+ python -m lidar_slam --no-model /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/0a1c4c7e-2aff-43b3-810b-9ebb70f28164 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 0.001858064 Adjusted end_distance from 9.223372036854776e+18 to 263.171858064 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001858064 meters 0.10925134680049543 Centerline is valid? [0, False] SLAMing on 0.061858064 meters 0.11510025763902679 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998485e-01 1.09306949e-03 -1.35475486e-03 3.95253131e-03] [-1.09284068e-03 9.99999388e-01 1.69626166e-04 1.18490852e-02] [ 1.35493945e-03 -1.68145378e-04 9.99999068e-01 -8.61768376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121858064 meters 0.12655683837114426 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99997929 0.0055016 -0.00333807 0.00947327] [-0.00548958 0.99997845 0.00359927 0.02670488] [ 0.0033578 -0.00358087 0.99998795 -0.00180813] [ 0. 0. 0. 1. ]] SLAMing on 0.18185806399999999 meters 0.13413289292368705 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 0.99996487 0.00701682 -0.00458428 0.0131371 ] [-0.00699661 0.9999658 0.00440987 0.03703769] [ 0.00461507 -0.00437764 0.99997977 -0.00247798] [ 0. 0. 0. 1. ]] SLAMing on 0.24185806399999998 meters 0.14099335922028733 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.00 [[ 0.99990924 0.01207524 -0.00597506 0.0165023 ] [-0.01202195 0.99988833 0.00887694 0.04848031] [ 0.00608158 -0.0088043 0.99994275 -0.002006 ] [ 0. 0. 0. 1. ]] SLAMing on 0.301858064 meters 0.14701147897049793 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-0.00 [[ 0.99988597 0.01325088 -0.00724342 0.02039429] [-0.0131818 0.99986796 0.00950291 0.05956944] [ 0.00736838 -0.00940635 0.99992861 -0.00257474] [ 0. 0. 0. 1. ]] SLAMing on 0.361858064 meters 0.15200420590850972 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-0.00 [[ 0.99990413 0.01130633 -0.00799388 0.02266554] [-0.01125021 0.99991199 0.00703106 0.06673272] [ 0.00807267 -0.00694045 0.99994333 -0.00303202] [ 0. 0. 0. 1. ]] SLAMing on 0.421858064 meters 0.15611812482840776 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-0.00 [[ 0.99991891 0.00918204 -0.00882452 0.02502416] [-0.00914096 0.99994725 0.00468458 0.07348908] [ 0.00886707 -0.00460354 0.99995009 -0.00322579] [ 0. 0. 0. 1. ]] SLAMing on 0.481858064 meters 0.15750924047381754 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.00 [[ 0.99992469 0.00784193 -0.00944025 0.02703785] [-0.00781208 0.99996438 0.00319392 0.07751775] [ 0.00946496 -0.00311993 0.99995034 -0.00380776] [ 0. 0. 0. 1. ]] SLAMing on 0.541858064 meters 0.16180744851394604 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-0.01 [[ 0.99990229 0.00921413 -0.01051197 0.03111341] [-0.00916319 0.99994609 0.00488401 0.08345887] [ 0.01055641 -0.00478721 0.99993282 -0.00501272] [ 0. 0. 0. 1. ]] SLAMing on 0.601858064 meters 0.16351723907171914 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:-0.01 [[ 0.99990186 0.00926114 -0.01051178 0.0316012 ] [-0.00922462 0.99995127 0.00351723 0.08859129] [ 0.01054385 -0.00341991 0.99993856 -0.00598481] [ 0. 0. 0. 1. ]] SLAMing on 0.6618580639999999 meters 0.16730308282765285 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:-0.01 [[ 0.99990229 0.00862652 -0.01100005 0.0334808 ] [-0.00859946 0.99995989 0.00250514 0.09149719] [ 0.01102122 -0.0024103 0.99993636 -0.00688093] [ 0. 0. 0. 1. ]] SLAMing on 0.721858064 meters 0.16548213702818734 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:-0.01 [[ 0.99990238 0.00876504 -0.01088124 0.03340069] [-0.00875056 0.99996077 0.00137696 0.09570323] [ 0.01089288 -0.00128161 0.99993985 -0.00747247] [ 0. 0. 0. 