e-02 1.86569557e+02] [-5.35958043e-01 8.44182307e-01 1.02570696e-02 -5.09983942e+01] [ 1.85627534e-02 -3.63007623e-04 9.99827631e-01 3.14642339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.903617865 meters 0.021701454996333042 Centerline is valid? [True, True] Translation: X:186.62, Y:-51.03, Z:3.15 [[ 8.43935984e-01 5.36216749e-01 -1.56094058e-02 1.86621963e+02] [-5.36116941e-01 8.44080247e-01 1.03519372e-02 -5.10324616e+01] [ 1.87264732e-02 -3.67905390e-04 9.99824577e-01 3.14739319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96361786499997 meters 0.02181472381969634 Centerline is valid? [True, True] Translation: X:186.67, Y:-51.07, Z:3.15 [[ 8.43712214e-01 5.36577682e-01 -1.53000652e-02 1.86673370e+02] [-5.36481741e-01 8.43850854e-01 1.01527529e-02 -5.10663069e+01] [ 1.83587137e-02 -3.57796028e-04 9.99831401e-01 3.14952518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02361786499998 meters 0.021564294071364898 Centerline is valid? [True, True] Translation: X:186.73, Y:-51.10, Z:3.15 [[ 8.43917413e-01 5.36253520e-01 -1.53480055e-02 1.86725334e+02] [-5.36156820e-01 8.44056885e-01 1.01902154e-02 -5.11000251e+01] [ 1.84191287e-02 -3.70762419e-04 9.99830285e-01 3.15107098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08361786499998 meters 0.021527001477434346 Centerline is valid? [True, True] Translation: X:186.78, Y:-51.13, Z:3.15 [[ 8.43808761e-01 5.36404352e-01 -1.60357848e-02 1.86777987e+02] [-5.36298702e-01 8.43961030e-01 1.06527882e-02 -5.11342788e+01] [ 1.92477794e-02 -3.88945433e-04 9.99814669e-01 3.15177522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14361786499998 meters 0.021541302453286476 Centerline is valid? [True, True] Translation: X:186.83, Y:-51.17, Z:3.15 [[ 8.43570724e-01 5.36735363e-01 -1.74236926e-02 1.86828871e+02] [-5.36610549e-01 8.43750540e-01 1.15820916e-02 -5.11690574e+01] [ 2.09177681e-02 -4.20576105e-04 9.99781111e-01 3.15282919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20361786499998 meters 0.02119903306983185 Centerline is valid? [True, True] Translation: X:186.88, Y:-51.20, Z:3.15 [[ 8.43162651e-01 5.37368699e-01 -1.76529469e-02 1.86881125e+02] [-5.37240575e-01 8.43347324e-01 1.17411914e-02 -5.12033296e+01] [ 2.11969143e-02 -4.15854738e-04 9.99775234e-01 3.15421468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.263617865 meters 0.021741568723728632 Centerline is valid? [True, True] Translation: X:186.93, Y:-51.24, Z:3.15 [[ 8.43072329e-01 5.37455481e-01 -1.92523864e-02 1.86929672e+02] [-5.37302948e-01 8.43292000e-01 1.28118839e-02 -5.12400786e+01] [ 2.31212007e-02 -4.56980783e-04 9.99732565e-01 3.15491548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.323617865 meters 0.021047720800355014 Centerline is valid? [True, True] Translation: X:186.98, Y:-51.28, Z:3.16 [[ 8.43552384e-01 5.36663176e-01 -2.02980608e-02 1.86980749e+02] [-5.36493269e-01 8.43796407e-01 1.35128183e-02 -5.12758801e+01] [ 2.43792627e-02 -5.08997099e-04 9.99702652e-01 3.15659666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.383617865 meters 0.021165659440138766 Centerline is valid? [True, True] Translation: X:187.03, Y:-51.31, Z:3.16 [[ 8.43949003e-01 5.36001444e-01 -2.12728161e-02 1.87031004e+02] [-5.35814421e-01 8.44216879e-01 1.41692596e-02 -5.13130467e+01] [ 2.55536140e-02 -5.59850834e-04 9.99673296e-01 3.15774434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.443617865 meters 0.021449121229929122 Centerline is valid? [True, True] Translation: X:187.08, Y:-51.35, Z:3.16 [[ 8.44624700e-01 5.34942092e-01 -2.11204885e-02 1.87079989e+02] [-5.34757226e-01 8.44888517e-01 1.40749341e-02 -5.13510148e+01] [ 2.53737329e-02 -5.93703114e-04 9.99677859e-01 3.15918517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.503617865 meters 0.02138985675040071 Centerline is valid? [True, True] Translation: X:187.13, Y:-51.39, Z:3.16 [[ 8.44639321e-01 5.34942357e-01 -2.05205224e-02 1.87131574e+02] [-5.34767670e-01 8.44888357e-01 1.36822354e-02 -5.13870413e+01] [ 2.46567577e-02 -5.82842049e-04 9.99695806e-01 3.16087664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.563617865 meters 0.02218839005488488 Centerline is valid? [True, True] Translation: X:187.18, Y:-51.43, Z:3.16 [[ 8.45440774e-01 5.33688112e-01 -2.01716873e-02 1.87179905e+02] [-5.33518785e-01 8.45681158e-01 1.34567824e-02 -5.14254060e+01] [ 2.42405407e-02 -6.14938421e-04 9.99705966e-01 3.16161965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.623617865 meters 0.02233578857237748 Centerline is valid? [True, True] Translation: X:187.23, Y:-51.46, Z:3.16 [[ 8.45616644e-01 5.33411919e-01 -2.01051373e-02 1.87230647e+02] [-5.33243478e-01 8.45855385e-01 1.34186731e-02 -5.14617697e+01] [ 2.41637188e-02 -6.26119918e-04 9.99707819e-01 3.16225309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.683617865 meters 0.020854489237098147 Centerline is valid? [True, True] Translation: X:187.28, Y:-51.49, Z:3.16 [[ 8.46096220e-01 5.32666724e-01 -1.96811525e-02 1.87283187e+02] [-5.32504959e-01 8.46324850e-01 1.31421429e-02 -5.14944245e+01] [ 2.36570306e-02 -6.39206138e-04 9.99719929e-01 3.16322482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74361786499998 meters 0.021877208019507162 Centerline is valid? [True, True] Translation: X:187.33, Y:-51.53, Z:3.16 [[ 8.46867499e-01 5.31468628e-01 -1.88821668e-02 1.87332324e+02] [-5.31319294e-01 8.47077726e-01 1.26148101e-02 -5.15308502e+01] [ 2.26990388e-02 -6.50613136e-04 9.99742132e-01 3.16326287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80361786499998 meters 0.02127168664526563 Centerline is valid? [True, True] Translation: X:187.39, Y:-51.56, Z:3.16 [[ 8.46860450e-01 5.31545476e-01 -1.69347212e-02 1.87385074e+02] [-5.31425269e-01 8.47029553e-01 1.13189841e-02 -5.15646643e+01] [ 2.03607641e-02 -5.86061157e-04 9.99792526e-01 3.16465375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86361786499998 meters 0.021751027646511562 Centerline is valid? [True, True] Translation: X:187.44, Y:-51.60, Z:3.16 [[ 8.45985665e-01 5.32967874e-01 -1.59216629e-02 1.87435367e+02] [-5.32861768e-01 8.46135315e-01 1.06473070e-02 -5.15989640e+01] [ 1.91465538e-02 -5.23423668e-04 9.99816551e-01 3.16488279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92361786499998 meters 0.020133072297622928 Centerline is valid? [True, True] Translation: X:187.49, Y:-51.63, Z:3.16 [[ 8.43148002e-01 5.37473748e-01 -1.49471213e-02 1.87489441e+02] [-5.37380894e-01 8.43280388e-01 9.99810907e-03 -5.16286450e+01] [ 1.79783354e-02 -3.97588299e-04 9.99838298e-01 3.16481497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98361786499999 meters 0.019038675671856388 Centerline is valid? [True, True] Translation: X:187.54, Y:-51.66, Z:3.17 [[ 8.40723153e-01 5.41283402e-01 -1.40306333e-02 1.87542723e+02] [-5.41202105e-01 8.40840169e-01 9.38571784e-03 -5.16594995e+01] [ 1.68778533e-02 -2.97382042e-04 9.99857515e-01 3.16571982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.043617865 meters 0.018621871267917974 Centerline is valid? [True, True] Translation: X:187.60, Y:-51.69, Z:3.17 [[ 8.37504170e-01 5.46284371e-01 -1.26551007e-02 1.87595041e+02] [-5.46218794e-01 8.37599758e-01 8.46614512e-03 -5.16902919e+01] [ 1.52248320e-02 -1.77978010e-04 9.99884080e-01 3.16641436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.103617865 meters 0.018011357207844518 Centerline is valid? [True, True] Translation: X:187.65, Y:-51.72, Z:3.17 [[ 8.34697613e-01 5.50585064e-01 -1.16611440e-02 1.87650024e+02] [-5.50529800e-01 8.34779060e-01 7.80130499e-03 -5.17208120e+01] [ 1.40297608e-02 -9.19233965e-05 9.99901574e-01 3.16752270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.163617865 meters 0.018009606888788516 Centerline is valid? [True, True] Translation: X:187.70, Y:-51.75, Z:3.17 [[ 8.33675827e-01 5.52154084e-01 -1.05110514e-02 1.87703207e+02] [-5.52109304e-01 8.33742085e-01 7.03229503e-03 -5.17541538e+01] [ 1.26464164e-02 -5.94050878e-05 9.99920029e-01 3.16858262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.223617865 meters 0.017992514232209 Centerline is valid? [True, True] Translation: X:187.76, Y:-51.79, Z:3.17 [[ 8.33393345e-01 5.52581436e-01 -1.04541638e-02 1.87755168e+02] [-5.52537121e-01 8.33458909e-01 6.99829642e-03 -5.17885103e+01] [ 1.25802446e-02 -5.60201004e-05 9.99920864e-01 3.16971203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.283617865 meters 0.018149320050462457 Centerline is valid? [True, True] Translation: X:187.81, Y:-51.82, Z:3.17 [[ 8.34283948e-01 5.51232167e-01 -1.06486092e-02 1.87806702e+02] [-5.51186029e-01 8.34351899e-01 7.13227530e-03 -5.18240401e+01] [ 1.28162269e-02 -8.09781669e-05 9.99917866e-01 3.16983434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.343617865 meters 0.018407790675289776 Centerline is valid? [True, True] Translation: X:187.86, Y:-51.86, Z:3.17 [[ 8.35333129e-01 5.49645497e-01 -1.04111203e-02 1.87858187e+02] [-5.49601223e-01 8.35397999e-01 6.97705237e-03 -5.18589252e+01] [ 1.25323345e-02 -1.06198527e-04 9.99921462e-01 3.17002948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.403617865 meters 0.019092093409189364 Centerline is valid? [True, True] Translation: X:187.91, Y:-51.90, Z:3.17 [[ 8.37878185e-01 5.45763867e-01 -1.00969904e-02 1.87907863e+02] [-5.45721901e-01 8.37939005e-01 6.76990455e-03 -5.18967991e+01] [ 1.21554314e-02 -1.62206559e-04 9.99926107e-01 3.17005205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46361786499997 meters 0.021695731615306496 Centerline is valid? [True, True] Translation: X:187.95, Y:-51.94, Z:3.17 [[ 8.41236738e-01 5.40577141e-01 -9.85424027e-03 1.87953516e+02] [-5.40536761e-01 8.41294419e-01 6.61137865e-03 -5.19375892e+01] [ 1.18642775e-02 -2.35155487e-04 9.99929589e-01 3.17089910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52361786499998 meters 0.020434678781861712 Centerline is valid? [True, True] Translation: X:188.01, Y:-51.97, Z:3.17 [[ 8.43583952e-01 5.36926057e-01 -8.74787066e-03 1.88006741e+02] [-5.36894038e-01 8.43629270e-01 5.86920053e-03 -5.19702474e+01] [ 1.05312864e-02 -2.54483778e-04 9.99944512e-01 3.17049650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58361786499998 meters 0.02352981516498384 Centerline is valid? [True, True] Translation: X:188.05, Y:-52.01, Z:3.17 [[ 8.46406450e-01 5.32479014e-01 -7.88802299e-03 1.88052165e+02] [-5.32452777e-01 8.46443159e-01 5.29337572e-03 -5.20107013e+01] [ 9.49537458e-03 -2.80347608e-04 9.99954879e-01 3.17209739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64361786499998 meters 0.021760712092533753 Centerline is valid? [True, True] Translation: X:188.11, Y:-52.04, Z:3.17 [[ 8.47321196e-01 5.31033897e-01 -7.05629162e-03 1.88105694e+02] [-5.31012867e-01 8.47350536e-01 4.73335163e-03 -5.20429189e+01] [ 8.49272264e-03 -2.63687518e-04 9.99963901e-01 3.17191083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70361786499998 meters 0.022520900696675162 Centerline is valid? [True, True] Translation: X:188.16, Y:-52.08, Z:3.17 [[ 8.47543745e-01 5.30690023e-01 -6.14002473e-03 1.88155762e+02] [-5.30674071e-01 8.47565953e-01 4.12143805e-03 -5.20783999e+01] [ 7.39128197e-03 -2.34747121e-04 9.99972657e-01 3.17338453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.763617865 meters 0.0226532415737324 Centerline is valid? [True, True] Translation: X:188.21, Y:-52.11, Z:3.17 [[ 8.46703845e-01 5.32036886e-01 -5.41754927e-03 1.88207381e+02] [-5.32024498e-01 8.46721154e-01 3.63602973e-03 -5.21132110e+01] [ 6.52165550e-03 -1.96371421e-04 9.99978714e-01 3.17430461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.823617865 meters 0.02226810596056047 Centerline is valid? [True, True] Translation: X:188.26, Y:-52.15, Z:3.18 [[ 8.44710196e-01 5.35198596e-01 -5.21035006e-03 1.88257918e+02] [-5.35187171e-01 8.44726248e-01 3.50109553e-03 -5.21458447e+01] [ 6.27510087e-03 -1.68898583e-04 9.99980297e-01 3.17516193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.883617865 meters 0.02085247101212473 Centerline is valid? [True, True] Translation: X:188.31, Y:-52.18, Z:3.18 [[ 8.42814492e-01 5.38180102e-01 -5.09006468e-03 1.88310874e+02] [-5.38169254e-01 8.42829851e-01 3.42018043e-03 -5.21767846e+01] [ 6.13073151e-03 -1.43261321e-04 9.99981197e-01 3.17529075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.943617865 meters 0.019856836487445687 Centerline is valid? [True, True] Translation: X:188.36, Y:-52.21, Z:3.18 [[ 8.39100586e-01 5.43955206e-01 -4.78956535e-03 1.88364368e+02] [-5.43945694e-01 8.39114250e-01 3.21826173e-03 -5.22083484e+01] [ 5.76958276e-03 -9.51818551e-05 9.99983351e-01 3.17663557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.003617865 meters 0.018936593001221413 Centerline is valid? [True, True] Translation: X:188.42, Y:-52.24, Z:3.18 [[ 8.35526614e-01 5.49426169e-01 -5.11477130e-03 1.88417858e+02] [-5.49415423e-01 8.35542267e-01 3.43699016e-03 -5.22397595e+01] [ 6.16197995e-03 -6.15625187e-05 9.99981013e-01 3.17642828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.063617865 meters 0.018710370841251652 Centerline is valid? [True, True] Translation: X:188.47, Y:-52.27, Z:3.18 [[ 8.33508357e-01 5.52480070e-01 -5.43983440e-03 1.88470067e+02] [-5.52467987e-01 8.33526107e-01 3.65416349e-03 -5.22737647e+01] [ 6.55309649e-03 -4.04414474e-05 9.99978527e-01 3.17710734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.123617865 meters 0.018670100273644904 Centerline is valid? [True, True] Translation: X:188.52, Y:-52.31, Z:3.18 [[ 8.31827376e-01 5.54999647e-01 -6.21362797e-03 1.88521296e+02] [-5.54983930e-01 8.31850582e-01 4.17678791e-03 -5.23080813e+01] [ 7.48692586e-03 -2.59028474e-05 9.99971972e-01 3.17799272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.183617865 meters 0.018618702621147152 Centerline is valid? [True, True] Translation: X:188.57, Y:-52.34, Z:3.18 [[ 8.31349623e-01 5.55714756e-01 -6.23808670e-03 1.88572660e+02] [-5.55698923e-01 8.31373027e-01 4.19495947e-03 -5.23448204e+01] [ 7.51737790e-03 -2.09799140e-05 9.99971744e-01 3.17832796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24361786499998 meters 0.01881354673516552 Centerline is valid? [True, True] Translation: X:188.62, Y:-52.38, Z:3.18 [[ 8.31395320e-01 5.55645742e-01 -6.29538176e-03 1.88622143e+02] [-5.55629594e-01 8.31419153e-01 4.23628173e-03 -5.23815469e+01] [ 7.58797288e-03 -2.41243962e-05 9.99971211e-01 3.17956019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30361786499998 meters 0.018998621694020928 Centerline is valid? [True, True] Translation: X:188.67, Y:-52.42, Z:3.18 [[ 8.32142243e-01 5.54527370e-01 -6.21954907e-03 1.88672068e+02] [-5.54511562e-01 8.32165485e-01 4.18733723e-03 -5.24201303e+01] [ 7.49768718e-03 -3.56483290e-05 9.99971891e-01 3.17979355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36361786499998 meters 0.019229524791163695 Centerline is valid? [True, True] Translation: X:188.72, Y:-52.46, Z:3.18 [[ 8.32778767e-01 5.53569583e-01 -6.34365889e-03 1.88720453e+02] [-5.53553087e-01 8.32802927e-01 4.27371649e-03 -5.24586227e+01] [ 7.64881715e-03 -4.75083821e-05 9.99970746e-01 3.18103736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42361786499998 meters 0.019344541584387778 Centerline is valid? [True, True] Translation: X:188.77, Y:-52.50, Z:3.18 [[ 8.32930952e-01 5.53341467e-01 -6.26496064e-03 1.88772180e+02] [-5.53325356e-01 8.32954512e-01 4.22279513e-03 -5.24951955e+01] [ 7.55507488e-03 -5.07351920e-05 9.99971459e-01 3.18190772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48361786499999 meters 0.019495835676741416 Centerline is valid? [True, True] Translation: X:188.82, Y:-52.53, Z:3.18 [[ 8.33572285e-01 5.52369115e-01 -6.75326224e-03 1.88822242e+02] [-5.52350338e-01 8.33599638e-01 4.55491357e-03 -5.25342863e+01] [ 8.14551054e-03 -6.66830307e-05 9.99966823e-01 3.18259731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.543617865 meters 0.019677720226476722 Centerline is valid? [True, True] Translation: X:188.87, Y:-52.57, Z:3.18 [[ 8.33973452e-01 5.51758811e-01 -7.10597759e-03 1.88873080e+02] [-5.51737974e-01 8.34003722e-01 4.79580714e-03 -5.25717393e+01] [ 8.57254061e-03 -7.89381564e-05 9.99963252e-01 3.18275895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.603617865 meters 0.01985237091831253 Centerline is valid? [True, True] Translation: X:188.92, Y:-52.61, Z:3.18 [[ 8.34694720e-01 5.50660829e-01 -7.57468558e-03 1.88922492e+02] [-5.50637075e-01 8.34729083e-01 5.11566928e-03 -5.26098274e+01] [ 9.13980903e-03 -9.91194342e-05 9.99958226e-01 3.18247481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.663617865 meters 0.020487252947815993 Centerline is valid? [True, True] Translation: X:188.97, Y:-52.65, Z:3.18 [[ 8.35833359e-01 5.48938458e-01 -7.01177984e-03 1.88970028e+02] [-5.48918023e-01 8.35862762e-01 4.73775716e-03 -5.26489581e+01] [ 8.46162277e-03 -1.11083152e-04 9.99964194e-01 3.18453335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.723617865 meters 0.02100992746455104 Centerline is valid? [True, True] Translation: X:189.02, Y:-52.69, Z:3.19 [[ 8.36651063e-01 5.47695503e-01 -6.68089311e-03 1.89018221e+02] [-5.47676896e-01 8.36677729e-01 4.51615610e-03 -5.26870715e+01] [ 8.06323286e-03 -1.19476004e-04 9.99967484e-01 3.18641006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.783617865 meters 0.020816420427718554 Centerline is valid? [True, True] Translation: X:189.07, Y:-52.72, Z:3.19 [[ 8.37647681e-01 5.46173375e-01 -6.40371047e-03 1.89068704e+02] [-5.46156224e-01 8.37672148e-01 4.33026591e-03 -5.27230666e+01] [ 7.72928585e-03 -1.29810867e-04 9.99970120e-01 3.18631713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.843617865 meters 0.020765407946694518 Centerline is valid? [True, True] Translation: X:189.12, Y:-52.76, Z:3.19 [[ 8.37398920e-01 5.46554991e-01 -6.37893949e-03 1.89119841e+02] [-5.46537970e-01 8.37423206e-01 4.31535750e-03 -5.27600435e+01] [ 7.70045214e-03 -1.27343075e-04 9.99970343e-01 3.18717307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.903617865 meters 0.020695997294268215 Centerline is valid? [True, True] Translation: X:189.17, Y:-52.80, Z:3.19 [[ 8.36204968e-01 5.48376763e-01 -6.64656137e-03 1.89170800e+02] [-5.48358303e-01 8.36231374e-01 4.50104101e-03 -5.27963743e+01] [ 8.02632945e-03 -1.19095744e-04 9.99967781e-01 3.18810442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96361786499997 meters 0.02053873172341419 Centerline is valid? [True, True] Translation: X:189.22, Y:-52.83, Z:3.19 [[ 8.35195722e-01 5.49912390e-01 -6.66850174e-03 1.89221555e+02] [-5.49893862e-01 8.35222337e-01 4.51531180e-03 -5.28314805e+01] [ 8.05270752e-03 -1.04200925e-04 9.99967571e-01 3.18922536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02361786499998 meters 0.020465008689028744 Centerline is valid? [True, True] Translation: X:189.27, Y:-52.87, Z:3.19 [[ 8.34170628e-01 5.51465066e-01 -6.75609266e-03 1.89272800e+02] [-5.51446080e-01 8.34197982e-01 4.57697411e-03 -5.28673304e+01] [ 8.15996019e-03 -9.23565576e-05 9.99966703e-01 3.18996413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08361786499998 meters 0.02054692984699607 Centerline is valid? [True, True] Translation: X:189.32, Y:-52.90, Z:3.19 [[ 8.33538431e-01 5.52423757e-01 -6.45568520e-03 1.89324069e+02] [-5.52406438e-01 8.33563426e-01 4.37514129e-03 -5.29040605e+01] [ 7.79815507e-03 -8.06863398e-05 9.99969591e-01 3.19107746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14361786499998 meters 0.02033424919470029 Centerline is valid? [True, True] Translation: X:189.37, Y:-52.94, Z:3.19 [[ 8.32533126e-01 5.53933042e-01 -6.83944614e-03 1.89374905e+02] [-5.53913627e-01 8.32561216e-01 4.63840070e-03 -5.29402937e+01] [ 8.26362101e-03 -7.31598185e-05 9.99965853e-01 3.19162334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20361786499998 meters 0.02007089237813455 Centerline is valid? [True, True] Translation: X:189.43, Y:-52.98, Z:3.19 [[ 8.31558064e-01 5.55389875e-01 -7.29887612e-03 1.89425567e+02] [-5.55367796e-01 8.31590093e-01 4.95265257e-03 -5.29758344e+01] [ 8.82032616e-03 -6.48574358e-05 9.99961098e-01 3.19133837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.263617865 meters 0.020025674600475198 Centerline is valid? [True, True] Translation: X:189.48, Y:-53.01, Z:3.19 [[ 8.30914670e-01 5.56346710e-01 -7.69086516e-03 1.89476111e+02] [-5.56322209e-01 8.30950260e-01 5.22153636e-03 -5.30123317e+01] [ 9.29571098e-03 -6.00520651e-05 9.99956792e-01 3.19192311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.323617865 meters 0.019921993965717838 Centerline is valid? [True, True] Translation: X:189.53, Y:-53.05, Z:3.19 [[ 8.30329479e-01 5.57218411e-01 -7.78451413e-03 1.89525834e+02] [-5.57193325e-01 8.30365967e-01 5.28760736e-03 -5.30505406e+01] [ 9.41034777e-03 -5.29769484e-05 9.99955720e-01 3.19266219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.383617865 meters 0.019940167596149826 Centerline is valid? [True, True] Translation: X:189.58, Y:-53.09, Z:3.19 [[ 8.29975519e-01 5.57744828e-01 -7.83229689e-03 1.89575736e+02] [-5.57719426e-01 8.30012473e-01 5.32323860e-03 -5.30888380e+01] [ 9.46991290e-03 -4.99335901e-05 9.99955158e-01 3.19299134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.443617865 meters 0.019925258626329115 Centerline is valid? [True, True] Translation: X:189.63, Y:-53.13, Z:3.19 [[ 8.29727080e-01 5.58116004e-01 -7.71347315e-03 1.89626301e+02] [-5.58091356e-01 8.29762932e-01 5.24550541e-03 -5.31263525e+01] [ 9.32795462e-03 -4.75152047e-05 9.99956493e-01 3.19345374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.503617865 meters 0.019931270094675338 Centerline is valid? [True, True] Translation: X:189.67, Y:-53.17, Z:3.19 [[ 8.30166478e-01 5.57452969e-01 -8.35504227e-03 1.89674367e+02] [-5.57423976e-01 8.30208518e-01 5.68570832e-03 -5.31664503e+01] [ 1.01059422e-02 -6.27835653e-05 9.99948932e-01 3.19372505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.563617865 meters 0.020160551013634696 Centerline is valid? [True, True] Translation: X:189.72, Y:-53.21, Z:3.19 [[ 8.30815027e-01 5.56470268e-01 -9.33980928e-03 1.89722149e+02] [-5.56433930e-01 8.30867518e-01 6.35989125e-03 -5.32062829e+01] [ 1.12992345e-02 -8.69064325e-05 9.99936158e-01 3.19410895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.623617865 meters 0.019904088340146727 Centerline is valid? [True, True] Translation: X:189.77, Y:-53.24, Z:3.20 [[ 8.29728422e-01 5.58098497e-01 -8.76434163e-03 1.89774771e+02] [-5.58066559e-01 8.29774707e-01 5.97094308e-03 -5.32399630e+01] [ 1.06048034e-02 -6.31752004e-05 9.99943765e-01 3.19579252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.683617865 meters 0.019731102036544882 Centerline is valid? [True, True] Translation: X:189.83, Y:-53.27, Z:3.20 [[ 8.28691667e-01 5.59630108e-01 -9.17953268e-03 1.89826854e+02] [-5.59595128e-01 8.28742505e-01 6.25722422e-03 -5.32735244e+01] [ 1.11092000e-02 -4.84878006e-05 9.99938290e-01 3.19674147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74361786499998 meters 0.019722572468626073 Centerline is valid? [True, True] Translation: X:189.88, Y:-53.31, Z:3.20 [[ 8.28060153e-01 5.60548253e-01 -1.01014545e-02 1.89879866e+02] [-5.60505915e-01 8.28121763e-01 6.88944947e-03 -5.33082936e+01] [ 1.22271032e-02 -4.29535781e-05 9.99925245e-01 3.19695581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80361786499998 meters 0.019674007762147817 Centerline is valid? [True, True] Translation: X:189.93, Y:-53.34, Z:3.20 [[ 8.27565329e-01 5.61271663e-01 -1.04759745e-02 1.89931773e+02] [-5.61226130e-01 8.27631632e-01 7.14927587e-03 -5.33424919e+01] [ 1.26829338e-02 -3.71022317e-05 9.99919568e-01 3.19836085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86361786499998 meters 0.01957890281783617 Centerline is valid? [True, True] Translation: X:189.98, Y:-53.38, Z:3.20 [[ 8.28532075e-01 5.59831259e-01 -1.11158721e-02 1.89983709e+02] [-5.59779806e-01 8.28606636e-01 7.59024127e-03 -5.33784783e+01] [ 1.34599398e-02 -6.63176015e-05 9.99909409e-01 3.19903765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92361786499998 meters 0.019751826848488852 Centerline is valid? [True, True] Translation: X:190.03, Y:-53.41, Z:3.20 [[ 8.30370391e-01 5.57090324e-01 -1.16355105e-02 1.90033207e+02] [-5.57033607e-01 8.30451899e-01 7.95007378e-03 -5.34142433e+01] [ 1.40916410e-02 -1.20135486e-04 9.99900701e-01 3.20032866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98361786499999 meters 0.019938529372683853 Centerline is valid? [True, True] Translation: X:190.08, Y:-53.45, Z:3.20 [[ 8.32276018e-01 5.54227518e-01 -1.21855804e-02 1.90084102e+02] [-5.54164944e-01 8.32365200e-01 8.33000326e-03 -5.34494576e+01] [ 1.47595701e-02 -1.80040488e-04 9.99891055e-01 3.20172644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.043617865 meters 0.020593502668498638 Centerline is valid? [True, True] Translation: X:190.13, Y:-53.49, Z:3.20 [[ 8.33684351e-01 5.52085770e-01 -1.31036513e-02 1.90133395e+02] [-5.52013069e-01 8.33787291e-01 8.96249094e-03 -5.34862126e+01] [ 1.58737216e-02 -2.38501694e-04 9.99873976e-01 3.20284349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.103617865 meters 0.021138550609668533 Centerline is valid? [True, True] Translation: X:190.18, Y:-53.52, Z:3.20 [[ 8.35120472e-01 5.49887084e-01 -1.40709652e-02 1.90183888e+02] [-5.49802890e-01 8.35238950e-01 9.62698726e-03 -5.35229650e+01] [ 1.70463741e-02 -3.03436828e-04 9.99854654e-01 3.20361055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.163617865 meters 0.0205142090444229 Centerline is valid? [True, True] Translation: X:190.24, Y:-53.56, Z:3.20 [[ 8.35869448e-01 5.48725527e-01 -1.49185192e-02 1.90236744e+02] [-5.48630606e-01 8.36002496e-01 1.02120209e-02 -5.35557080e+01] [ 1.80755159e-02 -3.51160060e-04 9.99836563e-01 3.20463144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.223617865 meters 0.020345378663159778 Centerline is valid? [True, True] Translation: X:190.29, Y:-53.59, Z:3.21 [[ 8.36330259e-01 5.47998174e-01 -1.58018747e-02 1.90289203e+02] [-5.47891437e-01 8.36479436e-01 1.08225267e-02 -5.35895870e+01] [ 1.91486681e-02 -3.93494735e-04 9.99816570e-01 3.20642442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.283617865 meters 0.020663125100180472 Centerline is valid? [True, True] Translation: X:190.34, Y:-53.63, Z:3.21 [[ 8.36414638e-01 5.47887936e-01 -1.51447611e-02 1.90340011e+02] [-5.47789776e-01 8.36551650e-01 1.03777818e-02 -5.36250161e+01] [ 1.83552363e-02 -3.83983283e-04 9.99831455e-01 3.20797814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.343617865 meters 0.020760595319522027 Centerline is valid? [True, True] Translation: X:190.39, Y:-53.66, Z:3.21 [[ 8.36252361e-01 5.48139012e-01 -1.50203968e-02 1.90392206e+02] [-5.48042395e-01 8.36387158e-01 1.02982813e-02 -5.36607363e+01] [ 1.82077567e-02 -3.80147851e-04 9.99834153e-01 3.20969565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.403617865 meters 0.02070462658575427 Centerline is valid? [True, True] Translation: X:190.44, Y:-53.70, Z:3.21 [[ 8.35988880e-01 5.48548840e-01 -1.47228406e-02 1.90444735e+02] [-5.48455973e-01 8.36118433e-01 1.01000543e-02 -5.36954784e+01] [ 1.78504114e-02 -3.68703197e-04 9.99840601e-01 3.21076949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46361786499997 meters 0.020366543274224377 Centerline is valid? [True, True] Translation: X:190.50, Y:-53.73, Z:3.21 [[ 8.35836304e-01 5.48793105e-01 -1.42759040e-02 1.90497845e+02] [-5.48705730e-01 8.35958133e-01 9.79902631e-03 -5.37292961e+01] [ 1.73116962e-02 -3.57111573e-04 9.99850078e-01 3.21043761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52361786499998 meters 0.021236829801070414 Centerline is valid? [True, True] Translation: X:190.55, Y:-53.77, Z:3.21 [[ 8.35752198e-01 5.48924248e-01 -1.41574988e-02 1.90547278e+02] [-5.48838238e-01 8.35872026e-01 9.72339642e-03 -5.37662566e+01] [ 1.71712652e-02 -3.56173237e-04 9.99852500e-01 3.21102980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58361786499998 meters 0.020725833415836992 Centerline is valid? [True, True] Translation: X:190.60, Y:-53.80, Z:3.21 [[ 8.35938871e-01 5.48634124e-01 -1.43806212e-02 1.90599178e+02] [-5.48545272e-01 8.36062474e-01 9.88048079e-03 -5.37999877e+01] [ 1.74438667e-02 -3.71056186e-04 9.99847775e-01 3.21167381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64361786499998 meters 0.021499571498155456 Centerline is valid? [True, True] Translation: X:190.65, Y:-53.84, Z:3.21 [[ 8.37051460e-01 5.46946321e-01 -1.39490318e-02 1.90648025e+02] [-5.46862406e-01 8.37167584e-01 9.58876506e-03 -5.38361631e+01] [ 1.69222170e-02 -3.98088685e-04 9.99856730e-01 3.21132490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70361786499998 meters 0.02247390216968362 Centerline is valid? [True, True] Translation: X:190.70, Y:-53.87, Z:3.21 [[ 8.39637369e-01 5.42973441e-01 -1.37451891e-02 1.90697379e+02] [-5.42891357e-01 8.39749735e-01 9.45290883e-03 -5.38735536e+01] [ 1.66751973e-02 -4.74871142e-04 9.99860846e-01 3.21188031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.763617865 meters 0.02317008560672399 Centerline is valid? [True, True] Translation: X:190.75, Y:-53.91, Z:3.21 [[ 8.41480548e-01 5.40125500e-01 -1.32262041e-02 1.90747351e+02] [-5.40049131e-01 8.41584329e-01 9.09691341e-03 -5.39101681e+01] [ 1.60444410e-02 -5.12075669e-04 9.99871149e-01 3.21303096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.823617865 meters 0.02440995280492259 Centerline is valid? [True, True] Translation: X:190.80, Y:-53.95, Z:3.21 [[ 8.43943465e-01 5.36296807e-01 -1.20483343e-02 1.90796865e+02] [-5.36233029e-01 8.44029294e-01 8.28790840e-03 -5.39470964e+01] [ 1.46139259e-02 -5.33811345e-04 9.99893068e-01 3.21433017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.883617865 meters 0.025356175763737086 Centerline is valid? [True, True] Translation: X:190.85, Y:-53.98, Z:3.22 [[ 8.44517890e-01 5.35396332e-01 -1.18448827e-02 1.90845878e+02] [-5.35334594e-01 8.44600779e-01 8.14844087e-03 -5.39829497e+01] [ 1.43668425e-02 -5.40528608e-04 9.99896645e-01 3.21577163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.943617865 meters 0.026106450078951002 Centerline is valid? [True, True] Translation: X:190.90, Y:-54.02, Z:3.22 [[ 8.44012235e-01 5.36194824e-01 -1.17668371e-02 1.90896605e+02] [-5.36133921e-01 8.44094090e-01 8.09849291e-03 -5.40170220e+01] [ 1.42746876e-02 -5.26626584e-04 9.99897973e-01 3.21634444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.003617865 meters 0.025512248478991174 Centerline is valid? [True, True] Translation: X:190.95, Y:-54.05, Z:3.22 [[ 8.42243923e-01 5.38967684e-01 -1.17902438e-02 1.90949967e+02] [-5.38906751e-01 8.42326303e-01 8.11864671e-03 -5.40481346e+01] [ 1.43069207e-02 -4.84038856e-04 9.99897534e-01 3.21690296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.063617865 meters 0.02396292681622789 Centerline is valid? [True, True] Translation: X:191.00, Y:-54.08, Z:3.22 [[ 8.39360546e-01 5.43439837e-01 -1.21250574e-02 1.91003546e+02] [-5.43375845e-01 8.39448013e-01 8.35011603e-03 -5.40783443e+01] [ 1.47161410e-02 -4.20294650e-04 9.99891623e-01 3.21725807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.123617865 meters 0.02308249957019653 Centerline is valid? [True, True] Translation: X:191.06, Y:-54.11, Z:3.22 [[ 8.37296025e-01 5.46616867e-01 -1.20568351e-02 1.91055950e+02] [-5.46553912e-01 8.37382750e-01 8.30372100e-03 -5.41110493e+01] [ 1.46351396e-02 -3.62962219e-04 9.99892835e-01 3.21881708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.183617865 meters 0.021761316728995797 Centerline is valid? [True, True] Translation: X:191.11, Y:-54.14, Z:3.22 [[ 8.34342771e-01 5.51125201e-01 -1.15391892e-02 1.91109894e+02] [-5.51067955e-01 8.34422518e-01 7.94799405e-03 -5.41416067e+01] [ 1.40088991e-02 -2.72473987e-04 9.99901833e-01 3.22008863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24361786499998 meters 0.02040355818721626 Centerline is valid? [True, True] Translation: X:191.16, Y:-54.17, Z:3.22 [[ 8.32108713e-01 5.54499101e-01 -1.12177033e-02 1.91163952e+02] [-5.54445303e-01 8.32184296e-01 7.72680538e-03 -5.41724937e+01] [ 1.36197032e-02 -2.09939155e-04 9.99907226e-01 3.22140524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30361786499998 meters 0.01981460712709061 Centerline is valid? [True, True] Translation: X:191.22, Y:-54.20, Z:3.22 [[ 8.29407070e-01 5.58533913e-01 -1.11256824e-02 1.91216765e+02] [-5.58481304e-01 8.29481674e-01 7.66723604e-03 -5.42048019e+01] [ 1.35109610e-02 -1.45774150e-04 9.99908712e-01 3.22262635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36361786499998 meters 0.01940836333457716 Centerline is valid? [True, True] Translation: X:191.27, Y:-54.24, Z:3.22 [[ 8.28029289e-01 5.60556608e-01 -1.19910524e-02 1.91269283e+02] [-5.60495644e-01 8.28116099e-01 8.26802277e-03 -5.42375706e+01] [ 1.45646784e-02 -1.25232367e-04 9.99893922e-01 3.22275935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42361786499998 meters 0.019324751865708083 Centerline is valid? [True, True] Translation: X:191.32, Y:-54.27, Z:3.22 [[ 8.28085242e-01 5.60459022e-01 -1.26695049e-02 1.91320938e+02] [-5.60390879e-01 8.28182145e-01 8.74055725e-03 -5.42739139e+01] [ 1.53913820e-02 -1.38051458e-04 9.99881536e-01 3.22339435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48361786499999 meters 0.019689654566988773 Centerline is valid? [True, True] Translation: X:191.37, Y:-54.31, Z:3.22 [[ 8.29489307e-01 5.58379985e-01 -1.26206903e-02 1.91369351e+02] [-5.58312047e-01 8.29585294e-01 8.71195202e-03 -5.43109181e+01] [ 1.53345187e-02 -1.80187610e-04 9.99882403e-01 3.22489427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.543617865 meters 0.020094087899080362 Centerline is valid? [True, True] Translation: X:191.42, Y:-54.35, Z:3.23 [[ 8.31648262e-01 5.55142350e-01 -1.33469074e-02 1.91418582e+02] [-5.55065877e-01 8.31755316e-01 9.21777307e-03 -5.43487061e+01] [ 1.62185374e-02 -2.57532110e-04 9.99868438e-01 3.22502009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.603617865 meters 0.02073478809827893 Centerline is valid? [True, True] Translation: X:191.47, Y:-54.39, Z:3.23 [[ 8.33222986e-01 5.52757578e-01 -1.40895751e-02 1.91466582e+02] [-5.52671932e-01 8.33342039e-01 9.73555836e-03 -5.43859375e+01] [ 1.71228389e-02 -3.24978296e-04 9.99853341e-01 3.22517826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.663617865 meters 0.022275304311181833 Centerline is valid? [True, True] Translation: X:191.51, Y:-54.43, Z:3.22 [[ 8.35257755e-01 5.49631159e-01 -1.58136763e-02 1.91513298e+02] [-5.49522676e-01 8.35407324e-01 1.09284462e-02 -5.44253243e+01] [ 1.92174756e-02 -4.38095752e-04 9.99815231e-01 3.22497699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.723617865 meters 0.022925546137298608 Centerline is valid? [True, True] Translation: X:191.56, Y:-54.46, Z:3.23 [[ 8.36639682e-01 5.47519464e-01 -1.60149776e-02 1.91562619e+02] [-5.47407715e-01 8.36792800e-01 1.10726511e-02 -5.44631548e+01] [ 1.94637099e-02 -4.97096995e-04 9.99810440e-01 3.22614757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.783617865 meters 0.02170701248035775 Centerline is valid? [True, True] Translation: X:191.61, Y:-54.50, Z:3.23 [[ 8.37815096e-01 5.45730786e-01 -1.56132439e-02 1.91614536e+02] [-5.45624168e-01 8.37960398e-01 1.07999154e-02 -5.44974674e+01] [ 1.89771264e-02 -5.29368978e-04 9.99819778e-01 3.22877338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.843617865 meters 0.022569150494274142 Centerline is valid? [True, True] Translation: X:191.66, Y:-54.53, Z:3.23 [[ 8.38612617e-01 5.44527344e-01 -1.47935593e-02 1.91663649e+02] [-5.44431352e-01 8.38742922e-01 1.02378996e-02 -5.45342492e+01] [ 1.79828094e-02 -5.31554257e-04 9.99838155e-01 3.23076984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.903617865 meters 0.023113861577845816 Centerline is valid? [True, True] Translation: X:191.71, Y:-54.57, Z:3.23 [[ 8.38978244e-01 5.44004893e-01 -1.31978075e-02 1.91713816e+02] [-5.43928368e-01 8.39081902e-01 9.13739703e-03 -5.45716247e+01] [ 1.60448301e-02 -4.87415418e-04 9.99871155e-01 3.23283759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96361786499997 meters 0.02211739688087506 Centerline is valid? [True, True] Translation: X:191.77, Y:-54.60, Z:3.23 [[ 8.38385957e-01 5.44933953e-01 -1.24889724e-02 1.91766000e+02] [-5.44865469e-01 8.38478853e-01 8.65071176e-03 -5.46047319e+01] [ 1.51858058e-02 -4.47825433e-04 9.99884589e-01 3.23452491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02361786499998 meters 0.021314101417856987 Centerline is valid? [True, True] Translation: X:191.82, Y:-54.64, Z:3.24 [[ 8.36574219e-01 5.47731208e-01 -1.15801380e-02 1.91818790e+02] [-5.47672536e-01 8.36654281e-01 8.02540128e-03 -5.46369791e+01] [ 1.40843348e-02 -3.71720262e-04 9.99900742e-01 3.23546759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08361786499998 meters 0.020488967991138453 Centerline is valid? [True, True] Translation: X:191.87, Y:-54.67, Z:3.24 [[ 8.33339030e-01 5.52646874e-01 -1.12913137e-02 1.91872083e+02] [-5.52591530e-01 8.33415475e-01 7.82608537e-03 -5.46683666e+01] [ 1.37354172e-02 -2.82298052e-04 9.99905625e-01 3.23550839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14361786499998 meters 0.019799234567166972 Centerline is valid? [True, True] Translation: X:191.93, Y:-54.70, Z:3.24 [[ 8.30918769e-01 5.56273690e-01 -1.15577708e-02 1.91925191e+02] [-5.56216046e-01 8.30999116e-01 8.01124292e-03 -5.47005379e+01] [ 1.40609410e-02 -2.28074518e-04 9.99901114e-01 3.23534204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20361786499998 meters 0.019328379257922895 Centerline is valid? [True, True] Translation: X:191.98, Y:-54.73, Z:3.24 [[ 8.28899839e-01 5.59278154e-01 -1.15327466e-02 1.91978042e+02] [-5.59220991e-01 8.28980045e-01 7.99802473e-03 -5.47333499e+01] [ 1.40335373e-02 -1.80207423e-04 9.99901509e-01 3.23569944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.263617865 meters 0.01929599098315527 Centerline is valid? [True, True] Translation: X:192.03, Y:-54.77, Z:3.24 [[ 8.27595241e-01 5.61218893e-01 -1.09302661e-02 1.92029425e+02] [-5.61167663e-01 8.27667405e-01 7.58422077e-03 -5.47671529e+01] [ 1.33030330e-02 -1.42953105e-04 9.99911501e-01 3.23701164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.323617865 meters 0.019092496404717843 Centerline is valid? [True, True] Translation: X:192.08, Y:-54.80, Z:3.24 [[ 8.26552289e-01 5.62759612e-01 -1.06269753e-02 1.92081306e+02] [-5.62711290e-01 8.26620594e-01 7.37550760e-03 -5.48011928e+01] [ 1.29351144e-02 -1.16323727e-04 9.99916331e-01 3.23739533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.383617865 meters 0.01889125868986421 Centerline is valid? [True, True] Translation: X:192.13, Y:-54.84, Z:3.24 [[ 8.26006586e-01 5.63569884e-01 -1.01047194e-02 1.92133766e+02] [-5.63526218e-01 8.26068384e-01 7.01613066e-03 -5.48357282e+01] [ 1.23012692e-02 -1.01095829e-04 9.99924331e-01 3.23795332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.443617865 meters 0.018854597345887552 Centerline is valid? [True, True] Translation: X:192.19, Y:-54.87, Z:3.24 [[ 8.25786342e-01 5.63895199e-01 -9.95598377e-03 1.92186540e+02] [-5.63852785e-01 8.25846351e-01 6.91675729e-03 -5.48706416e+01] [ 1.21224391e-02 -9.80545257e-05 9.99926516e-01 3.23824099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.503617865 meters 0.018928653225599175 Centerline is valid? [True, True] Translation: X:192.24, Y:-54.91, Z:3.24 [[ 8.26131831e-01 5.63383181e-01 -1.02756321e-02 1.92238296e+02] [-5.63337908e-01 8.26195726e-01 7.14304178e-03 -5.49059372e+01] [ 1.25139530e-02 -1.12441075e-04 9.99921691e-01 3.23781912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.563617865 meters 0.019138880910093595 Centerline is valid? [True, True] Translation: X:192.29, Y:-54.94, Z:3.24 [[ 8.26819674e-01 5.62372049e-01 -1.03395334e-02 1.92288415e+02] [-5.62326077e-01 8.26884310e-01 7.19176089e-03 -5.49419257e+01] [ 1.25940433e-02 -1.32100111e-04 9.99920683e-01 3.23799069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.623617865 meters 0.019777247364403047 Centerline is valid? [True, True] Translation: X:192.34, Y:-54.98, Z:3.24 [[ 8.28646843e-01 5.59667176e-01 -1.08194445e-02 1.92337129e+02] [-5.59616554e-01 8.28717453e-01 7.52961549e-03 -5.49791089e+01] [ 1.31803411e-02 -1.84651885e-04 9.99913118e-01 3.23835633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.683617865 meters 0.021059919702662792 Centerline is valid? [True, True] Translation: X:192.38, Y:-55.02, Z:3.24 [[ 8.31146408e-01 5.55943314e-01 -1.10761000e-02 1.92384750e+02] [-5.55889880e-01 8.31220168e-01 7.71187817e-03 -5.50178481e+01] [ 1.34940448e-02 -2.52607931e-04 9.99908919e-01 3.23870631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74361786499998 meters 0.02073732230919901 Centerline is valid? [True, True] Translation: X:192.44, Y:-55.05, Z:3.24 [[ 8.32689838e-01 5.53636582e-01 -1.06849625e-02 1.92435319e+02] [-5.53586626e-01 8.32758342e-01 7.44260740e-03 -5.50533947e+01] [ 1.30184914e-02 -2.82331205e-04 9.99915216e-01 3.23914899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80361786499998 meters 0.023138084344919766 Centerline is valid? [True, True] Translation: X:192.48, Y:-55.09, Z:3.24 [[ 8.34433214e-01 5.51007225e-01 -1.05948217e-02 1.92480886e+02] [-5.50957842e-01 8.34500409e-01 7.38399470e-03 -5.50942700e+01] [ 1.29100175e-02 -3.24150314e-04 9.99916610e-01 3.24067960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86361786499998 meters 0.021570204665005817 Centerline is valid? [True, True] Translation: X:192.53, Y:-55.13, Z:3.24 [[ 8.34363117e-01 5.51114912e-01 -1.05139140e-02 1.92533625e+02] [-5.51066273e-01 8.34429297e-01 7.32885086e-03 -5.51281801e+01] [ 1.28121569e-02 -3.21059436e-04 9.99917869e-01 3.24117723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92361786499998 meters 0.022098909500290625 Centerline is valid? [True, True] Translation: X:192.58, Y:-55.17, Z:3.24 [[ 8.33156315e-01 5.52951643e-01 -9.74863479e-03 1.92582569e+02] [-5.52909907e-01 8.33213301e-01 6.79922936e-03 -5.51653269e+01] [ 1.18823372e-02 -2.74704124e-04 9.99929365e-01 3.24176272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98361786499999 meters 0.0206961017996638 Centerline is valid? [True, True] Translation: X:192.63, Y:-55.20, Z:3.24 [[ 8.30726615e-01 5.56593058e-01 -9.87207453e-03 1.92634204e+02] [-5.56550466e-01 8.30785240e-01 6.88944126e-03 -5.51980203e+01] [ 1.20361890e-02 -2.28934544e-04 9.99927536e-01 3.24210907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.043617865 meters 0.0197929270687231 Centerline is valid? [True, True] Translation: X:192.69, Y:-55.23, Z:3.24 [[ 8.27693132e-01 5.61104936e-01 -9.23746575e-03 1.92686466e+02] [-5.61067931e-01 8.27744663e-01 6.44582589e-03 -5.52316771e+01] [ 1.12630477e-02 -1.52320021e-04 9.99936558e-01 3.24221313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.103617865 meters 0.019686667483764835 Centerline is valid? [True, True] Translation: X:192.74, Y:-55.27, Z:3.24 [[ 8.26106811e-01 5.63441551e-01 -9.00863184e-03 1.92736292e+02] [-5.63406455e-01 8.26155920e-01 6.28984181e-03 -5.52664547e+01] [ 1.09864928e-02 -1.20559828e-04 9.99939639e-01 3.24299493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.163617865 meters 0.019466382003817617 Centerline is valid? [True, True] Translation: X:192.79, Y:-55.30, Z:3.24 [[ 8.24963151e-01 5.65114551e-01 -9.01914395e-03 1.92786462e+02] [-5.65079460e-01 8.25012445e-01 6.29838014e-03 -5.53027416e+01] [ 1.10002123e-02 -9.93985363e-05 9.99939491e-01 3.24346849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.223617865 meters 0.019522140786635573 Centerline is valid? [True, True] Translation: X:192.84, Y:-55.34, Z:3.24 [[ 8.24993837e-01 5.65067367e-01 -9.16725518e-03 1.92837189e+02] [-5.65031077e-01 8.25044762e-01 6.40492604e-03 -5.53405114e+01] [ 1.11826106e-02 -1.04240450e-04 9.99937467e-01 3.24407182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.283617865 meters 0.019794664411960254 Centerline is valid? [True, True] Translation: X:192.89, Y:-55.38, Z:3.24 [[ 8.26523811e-01 5.62833290e-01 -8.77937460e-03 1.92885857e+02] [-5.62799842e-01 8.26570426e-01 6.13742314e-03 -5.53792709e+01] [ 1.07111175e-02 -1.31695721e-04 9.99942626e-01 3.24409854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.343617865 meters 0.020997205093473092 Centerline is valid? [True, True] Translation: X:192.93, Y:-55.42, Z:3.25 [[ 8.28857148e-01 5.59398995e-01 -8.28201438e-03 1.92931606e+02] [-5.59369029e-01 8.28898508e-01 5.79258787e-03 -5.54198887e+01] [ 1.01053172e-02 -1.68525522e-04 9.99948926e-01 3.24573733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.403617865 meters 0.02136845004140585 Centerline is valid? [True, True] Translation: X:192.98, Y:-55.46, Z:3.25 [[ 8.31497649e-01 5.55485789e-01 -6.87015037e-03 1.92980421e+02] [-5.55465010e-01 8.31526010e-01 4.80803740e-03 -5.54590504e+01] [ 8.38350518e-03 -1.81743652e-04 9.99964841e-01 3.24662826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46361786499997 meters 0.021674301946892693 Centerline is valid? [True, True] Translation: X:193.03, Y:-55.50, Z:3.25 [[ 8.32883447e-01 5.53406972e-01 -6.77408153e-03 1.93029667e+02] [-5.53386707e-01 8.32910970e-01 4.74002253e-03 -5.54961480e+01] [ 8.26536834e-03 -1.99199629e-04 9.99965821e-01 3.24716047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52361786499998 meters 0.023004051475444293 Centerline is valid? [True, True] Translation: X:193.08, Y:-55.53, Z:3.25 [[ 8.34299238e-01 5.51272232e-01 -6.61121857e-03 1.93077029e+02] [-5.51252847e-01 8.34325404e-01 4.62817544e-03 -5.55349953e+01] [ 8.06729221e-03 -2.16830185e-04 9.99967435e-01 3.24884491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58361786499998 meters 0.02305017348167996 Centerline is valid? [True, True] Translation: X:193.13, Y:-55.57, Z:3.25 [[ 8.34861306e-01 5.50423841e-01 -6.33998681e-03 1.93128018e+02] [-5.50405976e-01 8.34885350e-01 4.44004405e-03 -5.55706285e+01] [ 7.73706821e-03 -2.17254352e-04 9.99970045e-01 3.24967834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64361786499998 meters 0.023804036173414415 Centerline is valid? [True, True] Translation: X:193.18, Y:-55.61, Z:3.25 [[ 8.35215877e-01 5.49880239e-01 -6.79422575e-03 1.93177407e+02] [-5.49859680e-01 8.35243477e-01 4.76104086e-03 -5.56069608e+01] [ 8.29283502e-03 -2.40626125e-04 9.99965585e-01 3.24995770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70361786499998 meters 0.02396536742487525 Centerline is valid? [True, True] Translation: X:193.23, Y:-55.64, Z:3.25 [[ 8.35228723e-01 5.49861909e-01 -6.69793797e-03 1.93229284e+02] [-5.49841914e-01 8.35255544e-01 4.69519387e-03 -5.56429325e+01] [ 8.17619809e-03 -2.38753739e-04 9.99966546e-01 3.25175418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.763617865 meters 0.02257912274444989 Centerline is valid? [True, True] Translation: X:193.28, Y:-55.68, Z:3.25 [[ 8.34782404e-01 5.50547171e-01 -6.01246256e-03 1.93282776e+02] [-5.50531063e-01 8.34804030e-01 4.21673666e-03 -5.56752321e+01] [ 7.34074042e-03 -2.10010164e-04 9.99973034e-01 3.25261575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.823617865 meters 0.022659311132061412 Centerline is valid? [True, True] Translation: X:193.33, Y:-55.71, Z:3.25 [[ 8.33771415e-01 5.52080844e-01 -5.65403714e-03 1.93334027e+02] [-5.52066622e-01 8.33790565e-01 3.96715108e-03 -5.57097770e+01] [ 6.90447094e-03 -1.86291987e-04 9.99976147e-01 3.25415582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.883617865 meters 0.02231133488168197 Centerline is valid? [True, True] Translation: X:193.39, Y:-55.74, Z:3.25 [[ 8.32619702e-01 5.53810521e-01 -6.19182189e-03 1.93386918e+02] [-5.53793492e-01 8.32642703e-01 4.34710584e-03 -5.57424601e+01] [ 7.56304826e-03 -1.90495303e-04 9.99971382e-01 3.25414432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.943617865 meters 0.022260284675674456 Centerline is valid? [True, True] Translation: X:193.44, Y:-55.78, Z:3.25 [[ 8.31679882e-01 5.55204262e-01 -7.53668861e-03 1.93438745e+02] [-5.55179055e-01 8.31714001e-01 5.29501921e-03 -5.57765143e+01] [ 9.20818666e-03 -2.19549285e-04 9.99957580e-01 3.25370767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.003617865 meters 0.022447711516928055 Centerline is valid? [True, True] Translation: X:193.49, Y:-55.81, Z:3.25 [[ 8.32220943e-01 5.54376633e-01 -8.65157733e-03 1.93490178e+02] [-5.54343333e-01 8.32265870e-01 6.08201443e-03 -5.58112154e+01] [ 1.05721392e-02 -2.65635574e-04 9.99944078e-01 3.25325800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.063617865 meters 0.022965733931668023 Centerline is valid? [True, True] Translation: X:193.54, Y:-55.85, Z:3.25 [[ 8.33075332e-01 5.53084891e-01 -9.08815195e-03 1.93540595e+02] [-5.53048030e-01 8.33124849e-01 6.39239011e-03 -5.58474291e+01] [ 1.11070996e-02 -2.99157978e-04 9.99938270e-01 3.25427957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.123617865 meters 0.024682144841950648 Centerline is valid? [True, True] Translation: X:193.59, Y:-55.88, Z:3.26 [[ 8.34231197e-01 5.51346274e-01 -8.69460541e-03 1.93588416e+02] [-5.51312397e-01 8.34276447e-01 6.11977748e-03 -5.58847963e+01] [ 1.06278210e-02 -3.11865545e-04 9.99943474e-01 3.25563342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18361786499997 meters 0.023834595737578863 Centerline is valid? [True, True] Translation: X:193.64, Y:-55.92, Z:3.26 [[ 8.35083015e-01 5.50066185e-01 -7.97186548e-03 1.93641221e+02] [-5.50037660e-01 8.35121011e-01 5.60987214e-03 -5.59183228e+01] [ 9.74327333e-03 -2.99882712e-04 9.99952488e-01 3.25613535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24361786499998 meters 0.02445448399491398 Centerline is valid? [True, True] Translation: X:193.69, Y:-55.95, Z:3.26 [[ 8.35414356e-01 5.49570315e-01 -7.43791977e-03 1.93692076e+02] [-5.49545442e-01 8.35447417e-01 5.23649670e-03 -5.59533966e+01] [ 9.09181399e-03 -2.87169609e-04 9.99958627e-01 3.25668607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30361786499998 meters 0.0248836630341627 Centerline is valid? [True, True] Translation: X:193.74, Y:-55.99, Z:3.26 [[ 8.35010651e-01 5.50174759e-01 -8.05897173e-03 1.93743067e+02] [-5.50145547e-01 8.35049484e-01 5.67770859e-03 -5.59875130e+01] [ 9.85337213e-03 -3.07339734e-04 9.99951407e-01 3.25678151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36361786499998 meters 0.02518914689099997 Centerline is valid? [True, True] Translation: X:193.79, Y:-56.02, Z:3.26 [[ 8.34305687e-01 5.51230728e-01 -8.87154422e-03 1.93793801e+02] [-5.51195373e-01 8.34352790e-01 6.25161039e-03 -5.60223966e+01] [ 1.08480774e-02 -3.25799984e-04 9.99941105e-01 3.25716451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42361786499998 meters 0.02288511787275619 Centerline is valid? [True, True] Translation: X:193.85, Y:-56.05, Z:3.26 [[ 8.33021563e-01 5.53177054e-01 -8.37989652e-03 1.93848778e+02] [-5.53145582e-01 8.33063662e-01 5.90765114e-03 -5.60520019e+01] [ 1.02489643e-02 -2.85898047e-04 9.99947437e-01 3.25741584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48361786499999 meters 0.022504554291420564 Centerline is valid? [True, True] Translation: X:193.90, Y:-56.08, Z:3.26 [[ 8.31020679e-01 5.56193149e-01 -7.33563014e-03 1.93901429e+02] [-5.56169115e-01 8.31053026e-01 5.17529638e-03 -5.60842194e+01] [ 8.97476202e-03 -2.20927396e-04 9.99959702e-01 3.25940676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.543617865 meters 0.022023045147295646 Centerline is valid? [True, True] Translation: X:193.95, Y:-56.12, Z:3.26 [[ 8.29242770e-01 5.58851760e-01 -6.41394721e-03 1.93953906e+02] [-5.58833479e-01 8.29267558e-01 4.52328253e-03 -5.61176683e+01] [ 7.84672274e-03 -1.66570894e-04 9.99969200e-01 3.26127994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.603617865 meters 0.021192598937272936 Centerline is valid? [True, True] Translation: X:194.01, Y:-56.15, Z:3.26 [[ 8.26334562e-01 5.63143435e-01 -6.37675444e-03 1.94007256e+02] [-5.63125461e-01 8.26359156e-01 4.50115616e-03 -5.61495309e+01] [ 7.80428596e-03 -1.28548126e-04 9.99969538e-01 3.26280080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.663617865 meters 0.020408812002174655 Centerline is valid? [True, True] Translation: X:194.06, Y:-56.18, Z:3.26 [[ 8.23425769e-01 5.67373348e-01 -7.58204220e-03 1.94061071e+02] [-5.67348108e-01 8.23460669e-01 5.35269025e-03 -5.61804456e+01] [ 9.28048733e-03 -1.05885780e-04 9.99956930e-01 3.26162253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.723617865 meters 0.019877379662922152 Centerline is valid? [True, True] Translation: X:194.11, Y:-56.21, Z:3.26 [[ 8.21692427e-01 5.69877020e-01 -7.85729023e-03 1.94114322e+02] [-5.69850037e-01 8.21729989e-01 5.54618510e-03 -5.62128221e+01] [ 9.61721446e-03 -7.97811668e-05 9.99953750e-01 3.26046093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.783617865 meters 0.019812853548071305 Centerline is valid? [True, True] Translation: X:194.17, Y:-56.25, Z:3.26 [[ 8.21407911e-01 5.70287303e-01 -7.83808272e-03 1.94165529e+02] [-5.70260445e-01 8.21445303e-01 5.53515923e-03 -5.62489759e+01] [ 9.59518727e-03 -7.68750394e-05 9.99953962e-01 3.26085678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.843617865 meters 0.020198960846288076 Centerline is valid? [True, True] Translation: X:194.21, Y:-56.29, Z:3.26 [[ 8.23288368e-01 5.67572462e-01 -7.60026035e-03 1.94213831e+02] [-5.67547055e-01 8.23323441e-01 5.37138214e-03 -5.62858351e+01] [ 9.30612109e-03 -1.08691055e-04 9.99956691e-01 3.26138403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.903617865 meters 0.02059879084775118 Centerline is valid? [True, True] Translation: X:194.26, Y:-56.32, Z:3.26 [[ 8.26488113e-01 5.62909707e-01 -7.07544230e-03 1.94263688e+02] [-5.62887501e-01 8.26518384e-01 5.00214524e-03 -5.63234247e+01] [ 8.66373925e-03 -1.51535535e-04 9.99962458e-01 3.26190810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96361786499997 meters 0.021793484652828078 Centerline is valid? [True, True] Translation: X:194.31, Y:-56.36, Z:3.26 [[ 8.28973101e-01 5.59240572e-01 -7.31981633e-03 1.94310277e+02] [-5.59216654e-01 8.29005394e-01 5.17591906e-03 -5.63624205e+01] [ 8.96275116e-03 -1.97334480e-04 9.99959814e-01 3.26368647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02361786499998 meters 0.02276983727237235 Centerline is valid? [True, True] Translation: X:194.36, Y:-56.40, Z:3.26 [[ 8.32514454e-01 5.53939194e-01 -8.42926593e-03 1.94357760e+02] [-5.53907196e-01 8.32557075e-01 5.96119637e-03 -5.64006710e+01] [ 1.03199853e-02 -2.93751086e-04 9.99946704e-01 3.26388525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08361786499998 meters 0.022984823536371168 Centerline is valid? [True, True] Translation: X:194.41, Y:-56.44, Z:3.26 [[ 8.34772947e-01 5.50514286e-01 -9.38868645e-03 1.94407810e+02] [-5.50474363e-01 8.34825659e-01 6.64044970e-03 -5.64375310e+01] [ 1.14935788e-02 -3.75036578e-04 9.99933876e-01 3.26412820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14361786499998 meters 0.024640565819740414 Centerline is valid? [True, True] Translation: X:194.45, Y:-56.48, Z:3.26 [[ 8.37002345e-01 5.47104089e-01 -1.02073554e-02 1.94454855e+02] [-5.47056631e-01 8.37064457e-01 7.22066067e-03 -5.64750276e+01] [ 1.24946673e-02 -4.59708487e-04 9.99921833e-01 3.26483720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20361786499998 meters 0.025475238342189285 Centerline is valid? [True, True] Translation: X:194.50, Y:-56.51, Z:3.27 [[ 8.37476458e-01 5.46365748e-01 -1.08467155e-02 1.94504213e+02] [-5.46312101e-01 8.37546548e-01 7.67260122e-03 -5.65114226e+01] [ 1.32766757e-02 -4.99930935e-04 9.99911736e-01 3.26600889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.263617865 meters 0.0257483636839211 Centerline is valid? [True, True] Translation: X:194.55, Y:-56.55, Z:3.27 [[ 8.36791217e-01 5.47414010e-01 -1.08793593e-02 1.94554592e+02] [-5.47360080e-01 8.36861795e-01 7.69922696e-03 -5.65471418e+01] [ 1.33191849e-02 -4.87718510e-04 9.99911177e-01 3.26743462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.323617865 meters 0.023635814595146236 Centerline is valid? [True, True] Translation: X:194.61, Y:-56.58, Z:3.27 [[ 8.34223341e-01 5.51308090e-01 -1.14370684e-02 1.94608256e+02] [-5.51248789e-01 8.34301616e-01 8.09856647e-03 -5.65777841e+01] [ 1.40067699e-02 -4.51343063e-04 9.99901799e-01 3.26866963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.383617865 meters 0.023572257121792874 Centerline is valid? [True, True] Translation: X:194.66, Y:-56.61, Z:3.27 [[ 8.30249587e-01 5.57293783e-01 -1.04528764e-02 1.94658986e+02] [-5.57244712e-01 8.30315323e-01 7.40238029e-03 -5.66104860e+01] [ 1.28044840e-02 -3.21013079e-04 9.99917968e-01 3.27031692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.443617865 meters 0.021305381375393 Centerline is valid? [True, True] Translation: X:194.71, Y:-56.64, Z:3.27 [[ 8.27377641e-01 5.61548428e-01 -1.04691279e-02 1.94713260e+02] [-5.61499542e-01 8.27443834e-01 7.41392055e-03 -5.66405322e+01] [ 1.28258907e-02 -2.55701594e-04 9.99917712e-01 3.27077600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.503617865 meters 0.02019137021807794 Centerline is valid? [True, True] Translation: X:194.77, Y:-56.67, Z:3.27 [[ 8.23120115e-01 5.67774941e-01 -1.02416844e-02 1.94766493e+02] [-5.67728626e-01 8.23183814e-01 7.25368553e-03 -5.66716527e+01] [ 1.25492497e-02 -1.56157039e-04 9.99921243e-01 3.27127461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.563617865 meters 0.01947826404807469 Centerline is valid? [True, True] Translation: X:194.82, Y:-56.70, Z:3.27 [[ 8.19439662e-01 5.73079306e-01 -9.93727886e-03 1.94819613e+02] [-5.73036096e-01 8.19499911e-01 7.03763266e-03 -5.67036114e+01] [ 1.21767208e-02 -7.24958417e-05 9.99925858e-01 3.27257319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.623617865 meters 0.01932625869073051 Centerline is valid? [True, True] Translation: X:194.87, Y:-56.74, Z:3.27 [[ 8.17351259e-01 5.76061688e-01 -9.47903392e-03 1.94871468e+02] [-5.76022535e-01 8.17406222e-01 6.71627501e-03 -5.67377958e+01] [ 1.16172100e-02 -2.94186818e-05 9.99932518e-01 3.27365835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68361786499997 meters 0.019360425229856246 Centerline is valid? [True, True] Translation: X:194.92, Y:-56.77, Z:3.28 [[ 8.15413701e-01 5.78806744e-01 -9.12408522e-03 1.94922728e+02] [-5.78770600e-01 8.15464747e-01 6.46831413e-03 -5.67729088e+01] [ 1.11842737e-02 6.40031265e-06 9.99937454e-01 3.27512284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74361786499998 meters 0.019510844187015274 Centerline is valid? [True, True] Translation: X:194.97, Y:-56.81, Z:3.28 [[ 8.14650194e-01 5.79877545e-01 -9.33248121e-03 1.94973181e+02] [-5.79839778e-01 8.14703647e-01 6.61806586e-03 -5.68094990e+01] [ 1.14408743e-02 1.99352024e-05 9.99934551e-01 3.27583990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80361786499998 meters 0.019374706613483856 Centerline is valid? [True, True] Translation: X:195.02, Y:-56.85, Z:3.28 [[ 8.15159756e-01 5.79144336e-01 -1.03155462e-02 1.95023074e+02] [-5.79098080e-01 8.15225023e-01 7.31952077e-03 -5.68486361e+01] [ 1.26485504e-02 7.13423624e-06 9.99920004e-01 3.27540337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86361786499998 meters 0.01946751838696617 Centerline is valid? [True, True] Translation: X:195.07, Y:-56.89, Z:3.28 [[ 8.15835428e-01 5.78172645e-01 -1.13555014e-02 1.95072270e+02] [-5.78116423e-01 8.15914451e-01 8.06285520e-03 -5.68871561e+01] [ 1.39268400e-02 -1.31610555e-05 9.99903017e-01 3.27531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92361786499998 meters 0.019560413775409746 Centerline is valid? [True, True] Translation: X:195.12, Y:-56.93, Z:3.28 [[ 8.17919177e-01 5.75197362e-01 -1.24985705e-02 1.95119791e+02] [-5.75128850e-01 8.18014664e-01 8.87787129e-03 -5.69284700e+01] [ 1.53305420e-02 -7.30927344e-05 9.99882478e-01 3.27518874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98361786499999 meters 0.020534165575711052 Centerline is valid? [True, True] Translation: X:195.16, Y:-56.97, Z:3.28 [[ 8.21023721e-01 5.70743472e-01 -1.31125092e-02 1.95163595e+02] [-5.70667403e-01 8.21128407e-01 9.31961540e-03 -5.69717761e+01] [ 1.60861635e-02 -1.68743733e-04 9.99870595e-01 3.27578349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.043617865 meters 0.0204764693793995 Centerline is valid? [True, True] Translation: X:195.21, Y:-57.01, Z:3.28 [[ 8.21953825e-01 5.69401134e-01 -1.32007256e-02 1.95213434e+02] [-5.69323793e-01 8.22059797e-01 9.38669644e-03 -5.70093013e+01] [ 1.61965814e-02 -1.99943857e-04 9.99868807e-01 3.27665524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.103617865 meters 0.021482498584226357 Centerline is valid? [True, True] Translation: X:195.26, Y:-57.05, Z:3.28 [[ 8.25876803e-01 5.63714376e-01 -1.23938887e-02 1.95258799e+02] [-5.63645494e-01 8.25969742e-01 8.81715461e-03 -5.70522751e+01] [ 1.52073338e-02 -2.96123974e-04 9.99884318e-01 3.27899097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.163617865 meters 0.02213914504438955 Centerline is valid? [True, True] Translation: X:195.31, Y:-57.09, Z:3.28 [[ 8.27927622e-01 5.60703926e-01 -1.21227077e-02 1.95306566e+02] [-5.60637687e-01 8.28016297e-01 8.62529153e-03 -5.70926517e+01] [ 1.48740344e-02 -3.44670295e-04 9.99889316e-01 3.28037121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.223617865 meters 0.022079163643879008 Centerline is valid? [True, True] Translation: X:195.35, Y:-57.13, Z:3.28 [[ 8.29508841e-01 5.58357988e-01 -1.23061274e-02 1.95354200e+02] [-5.58289453e-01 8.29600026e-01 8.75691290e-03 -5.71320810e+01] [ 1.50986559e-02 -3.93555533e-04 9.99885931e-01 3.28200864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.283617865 meters 0.02255215565537612 Centerline is valid? [True, True] Translation: X:195.40, Y:-57.17, Z:3.28 [[ 8.29322079e-01 5.58636527e-01 -1.22523198e-02 1.95401456e+02] [-5.58568558e-01 8.29412490e-01 8.72286722e-03 -5.71720988e+01] [ 1.50351393e-02 -3.90305795e-04 9.99886890e-01 3.28358766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.343617865 meters 0.021997789451598367 Centerline is valid? [True, True] Translation: X:195.45, Y:-57.21, Z:3.28 [[ 8.28350729e-01 5.60070199e-01 -1.25076732e-02 1.95451120e+02] [-5.59999480e-01 8.28445069e-01 8.90793618e-03 -5.72090882e+01] [ 1.53509897e-02 -3.74604963e-04 9.99882096e-01 3.28461120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.403617865 meters 0.02225087361001488 Centerline is valid? [True, True] Translation: X:195.50, Y:-57.25, Z:3.29 [[ 8.26519553e-01 5.62763675e-01 -1.27465805e-02 1.95498456e+02] [-5.62690472e-01 8.26617768e-01 9.08286026e-03 -5.72479188e+01] [ 1.56480537e-02 -3.34782199e-04 9.99877506e-01 3.28596310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46361786499997 meters 0.021766812870885898 Centerline is valid? [True, True] Translation: X:195.55, Y:-57.29, Z:3.29 [[ 8.24709082e-01 5.65417322e-01 -1.25770266e-02 1.95548908e+02] [-5.65346297e-01 8.24804929e-01 8.96628320e-03 -5.72851958e+01] [ 1.54432853e-02 -2.84199805e-04 9.99880705e-01 3.28721928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52361786499998 meters 0.02109111259680316 Centerline is valid? [True, True] Translation: X:195.60, Y:-57.32, Z:3.29 [[ 8.23518828e-01 5.67150714e-01 -1.25222750e-02 1.95599940e+02] [-5.67080483e-01 8.23613990e-01 8.92870439e-03 -5.73210179e+01] [ 1.53774420e-02 -2.51818420e-04 9.99881728e-01 3.28784309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58361786499998 meters 0.020786942807665052 Centerline is valid? [True, True] Translation: X:195.65, Y:-57.36, Z:3.29 [[ 8.21755839e-01 5.69722671e-01 -1.15507661e-02 1.95650063e+02] [-5.69663111e-01 8.21836992e-01 8.24004381e-03 -5.73559115e+01] [ 1.41873866e-02 -1.91258757e-04 9.99899336e-01 3.28917683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64361786499998 meters 0.02051166880846314 Centerline is valid? [True, True] Translation: X:195.70, Y:-57.39, Z:3.29 [[ 8.21311313e-01 5.70354671e-01 -1.19698038e-02 1.95701106e+02] [-5.70290743e-01 8.21398511e-01 8.54132005e-03 -5.73924482e+01] [ 1.47035608e-02 -1.88814477e-04 9.99891879e-01 3.28971661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70361786499998 meters 0.020601742203143102 Centerline is valid? [True, True] Translation: X:195.75, Y:-57.43, Z:3.29 [[ 8.21564713e-01 5.69977959e-01 -1.25119383e-02 1.95752410e+02] [-5.69907982e-01 8.21659956e-01 8.93358446e-03 -5.74293032e+01] [ 1.53725049e-02 -2.08864246e-04 9.99881814e-01 3.28985578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.763617865 meters 0.020910765310491224 Centerline is valid? [True, True] Translation: X:195.80, Y:-57.47, Z:3.29 [[ 8.23387544e-01 5.67307878e-01 -1.39543364e-02 1.95802311e+02] [-5.67220344e-01 8.23505729e-01 9.96973288e-03 -5.74657712e+01] [ 1.71473840e-02 -2.93770358e-04 9.99852930e-01 3.28932738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.823617865 meters 0.022024928129646456 Centerline is valid? [True, True] Translation: X:195.85, Y:-57.50, Z:3.29 [[ 8.25046485e-01 5.64870844e-01 -1.48063031e-02 1.95850135e+02] [-5.64771799e-01 8.25179249e-01 1.05840405e-02 -5.75036399e+01] [ 1.81964699e-02 -3.70142951e-04 9.99834362e-01 3.28965309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.883617865 meters 0.022917307579995223 Centerline is valid? [True, True] Translation: X:195.90, Y:-57.54, Z:3.29 [[ 8.27687702e-01 5.60980447e-01 -1.52972495e-02 1.95900363e+02] [-5.60873971e-01 8.27828915e-01 1.09396410e-02 -5.75395086e+01] [ 1.88004302e-02 -4.74777258e-04 9.99823144e-01 3.29074702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.943617865 meters 0.024493230488690978 Centerline is valid? [True, True] Translation: X:195.95, Y:-57.58, Z:3.29 [[ 8.30177370e-01 5.57264438e-01 -1.61827540e-02 1.95948748e+02] [-5.57144536e-01 8.30334869e-01 1.15745876e-02 -5.75752639e+01] [ 1.98872110e-02 -5.92827720e-04 9.99802054e-01 3.29149664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.003617865 meters 0.025965347966396726 Centerline is valid? [True, True] Translation: X:196.00, Y:-57.61, Z:3.29 [[ 8.31813524e-01 5.54801452e-01 -1.67812444e-02 1.95997724e+02] [-5.54671949e-01 8.31982505e-01 1.20058753e-02 -5.76116337e+01] [ 2.06225788e-02 -6.78563903e-04 9.99787102e-01 3.29280843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.063617865 meters 0.026659923230551535 Centerline is valid? [True, True] Translation: X:196.05, Y:-57.65, Z:3.29 [[ 8.31942858e-01 5.54596610e-01 -1.71371396e-02 1.96047612e+02] [-5.54461407e-01 8.32119046e-01 1.22654441e-02 -5.76471661e+01] [ 2.10625139e-02 -7.02266098e-04 9.99777914e-01 3.29397850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.123617865 meters 0.026107331880586823 Centerline is valid? [True, True] Translation: X:196.10, Y:-57.68, Z:3.30 [[ 8.30556699e-01 5.56663946e-01 -1.73441883e-02 1.96100455e+02] [-5.56525822e-01 8.30737513e-01 1.24175062e-02 -5.76797620e+01] [ 2.13208459e-02 -6.60954313e-04 9.99772466e-01 3.29528836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18361786499997 meters 0.025627749482957474 Centerline is valid? [True, True] Translation: X:196.15, Y:-57.71, Z:3.30 [[ 8.28724207e-01 5.59389505e-01 -1.73080712e-02 1.96151485e+02] [-5.59252456e-01 8.28904717e-01 1.23960375e-02 -5.77124634e+01] [ 2.12809551e-02 -5.93314987e-04 9.99773359e-01 3.29729542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24361786499998 meters 0.02364186623357077 Centerline is valid? [True, True] Translation: X:196.20, Y:-57.74, Z:3.30 [[ 8.25489569e-01 5.64158673e-01 -1.70869177e-02 1.96204300e+02] [-5.64026112e-01 8.25666261e-01 1.22380431e-02 -5.77430917e+01] [ 2.10122896e-02 -4.64909152e-04 9.99779109e-01 3.29935917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30361786499998 meters 0.021780330782440554 Centerline is valid? [True, True] Translation: X:196.26, Y:-57.77, Z:3.30 [[ 8.21848117e-01 5.69436376e-01 -1.75466843e-02 1.96257742e+02] [-5.69297768e-01 8.22035339e-01 1.25679516e-02 -5.77741453e+01] [ 2.15806434e-02 -3.39659157e-04 9.99767053e-01 3.30053221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36361786499998 meters 0.01943121561435542 Centerline is valid? [True, True] Translation: X:196.31, Y:-57.80, Z:3.30 [[ 8.18928243e-01 5.73624606e-01 -1.76449412e-02 1.96313744e+02] [-5.73485376e-01 8.19118281e-01 1.26398367e-02 -5.78034133e+01] [ 2.17038153e-02 -2.32003492e-04 9.99764418e-01 3.30312917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42361786499998 meters 0.019407234188898045 Centerline is valid? [True, True] Translation: X:196.36, Y:-57.84, Z:3.30 [[ 8.17405723e-01 5.75783392e-01 -1.79267959e-02 1.96364136e+02] [-5.75640121e-01 8.17602259e-01 1.28451430e-02 -5.78381736e+01] [ 2.20530088e-02 -1.80310431e-04 9.99756787e-01 3.30383769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48361786499999 meters 0.019280993063376727 Centerline is valid? [True, True] Translation: X:196.42, Y:-57.87, Z:3.31 [[ 8.17393610e-01 5.75781026e-01 -1.85444464e-02 1.96415403e+02] [-5.75627554e-01 8.17603922e-01 1.32945647e-02 -5.78746633e+01] [ 2.28167703e-02 -1.92197925e-04 9.99739645e-01 3.30526845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.543617865 meters 0.019489732149420326 Centerline is valid? [True, True] Translation: X:196.46, Y:-57.91, Z:3.31 [[ 8.18322686e-01 5.74454359e-01 -1.87128825e-02 1.96464962e+02] [-5.74297564e-01 8.18536580e-01 1.34229186e-02 -5.79118541e+01] [ 2.30280330e-02 -2.37515972e-04 9.99734791e-01 3.30617143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.603617865 meters 0.01989252872064953 Centerline is valid? [True, True] Translation: X:196.51, Y:-57.95, Z:3.31 [[ 8.20279425e-01 5.71650099e-01 -1.89163834e-02 1.96513789e+02] [-5.71488990e-01 8.20497446e-01 1.35748127e-02 -5.79496400e+01] [ 2.32808873e-02 -3.24634722e-04 9.99728911e-01 3.30739098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.663617865 meters 0.020671285164460925 Centerline is valid? [True, True] Translation: X:196.56, Y:-57.99, Z:3.31 [[ 8.22786713e-01 5.68031558e-01 -1.90308501e-02 1.96561787e+02] [-5.67867450e-01 8.23006660e-01 1.36600765e-02 -5.79890546e+01] [ 2.34218709e-02 -4.32329189e-04 9.99725577e-01 3.30891249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.723617865 meters 0.021446287599417038 Centerline is valid? [True, True] Translation: X:196.61, Y:-58.03, Z:3.31 [[ 8.25586722e-01 5.63933208e-01 -1.96443634e-02 1.96609668e+02] [-5.63757123e-01 8.25820206e-01 1.41029579e-02 -5.80278324e+01] [ 2.41758385e-02 -5.68565005e-04 9.99707560e-01 3.30934661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.783617865 meters 0.022106254180532 Centerline is valid? [True, True] Translation: X:196.66, Y:-58.07, Z:3.31 [[ 8.27234345e-01 5.61479710e-01 -2.05882019e-02 1.96658465e+02] [-5.61285456e-01 8.27490231e-01 1.47836245e-02 -5.80661390e+01] [ 2.53372411e-02 -6.73663668e-04 9.99678734e-01 3.30945928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.843617865 meters 0.02482677535719101 Centerline is valid? [True, True] Translation: X:196.70, Y:-58.11, Z:3.31 [[ 8.29302923e-01 5.58404386e-01 -2.10048537e-02 1.96703953e+02] [-5.58201096e-01 8.29568516e-01 1.50868429e-02 -5.81073802e+01] [ 2.58495246e-02 -7.86630559e-04 9.99665536e-01 3.30935052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.903617865 meters 0.02359589538790099 Centerline is valid? [True, True] Translation: X:196.76, Y:-58.14, Z:3.31 [[ 8.30166149e-01 5.57128344e-01 -2.07887757e-02 1.96755268e+02] [-5.56928636e-01 8.30425993e-01 1.49386729e-02 -5.81425228e+01] [ 2.55862978e-02 -8.23716012e-04 9.99672278e-01 3.31180397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96361786499997 meters 0.023312433794276978 Centerline is valid? [True, True] Translation: X:196.81, Y:-58.18, Z:3.31 [[ 8.30762284e-01 5.56247259e-01 -2.05673215e-02 1.96805597e+02] [-5.56051329e-01 8.31016407e-01 1.47868726e-02 -5.81792368e+01] [ 2.53169389e-02 -8.47889654e-04 9.99679115e-01 3.31379049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02361786499998 meters 0.024935163382903944 Centerline is valid? [True, True] Translation: X:196.85, Y:-58.22, Z:3.32 [[ 8.30983569e-01 5.55963847e-01 -1.92485826e-02 1.96853502e+02] [-5.55792003e-01 8.31206081e-01 1.38455852e-02 -5.82190155e+01] [ 2.36971838e-02 -8.07245547e-04 9.99718856e-01 3.31531026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08361786499998 meters 0.02411136608502071 Centerline is valid? [True, True] Translation: X:196.90, Y:-58.26, Z:3.32 [[ 8.30094807e-01 5.57320587e-01 -1.83404986e-02 1.96904144e+02] [-5.57164757e-01 8.30297067e-01 1.31990242e-02 -5.82554592e+01] [ 2.25841501e-02 -7.37761976e-04 9.99744673e-01 3.31756704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14361786499998 meters 0.02479144861996348 Centerline is valid? [True, True] Translation: X:196.95, Y:-58.29, Z:3.32 [[ 8.28895191e-01 5.59097103e-01 -1.85254612e-02 1.96952819e+02] [-5.58938410e-01 8.29101886e-01 1.33385177e-02 -5.82926962e+01] [ 2.28170214e-02 -7.01641355e-04 9.99739412e-01 3.31793125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20361786499998 meters 0.02299711627294614 Centerline is valid? [True, True] Translation: X:197.00, Y:-58.33, Z:3.32 [[ 8.26303004e-01 5.62914689e-01 -1.87189657e-02 1.97004543e+02] [-5.62753532e-01 8.26514782e-01 1.34824660e-02 -5.83268344e+01] [ 2.30609800e-02 -6.06438096e-04 9.99733876e-01 3.31844976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.263617865 meters 0.020943112716537707 Centerline is valid? [True, True] Translation: X:197.06, Y:-58.36, Z:3.32 [[ 8.24610102e-01 5.65384824e-01 -1.89256675e-02 1.97056778e+02] [-5.65220662e-01 8.24827075e-01 1.36345076e-02 -5.83601226e+01] [ 2.33191467e-02 -5.45974408e-04 9.99727923e-01 3.31995368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.323617865 meters 0.020488625252169514 Centerline is valid? [True, True] Translation: X:197.11, Y:-58.40, Z:3.32 [[ 8.22746918e-01 5.68090661e-01 -1.89870893e-02 1.97106234e+02] [-5.67926010e-01 8.22965841e-01 1.36847581e-02 -5.83965842e+01] [ 2.33999091e-02 -4.75830694e-04 9.99726071e-01 3.31949526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.383617865 meters 0.02139060482999858 Centerline is valid? [True, True] Translation: X:197.15, Y:-58.44, Z:3.32 [[ 8.22799263e-01 5.68031401e-01 -1.84851284e-02 1.97154459e+02] [-5.67875219e-01 8.23006749e-01 1.33277027e-02 -5.84353566e+01] [ 2.27839390e-02 -4.68777598e-04 9.99740302e-01 3.31894326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.443617865 meters 0.02047637022630623 Centerline is valid? [True, True] Translation: X:197.21, Y:-58.47, Z:3.32 [[ 8.23860996e-01 5.66517449e-01 -1.76363413e-02 1.97205032e+02] [-5.66374795e-01 8.24049597e-01 1.27221551e-02 -5.84713197e+01] [ 2.17405428e-02 -4.92508169e-04 9.99763525e-01 3.32103242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.503617865 meters 0.020947550644197073 Centerline is valid? [True, True] Translation: X:197.25, Y:-58.51, Z:3.32 [[ 8.25858034e-01 5.63642531e-01 -1.62973927e-02 1.97253472e+02] [-5.63520047e-01 8.26018654e-01 1.17617968e-02 -5.85095970e+01] [ 2.00913992e-02 -5.29666888e-04 9.99798007e-01 3.32213726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.563617865 meters 0.02132195115554668 Centerline is valid? [True, True] Translation: X:197.30, Y:-58.55, Z:3.32 [[ 8.27361546e-01 5.61450740e-01 -1.56823993e-02 1.97302960e+02] [-5.61336833e-01 8.27509968e-01 1.13231365e-02 -5.85464026e+01] [ 1.93347251e-02 -5.65219373e-04 9.99812907e-01 3.32255482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.623617865 meters 0.022093094101434452 Centerline is valid? [True, True] Translation: X:197.35, Y:-58.58, Z:3.32 [[ 8.28315998e-01 5.60050336e-01 -1.53697015e-02 1.97352879e+02] [-5.59940587e-01 8.28458371e-01 1.11025596e-02 -5.85832728e+01] [ 1.89511501e-02 -5.90308062e-04 9.99820237e-01 3.32266271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68361786499997 meters 0.022504004948916963 Centerline is valid? [True, True] Translation: X:197.40, Y:-58.62, Z:3.32 [[ 8.28613713e-01 5.59605146e-01 -1.55368672e-02 1.97403480e+02] [-5.59492810e-01 8.28759136e-01 1.12289775e-02 -5.86199031e+01] [ 1.91601143e-02 -6.11719242e-04 9.99816241e-01 3.32307885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74361786499998 meters 0.02157262558380443 Centerline is valid? [True, True] Translation: X:197.46, Y:-58.65, Z:3.32 [[ 8.28216903e-01 5.60198125e-01 -1.53239268e-02 1.97456023e+02] [-5.60088845e-01 8.28358441e-01 1.10805269e-02 -5.86527938e+01] [ 1.89009945e-02 -5.94319247e-04 9.99821184e-01 3.32260670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80361786499998 meters 0.022919086723336448 Centerline is valid? [True, True] Translation: X:197.51, Y:-58.69, Z:3.32 [[ 8.27305646e-01 5.61539539e-01 -1.54503597e-02 1.97505620e+02] [-5.61428573e-01 8.27449707e-01 1.11776329e-02 -5.86892632e+01] [ 1.90610784e-02 -5.73045456e-04 9.99818157e-01 3.32260193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86361786499998 meters 0.020482019618000988 Centerline is valid? [True, True] Translation: X:197.56, Y:-58.72, Z:3.32 [[ 8.25350343e-01 5.64467243e-01 -1.31735588e-02 1.97560134e+02] [-5.64386881e-01 8.25455355e-01 9.53445851e-03 -5.87189918e+01] [ 1.62560741e-02 -4.34284865e-04 9.99867767e-01 3.32473245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92361786499998 meters 0.019372257898944117 Centerline is valid? [True, True] Translation: X:197.61, Y:-58.75, Z:3.33 [[ 8.22371468e-01 5.68840775e-01 -1.11955848e-02 1.97613230e+02] [-5.68783128e-01 8.22447618e-01 8.10360947e-03 -5.87505774e+01] [ 1.38174455e-02 -2.96317502e-04 9.99904491e-01 3.32666046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98361786499999 meters 0.01879756594363464 Centerline is valid? [True, True] Translation: X:197.67, Y:-58.78, Z:3.33 [[ 8.19898227e-01 5.72412248e-01 -1.05411283e-02 1.97665788e+02] [-5.72361436e-01 8.19965956e-01 7.62999882e-03 -5.87840549e+01] [ 1.30108712e-02 -2.22487148e-04 9.99915330e-01 3.32807406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.043617865 meters 0.01824751019702708 Centerline is valid? [True, True] Translation: X:197.72, Y:-58.82, Z:3.33 [[ 8.18472787e-01 5.74458988e-01 -9.95830259e-03 1.97717896e+02] [-5.74413750e-01 8.18533346e-01 7.21147477e-03 -5.88176745e+01] [ 1.22938992e-02 -1.82209922e-04 9.99924411e-01 3.32858016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.103617865 meters 0.017913395238654702 Centerline is valid? [True, True] Translation: X:197.77, Y:-58.85, Z:3.33 [[ 8.17397474e-01 5.75978960e-01 -1.04693073e-02 1.97771059e+02] [-5.75929033e-01 8.17464500e-01 7.58559917e-03 -5.88507989e+01] [ 1.29274325e-02 -1.70871600e-04 9.99916423e-01 3.32801104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.163617865 meters 0.018019007067109155 Centerline is valid? [True, True] Translation: X:197.82, Y:-58.89, Z:3.33 [[ 8.17059678e-01 5.76439620e-01 -1.14388495e-02 1.97821629e+02] [-5.76379995e-01 8.17139726e-01 8.29277957e-03 -5.88860950e+01] [ 1.41274251e-02 -1.82571789e-04 9.99900186e-01 3.32808566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.223617865 meters 0.018510147266731423 Centerline is valid? [True, True] Translation: X:197.87, Y:-58.92, Z:3.33 [[ 8.17535424e-01 5.75761571e-01 -1.15949883e-02 1.97871175e+02] [-5.75700171e-01 8.17617621e-01 8.41070425e-03 -5.89219019e+01] [ 1.43228270e-02 -2.00811921e-04 9.99897403e-01 3.32877074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.283617865 meters 0.018504896935800205 Centerline is valid? [True, True] Translation: X:197.92, Y:-58.96, Z:3.33 [[ 8.18095215e-01 5.74973874e-01 -1.11920810e-02 1.97921865e+02] [-5.74916545e-01 8.18171742e-01 8.12199946e-03 -5.89576185e+01] [ 1.38269819e-02 -2.10056339e-04 9.99904381e-01 3.32922991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.343617865 meters 0.018947796413679354 Centerline is valid? [True, True] Translation: X:197.97, Y:-58.99, Z:3.33 [[ 8.19331675e-01 5.73219559e-01 -1.07212046e-02 1.97971758e+02] [-5.73166752e-01 8.19401784e-01 7.78400272e-03 -5.89949344e+01] [ 1.32469167e-02 -2.32641994e-04 9.99912229e-01 3.32947057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.403617865 meters 0.019551141359698394 Centerline is valid? [True, True] Translation: X:198.02, Y:-59.03, Z:3.33 [[ 8.20061782e-01 5.72168052e-01 -1.10632408e-02 1.98020096e+02] [-5.72111668e-01 8.20136362e-01 8.03656591e-03 -5.90318594e+01] [ 1.36716323e-02 -2.61071402e-04 9.99906505e-01 3.33024956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46361786499997 meters 0.019861057076878384 Centerline is valid? [True, True] Translation: X:198.07, Y:-59.07, Z:3.33 [[ 8.21155222e-01 5.70593663e-01 -1.12682010e-02 1.98070817e+02] [-5.70534970e-01 8.21232479e-01 8.18924080e-03 -5.90678116e+01] [ 1.39265416e-02 -2.95735095e-04 9.99902977e-01 3.33031634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52361786499998 meters 0.020841010330868878 Centerline is valid? [True, True] Translation: X:198.12, Y:-59.11, Z:3.33 [[ 8.22376417e-01 5.68837945e-01 -1.09736266e-02 1.98118398e+02] [-5.68782068e-01 8.22449567e-01 7.97933011e-03 -5.91054626e+01] [ 1.35642002e-02 -3.20410886e-04 9.99907951e-01 3.33212409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58361786499998 meters 0.020790189035916905 Centerline is valid? [True, True] Translation: X:198.17, Y:-59.14, Z:3.33 [[ 8.23660421e-01 5.66991747e-01 -1.01916238e-02 1.98169128e+02] [-5.66943395e-01 8.23723407e-01 7.41185773e-03 -5.91415296e+01] [ 1.25975412e-02 -3.26780080e-04 9.99920594e-01 3.33280980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64361786499998 meters 0.02163348308075534 Centerline is valid? [True, True] Translation: X:198.22, Y:-59.18, Z:3.33 [[ 8.24422737e-01 5.65880539e-01 -1.03133952e-02 1.98218144e+02] [-5.65830888e-01 8.24487169e-01 7.50427877e-03 -5.91783809e+01] [ 1.27497873e-02 -3.51060491e-04 9.99918657e-01 3.33359356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70361786499998 meters 0.022403976544097096 Centerline is valid? [True, True] Translation: X:198.27, Y:-59.21, Z:3.33 [[ 8.24891998e-01 5.65204336e-01 -9.86159228e-03 1.98267666e+02] [-5.65158854e-01 8.24950870e-01 7.17863223e-03 -5.92148649e+01] [ 1.21927232e-02 -3.48230091e-04 9.99925605e-01 3.33439279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.763617865 meters 0.022119475588244696 Centerline is valid? [True, True] Translation: X:198.32, Y:-59.25, Z:3.34 [[ 8.24672381e-01 5.65539958e-01 -8.94544486e-03 1.98319459e+02] [-5.65502529e-01 8.24720837e-01 6.51393018e-03 -5.92498295e+01] [ 1.10613826e-02 -3.13186619e-04 9.99938772e-01 3.33613617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.823617865 meters 0.021502269642551516 Centerline is valid? [True, True] Translation: X:198.37, Y:-59.28, Z:3.34 [[ 8.24148520e-01 5.66310389e-01 -8.47108801e-03 1.98370550e+02] [-5.66276831e-01 8.24192004e-01 6.17185163e-03 -5.92845111e+01] [ 1.04769867e-02 -2.89541521e-04 9.99945073e-01 3.33710193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.883617865 meters 0.021588677379322636 Centerline is valid? [True, True] Translation: X:198.42, Y:-59.32, Z:3.34 [[ 8.23340591e-01 5.67492369e-01 -7.91719674e-03 1.98422975e+02] [-5.67463074e-01 8.23378615e-01 5.77198305e-03 -5.93189855e+01] [ 9.79440682e-03 -2.59591139e-04 9.99952000e-01 3.33808401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.943617865 meters 0.02199228261658946 Centerline is valid? [True, True] Translation: X:198.47, Y:-59.35, Z:3.34 [[ 8.23140181e-01 5.67773104e-01 -8.59911173e-03 1.98472634e+02] [-5.67738557e-01 8.23185049e-01 6.26951530e-03 -5.93542606e+01] [ 1.06383224e-02 -2.78642675e-04 9.99943373e-01 3.33844792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.003617865 meters 0.021234859102290414 Centerline is valid? [True, True] Translation: X:198.52, Y:-59.39, Z:3.34 [[ 8.24099566e-01 5.66367767e-01 -9.35191210e-03 1.98524785e+02] [-5.66326777e-01 8.24152563e-01 6.82162506e-03 -5.93875482e+01] [ 1.15709509e-02 -3.25460015e-04 9.99933001e-01 3.33780511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.063617865 meters 0.022706338446685393 Centerline is valid? [True, True] Translation: X:198.57, Y:-59.42, Z:3.34 [[ 8.25955448e-01 5.63647231e-01 -9.96973705e-03 1.98573650e+02] [-5.63600399e-01 8.26015524e-01 7.27633448e-03 -5.94242365e+01] [ 1.23364434e-02 -3.90980331e-04 9.99923827e-01 3.33774517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.123617865 meters 0.022876601851949816 Centerline is valid? [True, True] Translation: X:198.62, Y:-59.46, Z:3.34 [[ 8.27347810e-01 5.61595550e-01 -1.02975070e-02 1.98624677e+02] [-5.61545383e-01 8.27411775e-01 7.51912569e-03 -5.94591599e+01] [ 1.27429861e-02 -4.38414653e-04 9.99918709e-01 3.33811548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18361786499997 meters 0.023386942417263055 Centerline is valid? [True, True] Translation: X:198.68, Y:-59.49, Z:3.34 [[ 8.27452709e-01 5.61439440e-01 -1.03812082e-02 1.98675162e+02] [-5.61388396e-01 8.27517707e-01 7.58375697e-03 -5.94947557e+01] [ 1.28484538e-02 -4.47310447e-04 9.99917355e-01 3.33929361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24361786499998 meters 0.02503967538929582 Centerline is valid? [True, True] Translation: X:198.73, Y:-59.53, Z:3.34 [[ 8.27216599e-01 5.61797908e-01 -9.78823042e-03 1.98725859e+02] [-5.61752515e-01 8.27274401e-01 7.15377755e-03 -5.95308907e+01] [ 1.21165297e-02 -4.19160479e-04 9.99926504e-01 3.34055722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30361786499998 meters 0.022778551777065174 Centerline is valid? [True, True] Translation: X:198.78, Y:-59.56, Z:3.34 [[ 8.26550084e-01 5.62767074e-01 -1.04008959e-02 1.98780480e+02] [-5.62715834e-01 8.26615408e-01 7.60644551e-03 -5.95623122e+01] [ 1.28781979e-02 -4.34359383e-04 9.99916978e-01 3.34056293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36361786499998 meters 0.02399369077897017 Centerline is valid? [True, True] Translation: X:198.83, Y:-59.60, Z:3.34 [[ 8.24995406e-01 5.65029692e-01 -1.11367676e-02 1.98829872e+02] [-5.64971127e-01 8.25070460e-01 8.14630823e-03 -5.95979689e+01] [ 1.37915240e-02 -4.28714694e-04 9.99904801e-01 3.34067001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42361786499998 meters 0.022586183351387457 Centerline is valid? [True, True] Translation: X:198.88, Y:-59.63, Z:3.34 [[ 8.23561217e-01 5.67108805e-01 -1.15985187e-02 1.98883119e+02] [-5.67045481e-01 8.23642783e-01 8.48460060e-03 -5.96310755e+01] [ 1.43647279e-02 -4.10700405e-04 9.99896738e-01 3.34111818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48361786499999 meters 0.019887682166224333 Centerline is valid? [True, True] Translation: X:198.94, Y:-59.66, Z:3.34 [[ 8.21195786e-01 5.70531642e-01 -1.14510336e-02 1.98937450e+02] [-5.70470228e-01 8.21275547e-01 8.37822255e-03 -5.96607451e+01] [ 1.41844950e-02 -3.47687285e-04 9.99899335e-01 3.34177895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.543617865 meters 0.019882346494931702 Centerline is valid? [True, True] Translation: X:198.99, Y:-59.70, Z:3.34 [[ 8.19738361e-01 5.72631627e-01 -1.10471375e-02 1.98987508e+02] [-5.72574659e-01 8.19812740e-01 8.08275966e-03 -5.96957840e+01] [ 1.36850279e-02 -3.00437181e-04 9.99906310e-01 3.34336734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.603617865 meters 0.01984334629632836 Centerline is valid? [True, True] Translation: X:199.04, Y:-59.73, Z:3.34 [[ 8.17969368e-01 5.75164534e-01 -1.05769072e-02 1.99037897e+02] [-5.75112478e-01 8.18037711e-01 7.74217444e-03 -5.97310033e+01] [ 1.31053331e-02 -2.49950193e-04 9.99914090e-01 3.34453041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.663617865 meters 0.018948095690891363 Centerline is valid? [True, True] Translation: X:199.09, Y:-59.76, Z:3.35 [[ 8.16680486e-01 5.76994292e-01 -1.05152362e-02 1.99089875e+02] [-5.76942948e-01 8.16748148e-01 7.70046771e-03 -5.97649833e+01] [ 1.30314256e-02 -2.22130369e-04 9.99915063e-01 3.34518076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.723617865 meters 0.019045166388776354 Centerline is valid? [True, True] Translation: X:199.14, Y:-59.80, Z:3.35 [[ 8.16031339e-01 5.77915905e-01 -1.02985225e-02 1.99139022e+02] [-5.77866681e-01 8.16096296e-01 7.54558742e-03 -5.98018953e+01] [ 1.27653010e-02 -2.06262822e-04 9.99918499e-01 3.34626871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.783617865 meters 0.01887813150676271 Centerline is valid? [True, True] Translation: X:199.19, Y:-59.84, Z:3.35 [[ 8.15943467e-01 5.78036370e-01 -1.04983082e-02 1.99189211e+02] [-5.77985181e-01 8.16010975e-01 7.69543594e-03 -5.98394266e+01] [ 1.30149766e-02 -2.11174098e-04 9.99915279e-01 3.34701645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.843617865 meters 0.0192820598310288 Centerline is valid? [True, True] Translation: X:199.24, Y:-59.88, Z:3.35 [[ 8.17245417e-01 5.76200758e-01 -1.01298743e-02 1.99236800e+02] [-5.76152904e-01 8.17308162e-01 7.42971349e-03 -5.98788158e+01] [ 1.25602355e-02 -2.35542826e-04 9.99921089e-01 3.34753559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.903617865 meters 0.020096723270680694 Centerline is valid? [True, True] Translation: X:199.28, Y:-59.92, Z:3.35 [[ 8.19721690e-01 5.72686226e-01 -9.31869916e-03 1.99283613e+02] [-5.72645459e-01 8.19774612e-01 6.83840170e-03 -5.99196794e+01] [ 1.15554914e-02 -2.69275428e-04 9.99933197e-01 3.34848193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96361786499997 meters 0.021080984627362853 Centerline is valid? [True, True] Translation: X:199.33, Y:-59.96, Z:3.35 [[ 8.21500149e-01 5.70132407e-01 -9.30293361e-03 1.99330661e+02] [-5.70091603e-01 8.21552765e-01 6.82782027e-03 -5.99602429e+01] [ 1.15356124e-02 -3.05531028e-04 9.99933416e-01 3.35000923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02361786499998 meters 0.022019262612363116 Centerline is valid? [True, True] Translation: X:199.38, Y:-60.00, Z:3.35 [[ 8.23786061e-01 5.66826960e-01 -9.14998985e-03 1.99376821e+02] [-5.66787270e-01 8.23836802e-01 6.71669227e-03 -6.00008228e+01] [ 1.13453006e-02 -3.47019706e-04 9.99935580e-01 3.35094585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08361786499998 meters 0.021538283486661265 Centerline is valid? [True, True] Translation: X:199.43, Y:-60.04, Z:3.35 [[ 8.24640273e-01 5.65580470e-01 -9.33552005e-03 1.99425402e+02] [-5.65539080e-01 8.24693030e-01 6.85234689e-03 -6.00388050e+01] [ 1.15744919e-02 -3.71119789e-04 9.99932944e-01 3.35198298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14361786499998 meters 0.02201302461614838 Centerline is valid? [True, True] Translation: X:199.47, Y:-60.08, Z:3.35 [[ 8.24358364e-01 5.65992787e-01 -9.24407620e-03 1.99474039e+02] [-5.65952195e-01 8.24410112e-01 6.78823791e-03 -6.00778211e+01] [ 1.14630036e-02 -3.64235480e-04 9.99934231e-01 3.35303606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20361786499998 meters 0.02165114209069777 Centerline is valid? [True, True] Translation: X:199.52, Y:-60.12, Z:3.35 [[ 8.23110851e-01 5.67793759e-01 -9.93852783e-03 1.99523748e+02] [-5.67746916e-01 8.23170767e-01 7.30260890e-03 -6.01156422e+01] [ 1.23274813e-02 -3.68288107e-04 9.99923946e-01 3.35358536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.263617865 meters 0.020864375384382683 Centerline is valid? [True, True] Translation: X:199.57, Y:-60.15, Z:3.35 [[ 8.21569760e-01 5.70025791e-01 -9.68128124e-03 1.99573421e+02] [-5.69981455e-01 8.21626734e-01 7.11701953e-03 -6.01524032e+01] [ 1.20112842e-02 -3.28977258e-04 9.99927808e-01 3.35498959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.323617865 meters 0.02075758148375764 Centerline is valid? [True, True] Translation: X:199.62, Y:-60.19, Z:3.36 [[ 8.20036755e-01 5.72240169e-01 -8.99501345e-03 1.99621114e+02] [-5.72201993e-01 8.20086039e-01 6.61567329e-03 -6.01901814e+01] [ 1.11624390e-02 -2.78130632e-04 9.99937659e-01 3.35673465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.383617865 meters 0.020299373036009868 Centerline is valid? [True, True] Translation: X:199.67, Y:-60.23, Z:3.36 [[ 8.18802014e-01 5.74010334e-01 -8.68318425e-03 1.99671412e+02] [-5.73974819e-01 8.18848017e-01 6.39002352e-03 -6.02275476e+01] [ 1.07781477e-02 -2.48235015e-04 9.99941883e-01 3.35804803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.443617865 meters 0.02023526267704099 Centerline is valid? [True, True] Translation: X:199.72, Y:-60.27, Z:3.36 [[ 8.17938275e-01 5.75237164e-01 -8.89855137e-03 1.99720775e+02] [-5.75199934e-01 8.17986644e-01 6.54881331e-03 -6.02654381e+01] [ 1.10460170e-02 -2.38078902e-04 9.99938963e-01 3.35908781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.503617865 meters 0.02019446538224125 Centerline is valid? [True, True] Translation: X:199.77, Y:-60.30, Z:3.36 [[ 8.17290846e-01 5.76152259e-01 -9.17861794e-03 1.99769148e+02] [-5.76112666e-01 8.17342351e-01 6.75846800e-03 -6.03036754e+01] [ 1.13959798e-02 -2.35715976e-04 9.99935036e-01 3.36026233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.563617865 meters 0.019849975188141803 Centerline is valid? [True, True] Translation: X:199.82, Y:-60.34, Z:3.36 [[ 8.16602605e-01 5.77115889e-01 -9.87092334e-03 1.99817919e+02] [-5.77070121e-01 8.16662226e-01 7.27215451e-03 -6.03426986e+01] [ 1.22580861e-02 -2.42245399e-04 9.99924837e-01 3.36085201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.623617865 meters 0.019761441127822483 Centerline is valid? [True, True] Translation: X:199.87, Y:-60.38, Z:3.36 [[ 8.16684143e-01 5.76983951e-01 -1.07949118e-02 1.99866565e+02] [-5.76929144e-01 8.16755439e-01 7.95716975e-03 -6.03823124e+01] [ 1.34079622e-02 -2.70595145e-04 9.99910073e-01 3.36086649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68361786499997 meters 0.020999835543988946 Centerline is valid? [True, True] Translation: X:199.91, Y:-60.42, Z:3.36 [[ 8.17019142e-01 5.76500362e-01 -1.12718302e-02 1.99911700e+02] [-5.76440486e-01 8.17096840e-01 8.31390269e-03 -6.04248032e+01] [ 1.40031448e-02 -2.95078341e-04 9.99901908e-01 3.36156532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74361786499998 meters 0.021366253025570027 Centerline is valid? [True, True] Translation: X:199.96, Y:-60.46, Z:3.36 [[ 8.17115555e-01 5.76362205e-01 -1.13480437e-02 1.99961184e+02] [-5.76301449e-01 8.17194296e-01 8.37393642e-03 -6.04638850e+01] [ 1.40999771e-02 -3.02579653e-04 9.99900545e-01 3.36271360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80361786499998 meters 0.02026602391871 Centerline is valid? [True, True] Translation: X:200.01, Y:-60.50, Z:3.36 [[ 8.17262467e-01 5.76149174e-01 -1.15839954e-02 2.00010306e+02] [-5.76085777e-01 8.17344498e-01 8.55270623e-03 -6.05028776e+01] [ 1.43957495e-02 -3.16430810e-04 9.99896326e-01 3.36380777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86361786499998 meters 0.02004679472733481 Centerline is valid? [True, True] Translation: X:200.06, Y:-60.54, Z:3.36 [[ 8.17278547e-01 5.76119114e-01 -1.19391655e-02 2.00058314e+02] [-5.76051689e-01 8.17365681e-01 8.82014396e-03 -6.05433201e+01] [ 1.48401177e-02 -3.30937974e-04 9.99889825e-01 3.36495639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92361786499998 meters 0.02004215023023529 Centerline is valid? [True, True] Translation: X:200.11, Y:-60.58, Z:3.37 [[ 8.16023518e-01 5.77892827e-01 -1.20622795e-02 2.00106723e+02] [-5.77824118e-01 8.16112607e-01 8.91638836e-03 -6.05806254e+01] [ 1.49968952e-02 -3.06106601e-04 9.99887493e-01 3.36687079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98361786499999 meters 0.01934622754439611 Centerline is valid? [True, True] Translation: X:200.16, Y:-60.61, Z:3.37 [[ 8.13251734e-01 5.81775469e-01 -1.26063970e-02 2.00157062e+02] [-5.81700813e-01 8.13349397e-01 9.32316407e-03 -6.06143484e+01] [ 1.56773936e-02 -2.48927950e-04 9.99877071e-01 3.36805981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.043617865 meters 0.018858989946529393 Centerline is valid? [True, True] Translation: X:200.21, Y:-60.65, Z:3.37 [[ 8.11888492e-01 5.83644601e-01 -1.40020099e-02 2.00208210e+02] [-5.83552763e-01 8.12009189e-01 1.03561064e-02 -6.06500567e+01] [ 1.74140463e-02 -2.37092081e-04 9.99848336e-01 3.36842409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.103617865 meters 0.018687008605747218 Centerline is valid? [True, True] Translation: X:200.26, Y:-60.69, Z:3.37 [[ 8.11254824e-01 5.84501970e-01 -1.49351027e-02 2.00259158e+02] [-5.84397518e-01 8.11392254e-01 1.10521523e-02 -6.06867059e+01] [ 1.85782315e-02 -2.38074921e-04 9.99827381e-01 3.36998957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.163617865 meters 0.019084145124659415 Centerline is valid? [True, True] Translation: X:200.31, Y:-60.72, Z:3.37 [[ 8.12320496e-01 5.83007152e-01 -1.54296183e-02 2.00309521e+02] [-5.82895273e-01 8.12466971e-01 1.14246106e-02 -6.07226440e+01] [ 1.91966849e-02 -2.86593770e-04 9.99815686e-01 3.37185663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.223617865 meters 0.01977323821268367 Centerline is valid? [True, True] Translation: X:200.36, Y:-60.76, Z:3.37 [[ 8.14843805e-01 5.79489935e-01 -1.48656826e-02 2.00358782e+02] [-5.79385403e-01 8.14979316e-01 1.10122550e-02 -6.07595628e+01] [ 1.84967148e-02 -3.60308303e-04 9.99828856e-01 3.37492598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.283617865 meters 0.020332905385958538 Centerline is valid? [True, True] Translation: X:200.41, Y:-60.80, Z:3.38 [[ 8.17195884e-01 5.76185494e-01 -1.41832443e-02 2.00408154e+02] [-5.76089764e-01 8.17318849e-01 1.05110307e-02 -6.07967721e+01] [ 1.76485364e-02 -4.18749183e-04 9.99844165e-01 3.37733692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.343617865 meters 0.021426434625526347 Centerline is valid? [True, True] Translation: X:200.46, Y:-60.83, Z:3.38 [[ 8.20427472e-01 5.71566305e-01 -1.45162821e-02 2.00456645e+02] [-5.71465274e-01 8.20555712e-01 1.07594029e-02 -6.08342572e+01] [ 1.80611304e-02 -5.31758585e-04 9.99836743e-01 3.37948422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.403617865 meters 0.022306130343883228 Centerline is valid? [True, True] Translation: X:200.51, Y:-60.87, Z:3.38 [[ 8.21735564e-01 5.69653702e-01 -1.56628013e-02 2.00507033e+02] [-5.69535700e-01 8.21884587e-01 1.16108574e-02 -6.08705268e+01] [ 1.94871829e-02 -6.20529982e-04 9.99809914e-01 3.37987381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46361786499997 meters 0.02153271330537605 Centerline is valid? [True, True] Translation: X:200.56, Y:-60.90, Z:3.38 [[ 8.20359994e-01 5.71603594e-01 -1.66976526e-02 2.00559436e+02] [-5.71469825e-01 8.20529678e-01 1.23808865e-02 -6.09041288e+01] [ 2.07778788e-02 -6.14579410e-04 9.99783928e-01 3.38114884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52361786499998 meters 0.021118572853834665 Centerline is valid? [True, True] Translation: X:200.61, Y:-60.94, Z:3.38 [[ 8.18526168e-01 5.74217595e-01 -1.70019392e-02 2.00610709e+02] [-5.74079331e-01 8.18702532e-01 1.26129235e-02 -6.09395715e+01] [ 2.11620933e-02 -5.63546081e-04 9.99775899e-01 3.38220751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58361786499998 meters 0.020192846257641624 Centerline is valid? [True, True] Translation: X:200.66, Y:-60.97, Z:3.38 [[ 8.15342503e-01 5.78707636e-01 -1.77221747e-02 2.00662275e+02] [-5.78558348e-01 8.15534948e-01 1.31524306e-02 -6.09728926e+01] [ 2.20644648e-02 -4.70423534e-04 9.99756439e-01 3.38369344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64361786499998 meters 0.019476224091588636 Centerline is valid? [True, True] Translation: X:200.72, Y:-61.01, Z:3.38 [[ 8.12880275e-01 5.82168281e-01 -1.74857241e-02 2.00715194e+02] [-5.82023696e-01 8.13068234e-01 1.29793537e-02 -6.10062091e+01] [ 2.17732549e-02 -3.73554824e-04 9.99762865e-01 3.38411476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70361786499998 meters 0.019303182040811807 Centerline is valid? [True, True] Translation: X:200.77, Y:-61.04, Z:3.39 [[ 8.12429507e-01 5.82824012e-01 -1.65670712e-02 2.00766149e+02] [-5.82694236e-01 8.12598335e-01 1.23033514e-02 -6.10424876e+01] [ 2.06330631e-02 -3.42068757e-04 9.99787057e-01 3.38597629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.763617865 meters 0.019599565042471456 Centerline is valid? [True, True] Translation: X:200.82, Y:-61.08, Z:3.39 [[ 8.12996361e-01 5.82052907e-01 -1.58534216e-02 2.00815019e+02] [-5.81933812e-01 8.13150841e-01 1.17791093e-02 -6.10814138e+01] [ 1.97472879e-02 -3.50730959e-04 9.99804942e-01 3.38835237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.823617865 meters 0.020800284648010745 Centerline is valid? [True, True] Translation: X:200.86, Y:-61.12, Z:3.39 [[ 8.14752702e-01 5.79620125e-01 -1.47833120e-02 2.00861351e+02] [-5.79516076e-01 8.14886717e-01 1.09888588e-02 -6.11220810e+01] [ 1.84160883e-02 -3.86035436e-04 9.99830335e-01 3.39066030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.883617865 meters 0.020883620825779162 Centerline is valid? [True, True] Translation: X:200.91, Y:-61.16, Z:3.39 [[ 8.14442815e-01 5.80034954e-01 -1.55676984e-02 2.00912199e+02] [-5.79919574e-01 8.14591488e-01 1.15756391e-02 -6.11589391e+01] [ 1.93955899e-02 -3.99683095e-04 9.99811808e-01 3.39070856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.943617865 meters 0.02014067664297544 Centerline is valid? [True, True] Translation: X:200.96, Y:-61.19, Z:3.39 [[ 8.13390690e-01 5.81510232e-01 -1.55381844e-02 2.00963579e+02] [-5.81395436e-01 8.13539006e-01 1.15599654e-02 -6.11935767e+01] [ 1.93631572e-02 -3.68938741e-04 9.99812448e-01 3.39100811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.003617865 meters 0.019955361201855388 Centerline is valid? [True, True] Translation: X:201.01, Y:-61.23, Z:3.39 [[ 8.11473038e-01 5.84150988e-01 -1.67072251e-02 2.01014080e+02] [-5.84018692e-01 8.11644942e-01 1.24360767e-02 -6.12279904e+01] [ 2.08248813e-02 -3.34209180e-04 9.99783083e-01 3.38950612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.063617865 meters 0.01973029503015196 Centerline is valid? [True, True] Translation: X:201.06, Y:-61.26, Z:3.39 [[ 8.09562811e-01 5.86771304e-01 -1.75354419e-02 2.01064481e+02] [-5.86626045e-01 8.09752651e-01 1.30586467e-02 -6.12630782e+01] [ 2.18618097e-02 -2.85047814e-04 9.99760961e-01 3.38850431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.123617865 meters 0.019215518732173267 Centerline is valid? [True, True] Translation: X:201.12, Y:-61.30, Z:3.39 [[ 8.07607375e-01 5.89491204e-01 -1.64452883e-02 2.01115535e+02] [-5.89363902e-01 8.07774770e-01 1.22520433e-02 -6.12980147e+01] [ 2.05065607e-02 -2.02581249e-04 9.99789698e-01 3.39028017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18361786499997 meters 0.018824042946653338 Centerline is valid? [True, True] Translation: X:201.17, Y:-61.33, Z:3.39 [[ 8.06414428e-01 5.91147046e-01 -1.55222430e-02 2.01167213e+02] [-5.91033839e-01 8.06563789e-01 1.15695799e-02 -6.13324418e+01] [ 1.93590021e-02 -1.55705296e-04 9.99812585e-01 3.39237175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24361786499998 meters 0.018760987815085426 Centerline is valid? [True, True] Translation: X:201.22, Y:-61.37, Z:3.39 [[ 8.05248452e-01 5.92752072e-01 -1.48294173e-02 2.01217732e+02] [-5.92648919e-01 8.05384981e-01 1.10585403e-02 -6.13682827e+01] [ 1.84983626e-02 -1.16234377e-04 9.99828884e-01 3.39341055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30361786499998 meters 0.018962336621525674 Centerline is valid? [True, True] Translation: X:201.27, Y:-61.41, Z:3.39 [[ 8.05344240e-01 5.92646966e-01 -1.37923498e-02 2.01266473e+02] [-5.92557638e-01 8.05462327e-01 1.02900170e-02 -6.14062047e+01] [ 1.72075655e-02 -1.14243659e-04 9.99851932e-01 3.39460622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36361786499998 meters 0.019122355135532253 Centerline is valid? [True, True] Translation: X:201.32, Y:-61.45, Z:3.40 [[ 8.06064968e-01 5.91671093e-01 -1.35862223e-02 2.01315738e+02] [-5.91584187e-01 8.06179446e-01 1.01415377e-02 -6.14454543e+01] [ 1.69533879e-02 -1.37343982e-04 9.99856272e-01 3.39584963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42361786499998 meters 0.019341902213891503 Centerline is valid? [True, True] Translation: X:201.36, Y:-61.48, Z:3.40 [[ 8.07289460e-01 5.89977261e-01 -1.45106903e-02 2.01364112e+02] [-5.89877735e-01 8.07419839e-01 1.08379938e-02 -6.14844642e+01] [ 1.81103891e-02 -1.89865011e-04 9.99835975e-01 3.39568435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48361786499999 meters 0.019942559750187293 Centerline is valid? [True, True] Translation: X:201.41, Y:-61.52, Z:3.40 [[ 8.08189760e-01 5.88737376e-01 -1.47517072e-02 2.01410258e+02] [-5.88634212e-01 8.08324348e-01 1.10233322e-02 -6.15243506e+01] [ 1.84140118e-02 -2.25584652e-04 9.99830422e-01 3.39583773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.543617865 meters 0.020181313964179503 Centerline is valid? [True, True] Translation: X:201.46, Y:-61.56, Z:3.40 [[ 8.08664778e-01 5.88072475e-01 -1.52329155e-02 2.01457719e+02] [-5.87962284e-01 8.08808198e-01 1.13864338e-02 -6.15629699e+01] [ 1.90165552e-02 -2.51428187e-04 9.99819137e-01 3.39675684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.603617865 meters 0.020032048771794455 Centerline is valid? [True, True] Translation: X:201.51, Y:-61.60, Z:3.40 [[ 8.08967663e-01 5.87677174e-01 -1.43825708e-02 2.01507887e+02] [-5.87578797e-01 8.09095468e-01 1.07554997e-02 -6.16009834e+01] [ 1.79576346e-02 -2.49957778e-04 9.99838717e-01 3.39836148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.663617865 meters 0.019885934874685502 Centerline is valid? [True, True] Translation: X:201.56, Y:-61.64, Z:3.40 [[ 8.08766339e-01 5.87945695e-01 -1.47264414e-02 2.01558305e+02] [-5.87842483e-01 8.08900361e-01 1.10190963e-02 -6.16385072e+01] [ 1.83908540e-02 -2.55046250e-04 9.99830841e-01 3.39925036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.723617865 meters 0.019938510914991606 Centerline is valid? [True, True] Translation: X:201.61, Y:-61.68, Z:3.40 [[ 8.08497991e-01 5.88315637e-01 -1.46870473e-02 2.01607592e+02] [-5.88212921e-01 8.08631343e-01 1.09959800e-02 -6.16772300e+01] [ 1.83455137e-02 -2.51116739e-04 9.99831675e-01 3.40002284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.783617865 meters 0.019914049724453632 Centerline is valid? [True, True] Translation: X:201.66, Y:-61.72, Z:3.40 [[ 8.07988055e-01 5.89018065e-01 -1.45953166e-02 2.01657007e+02] [-5.88916630e-01 8.08119832e-01 1.09334598e-02 -6.17150890e+01] [ 1.82347701e-02 -2.38680233e-04 9.99833704e-01 3.40126129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.843617865 meters 0.020166763171492314 Centerline is valid? [True, True] Translation: X:201.71, Y:-61.75, Z:3.40 [[ 8.07292907e-01 5.89996778e-01 -1.34894079e-02 2.01705830e+02] [-5.89910191e-01 8.07405574e-01 1.01096713e-02 -6.17520550e+01] [ 1.68560966e-02 -2.03926716e-04 9.99857905e-01 3.40367548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.903617865 meters 0.019817733222184195 Centerline is valid? [True, True] Translation: X:201.76, Y:-61.79, Z:3.41 [[ 8.06805804e-01 5.90684931e-01 -1.24782670e-02 2.01757467e+02] [-5.90610860e-01 8.06902275e-01 9.35578642e-03 -6.17875022e+01] [ 1.55950641e-02 -1.78502784e-04 9.99878374e-01 3.40537553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96361786499997 meters 0.019957375168391668 Centerline is valid? [True, True] Translation: X:201.81, Y:-61.82, Z:3.41 [[ 8.06771535e-01 5.90735260e-01 -1.23102862e-02 2.01806536e+02] [-5.90663096e-01 8.06865429e-01 9.23507105e-03 -6.18244974e+01] [ 1.53882264e-02 -1.79360700e-04 9.99881578e-01 3.40686079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02361786499998 meters 0.019882015623178904 Centerline is valid? [True, True] Translation: X:201.86, Y:-61.86, Z:3.41 [[ 8.06701497e-01 5.90840843e-01 -1.18234271e-02 2.01857939e+02] [-5.90774244e-01 8.06788119e-01 8.87265396e-03 -6.18614581e+01] [ 1.47813268e-02 -1.72607041e-04 9.99890735e-01 3.40875142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08361786499998 meters 0.02002018995661074 Centerline is valid? [True, True] Translation: X:201.91, Y:-61.90, Z:3.41 [[ 8.06507291e-01 5.91117017e-01 -1.12544253e-02 2.01909000e+02] [-5.91056637e-01 8.06585796e-01 8.45021433e-03 -6.18980951e+01] [ 1.40727250e-02 -1.63156725e-04 9.99900961e-01 3.41146283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14361786499998 meters 0.02054683985759203 Centerline is valid? [True, True] Translation: X:201.96, Y:-61.93, Z:3.41 [[ 8.06892189e-01 5.90593084e-01 -1.11716103e-02 2.01958297e+02] [-5.90533469e-01 8.06969503e-01 8.39305885e-03 -6.19346739e+01] [ 1.39720313e-02 -1.75083864e-04 9.99902371e-01 3.41320068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20361786499998 meters 0.020564917995814766 Centerline is valid? [True, True] Translation: X:202.01, Y:-61.97, Z:3.41 [[ 8.07018134e-01 5.90422020e-01 -1.11161793e-02 2.02009763e+02] [-5.90362953e-01 8.07094670e-01 8.35331034e-03 -6.19708801e+01] [ 1.39037874e-02 -1.78692468e-04 9.99903322e-01 3.41472878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.263617865 meters 0.02050284611403753 Centerline is valid? [True, True] Translation: X:202.06, Y:-62.01, Z:3.42 [[ 8.07567961e-01 5.89663413e-01 -1.14476476e-02 2.02060253e+02] [-5.89600624e-01 8.07649069e-01 8.60723199e-03 -6.20064052e+01] [ 1.43210517e-02 -2.01384596e-04 9.99897428e-01 3.41612476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.323617865 meters 0.02121011733999379 Centerline is valid? [True, True] Translation: X:202.11, Y:-62.04, Z:3.42 [[ 8.07973055e-01 5.89106272e-01 -1.15473916e-02 2.02108132e+02] [-5.89042265e-01 8.08055538e-01 8.68658193e-03 -6.20437419e+01] [ 1.44482537e-02 -2.16622399e-04 9.99895595e-01 3.41716260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.383617865 meters 0.021098684718691748 Centerline is valid? [True, True] Translation: X:202.16, Y:-62.08, Z:3.42 [[ 8.08404276e-01 5.88502998e-01 -1.21139786e-02 2.02158870e+02] [-5.88432422e-01 8.08494999e-01 9.11710144e-03 -6.20795790e+01] [ 1.51595327e-02 -2.42045982e-04 9.99885058e-01 3.41750576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.443617865 meters 0.020937769546581282 Centerline is valid? [True, True] Translation: X:202.21, Y:-62.12, Z:3.42 [[ 8.08330513e-01 5.88580784e-01 -1.32076776e-02 2.02211035e+02] [-5.88496812e-01 8.08438365e-01 9.94547505e-03 -6.21155680e+01] [ 1.65313088e-02 -2.66554797e-04 9.99863313e-01 3.41844431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.503617865 meters 0.021169630690203382 Centerline is valid? [True, True] Translation: X:202.26, Y:-62.15, Z:3.42 [[ 8.08276211e-01 5.88633812e-01 -1.41351499e-02 2.02262451e+02] [-5.88537526e-01 8.08399747e-01 1.06503131e-02 -6.21526185e+01] [ 1.76959861e-02 -2.89328596e-04 9.99843372e-01 3.41835918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.563617865 meters 0.0216075625284056 Centerline is valid? [True, True] Translation: X:202.31, Y:-62.19, Z:3.42 [[ 8.08826631e-01 5.87856714e-01 -1.49654627e-02 2.02313284e+02] [-5.87748527e-01 8.08965003e-01 1.12824447e-02 -6.21882661e+01] [ 1.87389964e-02 -3.29613123e-04 9.99824355e-01 3.41883808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.623617865 meters 0.02164567400677027 Centerline is valid? [True, True] Translation: X:202.36, Y:-62.22, Z:3.42 [[ 8.10233302e-01 5.85909475e-01 -1.52342663e-02 2.02364734e+02] [-5.85796914e-01 8.10376418e-01 1.14907749e-02 -6.22236013e+01] [ 1.90780440e-02 -3.86022368e-04 9.99817923e-01 3.42054353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68361786499997 meters 0.02254982907148776 Centerline is valid? [True, True] Translation: X:202.41, Y:-62.26, Z:3.42 [[ 8.11125066e-01 5.84670613e-01 -1.53753506e-02 2.02413023e+02] [-5.84555622e-01 8.11270667e-01 1.16030048e-02 -6.22606895e+01] [ 1.92575069e-02 -4.23740415e-04 9.99814467e-01 3.42120254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74361786499998 meters 0.023080119678188595 Centerline is valid? [True, True] Translation: X:202.46, Y:-62.29, Z:3.42 [[ 8.12988279e-01 5.82081434e-01 -1.52073019e-02 2.02464724e+02] [-5.81968401e-01 8.13130353e-01 1.14808250e-02 -6.22948707e+01] [ 1.90482939e-02 -4.83607009e-04 9.99818448e-01 3.42334701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80361786499998 meters 0.022998435520576864 Centerline is valid? [True, True] Translation: X:202.52, Y:-62.33, Z:3.43 [[ 8.14458727e-01 5.80041803e-01 -1.44391678e-02 2.02516170e+02] [-5.79939546e-01 8.14586552e-01 1.09028339e-02 -6.23292912e+01] [ 1.80860513e-02 -5.06063807e-04 9.99836306e-01 3.42509500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86361786499998 meters 0.025448209516072896 Centerline is valid? [True, True] Translation: X:202.56, Y:-62.37, Z:3.43 [[ 8.16541365e-01 5.77099896e-01 -1.46938926e-02 2.02564976e+02] [-5.76993426e-01 8.16673354e-01 1.11003945e-02 -6.23655473e+01] [ 1.84061471e-02 -5.85651804e-04 9.99830421e-01 3.42544672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92361786499998 meters 0.026372862486436076 Centerline is valid? [True, True] Translation: X:202.62, Y:-62.40, Z:3.43 [[ 8.17735109e-01 5.75392340e-01 -1.52626275e-02 2.02615866e+02] [-5.75277119e-01 8.17877272e-01 1.15327359e-02 -6.24007776e+01] [ 1.91188040e-02 -6.50482668e-04 9.99817007e-01 3.42550721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98361786499999 meters 0.026146253680072108 Centerline is valid? [True, True] Translation: X:202.67, Y:-62.43, Z:3.43 [[ 8.18049757e-01 5.74932428e-01 -1.57257400e-02 2.02669469e+02] [-5.74809976e-01 8.18200609e-01 1.18850749e-02 -6.24327048e+01] [ 1.96999250e-02 -6.83270439e-04 9.99805704e-01 3.42651920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.043617865 meters 0.024215738791222147 Centerline is valid? [True, True] Translation: X:202.73, Y:-62.46, Z:3.43 [[ 8.17300872e-01 5.75984894e-01 -1.61458058e-02 2.02726270e+02] [-5.75855897e-01 8.17460053e-01 1.22084909e-02 -6.24607348e+01] [ 2.02304576e-02 -6.80352823e-04 9.99795112e-01 3.42736678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.103617865 meters 0.023829715653967066 Centerline is valid? [True, True] Translation: X:202.78, Y:-62.49, Z:3.43 [[ 8.16224534e-01 5.77510865e-01 -1.60844810e-02 2.02779497e+02] [-5.77383021e-01 8.16382744e-01 1.21681101e-02 -6.24933911e+01] [ 2.01583085e-02 -6.45003746e-04 9.99796593e-01 3.42809378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.163617865 meters 0.024753637933633287 Centerline is valid? [True, True] Translation: X:202.83, Y:-62.53, Z:3.43 [[ 8.14726505e-01 5.79639580e-01 -1.54492702e-02 2.02832241e+02] [-5.79521908e-01 8.14872768e-01 1.16931325e-02 -6.25258060e+01] [ 1.93669920e-02 -5.73514428e-04 9.99812278e-01 3.42958126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.223617865 meters 0.025832812749390408 Centerline is valid? [True, True] Translation: X:202.88, Y:-62.56, Z:3.43 [[ 8.12681789e-01 5.82503122e-01 -1.54409047e-02 2.02883527e+02] [-5.82386001e-01 8.12828305e-01 1.16915388e-02 -6.25576736e+01] [ 1.93611623e-02 -5.08933902e-04 9.99812426e-01 3.42928694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.283617865 meters 0.021933548373697306 Centerline is valid? [True, True] Translation: X:202.94, Y:-62.58, Z:3.43 [[ 8.11310850e-01 5.84413666e-01 -1.53418092e-02 2.02940667e+02] [-5.84298359e-01 8.11455762e-01 1.16178143e-02 -6.25849869e+01] [ 1.92388089e-02 -4.61464816e-04 9.99814810e-01 3.43110757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.343617865 meters 0.02174202967659918 Centerline is valid? [True, True] Translation: X:202.99, Y:-62.62, Z:3.43 [[ 8.09534290e-01 5.86884563e-01 -1.48574108e-02 2.02993863e+02] [-5.86776738e-01 8.09670522e-01 1.12563941e-02 -6.26167943e+01] [ 1.86358114e-02 -3.94453954e-04 9.99826260e-01 3.43279260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.403617865 meters 0.020678149142444587 Centerline is valid? [True, True] Translation: X:203.05, Y:-62.65, Z:3.43 [[ 8.07792603e-01 5.89294134e-01 -1.42665564e-02 2.03049375e+02] [-5.89194998e-01 8.07918508e-01 1.08138305e-02 -6.26469604e+01] [ 1.78987418e-02 -3.29548560e-04 9.99839750e-01 3.43397993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46361786499997 meters 0.02010086364603495 Centerline is valid? [True, True] Translation: X:203.10, Y:-62.68, Z:3.44 [[ 8.06931983e-01 5.90474728e-01 -1.41552064e-02 2.03101354e+02] [-5.90377221e-01 8.07056071e-01 1.07347350e-02 -6.26808072e+01] [ 1.77626350e-02 -3.05289641e-04 9.99842185e-01 3.43506035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52361786499998 meters 0.0200669249519312 Centerline is valid? [True, True] Translation: X:203.15, Y:-62.71, Z:3.44 [[ 8.06192474e-01 5.91483789e-01 -1.41641197e-02 2.03152348e+02] [-5.91386222e-01 8.06316839e-01 1.07467220e-02 -6.27143269e+01] [ 1.77772801e-02 -2.87461108e-04 9.99841930e-01 3.43648709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58361786499998 meters 0.020082019157302202 Centerline is valid? [True, True] Translation: X:203.20, Y:-62.75, Z:3.44 [[ 8.05809839e-01 5.92008228e-01 -1.40271305e-02 2.03203252e+02] [-5.91912560e-01 8.05931872e-01 1.06460883e-02 -6.27517309e+01] [ 1.76074834e-02 -2.75887947e-04 9.99844938e-01 3.43775832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64361786499998 meters 0.019929709184117437 Centerline is valid? [True, True] Translation: X:203.26, Y:-62.79, Z:3.44 [[ 8.05859319e-01 5.91941996e-01 -1.39797202e-02 2.03255147e+02] [-5.91846859e-01 8.05980518e-01 1.06160781e-02 -6.27866801e+01] [ 1.75514846e-02 -2.81211999e-04 9.99845921e-01 3.43873232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70361786499998 meters 0.02046270776456457 Centerline is valid? [True, True] Translation: X:203.30, Y:-62.82, Z:3.44 [[ 8.07278185e-01 5.90001338e-01 -1.41545969e-02 2.03303251e+02] [-5.89903399e-01 8.07402199e-01 1.07549530e-02 -6.28246907e+01] [ 1.77738893e-02 -3.32394144e-04 9.99841977e-01 3.43995866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.763617865 meters 0.02100418556958534 Centerline is valid? [True, True] Translation: X:203.35, Y:-62.86, Z:3.44 [[ 8.09109690e-01 5.87478580e-01 -1.45061471e-02 2.03351755e+02] [-5.87375216e-01 8.09239616e-01 1.10272028e-02 -6.28627548e+01] [ 1.82171943e-02 -4.01665316e-04 9.99833972e-01 3.44092298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.823617865 meters 0.023186646697181835 Centerline is valid? [True, True] Translation: X:203.40, Y:-62.90, Z:3.44 [[ 8.12316353e-01 5.83017184e-01 -1.52678350e-02 2.03395683e+02] [-5.82901800e-01 8.12459648e-01 1.16108266e-02 -6.29037009e+01] [ 1.91738113e-02 -5.32015834e-04 9.99816024e-01 3.44127608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.883617865 meters 0.023064392903053076 Centerline is valid? [True, True] Translation: X:203.44, Y:-62.94, Z:3.44 [[ 8.14138898e-01 5.80464593e-01 -1.54502815e-02 2.03444003e+02] [-5.80345956e-01 8.14285267e-01 1.17505250e-02 -6.29421372e+01] [ 1.94017003e-02 -6.00051050e-04 9.99811589e-01 3.44255303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.943617865 meters 0.0237509016081621 Centerline is valid? [True, True] Translation: X:203.49, Y:-62.98, Z:3.44 [[ 8.16017675e-01 5.77785566e-01 -1.67030893e-02 2.03490889e+02] [-5.77646243e-01 8.16188286e-01 1.27082455e-02 -6.29820424e+01] [ 2.09755066e-02 -7.21676201e-04 9.99779729e-01 3.44359702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.003617865 meters 0.02398641804240479 Centerline is valid? [True, True] Translation: X:203.54, Y:-63.02, Z:3.45 [[ 8.16247310e-01 5.77447887e-01 -1.71542049e-02 2.03537942e+02] [-5.77300813e-01 8.16427200e-01 1.30536904e-02 -6.30218803e+01] [ 2.15429854e-02 -7.51903251e-04 9.99767640e-01 3.44522360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.063617865 meters 0.02227787441609182 Centerline is valid? [True, True] Translation: X:203.59, Y:-63.06, Z:3.45 [[ 8.15024144e-01 5.79147903e-01 -1.79819382e-02 2.03587366e+02] [-5.78986555e-01 8.15222147e-01 1.36901412e-02 -6.30599643e+01] [ 2.25878908e-02 -7.46495160e-04 9.99744582e-01 3.44685179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.123617865 meters 0.02227255552767149 Centerline is valid? [True, True] Translation: X:203.63, Y:-63.10, Z:3.45 [[ 8.13723329e-01 5.80954081e-01 -1.86198684e-02 2.03634600e+02] [-5.80781385e-01 8.13936010e-01 1.41829195e-02 -6.30991023e+01] [ 2.33950063e-02 -7.26899555e-04 9.99726035e-01 3.44713655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18361786499997 meters 0.02059307602770053 Centerline is valid? [True, True] Translation: X:203.68, Y:-63.14, Z:3.45 [[ 8.11500716e-01 5.84030697e-01 -1.93580155e-02 2.03683282e+02] [-5.83844785e-01 8.11731298e-01 1.47501571e-02 -6.31368141e+01] [ 2.43280515e-02 -6.67686656e-04 9.99703806e-01 3.44795945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24361786499998 meters 0.01949090635052611 Centerline is valid? [True, True] Translation: X:203.73, Y:-63.18, Z:3.45 [[ 8.08449891e-01 5.88241945e-01 -1.94983959e-02 2.03731218e+02] [-5.88054515e-01 8.08684806e-01 1.48583931e-02 -6.31758130e+01] [ 2.45083865e-02 -5.46146566e-04 9.99699475e-01 3.45022052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30361786499998 meters 0.018916513736694528 Centerline is valid? [True, True] Translation: X:203.78, Y:-63.21, Z:3.45 [[ 8.05456993e-01 5.92361936e-01 -1.86109905e-02 2.03778036e+02] [-5.92192248e-01 8.05671877e-01 1.41833257e-02 -6.32141074e+01] [ 2.33960139e-02 -4.02774507e-04 9.99726195e-01 3.45135924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36361786499998 meters 0.01820599079353361 Centerline is valid? [True, True] Translation: X:203.83, Y:-63.25, Z:3.45 [[ 8.04176619e-01 5.94109682e-01 -1.82661091e-02 2.03827064e+02] [-5.93946619e-01 8.04383966e-01 1.39229624e-02 -6.32524346e+01] [ 2.29647321e-02 -3.47427086e-04 9.99736215e-01 3.45278864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42361786499998 meters 0.018028344253461125 Centerline is valid? [True, True] Translation: X:203.87, Y:-63.29, Z:3.45 [[ 8.03101440e-01 5.95547535e-01 -1.87406172e-02 2.03874032e+02] [-5.95376109e-01 8.03320006e-01 1.42918739e-02 -6.32929624e+01] [ 2.35662030e-02 -3.20108760e-04 9.99722227e-01 3.45290974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48361786499999 meters 0.01780082034049757 Centerline is valid? [True, True] Translation: X:203.92, Y:-63.33, Z:3.45 [[ 8.02148776e-01 5.96838649e-01 -1.84653348e-02 2.03922078e+02] [-5.96672403e-01 8.02361232e-01 1.40888870e-02 -6.33321682e+01] [ 2.32246611e-02 -2.83627780e-04 9.99730231e-01 3.45366239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.543617865 meters 0.01793091107487867 Centerline is valid? [True, True] Translation: X:203.97, Y:-63.37, Z:3.45 [[ 8.01490659e-01 5.97727349e-01 -1.82958860e-02 2.03968631e+02] [-5.97564215e-01 8.01699412e-01 1.39664400e-02 -6.33721167e+01] [ 2.30159242e-02 -2.61004460e-04 9.99735064e-01 3.45369560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.603617865 meters 0.018016533949819922 Centerline is valid? [True, True] Translation: X:204.02, Y:-63.41, Z:3.45 [[ 8.01721094e-01 5.97427946e-01 -1.79759888e-02 2.04017523e+02] [-5.97270240e-01 8.01922550e-01 1.37289824e-02 -6.34112894e+01] [ 2.26174285e-02 -2.70291625e-04 9.99744157e-01 3.45458688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.663617865 meters 0.018507340028101216 Centerline is valid? [True, True] Translation: X:204.06, Y:-63.45, Z:3.46 [[ 8.02668805e-01 5.96170269e-01 -1.74298697e-02 2.04063841e+02] [-5.96021563e-01 8.02857970e-01 1.33182994e-02 -6.34519459e+01] [ 2.19336840e-02 -3.01605292e-04 9.99759382e-01 3.45542953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.723617865 meters 0.01864254734838001 Centerline is valid? [True, True] Translation: X:204.11, Y:-63.49, Z:3.46 [[ 8.02964934e-01 5.95779698e-01 -1.71425267e-02 2.04113239e+02] [-5.95635669e-01 8.03147841e-01 1.31032804e-02 -6.34914400e+01] [ 2.15746518e-02 -3.10774316e-04 9.99767192e-01 3.45630463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.783617865 meters 0.018841000395321883 Centerline is valid? [True, True] Translation: X:204.16, Y:-63.53, Z:3.46 [[ 8.02631812e-01 5.96203685e-01 -1.79816947e-02 2.04161818e+02] [-5.96045130e-01 8.02833148e-01 1.37527755e-02 -6.35307802e+01] [ 2.26357560e-02 -3.20513547e-04 9.99743727e-01 3.45580456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.843617865 meters 0.018865591431962123 Centerline is valid? [True, True] Translation: X:204.21, Y:-63.57, Z:3.46 [[ 8.01996697e-01 5.97062084e-01 -1.78371979e-02 2.04209465e+02] [-5.96906118e-01 8.02194975e-01 1.36494681e-02 -6.35696371e+01] [ 2.24584904e-02 -2.99695794e-04 9.99747731e-01 3.45622986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.903617865 meters 0.01877906820039749 Centerline is valid? [True, True] Translation: X:204.26, Y:-63.61, Z:3.46 [[ 8.01386836e-01 5.97902087e-01 -1.70948548e-02 2.04258267e+02] [-5.97758900e-01 8.01569100e-01 1.30872312e-02 -6.36084828e+01] [ 2.15275902e-02 -2.69333236e-04 9.99768218e-01 3.45841213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96361786499997 meters 0.01852308085205296 Centerline is valid? [True, True] Translation: X:204.31, Y:-63.65, Z:3.46 [[ 8.00951481e-01 5.98521849e-01 -1.57582103e-02 2.04307658e+02] [-5.98400192e-01 8.01106447e-01 1.20693943e-02 -6.36459521e+01] [ 1.98478000e-02 -2.37283177e-04 9.99802985e-01 3.46058846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02361786499998 meters 0.018664023076136703 Centerline is valid? [True, True] Translation: X:204.36, Y:-63.69, Z:3.46 [[ 8.01364658e-01 5.97997818e-01 -1.46045945e-02 2.04355845e+02] [-5.97893139e-01 8.01497694e-01 1.11910639e-02 -6.36864246e+01] [ 1.83977806e-02 -2.36136247e-04 9.99830719e-01 3.46267302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08361786499998 meters 0.01915438287878888 Centerline is valid? [True, True] Translation: X:204.40, Y:-63.73, Z:3.46 [[ 8.02239001e-01 5.96824261e-01 -1.46077288e-02 2.04402135e+02] [-5.96719230e-01 8.02371940e-01 1.11996080e-02 -6.37263906e+01] [ 1.84050294e-02 -2.68049668e-04 9.99830577e-01 3.46307836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14361786499998 meters 0.01870646230128424 Centerline is valid? [True, True] Translation: X:204.45, Y:-63.76, Z:3.46 [[ 8.02357598e-01 5.96663178e-01 -1.46743663e-02 2.04452872e+02] [-5.96557061e-01 8.02491729e-01 1.12559966e-02 -6.37635474e+01] [ 1.84920963e-02 -2.77237590e-04 9.99828968e-01 3.46379962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20361786499998 meters 0.018582154496714576 Centerline is valid? [True, True] Translation: X:204.50, Y:-63.80, Z:3.47 [[ 8.01795763e-01 5.97425456e-01 -1.43659281e-02 2.04501321e+02] [-5.97323763e-01 8.01924409e-01 1.10256305e-02 -6.38029004e+01] [ 1.81073807e-02 -2.59193597e-04 9.99836014e-01 3.46501880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.263617865 meters 0.0189648241788377 Centerline is valid? [True, True] Translation: X:204.55, Y:-63.84, Z:3.47 [[ 8.01709524e-01 5.97545088e-01 -1.42023717e-02 2.04548048e+02] [-5.97445616e-01 8.01835270e-01 1.09057126e-02 -6.38439051e+01] [ 1.79046175e-02 -2.58068913e-04 9.99839666e-01 3.46608118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.323617865 meters 0.019049780159450226 Centerline is valid? [True, True] Translation: X:204.60, Y:-63.88, Z:3.47 [[ 8.01468014e-01 5.97858943e-01 -1.46187291e-02 2.04596939e+02] [-5.97753489e-01 8.01601282e-01 1.12317352e-02 -6.38833967e+01] [ 1.84333854e-02 -2.63480189e-04 9.99830056e-01 3.46627450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.383617865 meters 0.018953642687267385 Centerline is valid? [True, True] Translation: X:204.65, Y:-63.92, Z:3.47 [[ 8.00873824e-01 5.98646811e-01 -1.49369677e-02 2.04645834e+02] [-5.98536730e-01 8.01013065e-01 1.14827350e-02 -6.39221374e+01] [ 1.88388090e-02 -2.55898070e-04 9.99822501e-01 3.46686430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.443617865 meters 0.01890151448797851 Centerline is valid? [True, True] Translation: X:204.69, Y:-63.96, Z:3.47 [[ 8.00585301e-01 5.99033199e-01 -1.49131629e-02 2.04694746e+02] [-5.98923425e-01 8.00724149e-01 1.14703041e-02 -6.39616469e+01] [ 1.88124226e-02 -2.51114274e-04 9.99822999e-01 3.46861390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.503617865 meters 0.01901387337097357 Centerline is valid? [True, True] Translation: X:204.74, Y:-64.00, Z:3.47 [[ 8.00366969e-01 5.99332682e-01 -1.45962759e-02 2.04743347e+02] [-5.99227456e-01 8.00500017e-01 1.12329574e-02 -6.40013527e+01] [ 1.84165976e-02 -2.43998759e-04 9.99830370e-01 3.47028074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.563617865 meters 0.019105661529596064 Centerline is valid? [True, True] Translation: X:204.79, Y:-64.04, Z:3.47 [[ 8.00023418e-01 5.99805396e-01 -1.40006391e-02 2.04792634e+02] [-5.99708550e-01 8.00145883e-01 1.07805767e-02 -6.40408965e+01] [ 1.76688018e-02 -2.28410805e-04 9.99843868e-01 3.47186689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.623617865 meters 0.01915999343571109 Centerline is valid? [True, True] Translation: X:204.84, Y:-64.08, Z:3.47 [[ 7.99415445e-01 6.00608641e-01 -1.42900809e-02 2.04839496e+02] [-6.00507762e-01 7.99543127e-01 1.10097883e-02 -6.40795472e+01] [ 1.80381100e-02 -2.20090260e-04 9.99837276e-01 3.47325871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68361786499997 meters 0.01918854162025945 Centerline is valid? [True, True] Translation: X:204.89, Y:-64.12, Z:3.47 [[ 7.98533048e-01 6.01779903e-01 -1.43498907e-02 2.04887753e+02] [-6.01678274e-01 7.98661949e-01 1.10610355e-02 -6.41185827e+01] [ 1.81170206e-02 -1.98584910e-04 9.99835854e-01 3.47429997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74361786499998 meters 0.019339614347194577 Centerline is valid? [True, True] Translation: X:204.94, Y:-64.16, Z:3.48 [[ 7.97830861e-01 6.02687449e-01 -1.52890421e-02 2.04935675e+02] [-6.02572127e-01 7.97977318e-01 1.17911645e-02 -6.41587765e+01] [ 1.93066957e-02 -1.94604293e-04 9.99813589e-01 3.47540998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80361786499998 meters 0.019529765719668905 Centerline is valid? [True, True] Translation: X:204.98, Y:-64.20, Z:3.48 [[ 7.97521950e-01 6.03075256e-01 -1.60927019e-02 2.04982161e+02] [-6.02947425e-01 7.97684270e-01 1.24180239e-02 -6.42004395e+01] [ 2.03258981e-02 -2.00593444e-04 9.99793387e-01 3.47659493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86361786499998 meters 0.01953342198273967 Centerline is valid? [True, True] Translation: X:205.03, Y:-64.24, Z:3.48 [[ 7.96882407e-01 6.03916307e-01 -1.62334140e-02 2.05029089e+02] [-6.03786271e-01 7.97047714e-01 1.25331360e-02 -6.42419718e+01] [ 2.05077707e-02 -1.85923058e-04 9.99789676e-01 3.47804140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92361786499998 meters 0.0195244196128319 Centerline is valid? [True, True] Translation: X:205.08, Y:-64.28, Z:3.48 [[ 7.96640525e-01 6.04242174e-01 -1.59771409e-02 2.05077323e+02] [-6.04116143e-01 7.96800704e-01 1.23419087e-02 -6.42823932e+01] [ 2.01880989e-02 -1.80015917e-04 9.99796183e-01 3.48108786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98361786499999 meters 0.01966291658475796 Centerline is valid? [True, True] Translation: X:205.13, Y:-64.32, Z:3.48 [[ 7.96533531e-01 6.04371083e-01 -1.64294679e-02 2.05125122e+02] [-6.04237687e-01 7.96702930e-01 1.26987881e-02 -6.43239547e+01] [ 2.07641856e-02 -1.87706886e-04 9.99784383e-01 3.48252267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.043617865 meters 0.019755901589098426 Centerline is valid? [True, True] Translation: X:205.17, Y:-64.36, Z:3.48 [[ 7.96139892e-01 6.04886098e-01 -1.65553929e-02 2.05172265e+02] [-6.04750609e-01 7.96311984e-01 1.28033607e-02 -6.43648477e+01] [ 2.09278327e-02 -1.81382264e-04 9.99780972e-01 3.48370731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.103617865 meters 0.019645760412632277 Centerline is valid? [True, True] Translation: X:205.22, Y:-64.41, Z:3.49 [[ 7.94740452e-01 6.06707947e-01 -1.71196119e-02 2.05219779e+02] [-6.06563333e-01 7.94924806e-01 1.32467520e-02 -6.44052395e+01] [ 2.16457139e-02 -1.43600779e-04 9.99765694e-01 3.48537411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.163617865 meters 0.01948989928170964 Centerline is valid? [True, True] Translation: X:205.27, Y:-64.45, Z:3.49 [[ 7.93453137e-01 6.08365146e-01 -1.79991437e-02 2.05267741e+02] [-6.08205548e-01 7.93657254e-01 1.39346517e-02 -6.44465961e+01] [ 2.27625074e-02 -1.09314062e-04 9.99740895e-01 3.48571746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.223617865 meters 0.019520030376078745 Centerline is valid? [True, True] Translation: X:205.31, Y:-64.49, Z:3.49 [[ 7.92589369e-01 6.09465495e-01 -1.88122915e-02 2.05314909e+02] [-6.09291259e-01 7.92812590e-01 1.45725789e-02 -6.44885628e+01] [ 2.37961055e-02 -8.79063214e-05 9.99716829e-01 3.48799419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.283617865 meters 0.019512456028537944 Centerline is valid? [True, True] Translation: X:205.36, Y:-64.53, Z:3.49 [[ 7.92736613e-01 6.09266976e-01 -1.90371881e-02 2.05363017e+02] [-6.09088285e-01 7.92965158e-01 1.47552871e-02 -6.45298124e+01] [ 2.40857360e-02 -1.01728034e-04 9.99709891e-01 3.48943907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.343617865 meters 0.019537742677361785 Centerline is valid? [True, True] Translation: X:205.41, Y:-64.57, Z:3.49 [[ 7.93574478e-01 6.08184455e-01 -1.87407878e-02 2.05409437e+02] [-6.08010789e-01 7.93795723e-01 1.45337797e-02 -6.45729335e+01] [ 2.37155761e-02 -1.39035468e-04 9.99718737e-01 3.49155276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.403617865 meters 0.019692165457682407 Centerline is valid? [True, True] Translation: X:205.46, Y:-64.61, Z:3.49 [[ 7.94465086e-01 6.07022804e-01 -1.86693029e-02 2.05456299e+02] [-6.06849948e-01 7.94684393e-01 1.44864319e-02 -6.46143480e+01] [ 2.36297981e-02 -1.79498911e-04 9.99720761e-01 3.49382093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46361786499997 meters 0.019922660569536874 Centerline is valid? [True, True] Translation: X:205.50, Y:-64.66, Z:3.50 [[ 7.95604808e-01 6.05524894e-01 -1.87774297e-02 2.05502162e+02] [-6.05349432e-01 7.95826331e-01 1.45779302e-02 -6.46559124e+01] [ 2.37708727e-02 -2.31364983e-04 9.99717406e-01 3.49559789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52361786499998 meters 0.02011746214018937 Centerline is valid? [True, True] Translation: X:205.55, Y:-64.70, Z:3.50 [[ 7.96518126e-01 6.04314927e-01 -1.90353543e-02 2.05550028e+02] [-6.04134089e-01 7.96745500e-01 1.47854847e-02 -6.46957190e+01] [ 2.41014220e-02 -2.77000172e-04 9.99709480e-01 3.49696380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58361786499998 meters 0.02028821945798197 Centerline is valid? [True, True] Translation: X:205.60, Y:-64.74, Z:3.50 [[ 7.97140613e-01 6.03470968e-01 -1.97391263e-02 2.05597366e+02] [-6.03276059e-01 7.97384906e-01 1.53397694e-02 -6.47358342e+01] [ 2.49967869e-02 -3.19810857e-04 9.99687480e-01 3.49787860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64361786499998 meters 0.020558694238574798 Centerline is valid? [True, True] Translation: X:205.65, Y:-64.77, Z:3.50 [[ 7.97370616e-01 6.03147126e-01 -2.03382594e-02 2.05645235e+02] [-6.02939899e-01 7.97629880e-01 1.58130917e-02 -6.47746945e+01] [ 2.57600242e-02 -3.46146595e-04 9.99668096e-01 3.49843738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70361786499998 meters 0.020585308334271822 Centerline is valid? [True, True] Translation: X:205.69, Y:-64.81, Z:3.50 [[ 7.98022167e-01 6.02275946e-01 -2.05986861e-02 2.05693798e+02] [-6.02062885e-01 7.98287878e-01 1.60233263e-02 -6.48134330e+01] [ 2.60941454e-02 -3.85265222e-04 9.99659416e-01 3.50058899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.763617865 meters 0.021156894584351833 Centerline is valid? [True, True] Translation: X:205.74, Y:-64.85, Z:3.50 [[ 7.98419865e-01 6.01770276e-01 -1.99562972e-02 2.05740573e+02] [-6.01569949e-01 7.98669130e-01 1.55311975e-02 -6.48536486e+01] [ 2.52846915e-02 -3.95307968e-04 9.99680213e-01 3.50184733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.823617865 meters 0.021331280989366822 Centerline is valid? [True, True] Translation: X:205.79, Y:-64.89, Z:3.50 [[ 7.98482445e-01 6.01725899e-01 -1.87544096e-02 2.05788635e+02] [-6.01548801e-01 7.98702572e-01 1.46027634e-02 -6.48921952e+01] [ 2.37660561e-02 -3.78357580e-04 9.99717476e-01 3.50370397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.883617865 meters 0.021050476074203947 Centerline is valid? [True, True] Translation: X:205.84, Y:-64.93, Z:3.50 [[ 7.98013589e-01 6.02352055e-01 -1.86095196e-02 2.05837101e+02] [-6.02177696e-01 7.98230462e-01 1.44965965e-02 -6.49305289e+01] [ 2.35867401e-02 -3.62243376e-04 9.99721729e-01 3.50485038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.943617865 meters 0.02125002741226825 Centerline is valid? [True, True] Translation: X:205.88, Y:-64.97, Z:3.51 [[ 7.97038926e-01 6.03656000e-01 -1.81213554e-02 2.05884214e+02] [-6.03490863e-01 7.97244837e-01 1.41225872e-02 -6.49690004e+01] [ 2.29723415e-02 -3.20179337e-04 9.99736050e-01 3.50526603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.003617865 meters 0.020254331056318464 Centerline is valid? [True, True] Translation: X:205.94, Y:-65.01, Z:3.51 [[ 7.96118796e-01 6.04860320e-01 -1.84080236e-02 2.05935158e+02] [-6.04690089e-01 7.96331530e-01 1.43523918e-02 -6.50050842e+01] [ 2.33400819e-02 -2.95059465e-04 9.99727540e-01 3.50758958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.063617865 meters 0.019994296431667974 Centerline is valid? [True, True] Translation: X:205.98, Y:-65.04, Z:3.51 [[ 7.94340997e-01 6.07167812e-01 -1.92257177e-02 2.05984365e+02] [-6.06982615e-01 7.94573589e-01 1.49972261e-02 -6.50420831e+01] [ 2.43820805e-02 -2.43235151e-04 9.99702683e-01 3.50791066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.123617865 meters 0.019604486130812546 Centerline is valid? [True, True] Translation: X:206.04, Y:-65.08, Z:3.51 [[ 7.92354203e-01 6.09763725e-01 -1.90529870e-02 2.06035017e+02] [-6.09582421e-01 7.92583227e-01 1.48694406e-02 -6.50782625e+01] [ 2.41679235e-02 -1.67497809e-04 9.99707899e-01 3.50873913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18361786499997 meters 0.019401852401495886 Centerline is valid? [True, True] Translation: X:206.08, Y:-65.12, Z:3.51 [[ 7.91436902e-01 6.10958320e-01 -1.89092839e-02 2.06084315e+02] [-6.10779912e-01 7.91662752e-01 1.47643856e-02 -6.51152805e+01] [ 2.39901999e-02 -1.35668868e-04 9.99712185e-01 3.51083564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24361786499998 meters 0.01947962570669619 Centerline is valid? [True, True] Translation: X:206.13, Y:-65.15, Z:3.51 [[ 7.91630012e-01 6.10704626e-01 -1.90206024e-02 2.06132509e+02] [-6.10523855e-01 7.91858470e-01 1.48588605e-02 -6.51548631e+01] [ 2.41360000e-02 -1.50188484e-04 9.99708673e-01 3.51121220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30361786499998 meters 0.019475341231811678 Centerline is valid? [True, True] Translation: X:206.18, Y:-65.19, Z:3.51 [[ 7.92669137e-01 6.09345212e-01 -1.93404034e-02 2.06180237e+02] [-6.09157714e-01 7.92905021e-01 1.51164798e-02 -6.51947178e+01] [ 2.45462576e-02 -2.01011083e-04 9.99698675e-01 3.51117719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36361786499998 meters 0.019510754026894703 Centerline is valid? [True, True] Translation: X:206.23, Y:-65.23, Z:3.51 [[ 7.93021106e-01 6.08886214e-01 -1.93675905e-02 2.06229350e+02] [-6.08697863e-01 7.93257543e-01 1.51453973e-02 -6.52336236e+01] [ 2.45853109e-02 -2.21608747e-04 9.99697711e-01 3.51238895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42361786499998 meters 0.019623057733882742 Centerline is valid? [True, True] Translation: X:206.28, Y:-65.27, Z:3.51 [[ 7.94491676e-01 6.06956173e-01 -1.96769277e-02 2.06277618e+02] [-6.06760957e-01 7.94735251e-01 1.53955356e-02 -6.52723961e+01] [ 2.49823634e-02 -2.92433463e-04 9.99687849e-01 3.51320361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48361786499999 meters 0.020006455137546984 Centerline is valid? [True, True] Translation: X:206.32, Y:-65.31, Z:3.51 [[ 7.96071049e-01 6.04890432e-01 -1.94538148e-02 2.06324724e+02] [-6.04698819e-01 7.96308632e-01 1.52283264e-02 -6.53126846e+01] [ 2.47027096e-02 -3.59130936e-04 9.99694777e-01 3.51434475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.543617865 meters 0.020121539862689605 Centerline is valid? [True, True] Translation: X:206.37, Y:-65.35, Z:3.52 [[ 7.96999538e-01 6.03688321e-01 -1.87655859e-02 2.06372652e+02] [-6.03509529e-01 7.97220334e-01 1.46965255e-02 -6.53517322e+01] [ 2.38324275e-02 -3.87914176e-04 9.99715892e-01 3.51643666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.603617865 meters 0.020329122255177322 Centerline is valid? [True, True] Translation: X:206.42, Y:-65.39, Z:3.52 [[ 7.97782716e-01 6.02703946e-01 -1.70497109e-02 2.06421312e+02] [-6.02555998e-01 7.97964790e-01 1.33589998e-02 -6.53911144e+01] [ 2.16565909e-02 -3.84173582e-04 9.99765395e-01 3.51818630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.663617865 meters 0.02008878699031292 Centerline is valid? [True, True] Translation: X:206.47, Y:-65.43, Z:3.52 [[ 7.97852658e-01 6.02634095e-01 -1.62260312e-02 2.06471861e+02] [-6.02499945e-01 7.98017549e-01 1.27203867e-02 -6.54287297e+01] [ 2.06143964e-02 -3.72811479e-04 9.99787431e-01 3.52015710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.723617865 meters 0.020194472225810476 Centerline is valid? [True, True] Translation: X:206.52, Y:-65.47, Z:3.52 [[ 7.97242282e-01 6.03447920e-01 -1.59797092e-02 2.06520617e+02] [-6.03317850e-01 7.97402335e-01 1.25334445e-02 -6.54659899e+01] [ 2.03055385e-02 -3.51348039e-04 9.99793760e-01 3.52027355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.783617865 meters 0.01994185663397107 Centerline is valid? [True, True] Translation: X:206.57, Y:-65.50, Z:3.52 [[ 7.96963111e-01 6.03814594e-01 -1.60541546e-02 2.06572134e+02] [-6.03683296e-01 7.97124718e-01 1.25961103e-02 -6.55026628e+01] [ 2.04028786e-02 -3.47010309e-04 9.99791779e-01 3.52085965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.843617865 meters 0.019845776665165946 Centerline is valid? [True, True] Translation: X:206.62, Y:-65.54, Z:3.52 [[ 7.96832695e-01 6.03989927e-01 -1.59318777e-02 2.06622815e+02] [-6.03860515e-01 7.96991875e-01 1.25072030e-02 -6.55401685e+01] [ 2.02518017e-02 -3.45516398e-04 9.99794852e-01 3.52079920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.903617865 meters 0.020290217150571818 Centerline is valid? [True, True] Translation: X:206.67, Y:-65.58, Z:3.52 [[ 7.97787697e-01 6.02745586e-01 -1.52495464e-02 2.06670509e+02] [-6.02626681e-01 7.97933346e-01 1.19774327e-02 -6.55776615e+01] [ 1.93874663e-02 -3.65664911e-04 9.99811979e-01 3.52154227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96361786499997 meters 0.020815078789518476 Centerline is valid? [True, True] Translation: X:206.72, Y:-65.62, Z:3.52 [[ 7.98516231e-01 6.01806195e-01 -1.41821541e-02 2.06718881e+02] [-6.01703155e-01 7.98642080e-01 1.11418972e-02 -6.56155430e+01] [ 1.80317279e-02 -3.63538907e-04 9.99837349e-01 3.52342260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02361786499998 meters 0.020647088631176005 Centerline is valid? [True, True] Translation: X:206.77, Y:-65.65, Z:3.52 [[ 7.98553065e-01 6.01769680e-01 -1.36475122e-02 2.06769861e+02] [-6.01674176e-01 7.98669598e-01 1.07265751e-02 -6.56524113e+01] [ 1.73547808e-02 -3.54383756e-04 9.99849332e-01 3.52415587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08361786499998 meters 0.020881830570830207 Centerline is valid? [True, True] Translation: X:206.82, Y:-65.69, Z:3.52 [[ 7.97903736e-01 6.02632463e-01 -1.35551816e-02 2.06819503e+02] [-6.02538272e-01 7.98018797e-01 1.06597675e-02 -6.56882427e+01] [ 1.72412117e-02 -3.37952582e-04 9.99851302e-01 3.52391037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14361786499998 meters 0.020380097684430432 Centerline is valid? [True, True] Translation: X:206.87, Y:-65.72, Z:3.52 [[ 7.97020828e-01 6.03804302e-01 -1.33478681e-02 2.06870766e+02] [-6.03713056e-01 7.97132529e-01 1.05013344e-02 -6.57233995e+01] [ 1.69807707e-02 -3.11499950e-04 9.99855768e-01 3.52498997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20361786499998 meters 0.019759204233338358 Centerline is valid? [True, True] Translation: X:206.92, Y:-65.76, Z:3.53 [[ 7.95487261e-01 6.05841866e-01 -1.24759692e-02 2.06923694e+02] [-6.05762332e-01 7.95585048e-01 9.81978869e-03 -6.57573453e+01] [ 1.58749336e-02 -2.54044629e-04 9.99873953e-01 3.52632595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.263617865 meters 0.019575001106542908 Centerline is valid? [True, True] Translation: X:206.97, Y:-65.79, Z:3.53 [[ 7.94047821e-01 6.07738026e-01 -1.19393857e-02 2.06974147e+02] [-6.07665379e-01 7.94137550e-01 9.39891292e-03 -6.57937584e+01] [ 1.51935913e-02 -2.08034969e-04 9.99884549e-01 3.52768690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.323617865 meters 0.01924654214266684 Centerline is valid? [True, True] Translation: X:207.03, Y:-65.83, Z:3.53 [[ 7.91840318e-01 6.10612398e-01 -1.18916033e-02 2.07025325e+02] [-6.10540584e-01 7.91929590e-01 9.36592492e-03 -6.58289250e+01] [ 1.51362624e-02 -1.56010534e-04 9.99885428e-01 3.52879717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.383617865 meters 0.01912904411595144 Centerline is valid? [True, True] Translation: X:207.08, Y:-65.86, Z:3.53 [[ 7.90236778e-01 6.12686171e-01 -1.18949881e-02 2.07075245e+02] [-6.12614480e-01 7.90326288e-01 9.37324307e-03 -6.58645461e+01] [ 1.51437782e-02 -1.20039447e-04 9.99885319e-01 3.52969998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.443617865 meters 0.018842768299515176 Centerline is valid? [True, True] Translation: X:207.13, Y:-65.90, Z:3.53 [[ 7.87732536e-01 6.15903183e-01 -1.18625883e-02 2.07127455e+02] [-6.15832182e-01 7.87821849e-01 9.35190564e-03 -6.58989192e+01] [ 1.51054747e-02 -6.14367077e-05 9.99885904e-01 3.53109790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.503617865 meters 0.01885205216966565 Centerline is valid? [True, True] Translation: X:207.18, Y:-65.94, Z:3.53 [[ 7.86357491e-01 6.17666430e-01 -1.14051495e-02 2.07177993e+02] [-6.17600923e-01 7.86440195e-01 8.99551575e-03 -6.59350115e+01] [ 1.45256961e-02 -2.98603461e-05 9.99894496e-01 3.53336479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.563617865 meters 0.01888897045648411 Centerline is valid? [True, True] Translation: X:207.23, Y:-65.97, Z:3.54 [[ 7.86354400e-01 6.17685186e-01 -1.05720666e-02 2.07229337e+02] [-6.17628848e-01 7.86425464e-01 8.34238770e-03 -6.59721908e+01] [ 1.34671117e-02 -3.04599490e-05 9.99909314e-01 3.53532992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.623617865 meters 0.018905111794238715 Centerline is valid? [True, True] Translation: X:207.28, Y:-66.01, Z:3.54 [[ 7.88446713e-01 6.15025164e-01 -9.78921943e-03 2.07278346e+02] [-6.14976606e-01 7.88507478e-01 7.72860238e-03 -6.60103766e+01] [ 1.24721577e-02 -7.34502010e-05 9.99922217e-01 3.53670019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68361786499997 meters 0.019113523001188626 Centerline is valid? [True, True] Translation: X:207.33, Y:-66.05, Z:3.54 [[ 7.91681297e-01 6.10868825e-01 -8.94439304e-03 2.07326681e+02] [-6.10827986e-01 7.91731812e-01 7.06469123e-03 -6.60494787e+01] [ 1.13971601e-02 -1.29498327e-04 9.99935042e-01 3.53739820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74361786499998 meters 0.019894906439539173 Centerline is valid? [True, True] Translation: X:207.37, Y:-66.09, Z:3.54 [[ 7.94208464e-01 6.07575980e-01 -9.18386954e-03 2.07372617e+02] [-6.07532659e-01 7.94261540e-01 7.25771324e-03 -6.60893061e+01] [ 1.17040066e-02 -1.84636611e-04 9.99931489e-01 3.53880143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80361786499998 meters 0.021359829100828277 Centerline is valid? [True, True] Translation: X:207.42, Y:-66.13, Z:3.54 [[ 7.98089606e-01 6.02460558e-01 -9.70853716e-03 2.07417790e+02] [-6.02411706e-01 7.98148607e-01 7.67710416e-03 -6.61285480e+01] [ 1.23740079e-02 -2.78480602e-04 9.99923400e-01 3.53957078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86361786499998 meters 0.020686243224060992 Centerline is valid? [True, True] Translation: X:207.47, Y:-66.16, Z:3.54 [[ 8.00269343e-01 5.99564061e-01 -9.58725992e-03 2.07468675e+02] [-5.99516217e-01 8.00326706e-01 7.58087866e-03 -6.61649555e+01] [ 1.22181625e-02 -3.19026988e-04 9.99925305e-01 3.53976893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92361786499998 meters 0.021014805366101348 Centerline is valid? [True, True] Translation: X:207.52, Y:-66.20, Z:3.54 [[ 8.02320633e-01 5.96811339e-01 -9.89081183e-03 2.07518369e+02] [-5.96760202e-01 8.02381509e-01 7.82139334e-03 -6.62017002e+01] [ 1.26041008e-02 -3.72822384e-04 9.99920496e-01 3.53920387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98361786499999 meters 0.02154564403531751 Centerline is valid? [True, True] Translation: X:207.57, Y:-66.24, Z:3.54 [[ 8.02684857e-01 5.96318330e-01 -1.00732014e-02 2.07567385e+02] [-5.96265203e-01 8.02747966e-01 7.96941219e-03 -6.62384971e+01] [ 1.28385485e-02 -3.90627026e-04 9.99917506e-01 3.53999729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.043617865 meters 0.02099628958967234 Centerline is valid? [True, True] Translation: X:207.62, Y:-66.27, Z:3.54 [[ 8.02054554e-01 5.97173829e-01 -9.58703752e-03 2.07618915e+02] [-5.97125728e-01 8.02111768e-01 7.58793075e-03 -6.62734780e+01] [ 1.22211893e-02 -3.61267649e-04 9.99925253e-01 3.54024059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.103617865 meters 0.020520620728902407 Centerline is valid? [True, True] Translation: X:207.67, Y:-66.31, Z:3.54 [[ 8.00712061e-01 5.98971520e-01 -9.65992761e-03 2.07670004e+02] [-5.98922769e-01 8.00770256e-01 7.64943264e-03 -6.63084823e+01] [ 1.23171750e-02 -3.39442387e-04 9.99924083e-01 3.54072607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.163617865 meters 0.020294154621814782 Centerline is valid? [True, True] Translation: X:207.72, Y:-66.35, Z:3.54 [[ 7.99327047e-01 6.00818667e-01 -9.65413148e-03 2.07719824e+02] [-6.00770062e-01 7.99385283e-01 7.64866231e-03 -6.63455960e+01] [ 1.23128297e-02 -3.13869487e-04 9.99924145e-01 3.54179750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.223617865 meters 0.020035382120118243 Centerline is valid? [True, True] Translation: X:207.77, Y:-66.38, Z:3.54 [[ 7.97671585e-01 6.03003770e-01 -1.03197173e-02 2.07770859e+02] [-6.02948351e-01 7.97738279e-01 8.18072051e-03 -6.63800411e+01] [ 1.31654388e-02 -3.03271765e-04 9.99913286e-01 3.54305295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.283617865 meters 0.019465321046061742 Centerline is valid? [True, True] Translation: X:207.82, Y:-66.42, Z:3.54 [[ 7.97145953e-01 6.03690910e-01 -1.07524312e-02 2.07821309e+02] [-6.03630779e-01 7.97218409e-01 8.52593553e-03 -6.64165258e+01] [ 1.37190659e-02 -3.05916588e-04 9.99905842e-01 3.54391500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.343617865 meters 0.01952961229945352 Centerline is valid? [True, True] Translation: X:207.87, Y:-66.45, Z:3.54 [[ 7.96513684e-01 6.04518979e-01 -1.10795073e-02 2.07871641e+02] [-6.04455150e-01 7.96590680e-01 8.78980194e-03 -6.64533549e+01] [ 1.41394343e-02 -3.04132287e-04 9.99899987e-01 3.54450511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.403617865 meters 0.019775410558725316 Centerline is valid? [True, True] Translation: X:207.92, Y:-66.49, Z:3.55 [[ 7.96470284e-01 6.04566145e-01 -1.16130910e-02 2.07920328e+02] [-6.04495954e-01 7.96554878e-01 9.21783557e-03 -6.64915537e+01] [ 1.48232556e-02 -3.21665591e-04 9.99890078e-01 3.54563019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46361786499997 meters 0.01922536817932801 Centerline is valid? [True, True] Translation: X:207.97, Y:-66.53, Z:3.55 [[ 7.96798630e-01 6.04112705e-01 -1.26405221e-02 2.07971788e+02] [-6.04029396e-01 7.96898806e-01 1.00389918e-02 -6.65268297e+01] [ 1.61378994e-02 -3.63807988e-04 9.99869709e-01 3.54618681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52361786499998 meters 0.01959983747553515 Centerline is valid? [True, True] Translation: X:208.02, Y:-66.56, Z:3.55 [[ 7.96461012e-01 6.04554947e-01 -1.27738919e-02 2.08020532e+02] [-6.04469844e-01 7.96563359e-01 1.01499991e-02 -6.65636054e+01] [ 1.63114464e-02 -3.62646103e-04 9.99866894e-01 3.54731956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58361786499998 meters 0.01954320029915794 Centerline is valid? [True, True] Translation: X:208.07, Y:-66.60, Z:3.55 [[ 7.95590732e-01 6.05685359e-01 -1.34399824e-02 2.08071247e+02] [-6.05591254e-01 7.95704164e-01 1.06825454e-02 -6.66001166e+01] [ 1.71645113e-02 -3.59798274e-04 9.99852614e-01 3.54816418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64361786499998 meters 0.019426567158988255 Centerline is valid? [True, True] Translation: X:208.12, Y:-66.64, Z:3.55 [[ 7.95125228e-01 6.06287590e-01 -1.38285638e-02 2.08121264e+02] [-6.06187960e-01 7.95245388e-01 1.09968154e-02 -6.66371423e+01] [ 1.76643344e-02 -3.61136485e-04 9.99843908e-01 3.54915995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70361786499998 meters 0.01957122515931276 Centerline is valid? [True, True] Translation: X:208.17, Y:-66.67, Z:3.55 [[ 7.94465462e-01 6.07147362e-01 -1.40253716e-02 2.08170933e+02] [-6.07044913e-01 7.94589175e-01 1.11586826e-02 -6.66731013e+01] [ 1.79193732e-02 -3.51157455e-04 9.99839373e-01 3.55020353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.763617865 meters 0.019658912612924087 Centerline is valid? [True, True] Translation: X:208.22, Y:-66.71, Z:3.55 [[ 7.93922159e-01 6.07855518e-01 -1.41164446e-02 2.08220081e+02] [-6.07751761e-01 7.94047576e-01 1.12358621e-02 -6.67096149e+01] [ 1.80389094e-02 -3.41105799e-04 9.99837227e-01 3.55161165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.823617865 meters 0.018565542380219673 Centerline is valid? [True, True] Translation: X:208.27, Y:-66.75, Z:3.55 [[ 7.93106912e-01 6.08930573e-01 -1.36008181e-02 2.08271533e+02] [-6.08834364e-01 7.93223463e-01 1.08284343e-02 -6.67452042e+01] [ 1.73822527e-02 -3.07460603e-04 9.99848870e-01 3.55303976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.883617865 meters 0.018606541916295495 Centerline is valid? [True, True] Translation: X:208.32, Y:-66.78, Z:3.56 [[ 7.91700077e-01 6.10771391e-01 -1.30113347e-02 2.08319446e+02] [-6.10683507e-01 7.91806946e-01 1.03640568e-02 -6.67828594e+01] [ 1.66325346e-02 -2.59417024e-04 9.99861636e-01 3.55516268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.943617865 meters 0.018206813156042025 Centerline is valid? [True, True] Translation: X:208.37, Y:-66.82, Z:3.56 [[ 7.89545104e-01 6.13541613e-01 -1.36094500e-02 2.08368081e+02] [-6.13445783e-01 7.89662360e-01 1.08456799e-02 -6.68211826e+01] [ 1.74011464e-02 -2.14493726e-04 9.99848566e-01 3.55642521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.003617865 meters 0.01806222770553416 Centerline is valid? [True, True] Translation: X:208.42, Y:-66.86, Z:3.56 [[ 7.87149372e-01 6.16608088e-01 -1.37960512e-02 2.08415875e+02] [-6.16509984e-01 7.87270247e-01 1.09999104e-02 -6.68602702e+01] [ 1.76438544e-02 -1.53169260e-04 9.99844323e-01 3.55811477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.063617865 meters 0.018013947321562557 Centerline is valid? [True, True] Translation: X:208.46, Y:-66.90, Z:3.56 [[ 7.85409737e-01 6.18820353e-01 -1.38893809e-02 2.08463556e+02] [-6.18721164e-01 7.85532532e-01 1.10798221e-02 -6.68995928e+01] [ 1.77669800e-02 -1.08546299e-04 9.99842149e-01 3.55954353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.123617865 meters 0.017967142025567574 Centerline is valid? [True, True] Translation: X:208.51, Y:-66.94, Z:3.56 [[ 7.83467788e-01 6.21291050e-01 -1.32535638e-02 2.08508573e+02] [-6.21201004e-01 7.83579880e-01 1.05775116e-02 -6.69408383e+01] [ 1.69569392e-02 -5.40125264e-05 9.99856219e-01 3.56171983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18361786499997 meters 0.01810073000491064 Centerline is valid? [True, True] Translation: X:208.56, Y:-66.98, Z:3.56 [[ 7.82516890e-01 6.22498418e-01 -1.27685875e-02 2.08555344e+02] [-6.22414957e-01 7.82621057e-01 1.01932737e-02 -6.69828511e+01] [ 1.63382622e-02 -2.90490113e-05 9.99866521e-01 3.56355170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24361786499998 meters 0.01817861456339191 Centerline is valid? [True, True] Translation: X:208.60, Y:-67.03, Z:3.56 [[ 7.82503929e-01 6.22531636e-01 -1.19148501e-02 2.08600302e+02] [-6.22458890e-01 7.82594634e-01 9.51675932e-03 -6.70263754e+01] [ 1.52489815e-02 -3.03971832e-05 9.99883727e-01 3.56464996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30361786499998 meters 0.018238386155899566 Centerline is valid? [True, True] Translation: X:208.65, Y:-67.07, Z:3.57 [[ 7.82350297e-01 6.22726294e-01 -1.18311015e-02 2.08646535e+02] [-6.22654516e-01 7.82439749e-01 9.45475408e-03 -6.70691531e+01] [ 1.51448481e-02 -3.02408742e-05 9.99885310e-01 3.56629942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36361786499998 meters 0.01822986133838042 Centerline is valid? [True, True] Translation: X:208.69, Y:-67.11, Z:3.57 [[ 7.82391078e-01 6.22664563e-01 -1.23710605e-02 2.08690831e+02] [-6.22585983e-01 7.82488876e-01 9.89210082e-03 -6.71134905e+01] [ 1.58396779e-02 -3.74425582e-05 9.99874544e-01 3.56734718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42361786499998 meters 0.018245579109147814 Centerline is valid? [True, True] Translation: X:208.74, Y:-67.16, Z:3.57 [[ 7.82499183e-01 6.22518398e-01 -1.28791322e-02 2.08736910e+02] [-6.22433118e-01 7.82605163e-01 1.03039565e-02 -6.71566566e+01] [ 1.64936778e-02 -4.64391351e-05 9.99863969e-01 3.56790061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48361786499999 meters 0.018122705505709633 Centerline is valid? [True, True] Translation: X:208.78, Y:-67.20, Z:3.57 [[ 7.82749363e-01 6.22188616e-01 -1.35926894e-02 2.08780949e+02] [-6.22093462e-01 7.82867372e-01 1.08812704e-02 -6.72020725e+01] [ 1.74114757e-02 -6.13842867e-05 9.99848407e-01 3.56907558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.543617865 meters 0.01830284104962872 Centerline is valid? [True, True] Translation: X:208.83, Y:-67.25, Z:3.57 [[ 7.83648655e-01 6.21046182e-01 -1.40151533e-02 2.08825019e+02] [-6.20944720e-01 7.83773967e-01 1.12260398e-02 -6.72479905e+01] [ 1.79566015e-02 -9.46355750e-05 9.99838763e-01 3.57000369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.603617865 meters 0.01857351585318728 Centerline is valid? [True, True] Translation: X:208.87, Y:-67.29, Z:3.57 [[ 7.85580346e-01 6.18612446e-01 -1.34967262e-02 2.08868011e+02] [-6.18517888e-01 7.85696264e-01 1.08167858e-02 -6.72941724e+01] [ 1.72957257e-02 -1.49487700e-04 9.99850407e-01 3.57210853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.663617865 meters 0.018814922925252393 Centerline is valid? [True, True] Translation: X:208.91, Y:-67.34, Z:3.57 [[ 7.86924671e-01 6.16909005e-01 -1.31469064e-02 2.08912800e+02] [-6.16818961e-01 7.87034462e-01 1.05415901e-02 -6.73379032e+01] [ 1.68502703e-02 -1.86176203e-04 9.99858007e-01 3.57369578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.723617865 meters 0.019345445736297404 Centerline is valid? [True, True] Translation: X:208.96, Y:-67.38, Z:3.58 [[ 7.88514323e-01 6.14888089e-01 -1.25618981e-02 2.08956069e+02] [-6.14805546e-01 7.88614347e-01 1.00772994e-02 -6.73833748e+01] [ 1.61029044e-02 -2.22970245e-04 9.99870315e-01 3.57559751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.783617865 meters 0.01937812532028799 Centerline is valid? [True, True] Translation: X:209.00, Y:-67.43, Z:3.58 [[ 7.88690425e-01 6.14657095e-01 -1.28089553e-02 2.09002917e+02] [-6.14571158e-01 7.88794396e-01 1.02806646e-02 -6.74261302e+01] [ 1.64227156e-02 -2.36247265e-04 9.99865110e-01 3.57638015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.843617865 meters 0.01919056088696094 Centerline is valid? [True, True] Translation: X:209.05, Y:-67.47, Z:3.58 [[ 7.87758200e-01 6.15845539e-01 -1.30877738e-02 2.09049329e+02] [-6.15755883e-01 7.87866882e-01 1.05104461e-02 -6.74674120e+01] [ 1.67842349e-02 -2.20816369e-04 9.99859110e-01 3.57669859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.903617865 meters 0.01909560511464229 Centerline is valid? [True, True] Translation: X:209.09, Y:-67.51, Z:3.58 [[ 7.86162825e-01 6.17868090e-01 -1.36761389e-02 2.09094472e+02] [-6.17770397e-01 7.86281748e-01 1.09885773e-02 -6.75081961e+01] [ 1.75427897e-02 -1.90097150e-04 9.99846095e-01 3.57733481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96361786499997 meters 0.018828003639241548 Centerline is valid? [True, True] Translation: X:209.14, Y:-67.55, Z:3.58 [[ 7.85254969e-01 6.19030571e-01 -1.32584170e-02 2.09142109e+02] [-6.18938841e-01 7.85366873e-01 1.06576644e-02 -6.75485771e+01] [ 1.70101415e-02 -1.62834664e-04 9.99855304e-01 3.57895031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02361786499998 meters 0.018696718858027227 Centerline is valid? [True, True] Translation: X:209.19, Y:-67.59, Z:3.58 [[ 7.84282662e-01 6.20276752e-01 -1.25481712e-02 2.09188873e+02] [-6.20194671e-01 7.84383027e-01 1.00914119e-02 -6.75892628e+01] [ 1.61020407e-02 -1.32210497e-04 9.99870345e-01 3.58075717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08361786499998 meters 0.018673203865422344 Centerline is valid? [True, True] Translation: X:209.24, Y:-67.63, Z:3.58 [[ 7.83455869e-01 6.21328962e-01 -1.21335116e-02 2.09235733e+02] [-6.21252272e-01 7.83549813e-01 9.76249014e-03 -6.76293837e+01] [ 1.55729286e-02 -1.10508525e-04 9.99878728e-01 3.58178120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14361786499998 meters 0.018545598761452755 Centerline is valid? [True, True] Translation: X:209.28, Y:-67.67, Z:3.58 [[ 7.82642264e-01 6.22349486e-01 -1.23370892e-02 2.09284432e+02] [-6.22270251e-01 7.82739489e-01 9.93109259e-03 -6.76689132e+01] [ 1.58373373e-02 -9.54892045e-05 9.99874577e-01 3.58236236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20361786499998 meters 0.018400677024677535 Centerline is valid? [True, True] Translation: X:209.33, Y:-67.71, Z:3.58 [[ 7.81149559e-01 6.24210492e-01 -1.29084206e-02 2.09333958e+02] [-6.24123904e-01 7.81256205e-01 1.03968641e-02 -6.77071581e+01] [ 1.65746153e-02 -6.50518861e-05 9.99862630e-01 3.58200923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.263617865 meters 0.018382525701204622 Centerline is valid? [True, True] Translation: X:209.38, Y:-67.75, Z:3.58 [[ 7.79366223e-01 6.26416766e-01 -1.37958747e-02 2.09383763e+02] [-6.26318106e-01 7.79488316e-01 1.11173116e-02 -6.77453638e+01] [ 1.77177935e-02 -2.38510090e-05 9.99843027e-01 3.58178575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.323617865 meters 0.018547543768048583 Centerline is valid? [True, True] Translation: X:209.43, Y:-67.78, Z:3.58 [[ 7.77044417e-01 6.29270093e-01 -1.48702461e-02 2.09434986e+02] [-6.29155856e-01 7.77186688e-01 1.19900144e-02 -6.77825929e+01] [ 1.91019148e-02 3.89286194e-05 9.99817541e-01 3.58117915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.383617865 meters 0.018655995057296326 Centerline is valid? [True, True] Translation: X:209.49, Y:-67.82, Z:3.58 [[ 7.75494598e-01 6.31168021e-01 -1.53315800e-02 2.09485159e+02] [-6.31046822e-01 7.75646132e-01 1.23687418e-02 -6.78188062e+01] [ 1.96986350e-02 8.30523402e-05 9.99805960e-01 3.58115798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.443617865 meters 0.018838147159257926 Centerline is valid? [True, True] Translation: X:209.53, Y:-67.86, Z:3.58 [[ 7.75762283e-01 6.30844090e-01 -1.51200096e-02 2.09534229e+02] [-6.30726034e-01 7.75909614e-01 1.22041606e-02 -6.78579690e+01] [ 1.94306834e-02 6.90561911e-05 9.99811204e-01 3.58167183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.503617865 meters 0.01854334369411797 Centerline is valid? [True, True] Translation: X:209.58, Y:-67.90, Z:3.58 [[ 7.78775305e-01 6.27138838e-01 -1.43492894e-02 2.09581208e+02] [-6.27031770e-01 7.78907490e-01 1.15879944e-02 -6.78995464e+01] [ 1.84440503e-02 -2.69835730e-05 9.99829894e-01 3.58317759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.563617865 meters 0.01892511689345928 Centerline is valid? [True, True] Translation: X:209.63, Y:-67.94, Z:3.59 [[ 7.83354855e-01 6.21423843e-01 -1.36959205e-02 2.09625657e+02] [-6.21325327e-01 7.83474558e-01 1.10659614e-02 -6.79425140e+01] [ 1.76070576e-02 -1.58952329e-04 9.99844971e-01 3.58551387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.623617865 meters 0.01938339484351815 Centerline is valid? [True, True] Translation: X:209.67, Y:-67.98, Z:3.59 [[ 7.86024996e-01 6.18042088e-01 -1.37361959e-02 2.09672310e+02] [-6.17942387e-01 7.86144974e-01 1.11033951e-02 -6.79830577e+01] [ 1.76610069e-02 -2.39368377e-04 9.99844004e-01 3.58673224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68361786499997 meters 0.01975160268524043 Centerline is valid? [True, True] Translation: X:209.72, Y:-68.02, Z:3.59 [[ 7.88868335e-01 6.14394929e-01 -1.43395269e-02 2.09720740e+02] [-6.14285576e-01 7.88998578e-01 1.15963308e-02 -6.80220320e+01] [ 1.84385932e-02 -3.39413579e-04 9.99829937e-01 3.58694387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74361786499998 meters 0.019961823424998325 Centerline is valid? [True, True] Translation: X:209.77, Y:-68.06, Z:3.59 [[ 7.89478756e-01 6.13566019e-01 -1.61255731e-02 2.09769316e+02] [-6.13427489e-01 7.89643322e-01 1.30437745e-02 -6.80606696e+01] [ 2.07366679e-02 -4.05913085e-04 9.99784890e-01 3.58572319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80361786499998 meters 0.020384148927068656 Centerline is valid? [True, True] Translation: X:209.82, Y:-68.10, Z:3.59 [[ 7.89041094e-01 6.14107725e-01 -1.69072457e-02 2.09817706e+02] [-6.13955423e-01 7.89222104e-01 1.36824456e-02 -6.81000844e+01] [ 2.17460676e-02 -4.15716706e-04 9.99763440e-01 3.58555341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86361786499998 meters 0.01998817290635522 Centerline is valid? [True, True] Translation: X:209.87, Y:-68.14, Z:3.59 [[ 7.88471847e-01 6.14843201e-01 -1.67327066e-02 2.09866618e+02] [-6.14694084e-01 7.88649277e-01 1.35462906e-02 -6.81381421e+01] [ 2.15250816e-02 -3.95373050e-04 9.99768230e-01 3.58725359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92361786499998 meters 0.019499241986097073 Centerline is valid? [True, True] Translation: X:209.92, Y:-68.18, Z:3.59 [[ 7.87590000e-01 6.16019670e-01 -1.48915429e-02 2.09917108e+02] [-6.15901687e-01 7.87730702e-01 1.20603509e-02 -6.81752664e+01] [ 1.91599389e-02 -3.26885352e-04 9.99816378e-01 3.59018316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98361786499999 meters 0.01954457027636539 Centerline is valid? [True, True] Translation: X:209.96, Y:-68.21, Z:3.59 [[ 7.86626457e-01 6.17262158e-01 -1.43612783e-02 2.09964302e+02] [-6.17152590e-01 7.86757488e-01 1.16333409e-02 -6.82136946e+01] [ 1.84796644e-02 -2.87993638e-04 9.99829195e-01 3.59193717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.043617865 meters 0.019026828643899672 Centerline is valid? [True, True] Translation: X:210.01, Y:-68.25, Z:3.59 [[ 7.84385849e-01 6.20104593e-01 -1.44614273e-02 2.10013944e+02] [-6.19993873e-01 7.84519115e-01 1.17198759e-02 -6.82505748e+01] [ 1.86128150e-02 -2.26908517e-04 9.99826741e-01 3.59257915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.103617865 meters 0.018819198274820335 Centerline is valid? [True, True] Translation: X:210.06, Y:-68.29, Z:3.59 [[ 7.81833138e-01 6.23326970e-01 -1.41574213e-02 2.10063034e+02] [-6.23221282e-01 7.81961294e-01 1.14790244e-02 -6.82876325e+01] [ 1.82257410e-02 -1.51475394e-04 9.99833886e-01 3.59303448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.163617865 meters 0.01867195123826452 Centerline is valid? [True, True] Translation: X:210.11, Y:-68.33, Z:3.59 [[ 7.79581980e-01 6.26139457e-01 -1.41886297e-02 2.10112761e+02] [-6.26033671e-01 7.79711082e-01 1.15095827e-02 -6.83255247e+01] [ 1.82696357e-02 -9.01033445e-05 9.99833092e-01 3.59377857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.223617865 meters 0.018524308052650467 Centerline is valid? [True, True] Translation: X:210.16, Y:-68.36, Z:3.59 [[ 7.78752940e-01 6.27160967e-01 -1.45938108e-02 2.10161065e+02] [-6.27049124e-01 7.78889668e-01 1.18440225e-02 -6.83642648e+01] [ 1.87950770e-02 -7.25311016e-05 9.99823354e-01 3.59435257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.283617865 meters 0.01840379714384784 Centerline is valid? [True, True] Translation: X:210.21, Y:-68.40, Z:3.60 [[ 7.78668349e-01 6.27264483e-01 -1.46584534e-02 2.10209413e+02] [-6.27151551e-01 7.78806306e-01 1.19025271e-02 -6.84043403e+01] [ 1.88821285e-02 -7.50493359e-05 9.99821714e-01 3.59556580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.343617865 meters 0.01849466636767344 Centerline is valid? [True, True] Translation: X:210.26, Y:-68.45, Z:3.60 [[ 7.80031968e-01 6.25581939e-01 -1.40487289e-02 2.10257378e+02] [-6.25477824e-01 7.80158461e-01 1.14134549e-02 -6.84457192e+01] [ 1.81002859e-02 -1.15691264e-04 9.99836170e-01 3.59685536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.403617865 meters 0.018553170266126698 Centerline is valid? [True, True] Translation: X:210.30, Y:-68.49, Z:3.60 [[ 7.81291977e-01 6.24005037e-01 -1.41619676e-02 2.10302729e+02] [-6.23898863e-01 7.81420303e-01 1.15117300e-02 -6.84864358e+01] [ 1.82498265e-02 -1.58386806e-04 9.99833446e-01 3.59774837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46361786499997 meters 0.0189881639477045 Centerline is valid? [True, True] Translation: X:210.35, Y:-68.53, Z:3.60 [[ 7.83450320e-01 6.21283648e-01 -1.45679571e-02 2.10346656e+02] [-6.21170726e-01 7.83585716e-01 1.18471098e-02 -6.85287878e+01] [ 1.87756587e-02 -2.32433467e-04 9.99823695e-01 3.59930793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52361786499998 meters 0.018964963387730353 Centerline is valid? [True, True] Translation: X:210.39, Y:-68.57, Z:3.60 [[ 7.84602992e-01 6.19819895e-01 -1.48809415e-02 2.10393284e+02] [-6.19701701e-01 7.84744048e-01 1.21070931e-02 -6.85695860e+01] [ 1.91819474e-02 -2.77516669e-04 9.99815971e-01 3.60096501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58361786499998 meters 0.019559940457822302 Centerline is valid? [True, True] Translation: X:210.44, Y:-68.61, Z:3.60 [[ 7.85340392e-01 6.18882115e-01 -1.50132308e-02 2.10438235e+02] [-6.18761523e-01 7.85483821e-01 1.22206323e-02 -6.86110149e+01] [ 1.93557807e-02 -3.07746629e-04 9.99812612e-01 3.60159368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64361786499998 meters 0.01914519973662599 Centerline is valid? [True, True] Translation: X:210.49, Y:-68.65, Z:3.60 [[ 7.85594269e-01 6.18567898e-01 -1.46765069e-02 2.10487550e+02] [-6.18452498e-01 7.85731289e-01 1.19519884e-02 -6.86506016e+01] [ 1.89249070e-02 -3.12691308e-04 9.99820859e-01 3.60341374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70361786499998 meters 0.01923343847269659 Centerline is valid? [True, True] Translation: X:210.53, Y:-68.69, Z:3.60 [[ 7.84737554e-01 6.19657552e-01 -1.45426869e-02 2.10534846e+02] [-6.19544314e-01 7.84872241e-01 1.18494039e-02 -6.86896743e+01] [ 1.87567239e-02 -2.88833220e-04 9.99824035e-01 3.60488465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.763617865 meters 0.018725007328151185 Centerline is valid? [True, True] Translation: X:210.58, Y:-68.73, Z:3.61 [[ 7.82130872e-01 6.22932593e-01 -1.50427531e-02 2.10584554e+02] [-6.22811924e-01 7.82275486e-01 1.22625927e-02 -6.87274460e+01] [ 1.94063456e-02 -2.22146358e-04 9.99811654e-01 3.60667045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.823617865 meters 0.018625565377040815 Centerline is valid? [True, True] Translation: X:210.63, Y:-68.76, Z:3.61 [[ 7.80555275e-01 6.24913608e-01 -1.47121199e-02 2.10632927e+02] [-6.24798430e-01 7.80693892e-01 1.19986808e-02 -6.87646066e+01] [ 1.89838011e-02 -1.73524157e-04 9.99819776e-01 3.60777441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.883617865 meters 0.01837128521144924 Centerline is valid? [True, True] Translation: X:210.68, Y:-68.80, Z:3.61 [[ 7.78202723e-01 6.27848390e-01 -1.43847946e-02 2.10683452e+02] [-6.27738685e-01 7.78335653e-01 1.17368752e-02 -6.88004295e+01] [ 1.85651767e-02 -1.03776227e-04 9.99827647e-01 3.60939537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.943617865 meters 0.01831842509094788 Centerline is valid? [True, True] Translation: X:210.73, Y:-68.84, Z:3.61 [[ 7.77613442e-01 6.28583496e-01 -1.41465036e-02 2.10732757e+02] [-6.28477417e-01 7.77742104e-01 1.15479851e-02 -6.88391190e+01] [ 1.82612043e-02 -8.91103879e-05 9.99833246e-01 3.61033070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.003617865 meters 0.01847310037865586 Centerline is valid? [True, True] Translation: X:210.78, Y:-68.88, Z:3.61 [[ 7.78081979e-01 6.28012333e-01 -1.37457067e-02 2.10781031e+02] [-6.27911987e-01 7.78203379e-01 1.12266392e-02 -6.88775993e+01] [ 1.77474232e-02 -1.04151664e-04 9.99842497e-01 3.61098419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.063617865 meters 0.018441776062796178 Centerline is valid? [True, True] Translation: X:210.83, Y:-68.92, Z:3.61 [[ 7.78417369e-01 6.27597956e-01 -1.36822791e-02 2.10830080e+02] [-6.27498399e-01 7.78537598e-01 1.11788914e-02 -6.89172987e+01] [ 1.76680181e-02 -1.16234987e-04 9.99843902e-01 3.61216300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.123617865 meters 0.018799325376032388 Centerline is valid? [True, True] Translation: X:210.88, Y:-68.96, Z:3.61 [[ 7.80041472e-01 6.25579710e-01 -1.36135423e-02 2.10876212e+02] [-6.25480734e-01 7.80160239e-01 1.11288714e-02 -6.89568815e+01] [ 1.75827406e-02 -1.65972738e-04 9.99845398e-01 3.61244545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18361786499997 meters 0.018984367226527153 Centerline is valid? [True, True] Translation: X:210.92, Y:-69.00, Z:3.61 [[ 7.81166740e-01 6.24170492e-01 -1.37739185e-02 2.10923648e+02] [-6.24068859e-01 7.81288138e-01 1.12651577e-02 -6.89965133e+01] [ 1.77927782e-02 -2.04092906e-04 9.99841675e-01 3.61257231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24361786499998 meters 0.01925623864542598 Centerline is valid? [True, True] Translation: X:210.97, Y:-69.04, Z:3.61 [[ 7.82717476e-01 6.22209750e-01 -1.44353741e-02 2.10971241e+02] [-6.22097674e-01 7.82850533e-01 1.18121533e-02 -6.90370384e+01] [ 1.86503772e-02 -2.65366130e-04 9.99826031e-01 3.61204024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30361786499998 meters 0.019903630203266204 Centerline is valid? [True, True] Translation: X:211.02, Y:-69.08, Z:3.61 [[ 7.84331452e-01 6.20161580e-01 -1.49595838e-02 2.11016376e+02] [-6.20040735e-01 7.84474032e-01 1.22466752e-02 -6.90777614e+01] [ 1.93303225e-02 -3.29901199e-04 9.99813097e-01 3.61167468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36361786499998 meters 0.020665635987609392 Centerline is valid? [True, True] Translation: X:211.06, Y:-69.12, Z:3.61 [[ 7.86072140e-01 6.17956298e-01 -1.48527405e-02 2.11061096e+02] [-6.17836738e-01 7.86212355e-01 1.21613762e-02 -6.91189046e+01] [ 1.91926071e-02 -3.83150314e-04 9.99815732e-01 3.61251589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42361786499998 meters 0.020617370285141948 Centerline is valid? [True, True] Translation: X:211.11, Y:-69.16, Z:3.61 [[ 7.87073400e-01 6.16694245e-01 -1.42713075e-02 2.11108657e+02] [-6.16583598e-01 7.87202673e-01 1.16883920e-02 -6.91582957e+01] [ 1.84425755e-02 -4.00168268e-04 9.99829841e-01 3.61410219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48361786499999 meters 0.020701689016822802 Centerline is valid? [True, True] Translation: X:211.16, Y:-69.20, Z:3.62 [[ 7.88156203e-01 6.15327533e-01 -1.34843213e-02 2.11156340e+02] [-6.15228465e-01 7.88271436e-01 1.10489628e-02 -6.91984998e+01] [ 1.74280363e-02 -4.12370297e-04 9.99848035e-01 3.61549553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.543617865 meters 0.021217174553554048 Centerline is valid? [True, True] Translation: X:211.20, Y:-69.24, Z:3.62 [[ 7.87665499e-01 6.15959622e-01 -1.32968680e-02 2.11202626e+02] [-6.15863288e-01 7.87777625e-01 1.09006512e-02 -6.92391295e+01] [ 1.71893361e-02 -3.97014018e-04 9.99852174e-01 3.61657254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.603617865 meters 0.02073121789304978 Centerline is valid? [True, True] Translation: X:211.25, Y:-69.28, Z:3.62 [[ 7.86544317e-01 6.17401023e-01 -1.28068066e-02 2.11251563e+02] [-6.17311774e-01 7.86648493e-01 1.05034936e-02 -6.92772476e+01] [ 1.65593228e-02 -3.55670702e-04 9.99862822e-01 3.61755440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.663617865 meters 0.020008376706285545 Centerline is valid? [True, True] Translation: X:211.30, Y:-69.31, Z:3.62 [[ 7.84120438e-01 6.20482068e-01 -1.25356241e-02 2.11301420e+02] [-6.20396872e-01 7.84220581e-01 1.02859636e-02 -6.93140718e+01] [ 1.62129504e-02 -2.88372337e-04 9.99868520e-01 3.61823559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.723617865 meters 0.019506530133511085 Centerline is valid? [True, True] Translation: X:211.35, Y:-69.35, Z:3.62 [[ 7.80759814e-01 6.24707965e-01 -1.24125310e-02 2.11351261e+02] [-6.24624886e-01 7.80858449e-01 1.01899109e-02 -6.93506943e+01] [ 1.60581482e-02 -2.02697164e-04 9.99871039e-01 3.61883859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.783617865 meters 0.01933998440686234 Centerline is valid? [True, True] Translation: X:211.40, Y:-69.39, Z:3.62 [[ 7.78450890e-01 6.27586849e-01 -1.22048637e-02 2.11401116e+02] [-6.27506859e-01 7.78546548e-01 1.00207606e-02 -6.93882560e+01] [ 1.57909521e-02 -1.42034269e-04 9.99875305e-01 3.61981699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.843617865 meters 0.01904973284175888 Centerline is valid? [True, True] Translation: X:211.45, Y:-69.42, Z:3.62 [[ 7.75532605e-01 6.31196620e-01 -1.18323793e-02 2.11452478e+02] [-6.31121787e-01 7.75622860e-01 9.71947212e-03 -6.94241992e+01] [ 1.53123619e-02 -7.00951298e-05 9.99882756e-01 3.62133667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.903617865 meters 0.019039081690782323 Centerline is valid? [True, True] Translation: X:211.50, Y:-69.46, Z:3.62 [[ 7.73615976e-01 6.33547451e-01 -1.16597306e-02 2.11501975e+02] [-6.33474983e-01 7.73703837e-01 9.58223042e-03 -6.94615384e+01] [ 1.50919759e-02 -2.68189313e-05 9.99886109e-01 3.62227141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96361786499997 meters 0.019012596363143123 Centerline is valid? [True, True] Translation: X:211.55, Y:-69.50, Z:3.62 [[ 7.73069352e-01 6.34211114e-01 -1.18337871e-02 2.11550946e+02] [-6.34136471e-01 7.73159920e-01 9.73006146e-03 -6.95008489e+01] [ 1.53203230e-02 -1.77763437e-05 9.99882637e-01 3.62385054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02361786499998 meters 0.018990704046589382 Centerline is valid? [True, True] Translation: X:211.60, Y:-69.54, Z:3.62 [[ 7.73336901e-01 6.33879315e-01 -1.21264741e-02 2.11600447e+02] [-6.33800803e-01 7.73431970e-01 9.97644189e-03 -6.95392884e+01] [ 1.57028629e-02 -2.93816090e-05 9.99876702e-01 3.62410880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08361786499998 meters 0.01904924360966285 Centerline is valid? [True, True] Translation: X:211.65, Y:-69.58, Z:3.62 [[ 7.74715992e-01 6.32201935e-01 -1.16552377e-02 2.11649322e+02] [-6.32129138e-01 7.74803659e-01 9.59396368e-03 -6.95783265e+01] [ 1.50958432e-02 -6.49817283e-05 9.99886049e-01 3.62490953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14361786499998 meters 0.019153988195976236 Centerline is valid? [True, True] Translation: X:211.70, Y:-69.62, Z:3.63 [[ 7.76035884e-01 6.30594792e-01 -1.08864822e-02 2.11696939e+02] [-6.30531055e-01 7.76112234e-01 8.96598835e-03 -6.96181408e+01] [ 1.41030376e-02 -9.36635872e-05 9.99900543e-01 3.62651632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20361786499998 meters 0.019404795938081115 Centerline is valid? [True, True] Translation: X:211.75, Y:-69.66, Z:3.63 [[ 7.78081651e-01 6.28076080e-01 -1.04585528e-02 2.11745181e+02] [-6.28016973e-01 7.78151925e-01 8.61764432e-03 -6.96576735e+01] [ 1.35508792e-02 -1.37082270e-04 9.99908173e-01 3.62781791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.263617865 meters 0.01967633965055265 Centerline is valid? [True, True] Translation: X:211.79, Y:-69.70, Z:3.63 [[ 7.79263122e-01 6.26607545e-01 -1.05816356e-02 2.11793447e+02] [-6.26546842e-01 7.79334945e-01 8.72347251e-03 -6.96959592e+01] [ 1.37128321e-02 -1.67990049e-04 9.99905961e-01 3.62897827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.323617865 meters 0.019852907740856785 Centerline is valid? [True, True] Translation: X:211.84, Y:-69.73, Z:3.63 [[ 7.80068441e-01 6.25607304e-01 -1.04272353e-02 2.11842081e+02] [-6.25548219e-01 7.80138107e-01 8.59995218e-03 -6.97347973e+01] [ 1.35148765e-02 -1.85812806e-04 9.99908653e-01 3.62956100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.383617865 meters 0.020095375480654865 Centerline is valid? [True, True] Translation: X:211.89, Y:-69.77, Z:3.63 [[ 7.80475891e-01 6.25097514e-01 -1.05110311e-02 2.11891998e+02] [-6.25037371e-01 7.80546641e-01 8.67332714e-03 -6.97722839e+01] [ 1.36260252e-02 -1.99535498e-04 9.99907141e-01 3.62987589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.443617865 meters 0.020159899258437825 Centerline is valid? [True, True] Translation: X:211.94, Y:-69.81, Z:3.63 [[ 7.80543075e-01 6.25012569e-01 -1.05734064e-02 2.11942908e+02] [-6.24951646e-01 7.80614659e-01 8.72893526e-03 -6.98093894e+01] [ 1.37094503e-02 -2.05442242e-04 9.99906000e-01 3.63025666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.503617865 meters 0.020269917575836512 Centerline is valid? [True, True] Translation: X:211.99, Y:-69.85, Z:3.63 [[ 7.81305333e-01 6.24055175e-01 -1.08219807e-02 2.11993112e+02] [-6.23991190e-01 7.81380244e-01 8.93921828e-03 -6.98463742e+01] [ 1.40346473e-02 -2.31438324e-04 9.99901483e-01 3.63105508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.563617865 meters 0.02029829423303716 Centerline is valid? [True, True] Translation: X:212.04, Y:-69.88, Z:3.63 [[ 7.82194142e-01 6.22935110e-01 -1.11432885e-02 2.12043636e+02] [-6.22867089e-01 7.82273469e-01 9.20920109e-03 -6.98820682e+01] [ 1.44538336e-02 -2.62595492e-04 9.99895503e-01 3.63275393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.623617865 meters 0.020321174287376096 Centerline is valid? [True, True] Translation: X:212.09, Y:-69.92, Z:3.63 [[ 7.82811071e-01 6.22161379e-01 -1.10473970e-02 2.12093474e+02] [-6.22094384e-01 7.82888971e-01 9.13437771e-03 -6.99190013e+01] [ 1.43319423e-02 -2.77968383e-04 9.99897254e-01 3.63380075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68361786499997 meters 0.02069882923797799 Centerline is valid? [True, True] Translation: X:212.14, Y:-69.96, Z:3.64 [[ 7.83481739e-01 6.21323993e-01 -1.06235431e-02 2.12142767e+02] [-6.21261905e-01 7.83553708e-01 8.78815420e-03 -6.99552276e+01] [ 1.37844076e-02 -2.85355737e-04 9.99904950e-01 3.63539114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74361786499998 meters 0.021443569878463877 Centerline is valid? [True, True] Translation: X:212.19, Y:-69.99, Z:3.64 [[ 7.83995929e-01 6.20670501e-01 -1.08863688e-02 2.12191336e+02] [-6.20605180e-01 7.84071447e-01 9.00979610e-03 -6.99922635e+01] [ 1.41278056e-02 -3.07506568e-04 9.99900150e-01 3.63634677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80361786499998 meters 0.021054188035851927 Centerline is valid? [True, True] Translation: X:212.24, Y:-70.03, Z:3.64 [[ 7.84040367e-01 6.20598123e-01 -1.17759602e-02 2.12242626e+02] [-6.20521609e-01 7.84128724e-01 9.75071714e-03 -7.00292145e+01] [ 1.52851454e-02 -3.37718075e-04 9.99883118e-01 3.63663429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86361786499998 meters 0.020739896260057514 Centerline is valid? [True, True] Translation: X:212.29, Y:-70.07, Z:3.64 [[ 7.84045355e-01 6.20580131e-01 -1.23766630e-02 2.12294639e+02] [-6.20495514e-01 7.84142953e-01 1.02540739e-02 -7.00651011e+01] [ 1.60685476e-02 -3.59995099e-04 9.99870828e-01 3.63735488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92361786499998 meters 0.02121852075738944 Centerline is valid? [True, True] Translation: X:212.35, Y:-70.10, Z:3.64 [[ 7.84535702e-01 6.19953912e-01 -1.26837982e-02 2.12345164e+02] [-6.19864861e-01 7.84638131e-01 1.05145874e-02 -7.01014822e+01] [ 1.64707514e-02 -3.86828401e-04 9.99864273e-01 3.63933515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98361786499999 meters 0.02149106062261247 Centerline is valid? [True, True] Translation: X:212.39, Y:-70.14, Z:3.64 [[ 7.84645697e-01 6.19810272e-01 -1.28979681e-02 2.12393647e+02] [-6.19718080e-01 7.84751595e-01 1.06974381e-02 -7.01406168e+01] [ 1.67520831e-02 -4.00594709e-04 9.99859594e-01 3.64012963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.043617865 meters 0.021806186027962502 Centerline is valid? [True, True] Translation: X:212.44, Y:-70.18, Z:3.64 [[ 7.85479628e-01 6.18745697e-01 -1.32482730e-02 2.12444136e+02] [-6.18648178e-01 7.85591223e-01 1.09937498e-02 -7.01767746e+01] [ 1.72100623e-02 -4.39346546e-04 9.99851799e-01 3.64166409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.103617865 meters 0.021291874139140653 Centerline is valid? [True, True] Translation: X:212.50, Y:-70.21, Z:3.64 [[ 7.86239407e-01 6.17768029e-01 -1.37933733e-02 2.12495385e+02] [-6.17662066e-01 7.86360241e-01 1.14518044e-02 -7.02127317e+01] [ 1.79211190e-02 -4.84216408e-04 9.99839287e-01 3.64281627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.163617865 meters 0.021783033865896535 Centerline is valid? [True, True] Translation: X:212.55, Y:-70.25, Z:3.64 [[ 7.87097494e-01 6.16650455e-01 -1.48239963e-02 2.12545671e+02] [-6.16527741e-01 7.87236883e-01 1.23139723e-02 -7.02490668e+01] [ 1.92634133e-02 -5.52891786e-04 9.99814290e-01 3.64411413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.223617865 meters 0.021212182217198974 Centerline is valid? [True, True] Translation: X:212.60, Y:-70.28, Z:3.65 [[ 7.86304386e-01 6.17668721e-01 -1.45177072e-02 2.12598514e+02] [-6.17551100e-01 7.86438224e-01 1.20647847e-02 -7.02835190e+01] [ 1.88693201e-02 -5.21167096e-04 9.99821823e-01 3.64665344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.283617865 meters 0.020550633742479958 Centerline is valid? [True, True] Translation: X:212.65, Y:-70.32, Z:3.65 [[ 7.84768338e-01 6.19614346e-01 -1.47213171e-02 2.12649983e+02] [-6.19493689e-01 7.84906255e-01 1.22368578e-02 -7.03184188e+01] [ 1.91369865e-02 -4.83335518e-04 9.99816754e-01 3.64821276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.343617865 meters 0.020051827953532476 Centerline is valid? [True, True] Translation: X:212.70, Y:-70.35, Z:3.65 [[ 7.82216895e-01 6.22820663e-01 -1.52036166e-02 2.12701934e+02] [-6.22692462e-01 7.82364520e-01 1.26433866e-02 -7.03524582e+01] [ 1.97693326e-02 -4.22693168e-04 9.99804478e-01 3.64905238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.403617865 meters 0.020004028887638987 Centerline is valid? [True, True] Translation: X:212.75, Y:-70.39, Z:3.65 [[ 7.80975680e-01 6.24361633e-01 -1.57968320e-02 2.12752858e+02] [-6.24223484e-01 7.81135322e-01 1.31396684e-02 -7.03888699e+01] [ 2.05433683e-02 -4.01008000e-04 9.99788882e-01 3.64964550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46361786499997 meters 0.020302761723670428 Centerline is valid? [True, True] Translation: X:212.80, Y:-70.43, Z:3.65 [[ 7.81071362e-01 6.24246875e-01 -1.56002224e-02 2.12802112e+02] [-6.24111991e-01 7.81227032e-01 1.29825709e-02 -7.04280044e+01] [ 2.02916448e-02 -4.04028431e-04 9.99794022e-01 3.65127173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52361786499998 meters 0.020355593110639114 Centerline is valid? [True, True] Translation: X:212.85, Y:-70.47, Z:3.65 [[ 7.80952543e-01 6.24405424e-01 -1.51984235e-02 2.12851238e+02] [-6.24277294e-01 7.81100321e-01 1.26549998e-02 -7.04666770e+01] [ 1.97733440e-02 -3.94923602e-04 9.99804410e-01 3.65370950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58361786499998 meters 0.019639089849338032 Centerline is valid? [True, True] Translation: X:212.90, Y:-70.50, Z:3.66 [[ 7.80209527e-01 6.25356182e-01 -1.42386570e-02 2.12901582e+02] [-6.25243772e-01 7.80339363e-01 1.18618834e-02 -7.05028355e+01] [ 1.85288866e-02 -3.52122821e-04 9.99828263e-01 3.65589965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64361786499998 meters 0.019767318638401664 Centerline is valid? [True, True] Translation: X:212.95, Y:-70.54, Z:3.66 [[ 7.79297155e-01 6.26492398e-01 -1.42554812e-02 2.12949457e+02] [-6.26379804e-01 7.79427460e-01 1.18817185e-02 -7.05410666e+01] [ 1.85549199e-02 -3.30043891e-04 9.99827788e-01 3.65621578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70361786499998 meters 0.019495230006962738 Centerline is valid? [True, True] Translation: X:213.00, Y:-70.58, Z:3.66 [[ 7.78439834e-01 6.27540983e-01 -1.49579164e-02 2.12998393e+02] [-6.27417096e-01 7.78583463e-01 1.24731194e-02 -7.05788331e+01] [ 1.94733800e-02 -3.24720539e-04 9.99810323e-01 3.65665176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.763617865 meters 0.019282443903098828 Centerline is valid? [True, True] Translation: X:213.05, Y:-70.62, Z:3.66 [[ 7.77927767e-01 6.28170081e-01 -1.51900631e-02 2.13047601e+02] [-6.28042313e-01 7.78075991e-01 1.26729944e-02 -7.06178935e+01] [ 1.97798193e-02 -3.18671881e-04 9.99804309e-01 3.65655878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.823617865 meters 0.019376329139068085 Centerline is valid? [True, True] Translation: X:213.10, Y:-70.66, Z:3.66 [[ 7.78112105e-01 6.27940572e-01 -1.52378058e-02 2.13096599e+02] [-6.27811817e-01 7.78261221e-01 1.27198412e-02 -7.06577886e+01] [ 1.98462977e-02 -3.30987899e-04 9.99802988e-01 3.65642210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.883617865 meters 0.019002911253344048 Centerline is valid? [True, True] Translation: X:213.14, Y:-70.70, Z:3.66 [[ 7.77971190e-01 6.28123473e-01 -1.48906191e-02 2.13144926e+02] [-6.28000422e-01 7.78113615e-01 1.24367082e-02 -7.06977100e+01] [ 1.93983818e-02 -3.24085581e-04 9.99811781e-01 3.65809095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.943617865 meters 0.019177047567688996 Centerline is valid? [True, True] Translation: X:213.19, Y:-70.74, Z:3.66 [[ 7.78247954e-01 6.27794242e-01 -1.43007505e-02 2.13192297e+02] [-6.27680573e-01 7.78379268e-01 1.19504711e-02 -7.07397094e+01] [ 1.86338446e-02 -3.24126405e-04 9.99826322e-01 3.65923930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.003617865 meters 0.01896372125920812 Centerline is valid? [True, True] Translation: X:213.24, Y:-70.78, Z:3.66 [[ 7.77926065e-01 6.28186392e-01 -1.45908924e-02 2.13240622e+02] [-6.28068002e-01 7.78062819e-01 1.21997909e-02 -7.07804449e+01] [ 1.90163735e-02 -3.26462679e-04 9.99819119e-01 3.65956883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.063617865 meters 0.019038200950908173 Centerline is valid? [True, True] Translation: X:213.29, Y:-70.82, Z:3.66 [[ 7.77385005e-01 6.28859424e-01 -1.44353447e-02 2.13285952e+02] [-6.28743537e-01 7.77518957e-01 1.20762825e-02 -7.08222703e+01] [ 1.88180382e-02 -3.11791231e-04 9.99822876e-01 3.66053122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.123617865 meters 0.01848255370240571 Centerline is valid? [True, True] Translation: X:213.33, Y:-70.86, Z:3.66 [[ 7.76552414e-01 6.29889980e-01 -1.43164782e-02 2.13333165e+02] [-6.29776061e-01 7.76684318e-01 1.19825960e-02 -7.08619557e+01] [ 1.86671013e-02 -2.88938556e-04 9.99825713e-01 3.66210669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18361786499997 meters 0.018353658734157348 Centerline is valid? [True, True] Translation: X:213.38, Y:-70.90, Z:3.66 [[ 7.75775972e-01 6.30863635e-01 -1.35171919e-02 2.13378855e+02] [-6.30762137e-01 7.75893684e-01 1.13189167e-02 -7.09031908e+01] [ 1.76285968e-02 -2.54810770e-04 9.99844572e-01 3.66384686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24361786499998 meters 0.018295455096313473 Centerline is valid? [True, True] Translation: X:213.42, Y:-70.95, Z:3.66 [[ 7.75455175e-01 6.31264283e-01 -1.32165208e-02 2.13424945e+02] [-6.31167222e-01 7.75567757e-01 1.10721707e-02 -7.09460865e+01] [ 1.72397733e-02 -2.44137310e-04 9.99851354e-01 3.66479989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30361786499998 meters 0.018543027076082613 Centerline is valid? [True, True] Translation: X:213.47, Y:-70.99, Z:3.67 [[ 7.76120814e-01 6.30441366e-01 -1.34225817e-02 2.13469603e+02] [-6.30341020e-01 7.76236826e-01 1.12511467e-02 -7.09888856e+01] [ 1.75122905e-02 -2.71445293e-04 9.99846611e-01 3.66506985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36361786499998 meters 0.019277817659415584 Centerline is valid? [True, True] Translation: X:213.51, Y:-71.03, Z:3.66 [[ 7.78362269e-01 6.27657640e-01 -1.40735257e-02 2.13512415e+02] [-6.27546766e-01 7.78489409e-01 1.18023749e-02 -7.10334519e+01] [ 1.83639415e-02 -3.54727750e-04 9.99831306e-01 3.66474285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42361786499998 meters 0.019731716306207465 Centerline is valid? [True, True] Translation: X:213.56, Y:-71.08, Z:3.67 [[ 7.80182476e-01 6.25395687e-01 -1.39835429e-02 2.13556598e+02] [-6.25285804e-01 7.80307676e-01 1.17300535e-02 -7.10765088e+01] [ 1.82473907e-02 -4.07871314e-04 9.99833419e-01 3.66557102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48361786499999 meters 0.021351342225836418 Centerline is valid? [True, True] Translation: X:213.60, Y:-71.12, Z:3.67 [[ 7.82586366e-01 6.22399414e-01 -1.33247594e-02 2.13597946e+02] [-6.22299127e-01 7.82699661e-01 1.11820173e-02 -7.11224425e+01] [ 1.73889657e-02 -4.58908173e-04 9.99848695e-01 3.66588410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.543617865 meters 0.02263668219489212 Centerline is valid? [True, True] Translation: X:213.64, Y:-71.17, Z:3.67 [[ 7.83708148e-01 6.20996488e-01 -1.28413705e-02 2.13641069e+02] [-6.20903116e-01 7.83813203e-01 1.07788271e-02 -7.11660977e+01] [ 1.67588495e-02 -4.74207653e-04 9.99859448e-01 3.66665647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.603617865 meters 0.020485855834677758 Centerline is valid? [True, True] Translation: X:213.69, Y:-71.20, Z:3.67 [[ 7.83567938e-01 6.21180503e-01 -1.24927668e-02 2.13691148e+02] [-6.21092085e-01 7.83667385e-01 1.04905822e-02 -7.12041465e+01] [ 1.63067190e-02 -4.60925276e-04 9.99866930e-01 3.66808013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.663617865 meters 0.02034076512151721 Centerline is valid? [True, True] Translation: X:213.74, Y:-71.25, Z:3.67 [[ 7.82572449e-01 6.22450024e-01 -1.16759927e-02 2.13737956e+02] [-6.22372853e-01 7.82659440e-01 9.80984806e-03 -7.12450488e+01] [ 1.52444660e-02 -4.10095962e-04 9.99883712e-01 3.66971034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.723617865 meters 0.01997380420372073 Centerline is valid? [True, True] Translation: X:213.79, Y:-71.28, Z:3.67 [[ 7.81102707e-01 6.24297381e-01 -1.14603979e-02 2.13785533e+02] [-6.24223163e-01 7.81186689e-01 9.63329921e-03 -7.12847011e+01] [ 1.49667538e-02 -3.70750235e-04 9.99887923e-01 3.67158806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.783617865 meters 0.019068331683527843 Centerline is valid? [True, True] Translation: X:213.83, Y:-71.32, Z:3.67 [[ 7.77767445e-01 6.28453445e-01 -1.11386547e-02 2.13834850e+02] [-6.28383691e-01 7.77847148e-01 9.36754027e-03 -7.13219707e+01] [ 1.45512338e-02 -2.86418876e-04 9.99894084e-01 3.67238630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.843617865 meters 0.018143943704815337 Centerline is valid? [True, True] Translation: X:213.88, Y:-71.36, Z:3.67 [[ 7.74220029e-01 6.32829052e-01 -1.05231556e-02 2.13883970e+02] [-6.32767179e-01 7.74291517e-01 8.85125089e-03 -7.13584373e+01] [ 1.37493188e-02 -1.94108244e-04 9.99905455e-01 3.67338655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.903617865 meters 0.01800818727827071 Centerline is valid? [True, True] Translation: X:213.93, Y:-71.40, Z:3.67 [[ 7.73021569e-01 6.34290914e-01 -1.06155424e-02 2.13931894e+02] [-6.34228086e-01 7.73094436e-01 8.92904149e-03 -7.13979010e+01] [ 1.38704267e-02 -1.69666521e-04 9.99903787e-01 3.67473507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96361786499997 meters 0.017588023053665646 Centerline is valid? [True, True] Translation: X:213.98, Y:-71.44, Z:3.68 [[ 7.69613079e-01 6.38424243e-01 -1.04973777e-02 2.13980825e+02] [-6.38363130e-01 7.69684661e-01 8.83389084e-03 -7.14358405e+01] [ 1.37194407e-02 -9.75390151e-05 9.99905879e-01 3.67566392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02361786499998 meters 0.01737339185089423 Centerline is valid? [True, True] Translation: X:214.03, Y:-71.47, Z:3.68 [[ 7.67324982e-01 6.41176107e-01 -1.02747927e-02 2.14029621e+02] [-6.41117750e-01 7.67393770e-01 8.65058855e-03 -7.14741085e+01] [ 1.34313626e-02 -5.04607405e-05 9.99909794e-01 3.67673298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08361786499998 meters 0.017409667954910057 Centerline is valid? [True, True] Translation: X:214.08, Y:-71.51, Z:3.68 [[ 7.65541743e-01 6.43310154e-01 -9.89369938e-03 2.14076484e+02] [-6.43256174e-01 7.65605673e-01 8.33357420e-03 -7.15138947e+01] [ 1.29357453e-02 -1.55157138e-05 9.99916330e-01 3.67817149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14361786499998 meters 0.017442910662936368 Centerline is valid? [True, True] Translation: X:214.12, Y:-71.56, Z:3.68 [[ 7.65166019e-01 6.43755288e-01 -1.00045957e-02 2.14123382e+02] [-6.43700072e-01 7.65231422e-01 8.43136053e-03 -7.15555561e+01] [ 1.30835639e-02 -1.14316266e-05 9.99914406e-01 3.67895975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20361786499998 meters 0.017550699752927185 Centerline is valid? [True, True] Translation: X:214.17, Y:-71.60, Z:3.68 [[ 7.65855097e-01 6.42934273e-01 -1.00742292e-02 2.14169060e+02] [-6.42878154e-01 7.65921353e-01 8.49468690e-03 -7.15982539e+01] [ 1.31775926e-02 -2.91973713e-05 9.99913171e-01 3.67954423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.263617865 meters 0.017624274905723658 Centerline is valid? [True, True] Translation: X:214.22, Y:-71.64, Z:3.68 [[ 7.66472602e-01 6.42193078e-01 -1.03827284e-02 2.14215252e+02] [-6.42133332e-01 7.66542921e-01 8.75987230e-03 -7.16407544e+01] [ 1.35843363e-02 -4.71061349e-05 9.99907728e-01 3.67983267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.323617865 meters 0.017800946293378764 Centerline is valid? [True, True] Translation: X:214.26, Y:-71.69, Z:3.68 [[ 7.67839621e-01 6.40541352e-01 -1.13618853e-02 2.14260206e+02] [-6.40469537e-01 7.67923674e-01 9.59181293e-03 -7.16853869e+01] [ 1.48690135e-02 -8.80325928e-05 9.99889446e-01 3.68007227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.383617865 meters 0.018196038756914383 Centerline is valid? [True, True] Translation: X:214.30, Y:-71.73, Z:3.68 [[ 7.69502222e-01 6.38540733e-01 -1.14918431e-02 2.14304287e+02] [-6.38466961e-01 7.69588016e-01 9.70693315e-03 -7.17293128e+01] [ 1.50422569e-02 -1.32344511e-04 9.99886850e-01 3.68145271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.443617865 meters 0.018894268447456657 Centerline is valid? [True, True] Translation: X:214.35, Y:-71.77, Z:3.68 [[ 7.71297230e-01 6.36383492e-01 -1.07997299e-02 2.14346702e+02] [-6.36318068e-01 7.71372817e-01 9.12650044e-03 -7.17730288e+01] [ 1.41385723e-02 -1.67181256e-04 9.99900031e-01 3.68353030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.503617865 meters 0.019314066730546347 Centerline is valid? [True, True] Translation: X:214.39, Y:-71.82, Z:3.68 [[ 7.72651442e-01 6.34729955e-01 -1.12975229e-02 2.14390747e+02] [-6.34658129e-01 7.72734004e-01 9.55084386e-03 -7.18164363e+01] [ 1.47921868e-02 -2.09408547e-04 9.99890568e-01 3.68462367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.563617865 meters 0.019362072645785003 Centerline is valid? [True, True] Translation: X:214.44, Y:-71.86, Z:3.68 [[ 7.74340824e-01 6.32655715e-01 -1.19597007e-02 2.14435362e+02] [-6.32574902e-01 7.74433131e-01 1.01152559e-02 -7.18591984e+01] [ 1.56614629e-02 -2.67249114e-04 9.99877316e-01 3.68483272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.623617865 meters 0.019778003828802855 Centerline is valid? [True, True] Translation: X:214.48, Y:-71.90, Z:3.69 [[ 7.74789191e-01 6.32104378e-01 -1.20733135e-02 2.14479639e+02] [-6.32021881e-01 7.74883201e-01 1.02160492e-02 -7.19028517e+01] [ 1.58130172e-02 -2.84686168e-04 9.99874926e-01 3.68580317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68361786499997 meters 0.019767710350920127 Centerline is valid? [True, True] Translation: X:214.53, Y:-71.95, Z:3.69 [[ 7.74569213e-01 6.32373402e-01 -1.21002179e-02 2.14525883e+02] [-6.32290491e-01 7.74663669e-01 1.02437766e-02 -7.19455786e+01] [ 1.58514910e-02 -2.83661271e-04 9.99874317e-01 3.68761002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74361786499998 meters 0.02040130516500718 Centerline is valid? [True, True] Translation: X:214.57, Y:-71.99, Z:3.69 [[ 7.74348248e-01 6.32649236e-01 -1.18210008e-02 2.14569562e+02] [-6.32570054e-01 7.74438421e-01 1.00129284e-02 -7.19897878e+01] [ 1.54893087e-02 -2.75882466e-04 9.99879995e-01 3.68963546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80361786499998 meters 0.020365535511970654 Centerline is valid? [True, True] Translation: X:214.62, Y:-72.03, Z:3.69 [[ 7.73712131e-01 6.33436247e-01 -1.13163740e-02 2.14615885e+02] [-6.33363720e-01 7.73794842e-01 9.58855758e-03 -7.20314770e+01] [ 1.48302917e-02 -2.51402613e-04 9.99889994e-01 3.69068665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86361786499998 meters 0.020198254975606286 Centerline is valid? [True, True] Translation: X:214.66, Y:-72.07, Z:3.69 [[ 7.72889189e-01 6.34448872e-01 -1.08134254e-02 2.14661646e+02] [-6.34382690e-01 7.72964797e-01 9.16648108e-03 -7.20739677e+01] [ 1.41740608e-02 -2.24824215e-04 9.99899518e-01 3.69226067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92361786499998 meters 0.02033932424215881 Centerline is valid? [True, True] Translation: X:214.71, Y:-72.12, Z:3.69 [[ 7.71249319e-01 6.36432783e-01 -1.13048927e-02 2.14705532e+02] [-6.36360588e-01 7.71332142e-01 9.58795280e-03 -7.21161035e+01] [ 1.48219146e-02 -2.00713915e-04 9.99890129e-01 3.69364863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98361786499999 meters 0.019867491755152372 Centerline is valid? [True, True] Translation: X:214.75, Y:-72.16, Z:3.69 [[ 7.69448687e-01 6.38600933e-01 -1.17289167e-02 2.14752859e+02] [-6.38523402e-01 7.69538056e-01 9.95210655e-03 -7.21562148e+01] [ 1.53812723e-02 -1.68447509e-04 9.99881687e-01 3.69403166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.043617865 meters 0.019572305314350474 Centerline is valid? [True, True] Translation: X:214.80, Y:-72.20, Z:3.70 [[ 7.66804744e-01 6.41765780e-01 -1.21312561e-02 2.14800066e+02] [-6.41683155e-01 7.66900691e-01 1.02984889e-02 -7.21971153e+01] [ 1.59126864e-02 -1.12507475e-04 9.99873379e-01 3.69531175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.103617865 meters 0.019601446552462716 Centerline is valid? [True, True] Translation: X:214.85, Y:-72.24, Z:3.70 [[ 7.64967392e-01 6.43946987e-01 -1.25366473e-02 2.14845331e+02] [-6.43858954e-01 7.65070109e-01 1.06477647e-02 -7.22378323e+01] [ 1.64480101e-02 -7.33601730e-05 9.99864720e-01 3.69562732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.163617865 meters 0.01956912234060171 Centerline is valid? [True, True] Translation: X:214.89, Y:-72.28, Z:3.70 [[ 7.64647007e-01 6.44322361e-01 -1.27925494e-02 2.14892643e+02] [-6.44230669e-01 7.64754006e-01 1.08699278e-02 -7.22799238e+01] [ 1.67868910e-02 -7.03050450e-05 9.99859088e-01 3.69744629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.223617865 meters 0.019733654240462695 Centerline is valid? [True, True] Translation: X:214.94, Y:-72.32, Z:3.70 [[ 7.65464747e-01 6.43352129e-01 -1.27184479e-02 2.14936902e+02] [-6.43261264e-01 7.65570395e-01 1.08128518e-02 -7.23238257e+01] [ 1.66933384e-02 -9.55720025e-05 9.99860652e-01 3.69954554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.283617865 meters 0.019844190648873196 Centerline is valid? [True, True] Translation: X:214.98, Y:-72.37, Z:3.70 [[ 7.66852846e-01 6.41700505e-01 -1.25369169e-02 2.14982686e+02] [-6.41611907e-01 7.66955307e-01 1.06638452e-02 -7.23664142e+01] [ 1.64582498e-02 -1.33764867e-04 9.99864545e-01 3.70065653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.343617865 meters 0.020201959628591958 Centerline is valid? [True, True] Translation: X:215.03, Y:-72.41, Z:3.70 [[ 7.68627338e-01 6.39574117e-01 -1.25285258e-02 2.15026936e+02] [-6.39485270e-01 7.68729416e-01 1.06618352e-02 -7.24097833e+01] [ 1.64500801e-02 -1.83170283e-04 9.99864671e-01 3.70245652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.403617865 meters 0.02068091627697794 Centerline is valid? [True, True] Translation: X:215.07, Y:-72.45, Z:3.70 [[ 7.70355607e-01 6.37483892e-01 -1.29044953e-02 2.15070458e+02] [-6.37389245e-01 7.70463647e-01 1.09872651e-02 -7.24532847e+01] [ 1.69466490e-02 -2.38914781e-04 9.99856367e-01 3.70288995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46361786499997 meters 0.020986879942660828 Centerline is valid? [True, True] Translation: X:215.12, Y:-72.50, Z:3.70 [[ 7.70783717e-01 6.36953817e-01 -1.35017259e-02 2.15116093e+02] [-6.36850029e-01 7.70901916e-01 1.15011266e-02 -7.24957128e+01] [ 1.77341929e-02 -2.66306590e-04 9.99842701e-01 3.70309654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52361786499998 meters 0.0207046823489855 Centerline is valid? [True, True] Translation: X:215.16, Y:-72.54, Z:3.70 [[ 7.70798827e-01 6.36916578e-01 -1.43680608e-02 2.15163127e+02] [-6.36798918e-01 7.70932675e-01 1.22453421e-02 -7.25375039e+01] [ 1.88760689e-02 -2.89129757e-04 9.99821789e-01 3.70358766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58361786499998 meters 0.02106798496027917 Centerline is valid? [True, True] Translation: X:215.21, Y:-72.58, Z:3.70 [[ 7.70403114e-01 6.37389460e-01 -1.46191395e-02 2.15208575e+02] [-6.37267601e-01 7.70541753e-01 1.24663811e-02 -7.25798656e+01] [ 1.92105973e-02 -2.87834814e-04 9.99815418e-01 3.70419033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64361786499998 meters 0.02080305459772811 Centerline is valid? [True, True] Translation: X:215.26, Y:-72.62, Z:3.71 [[ 7.70498520e-01 6.37286419e-01 -1.40730463e-02 2.15255559e+02] [-6.37173364e-01 7.70626978e-01 1.20068358e-02 -7.26213112e+01] [ 1.84968625e-02 -2.84278994e-04 9.99828878e-01 3.70640419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70361786499998 meters 0.021281654346463157 Centerline is valid? [True, True] Translation: X:215.30, Y:-72.66, Z:3.71 [[ 7.71651834e-01 6.35899180e-01 -1.36264275e-02 2.15299280e+02] [-6.35792860e-01 7.71772074e-01 1.16320232e-02 -7.26637262e+01] [ 1.79132903e-02 -3.12286731e-04 9.99839495e-01 3.70905415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.763617865 meters 0.0217095374222667 Centerline is valid? [True, True] Translation: X:215.35, Y:-72.71, Z:3.71 [[ 7.72158050e-01 6.35300799e-01 -1.28390711e-02 2.15345602e+02] [-6.35206249e-01 7.72264720e-01 1.09645961e-02 -7.27057497e+01] [ 1.68809784e-02 -3.10942921e-04 9.99857458e-01 3.71108032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.823617865 meters 0.021852414922268158 Centerline is valid? [True, True] Translation: X:215.39, Y:-72.75, Z:3.71 [[ 7.72267510e-01 6.35170761e-01 -1.26885060e-02 2.15393115e+02] [-6.35078313e-01 7.72371676e-01 1.08411489e-02 -7.27475697e+01] [ 1.66862234e-02 -3.14072031e-04 9.99860726e-01 3.71287412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.883617865 meters 0.022024434501633248 Centerline is valid? [True, True] Translation: X:215.44, Y:-72.79, Z:3.71 [[ 7.71943376e-01 6.35560840e-01 -1.28779665e-02 2.15439676e+02] [-6.35465563e-01 7.72050723e-01 1.10090327e-02 -7.27883813e+01] [ 1.69393534e-02 -3.14845629e-04 9.99856469e-01 3.71367191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.943617865 meters 0.02202619558516135 Centerline is valid? [True, True] Translation: X:215.49, Y:-72.83, Z:3.72 [[ 7.71227896e-01 6.36395418e-01 -1.44362156e-02 2.15485518e+02] [-6.36275706e-01 7.71362922e-01 1.23477786e-02 -7.28289822e+01] [ 1.89936312e-02 -3.37538059e-04 9.99819548e-01 3.71505199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.003617865 meters 0.022027424984820472 Centerline is valid? [True, True] Translation: X:215.53, Y:-72.87, Z:3.71 [[ 7.70631639e-01 6.37113350e-01 -1.46101190e-02 2.15532445e+02] [-6.36990761e-01 7.70770051e-01 1.25019385e-02 -7.28694315e+01] [ 1.92261941e-02 -3.27878513e-04 9.99815106e-01 3.71498315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.063617865 meters 0.02134875471821308 Centerline is valid? [True, True] Translation: X:215.58, Y:-72.91, Z:3.72 [[ 7.69980140e-01 6.37898409e-01 -1.47038623e-02 2.15581177e+02] [-6.37774273e-01 7.70120458e-01 1.25879371e-02 -7.29082486e+01] [ 1.93535702e-02 -3.14716536e-04 9.99812653e-01 3.71648352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.123617865 meters 0.02175907579564938 Centerline is valid? [True, True] Translation: X:215.63, Y:-72.95, Z:3.72 [[ 7.69976518e-01 6.37907881e-01 -1.44809197e-02 2.15626421e+02] [-6.37787370e-01 7.70112613e-01 1.24029909e-02 -7.29502365e+01] [ 1.90639046e-02 -3.14264089e-04 9.99818218e-01 3.71726704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18361786499997 meters 0.021543879983785322 Centerline is valid? [True, True] Translation: X:215.67, Y:-72.99, Z:3.72 [[ 7.70264132e-01 6.37568900e-01 -1.41090328e-02 2.15673075e+02] [-6.37454330e-01 7.70393274e-01 1.20905396e-02 -7.29917158e+01] [ 1.85780560e-02 -3.19044899e-04 9.99827362e-01 3.71975874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24361786499998 meters 0.021727782559665267 Centerline is valid? [True, True] Translation: X:215.72, Y:-73.03, Z:3.72 [[ 7.70284914e-01 6.37557174e-01 -1.34907850e-02 2.15719881e+02] [-6.37452317e-01 7.70402981e-01 1.15667601e-02 -7.30329960e+01] [ 1.77678119e-02 -3.09968648e-04 9.99842092e-01 3.72182597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30361786499998 meters 0.021082330499822586 Centerline is valid? [True, True] Translation: X:215.77, Y:-73.07, Z:3.72 [[ 7.69421626e-01 6.38608124e-01 -1.30393800e-02 2.15768520e+02] [-6.38510224e-01 7.69532056e-01 1.11852263e-02 -7.30717783e+01] [ 1.71771973e-02 -2.80377542e-04 9.99852422e-01 3.72314443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36361786499998 meters 0.021051149449077305 Centerline is valid? [True, True] Translation: X:215.82, Y:-73.11, Z:3.72 [[ 7.68533611e-01 6.39676786e-01 -1.30268145e-02 2.15815347e+02] [-6.39579133e-01 7.68643963e-01 1.11799516e-02 -7.31121839e+01] [ 1.71645378e-02 -2.60489902e-04 9.99852645e-01 3.72418813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42361786499998 meters 0.021001289230140465 Centerline is valid? [True, True] Translation: X:215.86, Y:-73.15, Z:3.72 [[ 7.66991094e-01 6.41507488e-01 -1.38854155e-02 2.15862235e+02] [-6.41396725e-01 7.67116735e-01 1.19228907e-02 -7.31516732e+01] [ 1.83003583e-02 -2.38690911e-04 9.99832506e-01 3.72434475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48361786499999 meters 0.020587777730765488 Centerline is valid? [True, True] Translation: X:215.91, Y:-73.19, Z:3.72 [[ 7.65598492e-01 6.43155525e-01 -1.44886237e-02 2.15910357e+02] [-6.43035111e-01 7.65735546e-01 1.24466591e-02 -7.31904623e+01] [ 1.90995918e-02 -2.12449717e-04 9.99817564e-01 3.72451338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.543617865 meters 0.02058193897133328 Centerline is valid? [True, True] Translation: X:215.96, Y:-73.23, Z:3.73 [[ 7.64996356e-01 6.43871181e-01 -1.45078300e-02 2.15957060e+02] [-6.43750460e-01 7.65133885e-01 1.24692557e-02 -7.32308421e+01] [ 1.91290268e-02 -1.99512913e-04 9.99817004e-01 3.72508032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.603617865 meters 0.020345002396180308 Centerline is valid? [True, True] Translation: X:216.00, Y:-73.27, Z:3.73 [[ 7.65135813e-01 6.43711248e-01 -1.42484316e-02 2.16004426e+02] [-6.43594661e-01 7.65268441e-01 1.22525691e-02 -7.32715378e+01] [ 1.87909916e-02 -2.04664892e-04 9.99823413e-01 3.72651760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.663617865 meters 0.02054187156294249 Centerline is valid? [True, True] Translation: X:216.05, Y:-73.31, Z:3.73 [[ 7.65916626e-01 6.42787036e-01 -1.40195847e-02 2.16050165e+02] [-6.42673889e-01 7.66044890e-01 1.20622878e-02 -7.33129559e+01] [ 1.84931134e-02 -2.28685791e-04 9.99828962e-01 3.72797768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.723617865 meters 0.020897049442092242 Centerline is valid? [True, True] Translation: X:216.10, Y:-73.35, Z:3.73 [[ 7.66675641e-01 6.41888171e-01 -1.37126749e-02 2.16095430e+02] [-6.41779685e-01 7.66798222e-01 1.18035108e-02 -7.33547869e+01] [ 1.80913887e-02 -2.48948040e-04 9.99836306e-01 3.72872461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.783617865 meters 0.02127950657595134 Centerline is valid? [True, True] Translation: X:216.14, Y:-73.40, Z:3.73 [[ 7.67776691e-01 6.40580943e-01 -1.32290648e-02 2.16141909e+02] [-6.40479725e-01 7.67890605e-01 1.13903306e-02 -7.33965513e+01] [ 1.74549033e-02 -2.72282522e-04 9.99847614e-01 3.73084989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.843617865 meters 0.021127455124099248 Centerline is valid? [True, True] Translation: X:216.19, Y:-73.44, Z:3.73 [[ 7.67829127e-01 6.40516338e-01 -1.33136130e-02 2.16189673e+02] [-6.40413715e-01 7.67944492e-01 1.14686670e-02 -7.34376012e+01] [ 1.75699843e-02 -2.79756209e-04 9.99845597e-01 3.73231152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.903617865 meters 0.021366428452665762 Centerline is valid? [True, True] Translation: X:216.24, Y:-73.48, Z:3.73 [[ 7.67434507e-01 6.40978497e-01 -1.38145899e-02 2.16235821e+02] [-6.40867962e-01 7.67558783e-01 1.19067351e-02 -7.34788403e+01] [ 1.82354709e-02 -2.84311331e-04 9.99833680e-01 3.73279588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96361786499997 meters 0.02130326426467132 Centerline is valid? [True, True] Translation: X:216.28, Y:-73.52, Z:3.73 [[ 7.66452911e-01 6.42140169e-01 -1.43505298e-02 2.16282966e+02] [-6.42021007e-01 7.66587197e-01 1.23732129e-02 -7.35183181e+01] [ 1.89462694e-02 -2.70143434e-04 9.99820467e-01 3.73277285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02361786499998 meters 0.02095304083829312 Centerline is valid? [True, True] Translation: X:216.33, Y:-73.56, Z:3.73 [[ 7.65832046e-01 6.42878306e-01 -1.44485342e-02 2.16331376e+02] [-6.42757549e-01 7.65968287e-01 1.24625958e-02 -7.35580516e+01] [ 1.90790515e-02 -2.57350818e-04 9.99817945e-01 3.73411329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08361786499998 meters 0.02091105399943526 Centerline is valid? [True, True] Translation: X:216.38, Y:-73.60, Z:3.74 [[ 7.64940118e-01 6.43943513e-01 -1.42607318e-02 2.16377136e+02] [-6.43826016e-01 7.65073003e-01 1.23029088e-02 -7.35980006e+01] [ 1.88328792e-02 -2.29558311e-04 9.99822619e-01 3.73645507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14361786499998 meters 0.0209340435291324 Centerline is valid? [True, True] Translation: X:216.42, Y:-73.64, Z:3.74 [[ 7.64033703e-01 6.45025367e-01 -1.39562237e-02 2.16423529e+02] [-6.44912950e-01 7.64161132e-01 1.20437010e-02 -7.36372900e+01] [ 1.84332964e-02 -2.01244089e-04 9.99830072e-01 3.73767991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20361786499998 meters 0.020625651245745318 Centerline is valid? [True, True] Translation: X:216.47, Y:-73.68, Z:3.74 [[ 7.62760804e-01 6.46555804e-01 -1.27102083e-02 2.16471816e+02] [-6.46462704e-01 7.62866679e-01 1.09728514e-02 -7.36757725e+01] [ 1.67907551e-02 -1.52985329e-04 9.99859014e-01 3.73897616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.263617865 meters 0.02051715889755945 Centerline is valid? [True, True] Translation: X:216.52, Y:-73.72, Z:3.74 [[ 7.61796780e-01 6.47695980e-01 -1.24732942e-02 2.16519649e+02] [-6.47606387e-01 7.61898878e-01 1.07734275e-02 -7.37157627e+01] [ 1.64812945e-02 -1.29377378e-04 9.99864166e-01 3.73952003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.323617865 meters 0.020584163791101145 Centerline is valid? [True, True] Translation: X:216.57, Y:-73.76, Z:3.74 [[ 7.61319238e-01 6.48248998e-01 -1.28939483e-02 2.16566624e+02] [-6.48153244e-01 7.61428408e-01 1.11423342e-02 -7.37560770e+01] [ 1.70408255e-02 -1.25618922e-04 9.99854787e-01 3.73970236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.383617865 meters 0.020444355797552327 Centerline is valid? [True, True] Translation: X:216.61, Y:-73.80, Z:3.74 [[ 7.60812468e-01 6.48839572e-01 -1.30995711e-02 2.16614853e+02] [-6.48740724e-01 7.60925224e-01 1.13259500e-02 -7.37959038e+01] [ 1.73165186e-02 -1.18698787e-04 9.99850051e-01 3.73964156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.443617865 meters 0.02050520442117929 Centerline is valid? [True, True] Translation: X:216.66, Y:-73.84, Z:3.74 [[ 7.61238776e-01 6.48339412e-01 -1.30970639e-02 2.16662118e+02] [-6.48240418e-01 7.61351423e-01 1.13301175e-02 -7.38375955e+01] [ 1.73172300e-02 -1.34878570e-04 9.99850036e-01 3.74133860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.503617865 meters 0.020662026097704945 Centerline is valid? [True, True] Translation: X:216.71, Y:-73.88, Z:3.74 [[ 7.62327815e-01 6.47062006e-01 -1.29252564e-02 2.16709022e+02] [-6.46965306e-01 7.62437363e-01 1.11875127e-02 -7.38781677e+01] [ 1.70937128e-02 -1.66359645e-04 9.99853878e-01 3.74216435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.563617865 meters 0.020916562441801876 Centerline is valid? [True, True] Translation: X:216.75, Y:-73.92, Z:3.74 [[ 7.64343850e-01 6.44680094e-01 -1.28862518e-02 2.16754256e+02] [-6.44583546e-01 7.64452436e-01 1.11590878e-02 -7.39201071e+01] [ 1.70449683e-02 -2.23114278e-04 9.99854699e-01 3.74297958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.623617865 meters 0.02127024638639884 Centerline is valid? [True, True] Translation: X:216.80, Y:-73.96, Z:3.74 [[ 7.65758021e-01 6.42994785e-01 -1.31285990e-02 2.16799895e+02] [-6.42894233e-01 7.65870507e-01 1.13741688e-02 -7.39621908e+01] [ 1.73683380e-02 -2.69560405e-04 9.99849123e-01 3.74370616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68361786499997 meters 0.021561094142033343 Centerline is valid? [True, True] Translation: X:216.85, Y:-74.00, Z:3.74 [[ 7.66788538e-01 6.41759937e-01 -1.33985666e-02 2.16845150e+02] [-6.41654918e-01 7.66905527e-01 1.16137074e-02 -7.40040972e+01] [ 1.77286469e-02 -3.08001601e-04 9.99842788e-01 3.74448426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74361786499998 meters 0.022038385272411854 Centerline is valid? [True, True] Translation: X:216.89, Y:-74.05, Z:3.75 [[ 7.67718427e-01 6.40639664e-01 -1.37563956e-02 2.16890075e+02] [-6.40528681e-01 7.67841586e-01 1.19292777e-02 -7.40454450e+01] [ 1.82051011e-02 -3.46960408e-04 9.99834213e-01 3.74526746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80361786499998 meters 0.022512412386240136 Centerline is valid? [True, True] Translation: X:216.94, Y:-74.09, Z:3.75 [[ 7.68392218e-01 6.39832081e-01 -1.37225073e-02 2.16935163e+02] [-6.39721426e-01 7.68514653e-01 1.19048069e-02 -7.40867638e+01] [ 1.81630253e-02 -3.68979028e-04 9.99834971e-01 3.74617589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86361786499998 meters 0.022107381701706112 Centerline is valid? [True, True] Translation: X:216.98, Y:-74.13, Z:3.75 [[ 7.67838415e-01 6.40494524e-01 -1.38178647e-02 2.16983285e+02] [-6.40382372e-01 7.67962653e-01 1.19908702e-02 -7.41265569e+01] [ 1.82916908e-02 -3.58333781e-04 9.99832629e-01 3.74674822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92361786499998 meters 0.021932915755930472 Centerline is valid? [True, True] Translation: X:217.03, Y:-74.17, Z:3.75 [[ 7.67117076e-01 6.41353216e-01 -1.40514482e-02 2.17030774e+02] [-6.41237289e-01 7.67245679e-01 1.21986936e-02 -7.41673454e+01] [ 1.86045843e-02 -3.47513652e-04 9.99826859e-01 3.74710485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98361786499999 meters 0.020747859957103616 Centerline is valid? [True, True] Translation: X:217.08, Y:-74.21, Z:3.75 [[ 7.65409217e-01 6.43401096e-01 -1.35558350e-02 2.17080156e+02] [-6.43293482e-01 7.65529194e-01 1.17706761e-02 -7.42055141e+01] [ 1.79506533e-02 -2.89003622e-04 9.99838832e-01 3.74800569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.043617865 meters 0.02031634219260066 Centerline is valid? [True, True] Translation: X:217.13, Y:-74.24, Z:3.75 [[ 7.63202816e-01 6.46033406e-01 -1.27397164e-02 2.17128076e+02] [-6.45938644e-01 7.63309106e-01 1.10669298e-02 -7.42442006e+01] [ 1.68739479e-02 -2.17236859e-04 9.99857601e-01 3.74858460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.103617865 meters 0.01970458132180409 Centerline is valid? [True, True] Translation: X:217.18, Y:-74.28, Z:3.75 [[ 7.60759895e-01 6.48922676e-01 -1.19892765e-02 2.17175970e+02] [-6.48839036e-01 7.60854348e-01 1.04195603e-02 -7.42825366e+01] [ 1.58835821e-02 -1.47672957e-04 9.99873837e-01 3.74907957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.163617865 meters 0.01931501634506576 Centerline is valid? [True, True] Translation: X:217.22, Y:-74.32, Z:3.75 [[ 7.59658992e-01 6.50218591e-01 -1.15758357e-02 2.17223250e+02] [-6.50140707e-01 7.59747175e-01 1.00643424e-02 -7.43221912e+01] [ 1.53387310e-02 -1.19546139e-04 9.99882348e-01 3.75003506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.223617865 meters 0.01904280488856811 Centerline is valid? [True, True] Translation: X:217.27, Y:-74.36, Z:3.75 [[ 7.59136489e-01 6.50843655e-01 -1.06924526e-02 2.17272486e+02] [-6.50777215e-01 7.59211780e-01 9.29997069e-03 -7.43615090e+01] [ 1.41706629e-02 -1.01542567e-04 9.99899586e-01 3.74992132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.283617865 meters 0.018954538590598806 Centerline is valid? [True, True] Translation: X:217.32, Y:-74.40, Z:3.75 [[ 7.59232285e-01 6.50745659e-01 -9.81960880e-03 2.17320507e+02] [-6.50689561e-01 7.59295778e-01 8.54503223e-03 -7.44021286e+01] [ 1.30166301e-02 -9.81474153e-05 9.99915275e-01 3.74993611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.343617865 meters 0.018887540502619673 Centerline is valid? [True, True] Translation: X:217.37, Y:-74.44, Z:3.75 [[ 7.59690919e-01 6.50219881e-01 -9.15499994e-03 2.17367649e+02] [-6.50171033e-01 7.59746073e-01 7.97076025e-03 -7.44437593e+01] [ 1.21382220e-02 -1.02998414e-04 9.99926324e-01 3.75003750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40361786499997 meters 0.0190234294194811 Centerline is valid? [True, True] Translation: X:217.41, Y:-74.48, Z:3.75 [[ 7.60076327e-01 6.49776831e-01 -8.60512289e-03 2.17413622e+02] [-6.49733601e-01 7.60125029e-01 7.49594321e-03 -7.44848563e+01] [ 1.14116595e-02 -1.06451503e-04 9.99934879e-01 3.75057525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46361786499997 meters 0.018816501732904986 Centerline is valid? [True, True] Translation: X:217.46, Y:-74.53, Z:3.75 [[ 7.60955938e-01 6.48756152e-01 -7.84324950e-03 2.17460986e+02] [-6.48720151e-01 7.60996349e-01 6.83540216e-03 -7.45253780e+01] [ 1.04031934e-02 -1.13365862e-04 9.99945879e-01 3.74951797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52361786499998 meters 0.018859511934491775 Centerline is valid? [True, True] Translation: X:217.51, Y:-74.57, Z:3.75 [[ 7.61862468e-01 6.47692591e-01 -7.73870756e-03 2.17507204e+02] [-6.47657456e-01 7.61901759e-01 6.74748766e-03 -7.45673400e+01] [ 1.02664327e-02 -1.28625946e-04 9.99947291e-01 3.74941270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58361786499998 meters 0.01928963888049338 Centerline is valid? [True, True] Translation: X:217.55, Y:-74.61, Z:3.75 [[ 7.63206758e-01 6.46108200e-01 -7.72252338e-03 2.17552558e+02] [-6.46073097e-01 7.63245813e-01 6.73673825e-03 -7.46085956e+01] [ 1.02468455e-02 -1.52209571e-04 9.99947488e-01 3.74938539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64361786499998 meters 0.019953914529128224 Centerline is valid? [True, True] Translation: X:217.60, Y:-74.65, Z:3.75 [[ 7.64994846e-01 6.43992286e-01 -7.53801195e-03 2.17596286e+02] [-6.43958709e-01 7.65031963e-01 6.57859016e-03 -7.46519638e+01] [ 1.00033814e-02 -1.78419124e-04 9.99949949e-01 3.75021624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70361786499998 meters 0.020306004547974935 Centerline is valid? [True, True] Translation: X:217.64, Y:-74.69, Z:3.75 [[ 7.65837207e-01 6.43000019e-01 -6.65939821e-03 2.17642481e+02] [-6.42973759e-01 7.65866141e-01 5.81362858e-03 -7.46934304e+01] [ 8.83837090e-03 -1.70474777e-04 9.99960926e-01 3.75139849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.763617865 meters 0.020965878815868942 Centerline is valid? [True, True] Translation: X:217.69, Y:-74.73, Z:3.75 [[ 7.66935943e-01 6.41701058e-01 -5.38626066e-03 2.17689021e+02] [-6.41683829e-01 7.66954842e-01 4.70470149e-03 -7.47339030e+01] [ 7.15003061e-03 -1.51928313e-04 9.99974427e-01 3.75260658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.823617865 meters 0.02049827642112006 Centerline is valid? [True, True] Translation: X:217.74, Y:-74.77, Z:3.75 [[ 7.67101729e-01 6.41505911e-01 -5.01040175e-03 2.17737244e+02] [-6.41491002e-01 7.67118078e-01 4.37585703e-03 -7.47725182e+01] [ 6.65070792e-03 -1.42599855e-04 9.99977874e-01 3.75271625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.883617865 meters 0.0215869542379978 Centerline is valid? [True, True] Translation: X:217.78, Y:-74.81, Z:3.75 [[ 7.66350330e-01 6.42399956e-01 -5.42841367e-03 2.17782343e+02] [-6.42382451e-01 7.66369541e-01 4.74472566e-03 -7.48134932e+01] [ 7.20818245e-03 -1.49004392e-04 9.99974010e-01 3.75440303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.943617865 meters 0.02117729626600615 Centerline is valid? [True, True] Translation: X:217.83, Y:-74.85, Z:3.75 [[ 7.64923246e-01 6.44096586e-01 -5.65823356e-03 2.17832127e+02] [-6.44077610e-01 7.64944160e-01 4.94609540e-03 -7.48510890e+01] [ 7.51399588e-03 -1.39041797e-04 9.99971760e-01 3.75424682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.003617865 meters 0.02120084689014742 Centerline is valid? [True, True] Translation: X:217.88, Y:-74.89, Z:3.75 [[ 7.64338818e-01 6.44790081e-01 -5.65005691e-03 2.17879617e+02] [-6.44771161e-01 7.64359689e-01 4.94128418e-03 -7.48897307e+01] [ 7.50476677e-03 -1.33821560e-04 9.99971830e-01 3.75483355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.063617865 meters 0.019634155312833374 Centerline is valid? [True, True] Translation: X:217.93, Y:-74.93, Z:3.75 [[ 7.64385075e-01 6.44738685e-01 -5.24262104e-03 2.17930846e+02] [-6.44722388e-01 7.64403043e-01 4.58578394e-03 -7.49260098e+01] [ 6.96410778e-03 -1.25269639e-04 9.99975742e-01 3.75357404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.123617865 meters 0.019796762441629995 Centerline is valid? [True, True] Translation: X:217.98, Y:-74.97, Z:3.75 [[ 7.65194690e-01 6.43780465e-01 -4.87849522e-03 2.17979138e+02] [-6.43766321e-01 7.65210231e-01 4.26929288e-03 -7.49658098e+01] [ 6.48156181e-03 -1.26229316e-04 9.99978986e-01 3.75349401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18361786499997 meters 0.020824607883153805 Centerline is valid? [True, True] Translation: X:218.02, Y:-75.01, Z:3.75 [[ 7.65838759e-01 6.43012491e-01 -5.09232469e-03 2.18024957e+02] [-6.42997038e-01 7.65855676e-01 4.46016118e-03 -7.50065493e+01] [ 6.76792512e-03 -1.41414616e-04 9.99977087e-01 3.75371821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24361786499998 meters 0.019734553933988916 Centerline is valid? [True, True] Translation: X:218.07, Y:-75.04, Z:3.75 [[ 7.65569722e-01 6.43330336e-01 -5.39255520e-03 2.18074511e+02] [-6.43313017e-01 7.65588700e-01 4.72278617e-03 -7.50448858e+01] [ 7.16679094e-03 -1.46521145e-04 9.99974307e-01 3.75208802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30361786499998 meters 0.019736696589780903 Centerline is valid? [True, True] Translation: X:218.12, Y:-75.09, Z:3.75 [[ 7.65737684e-01 6.43124941e-01 -6.00909681e-03 2.18122031e+02] [-6.43103400e-01 7.65761243e-01 5.26637352e-03 -7.50862575e+01] [ 7.98846960e-03 -1.68190073e-04 9.99968078e-01 3.75194844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36361786499998 meters 0.02061411355022505 Centerline is valid? [True, True] Translation: X:218.17, Y:-75.13, Z:3.75 [[ 7.66399296e-01 6.42339205e-01 -5.69773250e-03 2.18167167e+02] [-6.42319793e-01 7.66420457e-01 4.99661743e-03 -7.51281007e+01] [ 7.57638201e-03 -1.69637724e-04 9.99971284e-01 3.75301006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42361786499998 meters 0.019858846898907954 Centerline is valid? [True, True] Translation: X:218.22, Y:-75.17, Z:3.75 [[ 7.66348591e-01 6.42404126e-01 -5.17464351e-03 2.18215994e+02] [-6.42388110e-01 7.66366045e-01 4.53883874e-03 -7.51680574e+01] [ 6.88143982e-03 -1.54203206e-04 9.99976311e-01 3.75310792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48361786499999 meters 0.019565185072656425 Centerline is valid? [True, True] Translation: X:218.26, Y:-75.21, Z:3.75 [[ 7.65615019e-01 6.43282013e-01 -4.67909335e-03 2.18262817e+02] [-6.43268921e-01 7.65629306e-01 4.10632783e-03 -7.52081676e+01] [ 6.22397783e-03 -1.33950934e-04 9.99980622e-01 3.75356251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.543617865 meters 0.020662508453083775 Centerline is valid? [True, True] Translation: X:218.31, Y:-75.25, Z:3.76 [[ 7.64716907e-01 6.44351270e-01 -4.41515569e-03 2.18307179e+02] [-6.44339619e-01 7.64729643e-01 3.87659342e-03 -7.52503690e+01] [ 5.87428833e-03 -1.19636793e-04 9.99982739e-01 3.75546977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.603617865 meters 0.01957615877385897 Centerline is valid? [True, True] Translation: X:218.36, Y:-75.29, Z:3.75 [[ 7.63934075e-01 6.45282315e-01 -3.93238488e-03 2.18356179e+02] [-6.45273081e-01 7.63944189e-01 3.45353388e-03 -7.52890841e+01] [ 5.23262692e-03 -1.00810102e-04 9.99986305e-01 3.75463781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.663617865 meters 0.019804409018445827 Centerline is valid? [True, True] Translation: X:218.40, Y:-75.33, Z:3.75 [[ 7.63129482e-01 6.46231747e-01 -4.23353977e-03 2.18401821e+02] [-6.46221045e-01 7.63141218e-01 3.72048949e-03 -7.53299938e+01] [ 5.63508712e-03 -1.03412729e-04 9.99984117e-01 3.75469329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.723617865 meters 0.019360500825847282 Centerline is valid? [True, True] Translation: X:218.45, Y:-75.37, Z:3.75 [[ 7.62433434e-01 6.47049392e-01 -4.72676253e-03 2.18449744e+02] [-6.47036054e-01 7.62448078e-01 4.15605700e-03 -7.53697098e+01] [ 6.29308517e-03 -1.10331032e-04 9.99980192e-01 3.75340625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.783617865 meters 0.019911855910586432 Centerline is valid? [True, True] Translation: X:218.50, Y:-75.41, Z:3.75 [[ 7.61930078e-01 6.47635701e-01 -5.52762370e-03 2.18495390e+02] [-6.47617450e-01 7.61950119e-01 4.86367118e-03 -7.54110245e+01] [ 7.36166063e-03 -1.25991793e-04 9.99972895e-01 3.75357783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.843617865 meters 0.02034196171261029 Centerline is valid? [True, True] Translation: X:218.54, Y:-75.45, Z:3.75 [[ 7.61927219e-01 6.47635299e-01 -5.95249542e-03 2.18541166e+02] [-6.47614116e-01 7.61950458e-01 5.23995545e-03 -7.54522876e+01] [ 7.92908673e-03 -1.37544629e-04 9.99968555e-01 3.75369573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90361786499997 meters 0.019307225531690907 Centerline is valid? [True, True] Translation: X:218.59, Y:-75.49, Z:3.75 [[ 7.63037088e-01 6.46326855e-01 -5.99993659e-03 2.18589359e+02] [-6.46305271e-01 7.63060661e-01 5.28426218e-03 -7.54911025e+01] [ 7.99367613e-03 -1.54297377e-04 9.99968038e-01 3.75297878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96361786499997 meters 0.02025226486050605 Centerline is valid? [True, True] Translation: X:218.63, Y:-75.53, Z:3.75 [[ 7.64362979e-01 6.44764521e-01 -5.28662800e-03 2.18633706e+02] [-6.44747714e-01 7.64381246e-01 4.65797023e-03 -7.55331541e+01] [ 7.04429324e-03 -1.51838681e-04 9.99975177e-01 3.75497059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02361786499998 meters 0.02023811684374542 Centerline is valid? [True, True] Translation: X:218.68, Y:-75.57, Z:3.76 [[ 7.64957831e-01 6.44062427e-01 -4.80708040e-03 2.18680918e+02] [-6.44048508e-01 7.64972921e-01 4.23670497e-03 -7.55737869e+01] [ 6.40598882e-03 -1.44907687e-04 9.99979471e-01 3.75588054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08361786499998 meters 0.020654712921744454 Centerline is valid? [True, True] Translation: X:218.73, Y:-75.61, Z:3.76 [[ 7.65079555e-01 6.43919066e-01 -4.63804435e-03 2.18727858e+02] [-6.43906095e-01 7.65093599e-01 4.08958663e-03 -7.56141716e+01] [ 6.18190085e-03 -1.42394088e-04 9.99980882e-01 3.75595186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14361786499998 meters 0.021094396987406484 Centerline is valid? [True, True] Translation: X:218.77, Y:-75.65, Z:3.76 [[ 7.64581294e-01 6.44505510e-01 -5.30021961e-03 2.18773449e+02] [-6.44488563e-01 7.64599648e-01 4.67665661e-03 -7.56541611e+01] [ 7.06667700e-03 -1.59753242e-04 9.99975018e-01 3.75659251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20361786499998 meters 0.021000388757511524 Centerline is valid? [True, True] Translation: X:218.82, Y:-75.69, Z:3.76 [[ 7.64234528e-01 6.44914806e-01 -5.52078231e-03 2.18820824e+02] [-6.44896413e-01 7.64254451e-01 4.87346275e-03 -7.56949150e+01] [ 7.36225073e-03 -1.64135795e-04 9.99972885e-01 3.75624783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.263617865 meters 0.021026808312675824 Centerline is valid? [True, True] Translation: X:218.87, Y:-75.74, Z:3.76 [[ 7.63443328e-01 6.45844397e-01 -6.26886270e-03 2.18868140e+02] [-6.45820686e-01 7.63469045e-01 5.53709200e-03 -7.57351845e+01] [ 8.36218246e-03 -1.78694738e-04 9.99965020e-01 3.75685909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.323617865 meters 0.02046365879961784 Centerline is valid? [True, True] Translation: X:218.92, Y:-75.77, Z:3.76 [[ 7.62086086e-01 6.47452775e-01 -5.44991890e-03 2.18916918e+02] [-6.47434884e-01 7.62105560e-01 4.81528681e-03 -7.57743783e+01] [ 7.27108431e-03 -1.41195469e-04 9.99973555e-01 3.75711108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.383617865 meters 0.020778068442616645 Centerline is valid? [True, True] Translation: X:218.96, Y:-75.81, Z:3.76 [[ 7.60894179e-01 6.48855737e-01 -5.12645886e-03 2.18963026e+02] [-6.48839925e-01 7.60911439e-01 4.53153152e-03 -7.58138262e+01] [ 6.84109141e-03 -1.21764778e-04 9.99976592e-01 3.75940129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.443617865 meters 0.019153888960114756 Centerline is valid? [True, True] Translation: X:219.01, Y:-75.85, Z:3.76 [[ 7.59083190e-01 6.50977237e-01 -4.62033240e-03 2.19013959e+02] [-6.50964426e-01 7.59097245e-01 4.08505557e-03 -7.58498223e+01] [ 6.16655978e-03 -9.32249851e-05 9.99980982e-01 3.75841882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.503617865 meters 0.019538046297399362 Centerline is valid? [True, True] Translation: X:219.06, Y:-75.89, Z:3.76 [[ 7.57616855e-01 6.52684620e-01 -4.41447463e-03 2.19059474e+02] [-6.52672943e-01 7.57629712e-01 3.90496555e-03 -7.58898874e+01] [ 5.89324810e-03 -7.72595700e-05 9.99982632e-01 3.76146868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.563617865 meters 0.018448905727384498 Centerline is valid? [True, True] Translation: X:219.11, Y:-75.93, Z:3.76 [[ 7.56508872e-01 6.53965159e-01 -4.88840742e-03 2.19109328e+02] [-6.53950853e-01 7.56524662e-01 4.32629184e-03 -7.59269318e+01] [ 6.52744491e-03 -7.60999591e-05 9.99978693e-01 3.75844061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.623617865 meters 0.01851859585356382 Centerline is valid? [True, True] Translation: X:219.16, Y:-75.97, Z:3.76 [[ 7.56364805e-01 6.54131499e-01 -4.92592538e-03 2.19157682e+02] [-6.54116964e-01 7.56380841e-01 4.36126984e-03 -7.59672571e+01] [ 6.57871956e-03 -7.65796528e-05 9.99978357e-01 3.75792565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68361786499997 meters 0.01859755421158499 Centerline is valid? [True, True] Translation: X:219.20, Y:-76.01, Z:3.76 [[ 7.56955865e-01 6.53447076e-01 -4.97358552e-03 2.19204279e+02] [-6.53432225e-01 7.56972200e-01 4.40640503e-03 -7.60085641e+01] [ 6.64421846e-03 -8.55530807e-05 9.99977923e-01 3.75817722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74361786499998 meters 0.019327862400763358 Centerline is valid? [True, True] Translation: X:219.25, Y:-76.05, Z:3.76 [[ 7.59368890e-01 6.50643421e-01 -4.69344992e-03 2.19249028e+02] [-6.50630129e-01 7.59383387e-01 4.16020066e-03 -7.60505143e+01] [ 6.27093508e-03 -1.05427023e-04 9.99980332e-01 3.75801657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80361786499998 meters 0.020621177656009192 Centerline is valid? [True, True] Translation: X:219.29, Y:-76.09, Z:3.76 [[ 7.62662444e-01 6.46781641e-01 -4.41643701e-03 2.19291910e+02] [-6.46769798e-01 7.62675220e-01 3.91616820e-03 -7.60939786e+01] [ 5.90121276e-03 -1.30296339e-04 9.99982579e-01 3.75889351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86361786499998 meters 0.021590582431935644 Centerline is valid? [True, True] Translation: X:219.34, Y:-76.14, Z:3.76 [[ 7.64413999e-01 6.44714732e-01 -3.76208951e-03 2.19336933e+02] [-6.44706098e-01 7.64423246e-01 3.33888637e-03 -7.61367698e+01] [ 5.02845790e-03 -1.26849436e-04 9.99987349e-01 3.75991758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92361786499998 meters 0.022398531963132785 Centerline is valid? [True, True] Translation: X:219.38, Y:-76.18, Z:3.76 [[ 7.65046025e-01 6.43963946e-01 -3.87507516e-03 2.19382179e+02] [-6.43954785e-01 7.65055827e-01 3.43759909e-03 -7.61777863e+01] [ 5.17833871e-03 -1.34548327e-04 9.99986583e-01 3.76041172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98361786499999 meters 0.020150490284941463 Centerline is valid? [True, True] Translation: X:219.43, Y:-76.21, Z:3.76 [[ 7.63606888e-01 6.45666147e-01 -4.44378905e-03 2.19432505e+02] [-6.45654116e-01 7.63619805e-01 3.94398890e-03 -7.62142227e+01] [ 5.93986544e-03 -1.42506396e-04 9.99982349e-01 3.75784881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.043617865 meters 0.02012034285063995 Centerline is valid? [True, True] Translation: X:219.48, Y:-76.25, Z:3.76 [[ 7.62465738e-01 6.47005369e-01 -5.48181258e-03 2.19478683e+02] [-6.46987069e-01 7.62485426e-01 4.86905578e-03 -7.62544537e+01] [ 7.33010743e-03 -1.65826352e-04 9.99973121e-01 3.75817450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.103617865 meters 0.019539028473436085 Centerline is valid? [True, True] Translation: X:219.53, Y:-76.29, Z:3.76 [[ 7.60943872e-01 6.48794249e-01 -5.51790396e-03 2.19526708e+02] [-6.48775726e-01 7.60963862e-01 4.90485401e-03 -7.62946217e+01] [ 7.38116658e-03 -1.52436457e-04 9.99972747e-01 3.75824011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.163617865 meters 0.019642003295606694 Centerline is valid? [True, True] Translation: X:219.57, Y:-76.34, Z:3.76 [[ 7.60318812e-01 6.49530814e-01 -5.00266233e-03 2.19572997e+02] [-6.49515613e-01 7.60335258e-01 4.44558561e-03 -7.63359046e+01] [ 6.69124539e-03 -1.30755078e-04 9.99977605e-01 3.75952908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.223617865 meters 0.01934019847932523 Centerline is valid? [True, True] Translation: X:219.62, Y:-76.38, Z:3.76 [[ 7.59376141e-01 6.50632865e-01 -4.97501265e-03 2.19619682e+02] [-6.50617842e-01 7.59392428e-01 4.42306387e-03 -7.63770100e+01] [ 6.65577765e-03 -1.21937179e-04 9.99977843e-01 3.76053453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.283617865 meters 0.019580576619466567 Centerline is valid? [True, True] Translation: X:219.66, Y:-76.42, Z:3.76 [[ 7.58457361e-01 6.51700416e-01 -5.38499721e-03 2.19664639e+02] [-6.51682821e-01 7.58476468e-01 4.79052927e-03 -7.64188438e+01] [ 7.20638358e-03 -1.24102020e-04 9.99974026e-01 3.76173750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.343617865 meters 0.019432935916326485 Centerline is valid? [True, True] Translation: X:219.71, Y:-76.46, Z:3.76 [[ 7.57233161e-01 6.53121348e-01 -5.51774907e-03 2.19711085e+02] [-6.53102896e-01 7.57253255e-01 4.91076474e-03 -7.64606901e+01] [ 7.38565872e-03 -1.14936014e-04 9.99972719e-01 3.76199722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40361786499997 meters 0.019142732118529567 Centerline is valid? [True, True] Translation: X:219.76, Y:-76.50, Z:3.76 [[ 7.57044867e-01 6.53338648e-01 -5.62847353e-03 2.19757411e+02] [-6.53319440e-01 7.57065781e-01 5.01127616e-03 -7.65036789e+01] [ 7.53518511e-03 -1.16569725e-04 9.99971603e-01 3.76209546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46361786499997 meters 0.019750562042933198 Centerline is valid? [True, True] Translation: X:219.80, Y:-76.55, Z:3.76 [[ 7.58949663e-01 6.51126868e-01 -5.40465487e-03 2.19801196e+02] [-6.51109079e-01 7.58968895e-01 4.81486579e-03 -7.65478852e+01] [ 7.23705341e-03 -1.35220914e-04 9.99973803e-01 3.76347986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52361786499998 meters 0.019944900602348815 Centerline is valid? [True, True] Translation: X:219.85, Y:-76.59, Z:3.76 [[ 7.59667709e-01 6.50292675e-01 -4.94053160e-03 2.19846830e+02] [-6.50277782e-01 7.59683763e-01 4.40302698e-03 -7.65896285e+01] [ 6.61649783e-03 -1.32119486e-04 9.99978102e-01 3.76443311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58361786499998 meters 0.020850898710947925 Centerline is valid? [True, True] Translation: X:219.89, Y:-76.63, Z:3.77 [[ 7.61326220e-01 6.48349455e-01 -5.03696423e-03 2.19890398e+02] [-6.48333901e-01 7.61342866e-01 4.49371690e-03 -7.66319552e+01] [ 6.74835569e-03 -1.55549839e-04 9.99977217e-01 3.76568085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64361786499998 meters 0.021068536532056974 Centerline is valid? [True, True] Translation: X:219.94, Y:-76.67, Z:3.77 [[ 7.63338719e-01 6.45977905e-01 -5.15230379e-03 2.19936040e+02] [-6.45961576e-01 7.63356086e-01 4.59652538e-03 -7.66737848e+01] [ 6.90229629e-03 -1.80515520e-04 9.99976163e-01 3.76546598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70361786499998 meters 0.020696408822738526 Centerline is valid? [True, True] Translation: X:219.98, Y:-76.71, Z:3.76 [[ 7.64491878e-01 6.44610701e-01 -5.40482005e-03 2.19981975e+02] [-6.44592707e-01 7.64510957e-01 4.82069157e-03 -7.67148107e+01] [ 7.23951352e-03 -2.01471967e-04 9.99973774e-01 3.76495791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.763617865 meters 0.021488861047126353 Centerline is valid? [True, True] Translation: X:220.03, Y:-76.76, Z:3.77 [[ 7.64578996e-01 6.44503183e-01 -5.88263782e-03 2.20026573e+02] [-6.44481843e-01 7.64601594e-01 5.24935821e-03 -7.67578559e+01] [ 7.88110233e-03 -2.22295763e-04 9.99968919e-01 3.76580262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.823617865 meters 0.021355004486511685 Centerline is valid? [True, True] Translation: X:220.07, Y:-76.80, Z:3.77 [[ 7.63439594e-01 6.45852939e-01 -5.82825341e-03 2.20072942e+02] [-6.45832009e-01 7.63461812e-01 5.20372059e-03 -7.67992242e+01] [ 7.81048714e-03 -2.08653727e-04 9.99969476e-01 3.76623105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.883617865 meters 0.019789080872872393 Centerline is valid? [True, True] Translation: X:220.12, Y:-76.84, Z:3.77 [[ 7.60833397e-01 6.48922913e-01 -5.62101034e-03 2.20121835e+02] [-6.48903496e-01 7.60854141e-01 5.02295669e-03 -7.68370551e+01] [ 7.53628068e-03 -1.74139939e-04 9.99971587e-01 3.76677234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.943617865 meters 0.019133978808077493 Centerline is valid? [True, True] Translation: X:220.17, Y:-76.88, Z:3.77 [[ 7.58317423e-01 6.51858148e-01 -5.96996893e-03 2.20169174e+02] [-6.51836347e-01 7.58340907e-01 5.33339939e-03 -7.68777233e+01] [ 8.00389150e-03 -1.52966941e-04 9.99967957e-01 3.76732366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.003617865 meters 0.018814048486863535 Centerline is valid? [True, True] Translation: X:220.21, Y:-76.92, Z:3.77 [[ 7.55531324e-01 6.55086755e-01 -5.81054053e-03 2.20214913e+02] [-6.55066178e-01 7.55553658e-01 5.19359094e-03 -7.69186464e+01] [ 7.79242778e-03 -1.17632066e-04 9.99969632e-01 3.76885855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.063617865 meters 0.018392382588240264 Centerline is valid? [True, True] Translation: X:220.26, Y:-76.96, Z:3.77 [[ 7.53298065e-01 6.57657529e-01 -5.34788348e-03 2.20261468e+02] [-6.57640151e-01 7.53317043e-01 4.78164162e-03 -7.69599781e+01] [ 7.17333438e-03 -8.50184823e-05 9.99974268e-01 3.76972814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.123617865 meters 0.01823060790613537 Centerline is valid? [True, True] Translation: X:220.31, Y:-77.00, Z:3.77 [[ 7.52322267e-01 6.58775931e-01 -5.04770778e-03 2.20307514e+02] [-6.58760462e-01 7.52339197e-01 4.51511657e-03 -7.70015776e+01] [ 6.77203854e-03 -7.15924241e-05 9.99977067e-01 3.77013314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18361786499997 meters 0.018247755336519338 Centerline is valid? [True, True] Translation: X:220.35, Y:-77.04, Z:3.77 [[ 7.51533639e-01 6.59673819e-01 -5.25757115e-03 2.20351894e+02] [-6.59657041e-01 7.51552026e-01 4.70531444e-03 -7.70449377e+01] [ 7.05531100e-03 -6.80082600e-05 9.99975109e-01 3.77081117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24361786499998 meters 0.018796845784825787 Centerline is valid? [True, True] Translation: X:220.39, Y:-77.09, Z:3.77 [[ 7.52060509e-01 6.59074346e-01 -5.09886896e-03 2.20393783e+02] [-6.59058536e-01 7.52077790e-01 4.56553478e-03 -7.70894606e+01] [ 6.84377295e-03 -7.31052979e-05 9.99976578e-01 3.77209463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30361786499998 meters 0.018456330744501034 Centerline is valid? [True, True] Translation: X:220.44, Y:-77.13, Z:3.77 [[ 7.53401754e-01 6.57537646e-01 -5.48091158e-03 2.20438851e+02] [-6.57519322e-01 7.53421685e-01 4.90976879e-03 -7.71325674e+01] [ 7.35779545e-03 -9.52231485e-05 9.99972927e-01 3.77078800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36361786499998 meters 0.01884073283260296 Centerline is valid? [True, True] Translation: X:220.48, Y:-77.18, Z:3.77 [[ 7.55106233e-01 6.55579301e-01 -5.50963056e-03 2.20480372e+02] [-6.55560713e-01 7.55126325e-01 4.93818144e-03 -7.71779154e+01] [ 7.39783662e-03 -1.16954247e-04 9.99972629e-01 3.77202143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42361786499998 meters 0.019116468015408977 Centerline is valid? [True, True] Translation: X:220.52, Y:-77.22, Z:3.77 [[ 7.55537028e-01 6.55082656e-01 -5.52394159e-03 2.20523433e+02] [-6.55063940e-01 7.55557211e-01 4.95328220e-03 -7.72208863e+01] [ 7.41846316e-03 -1.23853166e-04 9.99972475e-01 3.77274635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48361786499999 meters 0.019034741408931723 Centerline is valid? [True, True] Translation: X:220.57, Y:-77.26, Z:3.77 [[ 7.55963277e-01 6.54588747e-01 -5.75294051e-03 2.20568508e+02] [-6.54568417e-01 7.55985154e-01 5.16085002e-03 -7.72632833e+01] [ 7.72737197e-03 -1.35719932e-04 9.99970134e-01 3.77180924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.543617865 meters 0.018908754210564267 Centerline is valid? [True, True] Translation: X:220.61, Y:-77.30, Z:3.77 [[ 7.55135352e-01 6.55549015e-01 -5.10767897e-03 2.20614988e+02] [-6.55533000e-01 7.55152618e-01 4.58362325e-03 -7.73043216e+01] [ 6.86186685e-03 -1.13003834e-04 9.99976451e-01 3.77248137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.603617865 meters 0.018861921336313488 Centerline is valid? [True, True] Translation: X:220.66, Y:-77.34, Z:3.77 [[ 7.53606037e-01 6.57305660e-01 -5.21629380e-03 2.20660960e+02] [-6.57288980e-01 7.53624083e-01 4.68373681e-03 -7.73448362e+01] [ 7.00977136e-03 -1.01079904e-04 9.99975426e-01 3.77311071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.663617865 meters 0.01840222824214289 Centerline is valid? [True, True] Translation: X:220.71, Y:-77.39, Z:3.77 [[ 7.51805248e-01 6.59356951e-01 -6.10574393e-03 2.20708463e+02] [-6.59334140e-01 7.51830035e-01 5.48547038e-03 -7.73852029e+01] [ 8.20736469e-03 -9.82799957e-05 9.99966314e-01 3.77228229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.723617865 meters 0.018395688875944914 Centerline is valid? [True, True] Translation: X:220.75, Y:-77.43, Z:3.77 [[ 7.51136462e-01 6.60115975e-01 -6.39650675e-03 2.20753377e+02] [-6.60090933e-01 7.51163690e-01 5.75071101e-03 -7.74262133e+01] [ 8.60095982e-03 -9.72926142e-05 9.99963006e-01 3.77363570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.783617865 meters 0.018484439908178923 Centerline is valid? [True, True] Translation: X:220.80, Y:-77.47, Z:3.77 [[ 7.51927932e-01 6.59216256e-01 -6.18973392e-03 2.20800522e+02] [-6.59192773e-01 7.51953400e-01 5.56514946e-03 -7.74670337e+01] [ 8.32302847e-03 -1.04363450e-04 9.99965358e-01 3.77364742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.843617865 meters 0.01907503522486253 Centerline is valid? [True, True] Translation: X:220.84, Y:-77.51, Z:3.78 [[ 7.52714990e-01 6.58317576e-01 -6.17355357e-03 2.20844462e+02] [-6.58294162e-01 7.52740298e-01 5.55344362e-03 -7.75090624e+01] [ 8.30301209e-03 -1.16145989e-04 9.99965523e-01 3.77569701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90361786499997 meters 0.01939184951682091 Centerline is valid? [True, True] Translation: X:220.89, Y:-77.55, Z:3.78 [[ 7.54821782e-01 6.55901833e-01 -6.07147788e-03 2.20889486e+02] [-6.55879092e-01 7.54846186e-01 5.46374604e-03 -7.75513548e+01] [ 8.16671297e-03 -1.41999128e-04 9.99966642e-01 3.77633322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96361786499997 meters 0.019769742017453407 Centerline is valid? [True, True] Translation: X:220.93, Y:-77.59, Z:3.78 [[ 7.57369992e-01 6.52955812e-01 -6.27717642e-03 2.20934136e+02] [-6.52931376e-01 7.57395983e-01 5.65181401e-03 -7.75936873e+01] [ 8.44469301e-03 -1.81948898e-04 9.99964326e-01 3.77703182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02361786499998 meters 0.020302995051986447 Centerline is valid? [True, True] Translation: X:220.98, Y:-77.64, Z:3.78 [[ 7.58722391e-01 6.51377247e-01 -6.92931491e-03 2.20979435e+02] [-6.51347375e-01 7.58754000e-01 6.24214978e-03 -7.76365876e+01] [ 9.32363975e-03 -2.22667737e-04 9.99956509e-01 3.77762952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08361786499998 meters 0.020489073287274576 Centerline is valid? [True, True] Translation: X:221.03, Y:-77.68, Z:3.78 [[ 7.60061207e-01 6.49807537e-01 -7.55824014e-03 2.21026324e+02] [-6.49771881e-01 7.60098739e-01 6.81241310e-03 -7.76779377e+01] [ 1.01717662e-02 -2.66719008e-04 9.99948231e-01 3.77735384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14361786499998 meters 0.021864053812321958 Centerline is valid? [True, True] Translation: X:221.07, Y:-77.72, Z:3.78 [[ 7.60432256e-01 6.49370588e-01 -7.78612445e-03 2.21069572e+02] [-6.49332688e-01 7.60472063e-01 7.02151625e-03 -7.77205857e+01] [ 1.04806963e-02 -2.83602327e-04 9.99945036e-01 3.77878334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20361786499998 meters 0.021135917154728904 Centerline is valid? [True, True] Translation: X:221.12, Y:-77.76, Z:3.78 [[ 7.60882932e-01 6.48831053e-01 -8.68491444e-03 2.21116997e+02] [-6.48783817e-01 7.60932426e-01 7.83595283e-03 -7.77602628e+01] [ 1.16928425e-02 -3.27610829e-04 9.99931583e-01 3.77847159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.263617865 meters 0.021865980371108935 Centerline is valid? [True, True] Translation: X:221.16, Y:-77.80, Z:3.78 [[ 7.61302471e-01 6.48321360e-01 -9.89756693e-03 2.21163120e+02] [-6.48259897e-01 7.61366708e-01 8.93543047e-03 -7.78009232e+01] [ 1.33287084e-02 -3.86369581e-04 9.99911094e-01 3.77786246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.323617865 meters 0.02252675569650867 Centerline is valid? [True, True] Translation: X:221.21, Y:-77.84, Z:3.78 [[ 7.61180206e-01 6.48452223e-01 -1.06962360e-02 2.21209223e+02] [-6.48380416e-01 7.61255240e-01 9.65893975e-03 -7.78418454e+01] [ 1.44059266e-02 -4.16963823e-04 9.99896142e-01 3.77794254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.383617865 meters 0.0220208753233991 Centerline is valid? [True, True] Translation: X:221.26, Y:-77.88, Z:3.78 [[ 7.60782325e-01 6.48905340e-01 -1.14940465e-02 2.21257423e+02] [-6.48822387e-01 7.60869018e-01 1.03849272e-02 -7.78807237e+01] [ 1.54842986e-02 -4.43074409e-04 9.99880013e-01 3.77911158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.443617865 meters 0.020973205727041457 Centerline is valid? [True, True] Translation: X:221.31, Y:-77.92, Z:3.78 [[ 7.60627862e-01 6.49081350e-01 -1.17752122e-02 2.21305945e+02] [-6.48994230e-01 7.60718867e-01 1.06440320e-02 -7.79203059e+01] [ 1.58664688e-02 -4.54102538e-04 9.99874017e-01 3.77997527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.503617865 meters 0.02197919261348532 Centerline is valid? [True, True] Translation: X:221.35, Y:-77.96, Z:3.78 [[ 7.61296697e-01 6.48273080e-01 -1.30135693e-02 2.21351408e+02] [-6.48166432e-01 7.61407734e-01 1.17702365e-02 -7.79606527e+01] [ 1.75389598e-02 -5.25683420e-04 9.99846042e-01 3.77960839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.563617865 meters 0.022355865024466424 Centerline is valid? [True, True] Translation: X:221.40, Y:-78.00, Z:3.78 [[ 7.62099843e-01 6.47321479e-01 -1.33690623e-02 2.21398120e+02] [-6.47208717e-01 7.62216887e-01 1.20952262e-02 -7.80021189e+01] [ 1.80196247e-02 -5.65196318e-04 9.99837474e-01 3.78037703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.623617865 meters 0.02204569949848195 Centerline is valid? [True, True] Translation: X:221.45, Y:-78.04, Z:3.78 [[ 7.63291879e-01 6.45919687e-01 -1.31630402e-02 2.21445538e+02] [-6.45810067e-01 7.63405139e-01 1.19143384e-02 -7.80416093e+01] [ 1.77444383e-02 -5.93293869e-04 9.99842379e-01 3.78161667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68361786499997 meters 0.02217229230185769 Centerline is valid? [True, True] Translation: X:221.49, Y:-78.08, Z:3.78 [[ 7.63290581e-01 6.45930715e-01 -1.26885676e-02 2.21493197e+02] [-6.45828771e-01 7.63395821e-01 1.14899479e-02 -7.80825508e+01] [ 1.71081097e-02 -5.75527005e-04 9.99853480e-01 3.78295567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74361786499998 meters 0.021462638065196372 Centerline is valid? [True, True] Translation: X:221.54, Y:-78.12, Z:3.78 [[ 7.61432329e-01 6.48114752e-01 -1.29644295e-02 2.21540694e+02] [-6.48008534e-01 7.61542497e-01 1.17458882e-02 -7.81219215e+01] [ 1.74856474e-02 -5.42638048e-04 9.99846967e-01 3.78366537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80361786499998 meters 0.021545451354783956 Centerline is valid? [True, True] Translation: X:221.59, Y:-78.16, Z:3.78 [[ 7.59760482e-01 6.50067487e-01 -1.32767638e-02 2.21586374e+02] [-6.49956355e-01 7.59876306e-01 1.20305969e-02 -7.81622585e+01] [ 1.79093981e-02 -5.11055020e-04 9.99839483e-01 3.78401547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86361786499998 meters 0.02094215175838769 Centerline is valid? [True, True] Translation: X:221.63, Y:-78.20, Z:3.78 [[ 7.57362814e-01 6.52843812e-01 -1.40187502e-02 2.21633668e+02] [-6.52720287e-01 7.57492397e-01 1.27080735e-02 -7.82012894e+01] [ 1.89154839e-02 -4.74299603e-04 9.99820974e-01 3.78396485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92361786499998 meters 0.02035367572184212 Centerline is valid? [True, True] Translation: X:221.68, Y:-78.24, Z:3.78 [[ 7.56457928e-01 6.53888247e-01 -1.41973366e-02 2.21681182e+02] [-6.53761704e-01 7.56591008e-01 1.28717354e-02 -7.82419116e+01] [ 1.91582537e-02 -4.55251284e-04 9.99816360e-01 3.78447551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98361786499999 meters 0.020193253129090028 Centerline is valid? [True, True] Translation: X:221.73, Y:-78.28, Z:3.79 [[ 7.55521524e-01 6.54965731e-01 -1.43915976e-02 2.21726583e+02] [-6.54835773e-01 7.55658454e-01 1.30541713e-02 -7.82836985e+01] [ 1.94251673e-02 -4.38574461e-04 9.99811217e-01 3.78615005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.043617865 meters 0.020642206913258253 Centerline is valid? [True, True] Translation: X:221.77, Y:-78.33, Z:3.79 [[ 7.55045494e-01 6.55488253e-01 -1.55387243e-02 2.21770665e+02] [-6.55336709e-01 7.55205226e-01 1.41019182e-02 -7.83268307e+01] [ 2.09785675e-02 -4.64493368e-04 9.99779818e-01 3.78731350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.103617865 meters 0.02091507378278887 Centerline is valid? [True, True] Translation: X:221.82, Y:-78.37, Z:3.79 [[ 7.54508602e-01 6.56062444e-01 -1.72869962e-02 2.21815898e+02] [-6.55874824e-01 7.54706443e-01 1.56971768e-02 -7.83700020e+01] [ 2.33449355e-02 -5.05549349e-04 9.99727342e-01 3.78725034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.163617865 meters 0.02053447980966189 Centerline is valid? [True, True] Translation: X:221.86, Y:-78.41, Z:3.79 [[ 7.54051492e-01 6.56570192e-01 -1.79424034e-02 2.21861970e+02] [-6.56368000e-01 7.54264753e-01 1.63012376e-02 -7.84125085e+01] [ 2.42362292e-02 -5.15153061e-04 9.99706127e-01 3.78881897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.223617865 meters 0.020680874695813378 Centerline is valid? [True, True] Translation: X:221.91, Y:-78.45, Z:3.79 [[ 7.52912656e-01 6.57861730e-01 -1.84519891e-02 2.21907234e+02] [-6.57648055e-01 7.53138567e-01 1.67730692e-02 -7.84548433e+01] [ 2.49312650e-02 -4.93741395e-04 9.99689046e-01 3.79065419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.283617865 meters 0.02065579871292166 Centerline is valid? [True, True] Translation: X:221.95, Y:-78.50, Z:3.79 [[ 7.51386864e-01 6.59602634e-01 -1.84971682e-02 2.21953618e+02] [-6.59388245e-01 7.51614375e-01 1.68218438e-02 -7.84951228e+01] [ 2.49984700e-02 -4.42897174e-04 9.99687391e-01 3.79187658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.343617865 meters 0.020223285989338025 Centerline is valid? [True, True] Translation: X:222.00, Y:-78.54, Z:3.79 [[ 7.50021284e-01 6.61139637e-01 -1.90382312e-02 2.21999964e+02] [-6.60912810e-01 7.50262763e-01 1.73218043e-02 -7.85361717e+01] [ 2.57358074e-02 -4.09111045e-04 9.99668696e-01 3.79480252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40361786499997 meters 0.020413451581806578 Centerline is valid? [True, True] Translation: X:222.05, Y:-78.58, Z:3.80 [[ 7.50071069e-01 6.61089768e-01 -1.88071709e-02 2.22045717e+02] [-6.60868183e-01 7.50306703e-01 1.71200573e-02 -7.85795229e+01] [ 2.54290411e-02 -4.12198808e-04 9.99676545e-01 3.79649290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46361786499997 meters 0.021008391486115174 Centerline is valid? [True, True] Translation: X:222.09, Y:-78.62, Z:3.80 [[ 7.51366591e-01 6.59637463e-01 -1.80738480e-02 2.22090243e+02] [-6.59432206e-01 7.51583805e-01 1.64605369e-02 -7.86212596e+01] [ 2.44419982e-02 -4.49420029e-04 9.99701149e-01 3.79820564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52361786499998 meters 0.02148500284011346 Centerline is valid? [True, True] Translation: X:222.13, Y:-78.66, Z:3.80 [[ 7.53057930e-01 6.57734636e-01 -1.69971254e-02 2.22134752e+02] [-6.57552474e-01 7.53249569e-01 1.54864832e-02 -7.86641942e+01] [ 2.29890738e-02 -4.85717116e-04 9.99735598e-01 3.80099340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58361786499998 meters 0.022322390804135023 Centerline is valid? [True, True] Translation: X:222.18, Y:-78.71, Z:3.80 [[ 7.53451212e-01 6.57292521e-01 -1.66677421e-02 2.22178501e+02] [-6.57117090e-01 7.53635388e-01 1.51931814e-02 -7.87072793e+01] [ 2.25477648e-02 -4.94662764e-04 9.99745644e-01 3.80200567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64361786499998 meters 0.020850085842223802 Centerline is valid? [True, True] Translation: X:222.23, Y:-78.75, Z:3.80 [[ 7.53489241e-01 6.57231746e-01 -1.73319314e-02 2.22227513e+02] [-6.57041867e-01 7.53688371e-01 1.58058387e-02 -7.87456690e+01] [ 2.34509741e-02 -5.21724859e-04 9.99724852e-01 3.80258440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70361786499998 meters 0.021928289222431622 Centerline is valid? [True, True] Translation: X:222.27, Y:-78.79, Z:3.80 [[ 7.52703130e-01 6.58118174e-01 -1.78456554e-02 2.22271071e+02] [-6.57916930e-01 7.52914473e-01 1.62821709e-02 -7.87887297e+01] [ 2.41518448e-02 -5.14682126e-04 9.99708169e-01 3.80171816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.763617865 meters 0.020712013643034464 Centerline is valid? [True, True] Translation: X:222.32, Y:-78.83, Z:3.80 [[ 7.52162661e-01 6.58751912e-01 -1.72409366e-02 2.22318853e+02] [-6.58564080e-01 7.52360077e-01 1.57374195e-02 -7.88288439e+01] [ 2.33384476e-02 -4.82837755e-04 9.99727505e-01 3.80490251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.823617865 meters 0.020712243232804208 Centerline is valid? [True, True] Translation: X:222.36, Y:-78.87, Z:3.81 [[ 7.51498720e-01 6.59534606e-01 -1.62412339e-02 2.22364524e+02] [-6.59367963e-01 7.51674073e-01 1.48316329e-02 -7.88705042e+01] [ 2.19900896e-02 -4.37003816e-04 9.99758093e-01 3.80633677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.883617865 meters 0.020723327122331905 Centerline is valid? [True, True] Translation: X:222.41, Y:-78.91, Z:3.81 [[ 7.50275389e-01 6.60944827e-01 -1.54523847e-02 2.22408814e+02] [-6.60794147e-01 7.50434401e-01 1.41175007e-02 -7.89119738e+01] [ 2.09268901e-02 -3.81167988e-04 9.99780936e-01 3.80765031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.943617865 meters 0.019959404771434656 Centerline is valid? [True, True] Translation: X:222.45, Y:-78.95, Z:3.81 [[ 7.49434069e-01 6.61898531e-01 -1.54567567e-02 2.22454803e+02] [-6.61747839e-01 7.49593360e-01 1.41277039e-02 -7.89533714e+01] [ 2.09373886e-02 -3.59307255e-04 9.99780724e-01 3.80881592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.003617865 meters 0.019871183624421106 Centerline is valid? [True, True] Translation: X:222.50, Y:-79.00, Z:3.81 [[ 7.48354563e-01 6.63130715e-01 -1.49366128e-02 2.22499342e+02] [-6.62990117e-01 7.48503542e-01 1.36584032e-02 -7.89953101e+01] [ 2.02374143e-02 -3.18501661e-04 9.99795152e-01 3.80991143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.063617865 meters 0.019357087811687507 Centerline is valid? [True, True] Translation: X:222.55, Y:-79.04, Z:3.81 [[ 7.48134591e-01 6.63382401e-01 -1.47791508e-02 2.22546029e+02] [-6.63244679e-01 7.48280490e-01 1.35204897e-02 -7.90378152e+01] [ 2.00282051e-02 -3.12952916e-04 9.99799366e-01 3.81156369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.123617865 meters 0.01967311999447277 Centerline is valid? [True, True] Translation: X:222.59, Y:-79.08, Z:3.81 [[ 7.49034312e-01 6.62359240e-01 -1.50942896e-02 2.22589095e+02] [-6.62215236e-01 7.49186301e-01 1.38155004e-02 -7.90805792e+01] [ 2.04592593e-02 -3.52615276e-04 9.99790625e-01 3.81228907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18361786499997 meters 0.019829539637133905 Centerline is valid? [True, True] Translation: X:222.64, Y:-79.12, Z:3.81 [[ 7.49095522e-01 6.62294340e-01 -1.49032426e-02 2.22635991e+02] [-6.62153865e-01 7.49243674e-01 1.36446636e-02 -7.91227522e+01] [ 2.02029437e-02 -3.52916718e-04 9.99795837e-01 3.81358024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24361786499998 meters 0.019996765414511432 Centerline is valid? [True, True] Translation: X:222.68, Y:-79.16, Z:3.81 [[ 7.48999123e-01 6.62399310e-01 -1.50820539e-02 2.22683178e+02] [-6.62255316e-01 7.49150869e-01 1.38156256e-02 -7.91629962e+01] [ 2.04501946e-02 -3.59721099e-04 9.99790808e-01 3.81308138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30361786499998 meters 0.020151080880100033 Centerline is valid? [True, True] Translation: X:222.73, Y:-79.20, Z:3.81 [[ 7.49250980e-01 6.62098789e-01 -1.57531460e-02 2.22729099e+02] [-6.61941475e-01 7.49416467e-01 1.44375243e-02 -7.92049938e+01] [ 2.13647344e-02 -3.89668544e-04 9.99771672e-01 3.81331379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36361786499998 meters 0.020361092737893747 Centerline is valid? [True, True] Translation: X:222.77, Y:-79.25, Z:3.81 [[ 7.50373414e-01 6.60807924e-01 -1.65114247e-02 2.22774354e+02] [-6.60634626e-01 7.50554917e-01 1.51396060e-02 -7.92473387e+01] [ 2.23971026e-02 -4.52338965e-04 9.99749051e-01 3.81345823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42361786499998 meters 0.020725174143767598 Centerline is valid? [True, True] Translation: X:222.82, Y:-79.29, Z:3.81 [[ 7.53207775e-01 6.57563556e-01 -1.69769810e-02 2.22820228e+02] [-6.57379388e-01 7.53398863e-01 1.55722095e-02 -7.92892682e+01] [ 2.30301556e-02 -5.68791931e-04 9.99734609e-01 3.81450889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48361786499999 meters 0.021867914777549197 Centerline is valid? [True, True] Translation: X:222.87, Y:-79.33, Z:3.82 [[ 7.55272274e-01 6.55188585e-01 -1.70795237e-02 2.22865784e+02] [-6.55001517e-01 7.55465088e-01 1.56688759e-02 -7.93291340e+01] [ 2.31690525e-02 -6.47153574e-04 9.99731352e-01 3.81536639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.543617865 meters 0.023209408020228785 Centerline is valid? [True, True] Translation: X:222.91, Y:-79.37, Z:3.82 [[ 7.56889303e-01 6.53315906e-01 -1.72310450e-02 2.22910041e+02] [-6.53124951e-01 7.57085080e-01 1.58107432e-02 -7.93705416e+01] [ 2.33747771e-02 -7.12957016e-04 9.99726518e-01 3.81558299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.603617865 meters 0.022397332997613328 Centerline is valid? [True, True] Translation: X:222.96, Y:-79.41, Z:3.82 [[ 7.57550832e-01 6.52553708e-01 -1.70410223e-02 2.22957129e+02] [-6.52366680e-01 7.57742123e-01 1.56393683e-02 -7.94112833e+01] [ 2.31182282e-02 -7.30621295e-04 9.99732471e-01 3.81825569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.663617865 meters 0.02284446917474866 Centerline is valid? [True, True] Translation: X:223.00, Y:-79.45, Z:3.82 [[ 7.57383437e-01 6.52758409e-01 -1.66369935e-02 2.23003572e+02] [-6.52580033e-01 7.57565807e-01 1.52757361e-02 -7.94527967e+01] [ 2.25749826e-02 -7.12619695e-04 9.99744899e-01 3.81909968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.723617865 meters 0.02239733582831118 Centerline is valid? [True, True] Translation: X:223.05, Y:-79.49, Z:3.82 [[ 7.57105062e-01 6.53080687e-01 -1.66596049e-02 2.23051235e+02] [-6.52901728e-01 7.57287999e-01 1.53042546e-02 -7.94935072e+01] [ 2.26110319e-02 -7.09843798e-04 9.99744086e-01 3.82054110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.783617865 meters 0.022688982204444694 Centerline is valid? [True, True] Translation: X:223.10, Y:-79.54, Z:3.82 [[ 7.57065218e-01 6.53123778e-01 -1.67805252e-02 2.23097430e+02] [-6.52942039e-01 7.57250825e-01 1.54234059e-02 -7.95355206e+01] [ 2.27804597e-02 -7.19813799e-04 9.99740233e-01 3.82173714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.843617865 meters 0.023807947529170544 Centerline is valid? [True, True] Translation: X:223.14, Y:-79.58, Z:3.82 [[ 7.57386440e-01 6.52732591e-01 -1.74912963e-02 2.23142567e+02] [-6.52534838e-01 7.57587998e-01 1.60844834e-02 -7.95770986e+01] [ 2.37500626e-02 -7.68489428e-04 9.99717632e-01 3.82230828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90361786499997 meters 0.02201535893434764 Centerline is valid? [True, True] Translation: X:223.19, Y:-79.62, Z:3.82 [[ 7.57720192e-01 6.52339149e-01 -1.77128849e-02 2.23191513e+02] [-6.52136072e-01 7.57926778e-01 1.62954603e-02 -7.96162056e+01] [ 2.40552364e-02 -7.96188114e-04 9.99710314e-01 3.82371087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96361786499997 meters 0.02118904452431525 Centerline is valid? [True, True] Translation: X:223.24, Y:-79.66, Z:3.83 [[ 7.58396429e-01 6.51547116e-01 -1.79224025e-02 2.23240074e+02] [-6.51338791e-01 7.58607708e-01 1.64961683e-02 -7.96555823e+01] [ 2.43441035e-02 -8.37079138e-04 9.99703288e-01 3.82570385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02361786499998 meters 0.02144511507645003 Centerline is valid? [True, True] Translation: X:223.29, Y:-79.70, Z:3.83 [[ 7.58121599e-01 6.51879826e-01 -1.74451484e-02 2.23286957e+02] [-6.51682356e-01 7.58321855e-01 1.60645673e-02 -7.96962109e+01] [ 2.37012046e-02 -8.10200032e-04 9.99718759e-01 3.82790339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08361786499998 meters 0.020977687305245588 Centerline is valid? [True, True] Translation: X:223.33, Y:-79.74, Z:3.83 [[ 7.57619937e-01 6.52469790e-01 -1.71815424e-02 2.23334552e+02] [-6.52278218e-01 7.57814329e-01 1.58293889e-02 -7.97356008e+01] [ 2.33486171e-02 -7.85514773e-04 9.99727075e-01 3.83016179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14361786499998 meters 0.021243676805548485 Centerline is valid? [True, True] Translation: X:223.38, Y:-79.77, Z:3.83 [[ 7.56249146e-01 6.54053696e-01 -1.73491306e-02 2.23383238e+02] [-6.53858625e-01 7.56447752e-01 1.59904999e-02 -7.97731356e+01] [ 2.35823563e-02 -7.48923214e-04 9.99721617e-01 3.83072884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20361786499998 meters 0.019675233912973048 Centerline is valid? [True, True] Translation: X:223.44, Y:-79.81, Z:3.83 [[ 7.54267234e-01 6.56311059e-01 -1.83503035e-02 2.23435386e+02] [-6.56093334e-01 7.54490074e-01 1.69193631e-02 -7.98086633e+01] [ 2.49494870e-02 -7.22209344e-04 9.99688452e-01 3.83149726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.263617865 meters 0.01940369906136529 Centerline is valid? [True, True] Translation: X:223.48, Y:-79.85, Z:3.83 [[ 7.53139749e-01 6.57604725e-01 -1.83451544e-02 2.23484395e+02] [-6.57387301e-01 7.53362832e-01 1.69227898e-02 -7.98475081e+01] [ 2.49490639e-02 -6.85354124e-04 9.99688489e-01 3.83257939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.323617865 meters 0.01816757054844391 Centerline is valid? [True, True] Translation: X:223.54, Y:-79.88, Z:3.83 [[ 7.51088873e-01 6.59972430e-01 -1.73752047e-02 2.23535078e+02] [-6.59777898e-01 7.51289596e-01 1.60333400e-02 -7.98828229e+01] [ 2.36353729e-02 -5.78687265e-04 9.99720478e-01 3.83499566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.383617865 meters 0.01801726627406927 Centerline is valid? [True, True] Translation: X:223.58, Y:-79.92, Z:3.84 [[ 7.48338652e-01 6.63105525e-01 -1.67428842e-02 2.23584805e+02] [-6.62925653e-01 7.48525783e-01 1.54509132e-02 -7.99187596e+01] [ 2.27780664e-02 -4.63228133e-04 9.99740439e-01 3.83615938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.443617865 meters 0.017892155004968484 Centerline is valid? [True, True] Translation: X:223.63, Y:-79.96, Z:3.84 [[ 7.46424948e-01 6.65260176e-01 -1.66941595e-02 2.23633342e+02] [-6.65081824e-01 7.46611505e-01 1.54086948e-02 -7.99563649e+01] [ 2.27148426e-02 -3.98452146e-04 9.99741905e-01 3.83676438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.503617865 meters 0.016688208038320683 Centerline is valid? [True, True] Translation: X:223.69, Y:-79.99, Z:3.84 [[ 7.43972295e-01 6.68020007e-01 -1.59528529e-02 2.23685513e+02] [-6.67857640e-01 7.44143250e-01 1.47307988e-02 -7.99919038e+01] [ 2.17116762e-02 -3.05071540e-04 9.99764227e-01 3.83865266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.563617865 meters 0.016322490468509847 Centerline is valid? [True, True] Translation: X:223.74, Y:-80.03, Z:3.84 [[ 7.43268607e-01 6.68828042e-01 -1.48602645e-02 2.23735063e+02] [-6.68687192e-01 7.43417096e-01 1.37280680e-02 -8.00291820e+01] [ 2.02290916e-02 -2.66773395e-04 9.99795335e-01 3.84041906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.623617865 meters 0.016376888679218222 Centerline is valid? [True, True] Translation: X:223.78, Y:-80.07, Z:3.84 [[ 7.43638683e-01 6.68427039e-01 -1.43806256e-02 2.23783876e+02] [-6.68294936e-01 7.43777667e-01 1.32913384e-02 -8.00695558e+01] [ 1.95802781e-02 -2.73454138e-04 9.99808251e-01 3.84144053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68361786499997 meters 0.016690389127599892 Centerline is valid? [True, True] Translation: X:223.83, Y:-80.11, Z:3.84 [[ 7.44893698e-01 6.67025346e-01 -1.45109111e-02 2.23832397e+02] [-6.66890429e-01 7.45034957e-01 1.34190051e-02 -8.01091076e+01] [ 1.97619526e-02 -3.18544637e-04 9.99804663e-01 3.84128272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74361786499998 meters 0.017183006203411406 Centerline is valid? [True, True] Translation: X:223.88, Y:-80.15, Z:3.84 [[ 7.46130529e-01 6.65640563e-01 -1.45558779e-02 2.23878826e+02] [-6.65504416e-01 7.46272410e-01 1.34670639e-02 -8.01502433e+01] [ 1.98268740e-02 -3.61186478e-04 9.99803363e-01 3.84108112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80361786499998 meters 0.017383207080247834 Centerline is valid? [True, True] Translation: X:223.93, Y:-80.19, Z:3.84 [[ 7.48298045e-01 6.63207165e-01 -1.43629034e-02 2.23926192e+02] [-6.63074032e-01 7.48435753e-01 1.32947995e-02 -8.01900351e+01] [ 1.95669167e-02 -4.24804187e-04 9.99808459e-01 3.84115567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86361786499998 meters 0.018188111868388715 Centerline is valid? [True, True] Translation: X:223.97, Y:-80.23, Z:3.84 [[ 7.50138061e-01 6.61109606e-01 -1.50657902e-02 2.23972049e+02] [-6.60962557e-01 7.50289164e-01 1.39523418e-02 -8.02313564e+01] [ 2.05277263e-02 -5.08259444e-04 9.99789155e-01 3.84050808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92361786499998 meters 0.02033704341719949 Centerline is valid? [True, True] Translation: X:224.02, Y:-80.27, Z:3.84 [[ 7.52007068e-01 6.58989073e-01 -1.47909312e-02 2.24015566e+02] [-6.58846809e-01 7.52152303e-01 1.37038152e-02 -8.02747125e+01] [ 2.01556974e-02 -5.60408082e-04 9.99796696e-01 3.84077715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98361786499999 meters 0.02133319958907456 Centerline is valid? [True, True] Translation: X:224.06, Y:-80.32, Z:3.84 [[ 7.53965342e-01 6.56761378e-01 -1.41688204e-02 2.24061769e+02] [-6.56630330e-01 7.54098226e-01 1.31329693e-02 -8.03157718e+01] [ 1.93099094e-02 -5.98126502e-04 9.99813367e-01 3.84152545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.043617865 meters 0.021320778766022563 Centerline is valid? [True, True] Translation: X:224.11, Y:-80.36, Z:3.84 [[ 7.54799934e-01 6.55805322e-01 -1.40157021e-02 2.24108051e+02] [-6.55676822e-01 7.54929795e-01 1.29965303e-02 -8.03563841e+01] [ 1.91040648e-02 -6.20009179e-04 9.99817308e-01 3.84244520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.103617865 meters 0.022158673859339912 Centerline is valid? [True, True] Translation: X:224.15, Y:-80.40, Z:3.84 [[ 7.55234400e-01 6.55313969e-01 -1.35868816e-02 2.24153389e+02] [-6.55193035e-01 7.55356353e-01 1.26042237e-02 -8.03987851e+01] [ 1.85226612e-02 -6.17113163e-04 9.99828250e-01 3.84352198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.163617865 meters 0.020072869492010353 Centerline is valid? [True, True] Translation: X:224.20, Y:-80.44, Z:3.84 [[ 7.54939385e-01 6.55668443e-01 -1.28615143e-02 2.24202755e+02] [-6.55560037e-01 7.55048712e-01 1.19365395e-02 -8.04367617e+01] [ 1.75374820e-02 -5.79868993e-04 9.99846038e-01 3.84490071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.223617865 meters 0.02063269116805404 Centerline is valid? [True, True] Translation: X:224.25, Y:-80.48, Z:3.85 [[ 7.53509992e-01 6.57307856e-01 -1.30028679e-02 2.24248435e+02] [-6.57197194e-01 7.53621973e-01 1.20735556e-02 -8.04771740e+01] [ 1.77352899e-02 -5.52096532e-04 9.99842565e-01 3.84585442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.283617865 meters 0.01952552616041299 Centerline is valid? [True, True] Translation: X:224.30, Y:-80.52, Z:3.85 [[ 7.51762406e-01 6.59311951e-01 -1.26899870e-02 2.24296698e+02] [-6.59206747e-01 7.51869340e-01 1.17881448e-02 -8.05169497e+01] [ 1.73132769e-02 -4.96559006e-04 9.99849991e-01 3.84721472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.343617865 meters 0.019072444508157194 Centerline is valid? [True, True] Translation: X:224.34, Y:-80.56, Z:3.85 [[ 7.49889524e-01 6.61451097e-01 -1.21715958e-02 2.24344050e+02] [-6.61354511e-01 7.49988173e-01 1.13115847e-02 -8.05580809e+01] [ 1.66106130e-02 -4.32699059e-04 9.99861941e-01 3.84834066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40361786499997 meters 0.01815365337531002 Centerline is valid? [True, True] Translation: X:224.39, Y:-80.60, Z:3.85 [[ 7.48259147e-01 6.63305429e-01 -1.15826188e-02 2.24391391e+02] [-6.63218160e-01 7.48348694e-01 1.07659081e-02 -8.05983555e+01] [ 1.58089229e-02 -3.73886141e-04 9.99874961e-01 3.84913105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46361786499997 meters 0.018407744132510187 Centerline is valid? [True, True] Translation: X:224.44, Y:-80.64, Z:3.85 [[ 7.47264253e-01 6.64425542e-01 -1.16118165e-02 2.24435698e+02] [-6.64337886e-01 7.47354382e-01 1.07981964e-02 -8.06398586e+01] [ 1.58527394e-02 -3.54936577e-04 9.99874274e-01 3.84989708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52361786499998 meters 0.017759327686177193 Centerline is valid? [True, True] Translation: X:224.48, Y:-80.68, Z:3.85 [[ 7.46167851e-01 6.65665878e-01 -1.10669418e-02 2.24481065e+02] [-6.65586390e-01 7.46249852e-01 1.02915854e-02 -8.06816673e+01] [ 1.51094609e-02 -3.13244333e-04 9.99885797e-01 3.85120584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58361786499998 meters 0.017429248893837828 Centerline is valid? [True, True] Translation: X:224.53, Y:-80.72, Z:3.85 [[ 7.45151935e-01 6.66802315e-01 -1.11025435e-02 2.24526236e+02] [-6.66722367e-01 7.45234585e-01 1.03295601e-02 -8.07240244e+01] [ 1.51617740e-02 -2.94777625e-04 9.99885010e-01 3.85169820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64361786499998 meters 0.017092241022557225 Centerline is valid? [True, True] Translation: X:224.57, Y:-80.77, Z:3.85 [[ 7.44453690e-01 6.67582468e-01 -1.10613028e-02 2.24571832e+02] [-6.67503126e-01 7.44535808e-01 1.02959964e-02 -8.07666055e+01] [ 1.51089626e-02 -2.81438320e-04 9.99885814e-01 3.85230768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70361786499998 meters 0.016915039851278964 Centerline is valid? [True, True] Translation: X:224.62, Y:-80.81, Z:3.85 [[ 7.44258076e-01 6.67796921e-01 -1.12777695e-02 2.24616674e+02] [-6.67714390e-01 7.44343462e-01 1.05025593e-02 -8.08109782e+01] [ 1.54081108e-02 -2.86285650e-04 9.99881247e-01 3.85338555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.763617865 meters 0.01739459195570175 Centerline is valid? [True, True] Translation: X:224.66, Y:-80.86, Z:3.85 [[ 7.44458799e-01 6.67567686e-01 -1.15966137e-02 2.24659907e+02] [-6.67480296e-01 7.44549053e-01 1.08056213e-02 -8.08553004e+01] [ 1.58477314e-02 -3.03828716e-04 9.99874371e-01 3.85413753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.823617865 meters 0.01774012094913158 Centerline is valid? [True, True] Translation: X:224.70, Y:-80.90, Z:3.85 [[ 7.45690834e-01 6.66186216e-01 -1.18787540e-02 2.24702136e+02] [-6.66094253e-01 7.45785362e-01 1.10742839e-02 -8.09005901e+01] [ 1.62365361e-02 -3.45622241e-04 9.99868119e-01 3.85490774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.883617865 meters 0.018485287882605603 Centerline is valid? [True, True] Translation: X:224.74, Y:-80.95, Z:3.86 [[ 7.46856501e-01 6.64873320e-01 -1.21997968e-02 2.24743163e+02] [-6.64776052e-01 7.46956034e-01 1.13790972e-02 -8.09478921e+01] [ 1.66783700e-02 -3.88419938e-04 9.99860831e-01 3.85638147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.943617865 meters 0.018851421077917395 Centerline is valid? [True, True] Translation: X:224.79, Y:-80.99, Z:3.86 [[ 7.47552218e-01 6.64088020e-01 -1.23605298e-02 2.24785212e+02] [-6.63987972e-01 7.47654284e-01 1.15344960e-02 -8.09937057e+01] [ 1.69013236e-02 -4.15394924e-04 9.99857076e-01 3.85698649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.003617865 meters 0.01841694926974652 Centerline is valid? [True, True] Translation: X:224.83, Y:-81.04, Z:3.86 [[ 7.47322888e-01 6.64332085e-01 -1.30912624e-02 2.24830419e+02] [-6.64219784e-01 7.47437414e-01 1.22225316e-02 -8.10375557e+01] [ 1.79047193e-02 -4.38702141e-04 9.99839601e-01 3.85744609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.063617865 meters 0.017967435332527672 Centerline is valid? [True, True] Translation: X:224.87, Y:-81.08, Z:3.86 [[ 7.45625234e-01 6.66233037e-01 -1.32871991e-02 2.24873928e+02] [-6.66117533e-01 7.45743506e-01 1.24119015e-02 -8.10825582e+01] [ 1.81780613e-02 -4.03790699e-04 9.99834684e-01 3.85866951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.123617865 meters 0.017137309501736708 Centerline is valid? [True, True] Translation: X:224.92, Y:-81.13, Z:3.86 [[ 7.42505546e-01 6.69689719e-01 -1.41842941e-02 2.24917476e+02] [-6.69558656e-01 7.42640938e-01 1.32530704e-02 -8.11252366e+01] [ 1.94092825e-02 -3.43261382e-04 9.99811563e-01 3.86004888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18361786499997 meters 0.01658273694391466 Centerline is valid? [True, True] Translation: X:224.96, Y:-81.17, Z:3.86 [[ 7.40865171e-01 6.71489485e-01 -1.48549605e-02 2.24962125e+02] [-6.71346050e-01 7.41014017e-01 1.38819253e-02 -8.11680190e+01] [ 2.03293008e-02 -3.11815882e-04 9.99793290e-01 3.86149635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24361786499998 meters 0.01682021841901433 Centerline is valid? [True, True] Translation: X:225.00, Y:-81.21, Z:3.86 [[ 7.39374026e-01 6.73119005e-01 -1.53900800e-02 2.25003088e+02] [-6.72965253e-01 7.39534128e-01 1.43889465e-02 -8.12137384e+01] [ 2.10669627e-02 -2.81824237e-04 9.99778027e-01 3.86228885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30361786499998 meters 0.016289519961126445 Centerline is valid? [True, True] Translation: X:225.05, Y:-81.26, Z:3.86 [[ 7.38598938e-01 6.73950839e-01 -1.61825418e-02 2.25046698e+02] [-6.73780880e-01 7.38776143e-01 1.51372629e-02 -8.12594100e+01] [ 2.21570468e-02 -2.76879073e-04 9.99754464e-01 3.86488675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36361786499998 meters 0.016529664389893114 Centerline is valid? [True, True] Translation: X:225.09, Y:-81.31, Z:3.87 [[ 7.38585459e-01 6.73962121e-01 -1.63272341e-02 2.25087962e+02] [-6.73788919e-01 7.38765848e-01 1.52811877e-02 -8.13069044e+01] [ 2.23609446e-02 -2.85353643e-04 9.99749922e-01 3.86712410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42361786499998 meters 0.01670954413701073 Centerline is valid? [True, True] Translation: X:225.13, Y:-81.35, Z:3.87 [[ 7.38714436e-01 6.73809218e-01 -1.67963974e-02 2.25129189e+02] [-6.73625678e-01 7.38905301e-01 1.57290035e-02 -8.13535685e+01] [ 2.30092946e-02 -3.04757378e-04 9.99735205e-01 3.86837917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48361786499999 meters 0.01687098981765624 Centerline is valid? [True, True] Translation: X:225.17, Y:-81.40, Z:3.87 [[ 7.40053802e-01 6.72320692e-01 -1.74716270e-02 2.25170128e+02] [-6.72121476e-01 7.40259920e-01 1.63698398e-02 -8.14012454e+01] [ 2.39393273e-02 -3.71506434e-04 9.99713344e-01 3.87087409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.543617865 meters 0.017489122154455496 Centerline is valid? [True, True] Translation: X:225.21, Y:-81.45, Z:3.87 [[ 7.41204212e-01 6.71038942e-01 -1.79737288e-02 2.25210531e+02] [-6.70827530e-01 7.41421980e-01 1.68484840e-02 -8.14469528e+01] [ 2.46321065e-02 -4.30895225e-04 9.99696491e-01 3.87109015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.603617865 meters 0.01820880890673325 Centerline is valid? [True, True] Translation: X:225.25, Y:-81.50, Z:3.87 [[ 7.42849405e-01 6.69177714e-01 -1.93894125e-02 2.25249490e+02] [-6.68930815e-01 7.43102212e-01 1.81842370e-02 -8.14958577e+01] [ 2.65768014e-02 -5.37974115e-04 9.99646630e-01 3.87110971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.663617865 meters 0.018556683932672825 Centerline is valid? [True, True] Translation: X:225.29, Y:-81.54, Z:3.87 [[ 7.44352713e-01 6.67461216e-01 -2.08462230e-02 2.25288865e+02] [-6.67174950e-01 7.44644280e-01 1.95571620e-02 -8.15444620e+01] [ 2.85766679e-02 -6.49348777e-04 9.99591393e-01 3.87210893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.723617865 meters 0.019365589386008387 Centerline is valid? [True, True] Translation: X:225.33, Y:-81.59, Z:3.87 [[ 7.45521440e-01 6.66122144e-01 -2.18876937e-02 2.25328181e+02] [-6.65805791e-01 7.45842303e-01 2.05403857e-02 -8.15934396e+01] [ 3.00071736e-02 -7.40344756e-04 9.99549409e-01 3.87232154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.783617865 meters 0.019903379878799397 Centerline is valid? [True, True] Translation: X:225.37, Y:-81.64, Z:3.87 [[ 7.45738109e-01 6.65873066e-01 -2.20846800e-02 2.25369003e+02] [-6.65550584e-01 7.46064659e-01 2.07350891e-02 -8.16406134e+01] [ 3.02835366e-02 -7.64474492e-04 9.99541056e-01 3.87322023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.843617865 meters 0.019830600911315107 Centerline is valid? [True, True] Translation: X:225.41, Y:-81.69, Z:3.88 [[ 7.44090584e-01 6.67710790e-01 -2.21698922e-02 2.25407935e+02] [-6.67386341e-01 7.44420454e-01 2.08245015e-02 -8.16878168e+01] [ 3.04084655e-02 -6.99432261e-04 9.99537311e-01 3.87526853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90361786499997 meters 0.01874741317235695 Centerline is valid? [True, True] Translation: X:225.45, Y:-81.73, Z:3.88 [[ 7.41700365e-01 6.70381067e-01 -2.16747286e-02 2.25451829e+02] [-6.70071820e-01 7.42016768e-01 2.03684079e-02 -8.17318639e+01] [ 2.97376071e-02 -5.83630703e-04 9.99557569e-01 3.87786250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96361786499997 meters 0.017831596679706387 Centerline is valid? [True, True] Translation: X:225.49, Y:-81.78, Z:3.88 [[ 7.38022551e-01 6.74439134e-01 -2.13206335e-02 2.25494157e+02] [-6.74141420e-01 7.38330333e-01 2.00416108e-02 -8.17769879e+01] [ 2.92585170e-02 -4.18038639e-04 9.99571791e-01 3.88071423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02361786499998 meters 0.01730465066141046 Centerline is valid? [True, True] Translation: X:225.54, Y:-81.82, Z:3.88 [[ 7.34768174e-01 6.77994194e-01 -2.09667134e-02 2.25536318e+02] [-6.77707572e-01 7.35067206e-01 1.97142004e-02 -8.18225968e+01] [ 2.87780568e-02 -2.76066543e-04 9.99585788e-01 3.88328117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08361786499998 meters 0.01752333383881491 Centerline is valid? [True, True] Translation: X:225.58, Y:-81.87, Z:3.88 [[ 7.33723499e-01 6.79146910e-01 -2.02312111e-02 2.25576158e+02] [-6.78880249e-01 7.34002331e-01 1.90311921e-02 -8.18690452e+01] [ 2.77747314e-02 -2.29063214e-04 9.99614181e-01 3.88471600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14361786499998 meters 0.017603579055397625 Centerline is valid? [True, True] Translation: X:225.62, Y:-81.91, Z:3.89 [[ 7.33795039e-01 6.79083256e-01 -1.97679542e-02 2.25620155e+02] [-6.78828486e-01 7.34061222e-01 1.86013118e-02 -8.19136599e+01] [ 2.71427280e-02 -2.30499886e-04 9.99631542e-01 3.88621151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20361786499998 meters 0.01729268410853073 Centerline is valid? [True, True] Translation: X:225.67, Y:-81.96, Z:3.89 [[ 7.33132621e-01 6.79825964e-01 -1.87941107e-02 2.25665417e+02] [-6.79595798e-01 7.33373452e-01 1.76898553e-02 -8.19556332e+01] [ 2.58091248e-02 -1.96611263e-04 9.99666870e-01 3.88994580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.263617865 meters 0.017552472099579147 Centerline is valid? [True, True] Translation: X:225.71, Y:-82.00, Z:3.89 [[ 7.33962536e-01 6.78926549e-01 -1.89139446e-02 2.25707975e+02] [-6.78692916e-01 7.34206160e-01 1.78112530e-02 -8.20003870e+01] [ 2.59792671e-02 -2.36032235e-04 9.99662454e-01 3.89130255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.323617865 meters 0.01830223401151499 Centerline is valid? [True, True] Translation: X:225.75, Y:-82.05, Z:3.89 [[ 7.36444018e-01 6.76256788e-01 -1.80821555e-02 2.25749497e+02] [-6.76042254e-01 7.36665903e-01 1.70357649e-02 -8.20457304e+01] [ 2.48410590e-02 -3.21585989e-04 9.99691362e-01 3.89207538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.383617865 meters 0.01886364002900064 Centerline is valid? [True, True] Translation: X:225.79, Y:-82.09, Z:3.89 [[ 7.38902392e-01 6.73597643e-01 -1.70138404e-02 2.25794899e+02] [-6.73406843e-01 7.39098141e-01 1.60362760e-02 -8.20885028e+01] [ 2.33768956e-02 -3.92006164e-04 9.99726646e-01 3.89377523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.443617865 meters 0.01960008085716026 Centerline is valid? [True, True] Translation: X:225.84, Y:-82.13, Z:3.89 [[ 7.40472469e-01 6.71872018e-01 -1.69856668e-02 2.25838762e+02] [-6.71681223e-01 7.40667123e-01 1.60170898e-02 -8.21307374e+01] [ 2.33421594e-02 -4.51260634e-04 9.99727433e-01 3.89357134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.503617865 meters 0.020538901096913677 Centerline is valid? [True, True] Translation: X:225.88, Y:-82.17, Z:3.89 [[ 7.42961170e-01 6.69110443e-01 -1.73180281e-02 2.25882949e+02] [-6.68911223e-01 7.43162774e-01 1.63360371e-02 -8.21747330e+01] [ 2.38007268e-02 -5.52817824e-04 9.99716570e-01 3.89427860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.563617865 meters 0.020812926223135426 Centerline is valid? [True, True] Translation: X:225.93, Y:-82.22, Z:3.90 [[ 7.45264981e-01 6.66544761e-01 -1.72681447e-02 2.25928454e+02] [-6.66345946e-01 7.45464740e-01 1.62911666e-02 -8.22169541e+01] [ 2.37315848e-02 -6.34677773e-04 9.99718165e-01 3.89529911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.623617865 meters 0.021369223217669396 Centerline is valid? [True, True] Translation: X:225.97, Y:-82.26, Z:3.90 [[ 7.46738743e-01 6.64910959e-01 -1.65730437e-02 2.25973490e+02] [-6.64727368e-01 7.46922338e-01 1.56379925e-02 -8.22590229e+01] [ 2.27766491e-02 -6.60939104e-04 9.99740360e-01 3.89695489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68361786499997 meters 0.02180639862831112 Centerline is valid? [True, True] Translation: X:226.02, Y:-82.30, Z:3.90 [[ 7.48881422e-01 6.62524431e-01 -1.54270702e-02 2.26018836e+02] [-6.62364784e-01 7.49039991e-01 1.45596916e-02 -8.23016562e+01] [ 2.12016439e-02 -6.85134517e-04 9.99774985e-01 3.89944153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74361786499998 meters 0.02250384900814848 Centerline is valid? [True, True] Translation: X:226.06, Y:-82.34, Z:3.90 [[ 7.50272171e-01 6.60989947e-01 -1.35631564e-02 2.26064143e+02] [-6.60866258e-01 7.50394481e-01 1.28028038e-02 -8.23440338e+01] [ 1.86402423e-02 -6.42155000e-04 9.99826049e-01 3.90173246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80361786499998 meters 0.02279323807219258 Centerline is valid? [True, True] Translation: X:226.11, Y:-82.39, Z:3.90 [[ 7.50688420e-01 6.60540110e-01 -1.23958880e-02 2.26109745e+02] [-6.60436647e-01 7.50790518e-01 1.17061468e-02 -8.23866589e+01] [ 1.70390946e-02 -6.00970140e-04 9.99854643e-01 3.90324228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86361786499998 meters 0.023522788115163798 Centerline is valid? [True, True] Translation: X:226.15, Y:-82.43, Z:3.90 [[ 7.50238913e-01 6.61065555e-01 -1.15717620e-02 2.26154588e+02] [-6.60975376e-01 7.50327946e-01 1.09327757e-02 -8.24281895e+01] [ 1.59098978e-02 -5.53544058e-04 9.99873276e-01 3.90432552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92361786499998 meters 0.022506894222680398 Centerline is valid? [True, True] Translation: X:226.20, Y:-82.47, Z:3.90 [[ 7.49120711e-01 6.62336263e-01 -1.13505590e-02 2.26201132e+02] [-6.62249573e-01 7.49206517e-01 1.07284047e-02 -8.24688522e+01] [ 1.56097243e-02 -5.19967315e-04 9.99878026e-01 3.90499919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98361786499999 meters 0.023080493716651333 Centerline is valid? [True, True] Translation: X:226.25, Y:-82.51, Z:3.90 [[ 7.48008631e-01 6.63591367e-01 -1.13835914e-02 2.26246789e+02] [-6.63504235e-01 7.48095080e-01 1.07647996e-02 -8.25098472e+01] [ 1.56594368e-02 -4.99101901e-04 9.99877259e-01 3.90482818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.043617865 meters 0.02274151323294256 Centerline is valid? [True, True] Translation: X:226.29, Y:-82.55, Z:3.91 [[ 7.47426137e-01 6.64258106e-01 -1.07395882e-02 2.26293808e+02] [-6.64180587e-01 7.47503149e-01 1.01582167e-02 -8.25505842e+01] [ 1.47755538e-02 -4.59490700e-04 9.99890730e-01 3.90500529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.103617865 meters 0.02322586182844033 Centerline is valid? [True, True] Translation: X:226.34, Y:-82.59, Z:3.91 [[ 7.47246350e-01 6.64458563e-01 -1.08494448e-02 2.26339780e+02] [-6.64379401e-01 7.47324965e-01 1.02668999e-02 -8.25938261e+01] [ 1.49299905e-02 -4.63755820e-04 9.99888434e-01 3.90512775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.163617865 meters 0.024074946712398473 Centerline is valid? [True, True] Translation: X:226.38, Y:-82.64, Z:3.91 [[ 7.47902119e-01 6.63735379e-01 -9.88776061e-03 2.26384643e+02] [-6.63669504e-01 7.47967348e-01 9.36136321e-03 -8.26363611e+01] [ 1.36091900e-02 -4.39178198e-04 9.99907294e-01 3.90640217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.223617865 meters 0.024981540501422084 Centerline is valid? [True, True] Translation: X:226.43, Y:-82.68, Z:3.91 [[ 7.48575911e-01 6.62977569e-01 -9.73900217e-03 2.26429738e+02] [-6.62913543e-01 7.48639126e-01 9.22461913e-03 -8.26794294e+01] [ 1.34067136e-02 -4.49211240e-04 9.99910025e-01 3.90718679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.283617865 meters 0.024363422621658276 Centerline is valid? [True, True] Translation: X:226.48, Y:-82.72, Z:3.91 [[ 7.48686958e-01 6.62852933e-01 -9.68650360e-03 2.26475799e+02] [-6.62789531e-01 7.48749481e-01 9.17895614e-03 -8.27209029e+01] [ 1.33370625e-02 -4.52051564e-04 9.99910955e-01 3.90844542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.343617865 meters 0.02159624733984312 Centerline is valid? [True, True] Translation: X:226.53, Y:-82.76, Z:3.91 [[ 7.47372977e-01 6.64333699e-01 -9.71437345e-03 2.26525004e+02] [-6.64270000e-01 7.47435985e-01 9.20951745e-03 -8.27593110e+01] [ 1.33790651e-02 -4.29977624e-04 9.99910404e-01 3.90977547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40361786499997 meters 0.020667097058923355 Centerline is valid? [True, True] Translation: X:226.57, Y:-82.80, Z:3.91 [[ 7.44291503e-01 6.67779428e-01 -1.00396196e-02 2.26572292e+02] [-6.67711629e-01 7.44359112e-01 9.52326910e-03 -8.27986431e+01] [ 1.38325255e-02 -3.84517505e-04 9.99904252e-01 3.91061958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46361786499997 meters 0.020007084477397626 Centerline is valid? [True, True] Translation: X:226.62, Y:-82.84, Z:3.91 [[ 7.42042599e-01 6.70278920e-01 -9.94743722e-03 2.26618290e+02] [-6.70212575e-01 7.42109195e-01 9.43647950e-03 -8.28389762e+01] [ 1.37071579e-02 -3.35372263e-04 9.99905996e-01 3.91142940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52361786499998 meters 0.019223669342286177 Centerline is valid? [True, True] Translation: X:226.66, Y:-82.88, Z:3.91 [[ 7.39185058e-01 6.73421082e-01 -1.04640254e-02 2.26664689e+02] [-6.73347971e-01 7.39259062e-01 9.92722840e-03 -8.28799422e+01] [ 1.44208305e-02 -2.92128655e-04 9.99895972e-01 3.91263634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58361786499998 meters 0.019159031458352717 Centerline is valid? [True, True] Translation: X:226.71, Y:-82.92, Z:3.92 [[ 7.37529674e-01 6.75248091e-01 -9.48660641e-03 2.26709299e+02] [-6.75188149e-01 7.37590647e-01 9.00011782e-03 -8.29219260e+01] [ 1.30745445e-02 -2.32609752e-04 9.99914497e-01 3.91522632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64361786499998 meters 0.01922081259289399 Centerline is valid? [True, True] Translation: X:226.75, Y:-82.96, Z:3.92 [[ 7.36592090e-01 6.76281054e-01 -8.71952112e-03 2.26753612e+02] [-6.76230446e-01 7.36643670e-01 8.27568173e-03 -8.29639637e+01] [ 1.20198668e-02 -1.99396041e-04 9.99927739e-01 3.91723882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70361786499998 meters 0.019440172031589174 Centerline is valid? [True, True] Translation: X:226.80, Y:-83.01, Z:3.92 [[ 7.36785292e-01 6.76064330e-01 -9.18993416e-03 2.26798208e+02] [-6.76008049e-01 7.36842571e-01 8.72602215e-03 -8.30076929e+01] [ 1.26708870e-02 -2.16735321e-04 9.99919698e-01 3.91837060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.763617865 meters 0.01976318822848549 Centerline is valid? [True, True] Translation: X:226.84, Y:-83.05, Z:3.92 [[ 7.37922155e-01 6.74815333e-01 -9.75494457e-03 2.26842114e+02] [-6.74751737e-01 7.37986586e-01 9.26783363e-03 -8.30510875e+01] [ 1.34530945e-02 -2.56773974e-04 9.99909470e-01 3.91873648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.823617865 meters 0.020823301173182023 Centerline is valid? [True, True] Translation: X:226.89, Y:-83.10, Z:3.92 [[ 7.38832169e-01 6.73808747e-01 -1.04306702e-02 2.26885077e+02] [-6.73735863e-01 7.38905734e-01 9.91479971e-03 -8.30951844e+01] [ 1.43879608e-02 -2.97856412e-04 9.99896444e-01 3.91927994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.883617865 meters 0.02031279908134732 Centerline is valid? [True, True] Translation: X:226.93, Y:-83.14, Z:3.92 [[ 7.40665838e-01 6.71780260e-01 -1.11981470e-02 2.26931262e+02] [-6.71695949e-01 7.40750395e-01 1.06491518e-02 -8.31367477e+01] [ 1.54489218e-02 -3.65712964e-04 9.99880591e-01 3.91984087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.943617865 meters 0.021436877260873722 Centerline is valid? [True, True] Translation: X:226.98, Y:-83.18, Z:3.92 [[ 7.43144375e-01 6.69015000e-01 -1.24646899e-02 2.26975368e+02] [-6.68910045e-01 7.43248750e-01 1.18595011e-02 -8.31807945e+01] [ 1.71985493e-02 -4.75565226e-04 9.99851981e-01 3.92048949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.003617865 meters 0.022286388313077988 Centerline is valid? [True, True] Translation: X:227.02, Y:-83.22, Z:3.92 [[ 7.44326870e-01 6.67691379e-01 -1.28737470e-02 2.27020203e+02] [-6.67579187e-01 7.44438008e-01 1.22508091e-02 -8.32238867e+01] [ 1.77634661e-02 -5.24360821e-04 9.99842080e-01 3.92147117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.063617865 meters 0.022951120367738744 Centerline is valid? [True, True] Translation: X:227.07, Y:-83.27, Z:3.92 [[ 7.44707237e-01 6.67265840e-01 -1.29394677e-02 2.27065386e+02] [-6.67152332e-01 7.44819445e-01 1.23190711e-02 -8.32661326e+01] [ 1.78576624e-02 -5.41505357e-04 9.99840393e-01 3.92232121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.123617865 meters 0.023263246972082933 Centerline is valid? [True, True] Translation: X:227.11, Y:-83.31, Z:3.92 [[ 7.44415339e-01 6.67583635e-01 -1.33376160e-02 2.27111835e+02] [-6.67462974e-01 7.44534608e-01 1.27041844e-02 -8.33085548e+01] [ 1.84114223e-02 -5.54824880e-04 9.99830341e-01 3.92390088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18361786499997 meters 0.02122309550979316 Centerline is valid? [True, True] Translation: X:227.16, Y:-83.35, Z:3.93 [[ 7.42574855e-01 6.69628176e-01 -1.34421542e-02 2.27161185e+02] [-6.69505827e-01 7.42696333e-01 1.28103503e-02 -8.33470878e+01] [ 1.85616102e-02 -5.13043478e-04 9.99827587e-01 3.92586290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24361786499998 meters 0.02100526152637674 Centerline is valid? [True, True] Translation: X:227.21, Y:-83.39, Z:3.93 [[ 7.40071965e-01 6.72383383e-01 -1.39309978e-02 2.27207372e+02] [-6.72252352e-01 7.40202925e-01 1.32817302e-02 -8.33864946e+01] [ 1.92421800e-02 -4.64290082e-04 9.99814744e-01 3.92687128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30361786499998 meters 0.019996504980320778 Centerline is valid? [True, True] Translation: X:227.26, Y:-83.43, Z:3.93 [[ 7.38382869e-01 6.74236147e-01 -1.40127301e-02 2.27255437e+02] [-6.74103870e-01 7.38515702e-01 1.33614997e-02 -8.34260976e+01] [ 1.93574273e-02 -4.19866929e-04 9.99812539e-01 3.92789187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36361786499998 meters 0.01938960878804844 Centerline is valid? [True, True] Translation: X:227.30, Y:-83.47, Z:3.93 [[ 7.37222470e-01 6.75509094e-01 -1.38019719e-02 2.27303055e+02] [-6.75380873e-01 7.37351555e-01 1.31666367e-02 -8.34656224e+01] [ 1.90710883e-02 -3.85152577e-04 9.99818056e-01 3.92931897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42361786499998 meters 0.020389625772356028 Centerline is valid? [True, True] Translation: X:227.35, Y:-83.51, Z:3.93 [[ 7.37756342e-01 6.74922688e-01 -1.39622916e-02 2.27346733e+02] [-6.74791244e-01 7.37888337e-01 1.33258982e-02 -8.35081273e+01] [ 1.92965631e-02 -4.09633795e-04 9.99813720e-01 3.93042303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48361786499999 meters 0.02013124349468459 Centerline is valid? [True, True] Translation: X:227.39, Y:-83.55, Z:3.93 [[ 7.38993577e-01 6.73561611e-01 -1.42565190e-02 2.27393047e+02] [-6.73424194e-01 7.39130939e-01 1.36128544e-02 -8.35500930e+01] [ 1.97065304e-02 -4.59127158e-04 9.99805702e-01 3.93124303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.543617865 meters 0.021598636427867864 Centerline is valid? [True, True] Translation: X:227.44, Y:-83.59, Z:3.93 [[ 7.41416043e-01 6.70880946e-01 -1.48663311e-02 2.27436663e+02] [-6.70730840e-01 7.41564862e-01 1.42019441e-02 -8.35926926e+01] [ 2.05521624e-02 -5.58242456e-04 9.99788626e-01 3.93178990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.603617865 meters 0.021559529641090005 Centerline is valid? [True, True] Translation: X:227.48, Y:-83.63, Z:3.93 [[ 7.42944609e-01 6.69182688e-01 -1.50943132e-02 2.27482311e+02] [-6.69027460e-01 7.43097670e-01 1.44260709e-02 -8.36342091e+01] [ 2.08702259e-02 -6.19261597e-04 9.99782001e-01 3.93271045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.663617865 meters 0.022644245009867364 Centerline is valid? [True, True] Translation: X:227.53, Y:-83.68, Z:3.93 [[ 7.45257182e-01 6.66584916e-01 -1.60088294e-02 2.27526303e+02] [-6.66409586e-01 7.45428739e-01 1.53055087e-02 -8.36769755e+01] [ 2.21358627e-02 -7.38102887e-04 9.99754699e-01 3.93249087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.723617865 meters 0.024700997661750563 Centerline is valid? [True, True] Translation: X:227.57, Y:-83.72, Z:3.93 [[ 7.47330424e-01 6.64239544e-01 -1.68245392e-02 2.27568391e+02] [-6.64045265e-01 7.47519301e-01 1.60866588e-02 -8.37206875e+01] [ 2.32620627e-02 -8.49793943e-04 9.99729040e-01 3.93258924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.783617865 meters 0.02382153759218912 Centerline is valid? [True, True] Translation: X:227.61, Y:-83.76, Z:3.93 [[ 7.47913872e-01 6.63573015e-01 -1.71957493e-02 2.27614795e+02] [-6.63369803e-01 7.48110993e-01 1.64452628e-02 -8.37618817e+01] [ 2.37769617e-02 -8.92499348e-04 9.99716890e-01 3.93398305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.843617865 meters 0.024095026472169344 Centerline is valid? [True, True] Translation: X:227.66, Y:-83.80, Z:3.94 [[ 7.48103946e-01 6.63360657e-01 -1.71209222e-02 2.27659714e+02] [-6.63158972e-01 7.48299290e-01 1.63813984e-02 -8.38041149e+01] [ 2.36783491e-02 -9.01095570e-04 9.99719222e-01 3.93530134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90361786499997 meters 0.023335549174815538 Centerline is valid? [True, True] Translation: X:227.71, Y:-83.85, Z:3.94 [[ 7.47023131e-01 6.64591503e-01 -1.65703171e-02 2.27705795e+02] [-6.64402718e-01 7.47206417e-01 1.58618758e-02 -8.38459559e+01] [ 2.29231151e-02 -8.39824348e-04 9.99736878e-01 3.93697407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96361786499997 meters 0.021849764123023665 Centerline is valid? [True, True] Translation: X:227.75, Y:-83.89, Z:3.94 [[ 7.43892253e-01 6.68104574e-01 -1.61429114e-02 2.27753019e+02] [-6.67926107e-01 7.44067043e-01 1.54580594e-02 -8.38852441e+01] [ 2.23390085e-02 -7.16858662e-04 9.99750196e-01 3.93851935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02361786499998 meters 0.02130794031389706 Centerline is valid? [True, True] Translation: X:227.80, Y:-83.93, Z:3.94 [[ 7.41349885e-01 6.70940571e-01 -1.54627966e-02 2.27799002e+02] [-6.70777420e-01 7.41510879e-01 1.48077461e-02 -8.39262187e+01] [ 2.14009495e-02 -6.05626082e-04 9.99770790e-01 3.94001431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08361786499998 meters 0.0191629794313739 Centerline is valid? [True, True] Translation: X:227.85, Y:-83.96, Z:3.94 [[ 7.37072631e-01 6.75656473e-01 -1.45694026e-02 2.27847852e+02] [-6.75512521e-01 7.37216477e-01 1.39534593e-02 -8.39640165e+01] [ 2.01685488e-02 -4.42899060e-04 9.99796496e-01 3.94283356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14361786499998 meters 0.019506965981741658 Centerline is valid? [True, True] Translation: X:227.89, Y:-84.01, Z:3.94 [[ 7.34136574e-01 6.78851905e-01 -1.42682026e-02 2.27891119e+02] [-6.78714428e-01 7.34275132e-01 1.36658413e-02 -8.40056606e+01] [ 1.97538688e-02 -3.48558887e-04 9.99804813e-01 3.94322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20361786499998 meters 0.018259462541314213 Centerline is valid? [True, True] Translation: X:227.94, Y:-84.04, Z:3.94 [[ 7.30840128e-01 6.82403099e-01 -1.40967722e-02 2.27939156e+02] [-6.82269532e-01 7.30976024e-01 1.35032236e-02 -8.40448159e+01] [ 1.95190441e-02 -2.50899472e-04 9.99809454e-01 3.94405416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.263617865 meters 0.01791049916365769 Centerline is valid? [True, True] Translation: X:227.99, Y:-84.09, Z:3.95 [[ 7.29536865e-01 6.83794616e-01 -1.41734073e-02 2.27985161e+02] [-6.83659727e-01 7.29674499e-01 1.35831962e-02 -8.40871664e+01] [ 1.96300903e-02 -2.19654592e-04 9.99807287e-01 3.94527809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.323617865 meters 0.018247942306591807 Centerline is valid? [True, True] Translation: X:228.03, Y:-84.13, Z:3.95 [[ 7.30502715e-01 6.82785086e-01 -1.30502729e-02 2.28027807e+02] [-6.82670467e-01 7.30619239e-01 1.25124054e-02 -8.41306530e+01] [ 1.80780643e-02 -2.31310251e-04 9.99836552e-01 3.94717082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.383617865 meters 0.01870110509935333 Centerline is valid? [True, True] Translation: X:228.07, Y:-84.17, Z:3.95 [[ 7.32292157e-01 6.80873720e-01 -1.26164251e-02 2.28071127e+02] [-6.80766221e-01 7.32400780e-01 1.21016628e-02 -8.41748115e+01] [ 1.74799838e-02 -2.73116671e-04 9.99847176e-01 3.94859446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.443617865 meters 0.01958525534876034 Centerline is valid? [True, True] Translation: X:228.11, Y:-84.22, Z:3.95 [[ 7.35841856e-01 6.77038516e-01 -1.24744290e-02 2.28113848e+02] [-6.76932779e-01 7.35947495e-01 1.19707100e-02 -8.42196839e+01] [ 1.72851565e-02 -3.64199595e-04 9.99850534e-01 3.94914827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.503617865 meters 0.02059004923466355 Centerline is valid? [True, True] Translation: X:228.16, Y:-84.26, Z:3.95 [[ 7.38541322e-01 6.74089677e-01 -1.26420848e-02 2.28156959e+02] [-6.73980616e-01 7.38649384e-01 1.21332574e-02 -8.42647375e+01] [ 1.75169717e-02 -4.40391822e-04 9.99846469e-01 3.95003981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.563617865 meters 0.021741999666939866 Centerline is valid? [True, True] Translation: X:228.20, Y:-84.31, Z:3.95 [[ 7.41256242e-01 6.71085754e-01 -1.35312374e-02 2.28199859e+02] [-6.70960277e-01 7.41379532e-01 1.29883377e-02 -8.43090430e+01] [ 1.87480708e-02 -5.48763544e-04 9.99824089e-01 3.95034615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.623617865 meters 0.021785604053834492 Centerline is valid? [True, True] Translation: X:228.25, Y:-84.35, Z:3.95 [[ 7.41845361e-01 6.70422647e-01 -1.41044363e-02 2.28245191e+02] [-6.70286155e-01 7.41979195e-01 1.35404817e-02 -8.43511995e+01] [ 1.95430439e-02 -5.90935171e-04 9.99808842e-01 3.95156202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68361786499997 meters 0.02260581885210651 Centerline is valid? [True, True] Translation: X:228.29, Y:-84.39, Z:3.95 [[ 7.39790809e-01 6.72682494e-01 -1.44160311e-02 2.28288452e+02] [-6.72540222e-01 7.39931053e-01 1.38450993e-02 -8.43940386e+01] [ 1.99802250e-02 -5.47116436e-04 9.99800226e-01 3.95319666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74361786499998 meters 0.02000681567604918 Centerline is valid? [True, True] Translation: X:228.34, Y:-84.43, Z:3.96 [[ 7.37468333e-01 6.75235485e-01 -1.40534098e-02 2.28337601e+02] [-6.75100723e-01 7.37602076e-01 1.34978071e-02 -8.44321393e+01] [ 1.94800225e-02 -4.66738186e-04 9.99810137e-01 3.95587583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80361786499998 meters 0.019335594086716635 Centerline is valid? [True, True] Translation: X:228.38, Y:-84.47, Z:3.96 [[ 7.33481175e-01 6.79567620e-01 -1.39001822e-02 2.28383366e+02] [-6.79436532e-01 7.33612791e-01 1.33518321e-02 -8.44715464e+01] [ 1.92708242e-02 -3.49025912e-04 9.99814240e-01 3.95781894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86361786499998 meters 0.018413896229835268 Centerline is valid? [True, True] Translation: X:228.43, Y:-84.51, Z:3.96 [[ 7.30315614e-01 6.82975167e-01 -1.35655901e-02 2.28430722e+02] [-6.82850886e-01 7.30441549e-01 1.30311475e-02 -8.45124086e+01] [ 1.88088208e-02 -2.53575296e-04 9.99823066e-01 3.96020650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92361786499998 meters 0.01857425035612837 Centerline is valid? [True, True] Translation: X:228.47, Y:-84.56, Z:3.96 [[ 7.29417116e-01 6.83938827e-01 -1.33548613e-02 2.28474544e+02] [-6.83818495e-01 7.29539327e-01 1.28310675e-02 -8.45554388e+01] [ 1.85185618e-02 -2.26899147e-04 9.99828491e-01 3.96166990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98361786499999 meters 0.01829940421386472 Centerline is valid? [True, True] Translation: X:228.52, Y:-84.60, Z:3.96 [[ 7.27994929e-01 6.85455380e-01 -1.32024873e-02 2.28520324e+02] [-6.85337959e-01 7.28114611e-01 1.26883855e-02 -8.45977019e+01] [ 1.83102460e-02 -1.88914635e-04 9.99832336e-01 3.96399100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.043617865 meters 0.018306639519722483 Centerline is valid? [True, True] Translation: X:228.57, Y:-84.64, Z:3.97 [[ 7.27782646e-01 6.85684246e-01 -1.30205800e-02 2.28565456e+02] [-6.85569968e-01 7.27899087e-01 1.25195070e-02 -8.46415546e+01] [ 1.80620970e-02 -1.84961283e-04 9.99836850e-01 3.96623665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.103617865 meters 0.018627471721928204 Centerline is valid? [True, True] Translation: X:228.61, Y:-84.69, Z:3.97 [[ 7.28422281e-01 6.84996189e-01 -1.34611318e-02 2.28607443e+02] [-6.84873796e-01 7.28546619e-01 1.29501991e-02 -8.46854176e+01] [ 1.86778991e-02 -2.14037161e-04 9.99825530e-01 3.96692470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.163617865 meters 0.019025249601010555 Centerline is valid? [True, True] Translation: X:228.65, Y:-84.73, Z:3.97 [[ 7.30578676e-01 6.82682714e-01 -1.41106872e-02 2.28649217e+02] [-6.82547667e-01 7.30714875e-01 1.35813829e-02 -8.47311417e+01] [ 1.95826644e-02 -2.91052127e-04 9.99808199e-01 3.96717968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.223617865 meters 0.0200530998064768 Centerline is valid? [True, True] Translation: X:228.69, Y:-84.78, Z:3.97 [[ 7.32600468e-01 6.80497896e-01 -1.48043307e-02 2.28689659e+02] [-6.80348668e-01 7.32749941e-01 1.42553204e-02 -8.47769471e+01] [ 2.05485879e-02 -3.71347704e-04 9.99788787e-01 3.96635409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.283617865 meters 0.02128341701094429 Centerline is valid? [True, True] Translation: X:228.73, Y:-84.82, Z:3.97 [[ 7.35206140e-01 6.77663934e-01 -1.56052684e-02 2.28728704e+02] [-6.77497400e-01 7.35371583e-01 1.50302597e-02 -8.48245668e+01] [ 2.16611359e-02 -4.77810487e-04 9.99765256e-01 3.96687500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.343617865 meters 0.02304289551921956 Centerline is valid? [True, True] Translation: X:228.77, Y:-84.87, Z:3.97 [[ 7.37700132e-01 6.74958591e-01 -1.51464678e-02 2.28766709e+02] [-6.74801070e-01 7.37855410e-01 1.45914381e-02 -8.48728290e+01] [ 2.10245197e-02 -5.43253115e-04 9.99778813e-01 3.96883673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40361786499997 meters 0.020662460778552338 Centerline is valid? [True, True] Translation: X:228.81, Y:-84.91, Z:3.97 [[ 7.38492036e-01 6.74094453e-01 -1.50393302e-02 2.28813479e+02] [-6.73938890e-01 7.38644940e-01 1.44922346e-02 -8.49142481e+01] [ 2.08778601e-02 -5.66810370e-04 9.99781873e-01 3.97104918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46361786499997 meters 0.021072433576639 Centerline is valid? [True, True] Translation: X:228.86, Y:-84.96, Z:3.97 [[ 7.38791333e-01 6.73779680e-01 -1.44329003e-02 2.28855767e+02] [-6.73636220e-01 7.38932089e-01 1.39144288e-02 -8.49601301e+01] [ 2.00401925e-02 -5.57335020e-04 9.99799020e-01 3.97124528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52361786499998 meters 0.021272167000956722 Centerline is valid? [True, True] Translation: X:228.90, Y:-85.01, Z:3.97 [[ 7.38412127e-01 6.74208037e-01 -1.38221895e-02 2.28897598e+02] [-6.74076418e-01 7.38541295e-01 1.33318308e-02 -8.50064875e+01] [ 1.91966852e-02 -5.27173574e-04 9.99815588e-01 3.97271784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58361786499998 meters 0.02055246724653394 Centerline is valid? [True, True] Translation: X:228.94, Y:-85.05, Z:3.97 [[ 7.37126019e-01 6.75640535e-01 -1.24538663e-02 2.28941909e+02] [-6.75533802e-01 7.37231082e-01 1.20172339e-02 -8.50504076e+01] [ 1.73007077e-02 -4.45208139e-04 9.99850232e-01 3.97481085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64361786499998 meters 0.02014548371647257 Centerline is valid? [True, True] Translation: X:228.99, Y:-85.09, Z:3.98 [[ 7.35269502e-01 6.77658913e-01 -1.25362303e-02 2.28986310e+02] [-6.77550959e-01 7.35376253e-01 1.21022349e-02 -8.50947287e+01] [ 1.74200334e-02 -4.04469300e-04 9.99848178e-01 3.97653746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70361786499998 meters 0.019507685406197114 Centerline is valid? [True, True] Translation: X:229.03, Y:-85.14, Z:3.98 [[ 7.32341491e-01 6.80821916e-01 -1.25482361e-02 2.29028397e+02] [-6.80714184e-01 7.32448912e-01 1.21157463e-02 -8.51378347e+01] [ 1.74396075e-02 -3.31101400e-04 9.99847864e-01 3.97717774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.763617865 meters 0.018784247284511307 Centerline is valid? [True, True] Translation: X:229.07, Y:-85.18, Z:3.98 [[ 7.30314171e-01 6.82984525e-01 -1.31662484e-02 2.29073101e+02] [-6.82866256e-01 7.30432784e-01 1.27131285e-02 -8.51815931e+01] [ 1.82999295e-02 -2.93791174e-04 9.99832499e-01 3.97794236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.823617865 meters 0.018217658578833985 Centerline is valid? [True, True] Translation: X:229.12, Y:-85.23, Z:3.98 [[ 7.27816675e-01 6.85636134e-01 -1.36374421e-02 2.29117245e+02] [-6.85509655e-01 7.27944390e-01 1.31710845e-02 -8.52254535e+01] [ 1.89578709e-02 -2.37536710e-04 9.99820255e-01 3.97840785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.883617865 meters 0.01815285070700557 Centerline is valid? [True, True] Translation: X:229.16, Y:-85.27, Z:3.98 [[ 7.26199758e-01 6.87333358e-01 -1.43793998e-02 2.29158510e+02] [-6.87192944e-01 7.26342076e-01 1.38941143e-02 -8.52713319e+01] [ 1.99942513e-02 -2.08480378e-04 9.99800073e-01 3.97958807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.943617865 meters 0.018320684935950775 Centerline is valid? [True, True] Translation: X:229.20, Y:-85.32, Z:3.98 [[ 7.26565131e-01 6.86934645e-01 -1.49634394e-02 2.29199045e+02] [-6.86782411e-01 7.26719162e-01 1.44630711e-02 -8.53176377e+01] [ 2.08094027e-02 -2.31736127e-04 9.99783434e-01 3.98041511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.003617865 meters 0.018386370665446593 Centerline is valid? [True, True] Translation: X:229.24, Y:-85.36, Z:3.98 [[ 7.27385397e-01 6.86059328e-01 -1.52670284e-02 2.29241326e+02] [-6.85900519e-01 7.27545550e-01 1.47631574e-02 -8.53636942e+01] [ 2.12358604e-02 -2.66842427e-04 9.99774458e-01 3.98160781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.063617865 meters 0.018907636727987478 Centerline is valid? [True, True] Translation: X:229.28, Y:-85.41, Z:3.98 [[ 7.29728546e-01 6.83556427e-01 -1.57117718e-02 2.29281569e+02] [-6.83387487e-01 7.29897585e-01 1.52005917e-02 -8.54113672e+01] [ 2.18584465e-02 -3.55077403e-04 9.99761013e-01 3.98400422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.123617865 meters 0.020225661926977244 Centerline is valid? [True, True] Translation: X:229.32, Y:-85.46, Z:3.99 [[ 7.32380136e-01 6.80707148e-01 -1.60347991e-02 2.29319394e+02] [-6.80530339e-01 7.32555508e-01 1.55204891e-02 -8.54602461e+01] [ 2.23112883e-02 -4.54730662e-04 9.99750969e-01 3.98534040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18361786499997 meters 0.01997032318579775 Centerline is valid? [True, True] Translation: X:229.36, Y:-85.51, Z:3.99 [[ 7.33510756e-01 6.79479529e-01 -1.64176569e-02 2.29362021e+02] [-6.79293701e-01 7.33694289e-01 1.58983383e-02 -8.55050102e+01] [ 2.28481365e-02 -5.09191219e-04 9.99738818e-01 3.98665333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24361786499998 meters 0.020403028861126018 Centerline is valid? [True, True] Translation: X:229.40, Y:-85.55, Z:3.99 [[ 7.33903118e-01 6.79019060e-01 -1.78697762e-02 2.29403571e+02] [-6.78798549e-01 7.34120415e-01 1.73131915e-02 -8.55517407e+01] [ 2.48745546e-02 -5.76227082e-04 9.99690414e-01 3.98725966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30361786499998 meters 0.020839327345613112 Centerline is valid? [True, True] Translation: X:229.44, Y:-85.60, Z:3.99 [[ 7.32772774e-01 6.80241210e-01 -1.77752228e-02 2.29444553e+02] [-6.80023191e-01 7.32988136e-01 1.72294173e-02 -8.55973690e+01] [ 2.47491871e-02 -5.37684222e-04 9.99693547e-01 3.98880874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36361786499998 meters 0.020007189570949217 Centerline is valid? [True, True] Translation: X:229.49, Y:-85.64, Z:3.99 [[ 7.30164539e-01 6.83053910e-01 -1.72366423e-02 2.29490764e+02] [-6.82849565e-01 7.30367831e-01 1.67123649e-02 -8.56375469e+01] [ 2.40045353e-02 -4.32742516e-04 9.99711756e-01 3.99047672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42361786499998 meters 0.01878498733888947 Centerline is valid? [True, True] Translation: X:229.54, Y:-85.68, Z:3.99 [[ 7.26465724e-01 6.86987865e-01 -1.71821487e-02 2.29536889e+02] [-6.86785878e-01 7.26668826e-01 1.66606180e-02 -8.56776770e+01] [ 2.39313742e-02 -3.02910816e-04 9.99713558e-01 3.99219060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48361786499999 meters 0.01863660316517713 Centerline is valid? [True, True] Translation: X:229.58, Y:-85.72, Z:3.99 [[ 7.24924278e-01 6.88618345e-01 -1.70166116e-02 2.29580162e+02] [-6.88420608e-01 7.25123929e-01 1.65031286e-02 -8.57203470e+01] [ 2.37035094e-02 -2.48932490e-04 9.99719001e-01 3.99287956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.543617865 meters 0.018120216478006608 Centerline is valid? [True, True] Translation: X:229.63, Y:-85.76, Z:3.99 [[ 7.23380309e-01 6.90267640e-01 -1.58591986e-02 2.29627849e+02] [-6.90096145e-01 7.23554111e-01 1.53869912e-02 -8.57609194e+01] [ 2.20961305e-02 -1.86274589e-04 9.99755833e-01 3.99452396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.603617865 meters 0.017759331664703573 Centerline is valid? [True, True] Translation: X:229.67, Y:-85.80, Z:4.00 [[ 7.22211031e-01 6.91502510e-01 -1.53462044e-02 2.29674776e+02] [-6.91342090e-01 7.22374042e-01 1.48948784e-02 -8.58024547e+01] [ 2.13855455e-02 -1.47768502e-04 9.99771292e-01 3.99665179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.663617865 meters 0.017852625955863576 Centerline is valid? [True, True] Translation: X:229.72, Y:-85.85, Z:4.00 [[ 7.21745059e-01 6.91994712e-01 -1.50793837e-02 2.29718091e+02] [-6.91839864e-01 7.21902556e-01 1.46390707e-02 -8.58472628e+01] [ 2.10160051e-02 -1.33158201e-04 9.99779131e-01 3.99650244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.723617865 meters 0.01803179595750064 Centerline is valid? [True, True] Translation: X:229.76, Y:-85.89, Z:4.00 [[ 7.22488522e-01 6.91210303e-01 -1.54484026e-02 2.29761209e+02] [-6.91047479e-01 7.22653645e-01 1.50030709e-02 -8.58914945e+01] [ 2.15341217e-02 -1.63966875e-04 9.99768100e-01 3.99734668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.783617865 meters 0.018252790027774482 Centerline is valid? [True, True] Translation: X:229.80, Y:-85.94, Z:4.00 [[ 7.24957034e-01 6.88641868e-01 -1.44801774e-02 2.29804744e+02] [-6.88498178e-01 7.25101596e-01 1.40689244e-02 -8.59356476e+01] [ 2.01880501e-02 -2.29789970e-04 9.99796174e-01 3.99807119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.843617865 meters 0.01897792568530022 Centerline is valid? [True, True] Translation: X:229.85, Y:-85.98, Z:4.00 [[ 7.27485608e-01 6.85980258e-01 -1.39919733e-02 2.29846033e+02] [-6.85845480e-01 7.27620091e-01 1.36007818e-02 -8.59810857e+01] [ 1.95107086e-02 -2.98041380e-04 9.99809604e-01 3.99901949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90361786499997 meters 0.01970662262551516 Centerline is valid? [True, True] Translation: X:229.89, Y:-86.03, Z:4.00 [[ 7.30793607e-01 6.82471904e-01 -1.31455293e-02 2.29888067e+02] [-6.82352283e-01 7.30911734e-01 1.27827623e-02 -8.60273162e+01] [ 1.83320977e-02 -3.71679058e-04 9.99831884e-01 4.00035924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96361786499997 meters 0.02074331471255518 Centerline is valid? [True, True] Translation: X:229.93, Y:-86.07, Z:4.00 [[ 7.34441640e-01 6.78561683e-01 -1.22278362e-02 2.29930559e+02] [-6.78457613e-01 7.34543294e-01 1.18918466e-02 -8.60716646e+01] [ 1.70512265e-02 -4.37798778e-04 9.99854521e-01 4.00205244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02361786499998 meters 0.021462223762865447 Centerline is valid? [True, True] Translation: X:229.97, Y:-86.12, Z:4.00 [[ 7.35282383e-01 6.77648544e-01 -1.23396944e-02 2.29974861e+02] [-6.77542411e-01 7.35385773e-01 1.20019197e-02 -8.61153264e+01] [ 1.72075191e-02 -4.64133841e-04 9.99851832e-01 4.00113339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08361786499998 meters 0.021880127869304693 Centerline is valid? [True, True] Translation: X:230.02, Y:-86.16, Z:4.00 [[ 7.35538596e-01 6.77357763e-01 -1.30167111e-02 2.30019175e+02] [-6.77239506e-01 7.35653593e-01 1.26666025e-02 -8.61593300e+01] [ 1.81556118e-02 -5.01344024e-04 9.99835048e-01 4.00128323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14361786499998 meters 0.020812541517292994 Centerline is valid? [True, True] Translation: X:230.07, Y:-86.20, Z:4.00 [[ 7.35155380e-01 6.77769753e-01 -1.32184857e-02 2.30067311e+02] [-6.77647753e-01 7.35274036e-01 1.28691449e-02 -8.62002761e+01] [ 1.84415265e-02 -5.03343994e-04 9.99829814e-01 4.00170172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20361786499998 meters 0.02258753189223513 Centerline is valid? [True, True] Translation: X:230.11, Y:-86.24, Z:4.00 [[ 7.33321490e-01 6.79756090e-01 -1.30862530e-02 2.30111732e+02] [-6.79636708e-01 7.33438103e-01 1.27472806e-02 -8.62428488e+01] [ 1.82629982e-02 -4.53956889e-04 9.99833114e-01 4.00163061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.263617865 meters 0.020307271110444985 Centerline is valid? [True, True] Translation: X:230.16, Y:-86.28, Z:4.00 [[ 7.31980014e-01 6.81219081e-01 -1.20757431e-02 2.30160832e+02] [-6.81117539e-01 7.32079512e-01 1.17680066e-02 -8.62821996e+01] [ 1.68569948e-02 -3.88945222e-04 9.99857835e-01 4.00439856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.323617865 meters 0.021107121900464793 Centerline is valid? [True, True] Translation: X:230.21, Y:-86.32, Z:4.01 [[ 7.30567597e-01 6.82750672e-01 -1.10682829e-02 2.30205136e+02] [-6.82665503e-01 7.30651363e-01 1.07887188e-02 -8.63245579e+01] [ 1.54530609e-02 -3.25953448e-04 9.99880541e-01 4.00599493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.383617865 meters 0.020382132020711322 Centerline is valid? [True, True] Translation: X:230.25, Y:-86.36, Z:4.01 [[ 7.30008406e-01 6.83362154e-01 -1.01928272e-02 2.30253156e+02] [-6.83289930e-01 7.30079504e-01 9.93931099e-03 -8.63645383e+01] [ 1.42337232e-02 -2.91124409e-04 9.99898653e-01 4.00677263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.443617865 meters 0.020468071796037334 Centerline is valid? [True, True] Translation: X:230.30, Y:-86.41, Z:4.01 [[ 7.29495174e-01 6.83919019e-01 -9.56902950e-03 2.30298654e+02] [-6.83855360e-01 7.29557883e-01 9.33502302e-03 -8.64073633e+01] [ 1.33655607e-02 -2.66022131e-04 9.99910642e-01 4.00863933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.503617865 meters 0.02057469053798714 Centerline is valid? [True, True] Translation: X:230.34, Y:-86.45, Z:4.01 [[ 7.29155454e-01 6.84288106e-01 -9.06159966e-03 2.30343977e+02] [-6.84231002e-01 7.29211716e-01 8.84362964e-03 -8.64506793e+01] [ 1.26594152e-02 -2.48153370e-04 9.99919836e-01 4.00977459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.563617865 meters 0.02038018925597969 Centerline is valid? [True, True] Translation: X:230.39, Y:-86.49, Z:4.01 [[ 7.29955739e-01 6.83433838e-01 -9.09988378e-03 2.30390331e+02] [-6.83376124e-01 7.30012409e-01 8.88573424e-03 -8.64918889e+01] [ 1.27158395e-02 -2.67549392e-04 9.99919115e-01 4.00934588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.623617865 meters 0.02022661734827613 Centerline is valid? [True, True] Translation: X:230.44, Y:-86.53, Z:4.01 [[ 7.30896101e-01 6.82427905e-01 -9.11291282e-03 2.30435190e+02] [-6.82369894e-01 7.30952852e-01 8.90257576e-03 -8.65342618e+01] [ 1.27364757e-02 -2.88480548e-04 9.99918846e-01 4.00987608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68361786499997 meters 0.020473940721893905 Centerline is valid? [True, True] Translation: X:230.48, Y:-86.58, Z:4.01 [[ 7.31401724e-01 6.81885157e-01 -9.17337333e-03 2.30479179e+02] [-6.81826276e-01 7.31459186e-01 8.96595123e-03 -8.65776971e+01] [ 1.28236972e-02 -3.03065211e-04 9.99917727e-01 4.01085666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74361786499998 meters 0.020857022338880662 Centerline is valid? [True, True] Translation: X:230.52, Y:-86.62, Z:4.01 [[ 7.31791023e-01 6.81474470e-01 -8.62822255e-03 2.30523177e+02] [-6.81422305e-01 7.31841827e-01 8.43693659e-03 -8.66208260e+01] [ 1.20640510e-02 -2.94611154e-04 9.99927183e-01 4.01123139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80361786499998 meters 0.02129139556576185 Centerline is valid? [True, True] Translation: X:230.57, Y:-86.67, Z:4.01 [[ 7.31592073e-01 6.81687562e-01 -8.66640353e-03 2.30566394e+02] [-6.81634906e-01 7.31643343e-01 8.47785491e-03 -8.66655081e+01] [ 1.21199647e-02 -2.95008299e-04 9.99926507e-01 4.01188979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86361786499998 meters 0.02124197445155411 Centerline is valid? [True, True] Translation: X:230.61, Y:-86.71, Z:4.01 [[ 7.30938754e-01 6.82386034e-01 -8.82263582e-03 2.30610875e+02] [-6.82331457e-01 7.30991940e-01 8.63519998e-03 -8.67090144e+01] [ 1.23418155e-02 -2.91840366e-04 9.99923794e-01 4.01249356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92361786499998 meters 0.020244767642973626 Centerline is valid? [True, True] Translation: X:230.66, Y:-86.75, Z:4.01 [[ 7.30459677e-01 6.82893221e-01 -9.24715507e-03 2.30656828e+02] [-6.82833250e-01 7.30518144e-01 9.05504774e-03 -8.67507473e+01] [ 1.29388453e-02 -3.00082300e-04 9.99916245e-01 4.01184981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98361786499999 meters 0.020577646790329297 Centerline is valid? [True, True] Translation: X:230.70, Y:-86.79, Z:4.01 [[ 7.30710731e-01 6.82623238e-01 -9.34575351e-03 2.30699085e+02] [-6.82561900e-01 7.30770428e-01 9.15614123e-03 -8.67946937e+01] [ 1.30797951e-02 -3.11435379e-04 9.99914407e-01 4.01218165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.043617865 meters 0.020494589646993217 Centerline is valid? [True, True] Translation: X:230.74, Y:-86.84, Z:4.01 [[ 7.31767461e-01 6.81496541e-01 -8.87963704e-03 2.30742514e+02] [-6.81441042e-01 7.31821265e-01 8.70296307e-03 -8.68392349e+01] [ 1.24293464e-02 -3.17596070e-04 9.99922702e-01 4.01330276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.103617865 meters 0.02103300986397909 Centerline is valid? [True, True] Translation: X:230.79, Y:-86.88, Z:4.01 [[ 7.32447655e-01 6.80769804e-01 -8.53852590e-03 2.30786034e+02] [-6.80718393e-01 7.32497352e-01 8.37248868e-03 -8.68841140e+01] [ 1.19541851e-02 -3.20078075e-04 9.99928495e-01 4.01491745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.163617865 meters 0.021310434167402866 Centerline is valid? [True, True] Translation: X:230.83, Y:-86.93, Z:4.02 [[ 7.33136033e-01 6.80028352e-01 -8.54379604e-03 2.30828966e+02] [-6.79976779e-01 7.33185739e-01 8.38166413e-03 -8.69286759e+01] [ 1.19639587e-02 -3.35317081e-04 9.99928373e-01 4.01545316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.223617865 meters 0.02302545049937046 Centerline is valid? [True, True] Translation: X:230.87, Y:-86.98, Z:4.02 [[ 7.33323847e-01 6.79825140e-01 -8.59735142e-03 2.30869094e+02] [-6.79772854e-01 7.33374162e-01 8.43837053e-03 -8.69752020e+01] [ 1.20416918e-02 -3.43812233e-04 9.99927437e-01 4.01677163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.283617865 meters 0.021967058170184323 Centerline is valid? [True, True] Translation: X:230.91, Y:-87.02, Z:4.02 [[ 7.32374619e-01 6.80840727e-01 -9.12809775e-03 2.30914310e+02] [-6.80781811e-01 7.32431418e-01 8.96345702e-03 -8.70179644e+01] [ 1.27883922e-02 -3.50365500e-04 9.99918164e-01 4.01678245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.343617865 meters 0.02148139871051656 Centerline is valid? [True, True] Translation: X:230.96, Y:-87.06, Z:4.02 [[ 7.30505564e-01 6.82840841e-01 -9.48722560e-03 2.30959291e+02] [-6.82777306e-01 7.30567092e-01 9.32061337e-03 -8.70607512e+01] [ 1.32955503e-02 -3.31097591e-04 9.99911555e-01 4.01656507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40361786499997 meters 0.021334937728859454 Centerline is valid? [True, True] Translation: X:231.00, Y:-87.10, Z:4.02 [[ 7.29332013e-01 6.84087671e-01 -9.94347777e-03 2.31003228e+02] [-6.84017928e-01 7.29399720e-01 9.77356313e-03 -8.71041980e+01] [ 1.39387439e-02 -3.26655408e-04 9.99902798e-01 4.01705028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46361786499997 meters 0.020937403499277342 Centerline is valid? [True, True] Translation: X:231.05, Y:-87.15, Z:4.02 [[ 7.28969397e-01 6.84476929e-01 -9.74432823e-03 2.31048509e+02] [-6.84409930e-01 7.29034453e-01 9.58191364e-03 -8.71478664e+01] [ 1.36625498e-02 -3.15806809e-04 9.99906613e-01 4.01812948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52361786499998 meters 0.02198444111734326 Centerline is valid? [True, True] Translation: X:231.09, Y:-87.19, Z:4.02 [[ 7.29009184e-01 6.84441339e-01 -9.25540742e-03 2.31091311e+02] [-6.84380834e-01 7.29067871e-01 9.10567712e-03 -8.71926298e+01] [ 1.29801220e-02 -3.03898796e-04 9.99915708e-01 4.01967975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58361786499998 meters 0.020871749806942244 Centerline is valid? [True, True] Translation: X:231.14, Y:-87.23, Z:4.02 [[ 7.29368792e-01 6.84063374e-01 -8.85810422e-03 2.31137003e+02] [-6.84007874e-01 7.29422519e-01 8.71883189e-03 -8.72346435e+01] [ 1.24255342e-02 -3.00230852e-04 9.99922755e-01 4.02037644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64361786499998 meters 0.021458725060390985 Centerline is valid? [True, True] Translation: X:231.18, Y:-87.28, Z:4.02 [[ 7.30042953e-01 6.83335883e-01 -9.45293944e-03 2.31180515e+02] [-6.83272556e-01 7.30104073e-01 9.30893050e-03 -8.72789484e+01] [ 1.32627558e-02 -3.36985015e-04 9.99911989e-01 4.02057339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70361786499998 meters 0.020495229396009628 Centerline is valid? [True, True] Translation: X:231.23, Y:-87.32, Z:4.02 [[ 7.30955459e-01 6.82364332e-01 -9.11233687e-03 2.31226457e+02] [-6.82305357e-01 7.31012174e-01 8.97782298e-03 -8.73201682e+01] [ 1.27873754e-02 -3.44992455e-04 9.99918179e-01 4.02056338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.763617865 meters 0.020722015650293763 Centerline is valid? [True, True] Translation: X:231.27, Y:-87.36, Z:4.02 [[ 7.31157530e-01 6.82147369e-01 -9.14509349e-03 2.31269982e+02] [-6.82087929e-01 7.31214635e-01 9.01191695e-03 -8.73638999e+01] [ 1.28344816e-02 -3.51373056e-04 9.99917573e-01 4.02142915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.823617865 meters 0.020773704639788605 Centerline is valid? [True, True] Translation: X:231.31, Y:-87.41, Z:4.02 [[ 7.32539040e-01 6.80656367e-01 -9.66778368e-03 2.31313721e+02] [-6.80589742e-01 7.32602722e-01 9.53180065e-03 -8.74084302e+01] [ 1.35705254e-02 -4.02621697e-04 9.99907835e-01 4.02163970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.883617865 meters 0.021315017428775538 Centerline is valid? [True, True] Translation: X:231.36, Y:-87.45, Z:4.02 [[ 7.33865951e-01 6.79220195e-01 -1.00345539e-02 2.31357392e+02] [-6.79148215e-01 7.33934414e-01 9.89838905e-03 -8.74522630e+01] [ 1.40878902e-02 -4.49141310e-04 9.99900660e-01 4.02200299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.943617865 meters 0.021478072796888893 Centerline is valid? [True, True] Translation: X:231.40, Y:-87.50, Z:4.02 [[ 7.35063938e-01 6.77934066e-01 -9.29568607e-03 2.31402123e+02] [-6.77872140e-01 7.35122580e-01 9.17354549e-03 -8.74952063e+01] [ 1.30525277e-02 -4.41855856e-04 9.99914715e-01 4.02379657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.003617865 meters 0.022795897254182112 Centerline is valid? [True, True] Translation: X:231.44, Y:-87.54, Z:4.03 [[ 7.35404787e-01 6.77565279e-01 -9.22451317e-03 2.31443790e+02] [-6.77504212e-01 7.35462502e-01 9.10774776e-03 -8.75395368e+01] [ 1.29553772e-02 -4.48234780e-04 9.99915975e-01 4.02513933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.063617865 meters 0.022500735737406716 Centerline is valid? [True, True] Translation: X:231.49, Y:-87.58, Z:4.03 [[ 7.35112501e-01 6.77873644e-01 -9.84546024e-03 2.31489914e+02] [-6.77804044e-01 7.35178275e-01 9.72531861e-03 -8.75825569e+01] [ 1.38307056e-02 -4.75910518e-04 9.99904238e-01 4.02504623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.123617865 meters 0.021702438141465497 Centerline is valid? [True, True] Translation: X:231.54, Y:-87.62, Z:4.02 [[ 7.34704694e-01 6.78302348e-01 -1.07209054e-02 2.31537415e+02] [-6.78219770e-01 7.34782730e-01 1.05963399e-02 -8.76230423e+01] [ 1.50650584e-02 -5.14050654e-04 9.99886383e-01 4.02413759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18361786499997 meters 0.020966454074462373 Centerline is valid? [True, True] Translation: X:231.58, Y:-87.67, Z:4.02 [[ 7.34247353e-01 6.78787071e-01 -1.13549894e-02 2.31583624e+02] [-6.78694403e-01 7.34334952e-01 1.12287388e-02 -8.76652770e+01] [ 1.59602883e-02 -5.38103997e-04 9.99872482e-01 4.02484193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24361786499998 meters 0.021530210375514686 Centerline is valid? [True, True] Translation: X:231.63, Y:-87.71, Z:4.03 [[ 7.33557972e-01 6.79529046e-01 -1.15315739e-02 2.31627976e+02] [-6.79433474e-01 7.33648410e-01 1.14089630e-02 -8.77078112e+01] [ 1.62128426e-02 -5.34198413e-04 9.99868421e-01 4.02610772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30361786499998 meters 0.022447727813088816 Centerline is valid? [True, True] Translation: X:231.67, Y:-87.75, Z:4.03 [[ 7.33259893e-01 6.79840377e-01 -1.21239805e-02 2.31672114e+02] [-6.79734679e-01 7.33359904e-01 1.20006867e-02 -8.77514032e+01] [ 1.70497926e-02 -5.58532280e-04 9.99854486e-01 4.02625158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36361786499998 meters 0.02260886264739887 Centerline is valid? [True, True] Translation: X:231.72, Y:-87.80, Z:4.03 [[ 7.32917930e-01 6.80207505e-01 -1.22089539e-02 2.31716879e+02] [-6.80100265e-01 7.33019399e-01 1.20909278e-02 -8.77956981e+01] [ 1.71737399e-02 -5.58345028e-04 9.99852365e-01 4.02753687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42361786499998 meters 0.023156410186675542 Centerline is valid? [True, True] Translation: X:231.76, Y:-87.84, Z:4.03 [[ 7.32773331e-01 6.80370196e-01 -1.18170261e-02 2.31762314e+02] [-6.80269654e-01 7.32868408e-01 1.17087410e-02 -8.78394600e+01] [ 1.66266035e-02 -5.41088878e-04 9.99861622e-01 4.02914462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48361786499999 meters 0.024138138897865202 Centerline is valid? [True, True] Translation: X:231.81, Y:-87.88, Z:4.03 [[ 7.33408012e-01 6.79677038e-01 -1.23211778e-02 2.31805902e+02] [-6.79567523e-01 7.33511268e-01 1.22147696e-02 -8.78836904e+01] [ 1.73398212e-02 -5.85337623e-04 9.99849483e-01 4.02967352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.543617865 meters 0.025740591371163194 Centerline is valid? [True, True] Translation: X:231.85, Y:-87.93, Z:4.03 [[ 7.35052608e-01 6.77891695e-01 -1.26693580e-02 2.31848955e+02] [-6.77775536e-01 7.35161498e-01 1.25656328e-02 -8.79280721e+01] [ 1.78321623e-02 -6.49420291e-04 9.99840783e-01 4.03064708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.603617865 meters 0.022129363650758717 Centerline is valid? [True, True] Translation: X:231.90, Y:-87.97, Z:4.03 [[ 7.35526386e-01 6.77369512e-01 -1.30950500e-02 2.31898272e+02] [-6.77245229e-01 7.35642624e-01 1.29934270e-02 -8.79662038e+01] [ 1.84346282e-02 -6.88448286e-04 9.99829831e-01 4.03206803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.663617865 meters 0.023156397313116066 Centerline is valid? [True, True] Translation: X:231.94, Y:-88.01, Z:4.03 [[ 7.35704775e-01 6.77184549e-01 -1.26321320e-02 2.31942917e+02] [-6.77068768e-01 7.35812907e-01 1.25398737e-02 -8.80084702e+01] [ 1.77866945e-02 -6.72822946e-04 9.99841578e-01 4.03289268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.723617865 meters 0.02186144793617602 Centerline is valid? [True, True] Translation: X:231.99, Y:-88.05, Z:4.03 [[ 7.35579168e-01 6.77322894e-01 -1.25293607e-02 2.31989977e+02] [-6.77208912e-01 7.35685565e-01 1.24434135e-02 -8.80498942e+01] [ 1.76458787e-02 -6.68121049e-04 9.99844076e-01 4.03420571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.783617865 meters 0.02367026859696894 Centerline is valid? [True, True] Translation: X:232.03, Y:-88.09, Z:4.03 [[ 7.35214377e-01 6.77712046e-01 -1.28919531e-02 2.32033134e+02] [-6.77591302e-01 7.35327081e-01 1.28106066e-02 -8.80937212e+01] [ 1.81617047e-02 -6.83066900e-04 9.99834829e-01 4.03483129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.843617865 meters 0.022389701480212278 Centerline is valid? [True, True] Translation: X:232.08, Y:-88.13, Z:4.04 [[ 7.33527742e-01 6.79522341e-01 -1.36542772e-02 2.32080400e+02] [-6.79387102e-01 7.33654500e-01 1.35735321e-02 -8.81328198e+01] [ 1.92410403e-02 -6.80022546e-04 9.99814643e-01 4.03526160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90361786499997 meters 0.020412728983924527 Centerline is valid? [True, True] Translation: X:232.13, Y:-88.17, Z:4.04 [[ 7.30258761e-01 6.83040437e-01 -1.33380512e-02 2.32128708e+02] [-6.82911956e-01 7.30380333e-01 1.32600699e-02 -8.81708992e+01] [ 1.87990142e-02 -5.74567627e-04 9.99823118e-01 4.03595213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96361786499997 meters 0.019628587983850254 Centerline is valid? [True, True] Translation: X:232.18, Y:-88.21, Z:4.04 [[ 7.27613359e-01 6.85865208e-01 -1.29504944e-02 2.32175033e+02] [-6.85744512e-01 7.27728437e-01 1.28757908e-02 -8.82117351e+01] [ 1.82555001e-02 -4.87866935e-04 9.99833235e-01 4.03723890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02361786499998 meters 0.01824889735261976 Centerline is valid? [True, True] Translation: X:232.22, Y:-88.25, Z:4.04 [[ 7.24458028e-01 6.89210223e-01 -1.22406770e-02 2.32222350e+02] [-6.89102850e-01 7.24561331e-01 1.21712849e-02 -8.82517556e+01] [ 1.72576952e-02 -3.82499668e-04 9.99851002e-01 4.03868499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08361786499998 meters 0.018239485841889672 Centerline is valid? [True, True] Translation: X:232.27, Y:-88.29, Z:4.04 [[ 7.23137846e-01 6.90601293e-01 -1.18957757e-02 2.32266334e+02] [-6.90500042e-01 7.23235603e-01 1.18302136e-02 -8.82937374e+01] [ 1.67734093e-02 -3.40841560e-04 9.99859258e-01 4.04032550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14361786499998 meters 0.018423696303532758 Centerline is valid? [True, True] Translation: X:232.31, Y:-88.34, Z:4.04 [[ 7.23094510e-01 6.90649980e-01 -1.17018845e-02 2.32311054e+02] [-6.90551926e-01 7.23189111e-01 1.16424718e-02 -8.83379265e+01] [ 1.65035484e-02 -3.37848609e-04 9.99863750e-01 4.04115490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20361786499998 meters 0.01960195913153385 Centerline is valid? [True, True] Translation: X:232.35, Y:-88.38, Z:4.04 [[ 7.24566598e-01 6.89115252e-01 -1.11092661e-02 2.32352208e+02] [-6.89026609e-01 7.24651669e-01 1.10584825e-02 -8.83833435e+01] [ 1.56709172e-02 -3.58027112e-04 9.99877140e-01 4.04206849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.263617865 meters 0.019220104424125015 Centerline is valid? [True, True] Translation: X:232.40, Y:-88.43, Z:4.04 [[ 7.27444063e-01 6.86072232e-01 -1.14029849e-02 2.32396808e+02] [-6.85978385e-01 7.27533299e-01 1.13558050e-02 -8.84263212e+01] [ 1.60869537e-02 -4.38511779e-04 9.99870500e-01 4.04211338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.323617865 meters 0.019737832635200972 Centerline is valid? [True, True] Translation: X:232.44, Y:-88.47, Z:4.04 [[ 7.30478239e-01 6.82828272e-01 -1.21282040e-02 2.32439133e+02] [-6.82721631e-01 7.30578713e-01 1.20797272e-02 -8.84706398e+01] [ 1.71089869e-02 -5.43790634e-04 9.99853483e-01 4.04202454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.383617865 meters 0.023972031303662992 Centerline is valid? [True, True] Translation: X:232.48, Y:-88.52, Z:4.04 [[ 7.32342389e-01 6.80827782e-01 -1.21719939e-02 2.32476517e+02] [-6.80720075e-01 7.32443294e-01 1.21243410e-02 -8.85191540e+01] [ 1.71698835e-02 -5.93448310e-04 9.99852411e-01 4.04261708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.443617865 meters 0.022735672143011323 Centerline is valid? [True, True] Translation: X:232.52, Y:-88.56, Z:4.04 [[ 7.34185708e-01 6.78850433e-01 -1.15514333e-02 2.32521686e+02] [-6.78753143e-01 7.34276323e-01 1.15088112e-02 -8.85615490e+01] [ 1.62947054e-02 -6.09033084e-04 9.99867047e-01 4.04397182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.503617865 meters 0.02201161319149091 Centerline is valid? [True, True] Translation: X:232.57, Y:-88.60, Z:4.05 [[ 7.35727234e-01 6.77190701e-01 -1.08715535e-02 2.32565929e+02] [-6.77104327e-01 7.35807300e-01 1.08326762e-02 -8.86046738e+01] [ 1.53351560e-02 -6.08719011e-04 9.99882224e-01 4.04521446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.563617865 meters 0.022365573105790546 Centerline is valid? [True, True] Translation: X:232.61, Y:-88.65, Z:4.05 [[ 7.35778568e-01 6.77136292e-01 -1.07861189e-02 2.32609924e+02] [-6.77051192e-01 7.35857372e-01 1.07523191e-02 -8.86490735e+01] [ 1.52178306e-02 -6.08571299e-04 9.99884017e-01 4.04561977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.623617865 meters 0.022124136913652472 Centerline is valid? [True, True] Translation: X:232.65, Y:-88.69, Z:4.05 [[ 7.34200038e-01 6.78851534e-01 -1.05308784e-02 2.32654146e+02] [-6.78770512e-01 7.34275342e-01 1.05030917e-02 -8.86917534e+01] [ 1.48626043e-02 -5.63320639e-04 9.99889387e-01 4.04634832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68361786499997 meters 0.02207616162901197 Centerline is valid? [True, True] Translation: X:232.70, Y:-88.74, Z:4.05 [[ 7.33157032e-01 6.79981527e-01 -1.02902522e-02 2.32698300e+02] [-6.79904272e-01 7.33229053e-01 1.02633878e-02 -8.87355933e+01] [ 1.45240259e-02 -5.28288483e-04 9.99894381e-01 4.04737869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74361786499998 meters 0.020643514356225776 Centerline is valid? [True, True] Translation: X:232.74, Y:-88.78, Z:4.05 [[ 7.31190738e-01 6.82102218e-01 -9.83206624e-03 2.32744093e+02] [-6.82031811e-01 7.31256689e-01 9.81137003e-03 -8.87761780e+01] [ 1.38821215e-02 -4.68200946e-04 9.99903529e-01 4.04888956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80361786499998 meters 0.020775140618689635 Centerline is valid? [True, True] Translation: X:232.79, Y:-88.82, Z:4.05 [[ 7.29959899e-01 6.83422894e-01 -9.57566167e-03 2.32788820e+02] [-6.83356219e-01 7.30022576e-01 9.55597384e-03 -8.88200883e+01] [ 1.35212205e-02 -4.31889747e-04 9.99908491e-01 4.04997963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86361786499998 meters 0.02029305356923089 Centerline is valid? [True, True] Translation: X:232.83, Y:-88.86, Z:4.05 [[ 7.29130629e-01 6.84319833e-01 -8.65398125e-03 2.32834426e+02] [-6.84265433e-01 7.29181887e-01 8.63665867e-03 -8.88624783e+01] [ 1.22205632e-02 -3.75632139e-04 9.99925256e-01 4.05030531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92361786499998 meters 0.021071858305928528 Centerline is valid? [True, True] Translation: X:232.88, Y:-88.91, Z:4.05 [[ 7.29271145e-01 6.84181044e-01 -7.73927147e-03 2.32877333e+02] [-6.84137493e-01 7.29312130e-01 7.72706039e-03 -8.89066211e+01] [ 1.09310528e-02 -3.40396391e-04 9.99940196e-01 4.05202446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98361786499999 meters 0.022790298151129398 Centerline is valid? [True, True] Translation: X:232.92, Y:-88.95, Z:4.05 [[ 7.28760632e-01 6.84726510e-01 -7.58599962e-03 2.32919027e+02] [-6.84684662e-01 7.28800040e-01 7.57727578e-03 -8.89513239e+01] [ 1.07170384e-02 -3.28002704e-04 9.99942517e-01 4.05343606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.043617865 meters 0.02018013967887308 Centerline is valid? [True, True] Translation: X:232.97, Y:-88.99, Z:4.05 [[ 7.27982285e-01 6.85556448e-01 -7.35856339e-03 2.32966669e+02] [-6.85517085e-01 7.28019410e-01 7.35292422e-03 -8.89919635e+01] [ 1.03980216e-02 -3.08377656e-04 9.99945892e-01 4.05338179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.103617865 meters 0.020927762375713595 Centerline is valid? [True, True] Translation: X:233.01, Y:-89.04, Z:4.05 [[ 7.26669610e-01 6.86947965e-01 -7.33288393e-03 2.33009094e+02] [-6.86908908e-01 7.26706550e-01 7.33093491e-03 -8.90358896e+01] [ 1.03648256e-02 -2.90144321e-04 9.99946242e-01 4.05410562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.163617865 meters 0.02035741451775758 Centerline is valid? [True, True] Translation: X:233.49, Y:-88.67, Z:5.18 [[ 7.39963095e-01 -6.72473992e-01 1.52757148e-02 2.33492670e+02] [-6.72313207e-01 -7.40120493e-01 -1.47175926e-02 -8.86695098e+01] [ 2.12030678e-02 6.20410530e-04 -9.99774997e-01 5.18389384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.223617865 meters 0.020132768501772716 Centerline is valid? [True, True] Translation: X:233.52, Y:-88.70, Z:5.19 [[ 7.91449825e-01 -6.11033251e-01 1.56697066e-02 2.33516590e+02] [-6.10895131e-01 -7.91604598e-01 -1.30115291e-02 -8.86993192e+01] [ 2.03546887e-02 7.25424971e-04 -9.99792559e-01 5.18622797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.283617865 meters 0.018746184659946978 Centerline is valid? [True, True] Translation: X:233.54, Y:-88.73, Z:5.19 [[ 8.38618362e-01 -5.44477294e-01 1.62394390e-02 2.33539900e+02] [-5.44356532e-01 -8.38775200e-01 -1.14947566e-02 -8.87318817e+01] [ 1.98798726e-02 7.99669247e-04 -9.99802056e-01 5.18840875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.343617865 meters 0.019225485091885056 Centerline is valid? [True, True] Translation: X:233.57, Y:-88.76, Z:5.19 [[ 8.79738837e-01 -4.75163871e-01 1.66995127e-02 2.33567937e+02] [-4.75059713e-01 -8.79896910e-01 -9.98486157e-03 -8.87572139e+01] [ 1.94382951e-02 8.50804787e-04 -9.99810696e-01 5.18951074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40361786499997 meters 0.018604250125839862 Centerline is valid? [True, True] Translation: X:233.60, Y:-88.78, Z:5.19 [[ 9.15600943e-01 -4.01701827e-01 1.76225876e-02 2.33600211e+02] [-4.01608073e-01 -9.15770064e-01 -8.72616342e-03 -8.87762363e+01] [ 1.96435539e-02 9.12310021e-04 -9.99806631e-01 5.19011309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46361786499997 meters 0.017645152428364404 Centerline is valid? [True, True] Translation: X:233.63, Y:-88.80, Z:5.19 [[ 9.44457045e-01 -3.28166908e-01 1.75319706e-02 2.33630792e+02] [-3.28091853e-01 -9.44619292e-01 -7.08022433e-03 -8.87996548e+01] [ 1.88845330e-02 9.34871038e-04 -9.99821234e-01 5.19277599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52361786499998 meters 0.018648764260069367 Centerline is valid? [True, True] Translation: X:233.66, Y:-88.81, Z:5.19 [[ 9.67110637e-01 -2.53742970e-01 1.76499646e-02 2.33664357e+02] [-2.53683078e-01 -9.67271235e-01 -5.59057258e-03 -8.88142054e+01] [ 1.84908715e-02 9.29204874e-04 -9.99828597e-01 5.19359943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58361786499998 meters 0.01866853512821229 Centerline is valid? [True, True] Translation: X:233.70, Y:-88.83, Z:5.20 [[ 9.83543704e-01 -1.79791378e-01 1.78000536e-02 2.33699653e+02] [-1.79745615e-01 -9.83704366e-01 -4.15140648e-03 -8.88254550e+01] [ 1.82563775e-02 8.83608133e-04 -9.99832948e-01 5.19516913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64361786499998 meters 0.02096490306647736 Centerline is valid? [True, True] Translation: X:233.73, Y:-88.83, Z:5.20 [[ 9.94214425e-01 -1.05754080e-01 1.88083092e-02 2.33731436e+02] [-1.05719898e-01 -9.94391992e-01 -2.80528975e-03 -8.88265919e+01] [ 1.89995029e-02 8.00646993e-04 -9.99819173e-01 5.19533386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70361786499998 meters 0.02114427615965212 Centerline is valid? [True, True] Translation: X:233.76, Y:-88.83, Z:5.20 [[ 9.99363977e-01 -3.04391808e-02 1.85767867e-02 2.33763321e+02] [-3.04199283e-02 -9.99536338e-01 -1.31814068e-03 -8.88278799e+01] [ 1.86082965e-02 7.52197793e-04 -9.99826568e-01 5.19699369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.763617865 meters 0.02020575748517539 Centerline is valid? [True, True] Translation: X:233.79, Y:-88.84, Z:5.20 [[ 9.98781286e-01 4.60906379e-02 1.76521007e-02 2.33794785e+02] [ 4.60965338e-02 -9.98936987e-01 7.29477907e-05 -8.88367796e+01] [ 1.76366985e-02 7.40841768e-04 -9.99844187e-01 5.19854323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.823617865 meters 0.02096717573920816 Centerline is valid? [True, True] Translation: X:233.83, Y:-88.84, Z:5.20 [[ 9.92241223e-01 1.23025574e-01 1.79461225e-02 2.33825527e+02] [ 1.23018302e-01 -9.92403249e-01 1.51282364e-03 -8.88372353e+01] [ 1.79959062e-02 7.06615531e-04 -9.99837811e-01 5.19842491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.883617865 meters 0.021160428664750253 Centerline is valid? [True, True] Translation: X:233.86, Y:-88.84, Z:5.20 [[ 9.79323925e-01 2.01588755e-01 1.69299775e-02 2.33855530e+02] [ 2.01571788e-01 -9.79469966e-01 2.72042362e-03 -8.88352275e+01] [ 1.71308113e-02 7.48429904e-04 -9.99852977e-01 5.19989557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.943617865 meters 0.02057708949813964 Centerline is valid? [True, True] Translation: X:233.89, Y:-88.83, Z:5.20 [[ 9.59774507e-01 2.80353054e-01 1.53317072e-02 2.33887031e+02] [ 2.80330926e-01 -9.59896600e-01 3.61784587e-03 -8.88330802e+01] [ 1.57311278e-02 8.25635430e-04 -9.99875917e-01 5.20076715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.003617865 meters 0.01947920247279863 Centerline is valid? [True, True] Translation: X:233.92, Y:-88.83, Z:5.20 [[ 9.33088782e-01 3.59344061e-01 1.47366817e-02 2.33917930e+02] [ 3.59314424e-01 -9.33204706e-01 4.70330693e-03 -8.88285395e+01] [ 1.54424461e-02 9.06499345e-04 -9.99880347e-01 5.20114749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.063617865 meters 0.018167209019802563 Centerline is valid? [True, True] Translation: X:233.95, Y:-88.83, Z:5.20 [[ 8.99852335e-01 4.35955699e-01 1.44362197e-02 2.33951834e+02] [ 4.35916834e-01 -8.99967592e-01 5.90316914e-03 -8.88278601e+01] [ 1.55656501e-02 9.81010668e-04 -9.99878367e-01 5.20061938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.123617865 meters 0.018009703060875418 Centerline is valid? [True, True] Translation: X:233.98, Y:-88.82, Z:5.20 [[ 8.61718685e-01 5.07182486e-01 1.43817562e-02 2.33983567e+02] [ 5.07131058e-01 -8.61838098e-01 7.29263506e-03 -8.88209449e+01] [ 1.60934422e-02 1.00923532e-03 -9.99869983e-01 5.20019246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18361786499997 meters 0.017892760063924568 Centerline is valid? [True, True] Translation: X:234.01, Y:-88.81, Z:5.20 [[ 8.18184529e-01 5.74784516e-01 1.40298302e-02 2.34013014e+02] [ 5.74721281e-01 -8.18304153e-01 8.58853260e-03 -8.88098258e+01] [ 1.64172239e-02 1.03623749e-03 -9.99864691e-01 5.20027877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24361786499998 meters 0.017931216153159138 Centerline is valid? [True, True] Translation: X:234.04, Y:-88.80, Z:5.20 [[ 7.70456842e-01 6.37338960e-01 1.39750966e-02 2.34042769e+02] [ 6.37257829e-01 -7.70582888e-01 1.02211592e-02 -8.87974644e+01] [ 1.72833133e-02 1.03077767e-03 -9.99850101e-01 5.20009751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30361786499998 meters 0.01830320434476057 Centerline is valid? [True, True] Translation: X:234.07, Y:-88.78, Z:5.20 [[ 7.19364681e-01 6.94503149e-01 1.34101432e-02 2.34068381e+02] [ 6.94407590e-01 -7.19488977e-01 1.15633492e-02 -8.87807172e+01] [ 1.76792327e-02 9.93840261e-04 -9.99843216e-01 5.19953026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36361786499998 meters 0.018665031874693382 Centerline is valid? [True, True] Translation: X:234.09, Y:-88.76, Z:5.20 [[ 6.63340881e-01 7.48210874e-01 1.26239168e-02 2.34092583e+02] [ 7.48102568e-01 -6.63460276e-01 1.27675027e-02 -8.87636294e+01] [ 1.79282516e-02 9.74778065e-04 -9.99838801e-01 5.19973471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42361786499998 meters 0.018430750897797686 Centerline is valid? [True, True] Translation: X:234.12, Y:-88.75, Z:5.20 [[ 6.01701168e-01 7.98643552e-01 1.11436536e-02 2.34118913e+02] [ 7.98536345e-01 -6.01803517e-01 1.31237708e-02 -8.87465417e+01] [ 1.71875049e-02 1.00202422e-03 -9.99851782e-01 5.20136581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48361786499999 meters 0.01836690419084053 Centerline is valid? [True, True] Translation: X:234.14, Y:-88.73, Z:5.20 [[ 5.36761161e-01 8.43691879e-01 8.45399311e-03 2.34140510e+02] [ 8.43616140e-01 -5.36826727e-01 1.13522328e-02 -8.87263717e+01] [ 1.41161161e-02 1.03848737e-03 -9.99899823e-01 5.20429434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.543617865 meters 0.01857904337710445 Centerline is valid? [True, True] Translation: X:234.16, Y:-88.70, Z:5.21 [[ 4.70127291e-01 8.82571486e-01 6.92117474e-03 2.34157024e+02] [ 8.82506024e-01 -4.70177104e-01 1.07985340e-02 -8.87015951e+01] [ 1.27846561e-02 1.03129285e-03 -9.99917741e-01 5.20589965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.603617865 meters 0.018913093962347156 Centerline is valid? [True, True] Translation: X:234.18, Y:-88.68, Z:5.21 [[ 4.04350923e-01 9.14588154e-01 5.37035131e-03 2.34179333e+02] [ 9.14537208e-01 -4.04385378e-01 9.70368579e-03 -8.86798887e+01] [ 1.10465676e-02 9.87691791e-04 -9.99938497e-01 5.20668523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.663617865 meters 0.019905207460033228 Centerline is valid? [True, True] Translation: X:234.20, Y:-88.66, Z:5.21 [[ 3.38292480e-01 9.41029457e-01 4.66458634e-03 2.34200518e+02] [ 9.40973320e-01 -3.38323444e-01 1.03178403e-02 -8.86568205e+01] [ 1.12875306e-02 8.98803495e-04 -9.99935890e-01 5.20764546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.723617865 meters 0.020819959476764627 Centerline is valid? [True, True] Translation: X:234.22, Y:-88.63, Z:5.21 [[ 2.68696768e-01 9.63216777e-01 3.93540013e-03 2.34218596e+02] [ 9.63153832e-01 -2.68724325e-01 1.10423123e-02 -8.86318694e+01] [ 1.16936782e-02 8.23362092e-04 -9.99931288e-01 5.20780932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.783617865 meters 0.02476065068990265 Centerline is valid? [True, True] Translation: X:234.23, Y:-88.61, Z:5.21 [[ 1.99592511e-01 9.79874737e-01 2.88592856e-03 2.34227253e+02] [ 9.79820841e-01 -1.99611886e-01 1.03060623e-02 -8.86053833e+01] [ 1.06747157e-02 7.70680109e-04 -9.99942727e-01 5.20838491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.843617865 meters 0.02398384221695264 Centerline is valid? [True, True] Translation: X:234.24, Y:-88.58, Z:5.21 [[ 1.24721523e-01 9.92189763e-01 2.00405626e-03 2.34243997e+02] [ 9.92141776e-01 -1.24735261e-01 9.78834429e-03 -8.85786877e+01] [ 9.96187148e-03 7.67490732e-04 -9.99950085e-01 5.20889769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90361786499997 meters 0.026674478052911326 Centerline is valid? [True, True] Translation: X:234.25, Y:-88.55, Z:5.21 [[ 4.65294472e-02 9.98916166e-01 1.22625177e-03 2.34252987e+02] [ 9.98869001e-01 -4.65392040e-02 9.73765621e-03 -8.85522210e+01] [ 9.78417099e-03 7.71777124e-04 -9.99951836e-01 5.21011053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96361786499997 meters 0.023647139649636814 Centerline is valid? [True, True] Translation: X:234.27, Y:-88.52, Z:5.21 [[-3.42035266e-02 9.99414786e-01 4.51312073e-04 2.34269588e+02] [ 9.99366367e-01 3.41974128e-02 9.86919190e-03 -8.85234379e+01] [ 9.84798260e-03 7.88587274e-04 -9.99951196e-01 5.20984407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02361786499998 meters 0.023561953671636073 Centerline is valid? [True, True] Translation: X:234.28, Y:-88.49, Z:5.21 [[-1.14529786e-01 9.93419688e-01 -5.01028903e-04 2.34275986e+02] [ 9.93358656e-01 1.14528317e-01 1.10383190e-02 -8.84942746e+01] [ 1.10230654e-02 7.66514914e-04 -9.99938950e-01 5.20936412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08361786499998 meters 0.022123907277170927 Centerline is valid? [True, True] Translation: X:234.29, Y:-88.46, Z:5.21 [[-1.95202306e-01 9.80761669e-01 -1.61511647e-03 2.34286060e+02] [ 9.80688094e-01 1.95207485e-01 1.20374202e-02 -8.84624119e+01] [ 1.21211231e-02 7.65806679e-04 -9.99926243e-01 5.20882842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14361786499998 meters 0.021657408459529594 Centerline is valid? [True, True] Translation: X:234.29, Y:-88.43, Z:5.21 [[-2.72376025e-01 9.62186956e-01 -2.75007698e-03 2.34291058e+02] [ 9.62106216e-01 2.72388861e-01 1.24875332e-02 -8.84307354e+01] [ 1.27644319e-02 7.55438506e-04 -9.99918246e-01 5.20925556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20361786499998 meters 0.02252182517966793 Centerline is valid? [True, True] Translation: X:234.29, Y:-88.40, Z:5.21 [[-3.45775180e-01 9.38311923e-01 -3.20320370e-03 2.34289705e+02] [ 9.38248428e-01 3.45789140e-01 1.09433969e-02 -8.84007553e+01] [ 1.13759529e-02 7.78554200e-04 -9.99934989e-01 5.21127176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.263617865 meters 0.023792836464776125 Centerline is valid? [True, True] Translation: X:234.28, Y:-88.37, Z:5.21 [[-4.14829712e-01 9.09891818e-01 -3.63180323e-03 2.34284937e+02] [ 9.09839258e-01 4.14844904e-01 9.80971409e-03 -8.83712868e+01] [ 1.04324137e-02 7.65003717e-04 -9.99945288e-01 5.21231486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.323617865 meters 0.023744298214862566 Centerline is valid? [True, True] Translation: X:234.28, Y:-88.34, Z:5.21 [[-4.82080939e-01 8.76114317e-01 -4.65531494e-03 2.34281155e+02] [ 8.76058309e-01 4.82102894e-01 9.93174402e-03 -8.83396012e+01] [ 1.09456839e-02 7.09577151e-04 -9.99939842e-01 5.21283760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.383617865 meters 0.0270276692051274 Centerline is valid? [True, True] Translation: X:234.27, Y:-88.31, Z:5.21 [[-5.45560805e-01 8.38050457e-01 -5.90252596e-03 2.34268986e+02] [ 8.37988492e-01 5.45592378e-01 1.02099797e-02 -8.83135725e+01] [ 1.17768514e-02 6.23915935e-04 -9.99930456e-01 5.21277042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.443617865 meters 0.02469225993584211 Centerline is valid? [True, True] Translation: X:234.27, Y:-88.28, Z:5.21 [[-6.07884558e-01 7.93997630e-01 -6.64283509e-03 2.34265271e+02] [ 7.93939074e-01 6.07920557e-01 9.66140086e-03 -8.82793655e+01] [ 1.17094454e-02 5.99010049e-04 -9.99931263e-01 5.21324655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.503617865 meters 0.024907230338517383 Centerline is valid? [True, True] Translation: X:234.26, Y:-88.25, Z:5.22 [[-6.68805069e-01 7.43394412e-01 -8.03292413e-03 2.34255078e+02] [ 7.43330372e-01 6.68853070e-01 9.77390521e-03 -8.82478245e+01] [ 1.26387125e-02 5.65720871e-04 -9.99919968e-01 5.21614760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.563617865 meters 0.025183759602588347 Centerline is valid? [True, True] Translation: X:234.24, Y:-88.22, Z:5.22 [[-7.26478270e-01 6.87120436e-01 -9.73807883e-03 2.34242619e+02] [ 6.87048598e-01 7.26543334e-01 9.95022336e-03 -8.82171638e+01] [ 1.39121381e-02 5.38087640e-04 -9.99903077e-01 5.21623915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.623617865 meters 0.02525028195752206 Centerline is valid? [True, True] Translation: X:234.23, Y:-88.17, Z:5.22 [[-7.75233305e-01 6.31581146e-01 -1.08893933e-02 2.34227925e+02] [ 6.31510534e-01 7.75309648e-01 9.45484491e-03 -8.81652317e+01] [ 1.44141534e-02 4.52944115e-04 -9.99896008e-01 5.21742950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68361786499997 meters 0.02511897971056494 Centerline is valid? [True, True] Translation: X:234.18, Y:-88.09, Z:5.22 [[-8.20399858e-01 5.71681235e-01 -1.11641727e-02 2.34178349e+02] [ 5.71619462e-01 8.20475648e-01 8.42032451e-03 -8.80918432e+01] [ 1.39736734e-02 5.26374622e-04 -9.99902225e-01 5.22009356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74361786499998 meters 0.02590591365394617 Centerline is valid? [True, True] Translation: X:234.16, Y:-88.05, Z:5.22 [[-8.58957512e-01 5.11901481e-01 -1.22010870e-02 2.34158440e+02] [ 5.11841291e-01 8.59044011e-01 7.86645173e-03 -8.80494802e+01] [ 1.45081190e-02 5.11927687e-04 -9.99894621e-01 5.22028173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80361786499998 meters 0.025718104539974543 Centerline is valid? [True, True] Translation: X:234.34, Y:-88.11, Z:5.22 [[-8.91832852e-01 4.52089869e-01 -1.57770160e-02 2.34342419e+02] [ 4.52012111e-01 8.91972324e-01 8.39200409e-03 -8.81078335e+01] [ 1.78666017e-02 3.52862630e-04 -9.99840317e-01 5.21547153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86361786499998 meters 0.02597974555288454 Centerline is valid? [True, True] Translation: X:234.35, Y:-88.07, Z:5.22 [[-9.20011724e-01 3.91363086e-01 -2.03313307e-02 2.34351094e+02] [ 3.91264997e-01 9.20236341e-01 8.76230518e-03 -8.80742292e+01] [ 2.21388721e-02 1.06485463e-04 -9.99754899e-01 5.21572164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92361786499998 meters 0.027906166685090945 Centerline is valid? [True, True] Translation: X:234.55, Y:-87.49, Z:4.10 [[-9.26004831e-01 -3.77484529e-01 4.52579394e-03 2.34552757e+02] [ 3.77482199e-01 -9.26015796e-01 -1.39121264e-03 -8.74932369e+01] [ 4.71611792e-03 4.20137024e-04 9.99988791e-01 4.09622784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98361786499999 meters 0.02844234009315425 Centerline is valid? [True, True] Translation: X:234.28, Y:-88.04, Z:5.22 [[-9.19202341e-01 3.93248611e-01 -2.05568726e-02 2.34277060e+02] [ 3.93151064e-01 9.19432177e-01 8.75857208e-03 -8.80397238e+01] [ 2.23449465e-02 -3.10563686e-05 -9.99750320e-01 5.21853387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.043617865 meters 0.030187410909345822 Centerline is valid? [True, True] Translation: X:234.21, Y:-87.98, Z:5.22 [[-9.44333869e-01 3.28416230e-01 -1.93990930e-02 2.34214030e+02] [ 3.28346535e-01 9.44533101e-01 6.76556536e-03 -8.79836350e+01] [ 2.05450069e-02 1.93275362e-05 -9.99788929e-01 5.22159648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.103617865 meters 0.02985638861793781 Centerline is valid? [True, True] Translation: X:234.18, Y:-87.94, Z:5.22 [[-9.65075147e-01 2.61224403e-01 -1.97932366e-02 2.34180626e+02] [ 2.61169309e-01 9.65278100e-01 5.36480645e-03 -8.79415767e+01] [ 2.05073962e-02 8.05544175e-06 -9.99789701e-01 5.22269902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.163617865 meters 0.032828832865169515 Centerline is valid? [True, True] Translation: X:234.15, Y:-87.91, Z:5.22 [[-9.80872154e-01 1.93684389e-01 -1.93952404e-02 2.34148439e+02] [ 1.93646334e-01 9.81063891e-01 3.83924896e-03 -8.79051497e+01] [ 1.97715726e-02 9.99518905e-06 -9.99804523e-01 5.22348324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.223617865 meters 0.03524016113806172 Centerline is valid? [True, True] Translation: X:234.10, Y:-87.87, Z:5.22 [[-9.91965080e-01 1.24885822e-01 -2.02190730e-02 2.34104154e+02] [ 1.24860850e-01 9.92171119e-01 2.49774352e-03 -8.78716899e+01] [ 2.03727130e-02 -4.68962927e-05 -9.99792454e-01 5.22455206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.283617865 meters 0.03603129672106486 Centerline is valid? [True, True] Translation: X:234.06, Y:-87.31, Z:4.10 [[-9.95819831e-01 -9.11157976e-02 6.38551390e-03 2.34056144e+02] [ 9.11159437e-02 -9.95840255e-01 -2.68624561e-04 -8.73073516e+01] [ 6.38342773e-03 3.14320460e-04 9.99979576e-01 4.09735368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.343617865 meters 0.040267437056292106 Centerline is valid? [True, True] Translation: X:233.91, Y:-87.83, Z:5.23 [[-9.92045998e-01 1.24141014e-01 -2.08266012e-02 2.33914444e+02] [ 1.24116628e-01 9.92264576e-01 2.46446145e-03 -8.78348703e+01] [ 2.09714393e-02 -1.40068394e-04 -9.99780065e-01 5.22903766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40361786499997 meters 0.035753879425005915 Centerline is valid? [True, True] Translation: X:234.21, Y:-87.80, Z:5.23 [[-9.98641106e-01 4.75259040e-02 -2.13829224e-02 2.34208977e+02] [ 4.75168697e-02 9.98870002e-01 9.30671503e-04 -8.78003986e+01] [ 2.14029908e-02 -8.66427191e-05 -9.99770926e-01 5.22752775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46361786499997 meters 0.039992308722036844 Centerline is valid? [True, True] Translation: X:234.19, Y:-87.76, Z:5.23 [[-9.99466954e-01 -2.47085249e-02 -2.13376658e-02 2.34194301e+02] [-2.46998109e-02 9.99694687e-01 -6.71881628e-04 -8.77642260e+01] [ 2.13477523e-02 -1.44487175e-04 -9.99772100e-01 5.22857060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52361786499998 meters 0.04736709564534398 Centerline is valid? [True, True] Translation: X:234.17, Y:-87.73, Z:5.23 [[-9.95037331e-01 -9.74666917e-02 -2.00238384e-02 2.34171480e+02] [-9.74459979e-02 9.95238786e-01 -2.00892006e-03 -8.77286122e+01] [ 2.01243034e-02 -4.77075447e-05 -9.99797485e-01 5.23051177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58361786499998 meters 0.06165860036864953 Centerline is valid? [True, True] Translation: X:234.09, Y:-87.30, Z:4.09 [[-9.91501903e-01 1.29963307e-01 5.78916029e-03 2.34090897e+02] [-1.29958311e-01 -9.91518693e-01 1.23255721e-03 -8.72967123e+01] [ 5.90024786e-03 4.69733320e-04 9.99982483e-01 4.09058479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1879.58 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%| | 0/8488 [00:00