1. ]] SLAMing on 0.781858064 meters 0.16598944920237824 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.01 [[ 9.99903347e-01 8.13783550e-03 -1.12726465e-02 3.52342918e-02] [-8.13040270e-03 9.99966699e-01 7.05036983e-04 9.71026443e-02] [ 1.12780085e-02 -6.13317683e-04 9.99936213e-01 -8.54835181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.841858064 meters 0.16138634059530382 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.01 [[ 9.99905443e-01 7.77759035e-03 -1.13408052e-02 3.59997220e-02] [-7.77995562e-03 9.99969722e-01 -1.64460307e-04 9.91183790e-02] [ 1.13391827e-02 2.52675717e-04 9.99935677e-01 -9.39103903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9018580639999999 meters 0.15878818996836205 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.01 [[ 0.99991055 0.00714461 -0.01130659 0.03712893] [-0.00716101 0.99997336 -0.00141066 0.10146201] [ 0.01129621 0.0014915 0.99993508 -0.01100542] [ 0. 0. 0. 1. ]] SLAMing on 0.961858064 meters 0.1537135773821057 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.01 [[ 0.99992356 0.00486643 -0.01136669 0.03913624] [-0.00489942 0.99998386 -0.00287685 0.10037282] [ 0.01135251 0.00293232 0.99993126 -0.01256125] [ 0. 0. 0. 1. ]] SLAMing on 1.0218580640000001 meters 0.15010321354874065 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.01 [[ 0.99992951 0.00341672 -0.01137066 0.0408268 ] [-0.00345614 0.99998808 -0.0034486 0.09895556] [ 0.01135874 0.00348766 0.99992941 -0.01396098] [ 0. 0. 0. 1. ]] SLAMing on 1.0818580640000002 meters 0.14335993649470638 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-0.02 [[ 9.99932183e-01 -5.57870431e-04 -1.16326700e-02 4.35280440e-02] [ 4.78692656e-04 9.99976710e-01 -6.80817434e-03 9.75538734e-02] [ 1.16361971e-02 6.80214415e-03 9.99909161e-01 -1.62639089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.141858064 meters 0.13369236800094322 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.02 [[ 0.99991576 -0.0050351 -0.01196325 0.04517288] [ 0.00490669 0.9999303 -0.01073844 0.09625405] [ 0.01201648 0.01067883 0.99987078 -0.01727123] [ 0. 0. 0. 1. ]] SLAMing on 1.201858064 meters 0.13179419386204436 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.02 [[ 0.99991216 -0.00526886 -0.01216157 0.04619924] [ 0.00514496 0.99993477 -0.01019729 0.09404814] [ 0.01221451 0.01013382 0.99987405 -0.0177184 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2618580640000001 meters 0.12234338601812594 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.02 [[ 0.99992562 -0.00193773 -0.01204188 0.04669735] [ 0.00186656 0.99998074 -0.00591905 0.09199796] [ 0.01205312 0.00589613 0.99990997 -0.01805466] [ 0. 0. 0. 1. ]] SLAMing on 1.321858064 meters 0.11745266931912646 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-0.02 [[ 0.99992507 0.00198025 -0.01208041 0.04703218] [-0.00200401 0.99999608 -0.00195467 0.09195099] [ 0.01207649 0.00197873 0.99992512 -0.01829709] [ 0. 0. 0. 1. ]] SLAMing on 1.381858064 meters 0.1121516480283555 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.02 [[ 9.99907701e-01 5.35413333e-03 -1.24868918e-02 4.87966796e-02] [-5.35094404e-03 9.99985642e-01 2.88807394e-04 9.52847018e-02] [ 1.24882588e-02 -2.21964078e-04 9.99921994e-01 -2.02256449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441858064 meters 0.10740175841788238 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.02 [[ 0.9999089 0.00508265 -0.01250433 0.04870156] [-0.00509637 0.99998645 -0.00106507 0.09892934] [ 0.01249875 0.00112869 0.99992125 -0.02058059] [ 0. 0. 0. 1. ]] SLAMing on 1.501858064 meters 0.10140385912258829 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-0.02 [[ 0.99990469 0.00528093 -0.0127559 0.04865429] [-0.00531809 0.99998171 -0.00288086 0.10539473] [ 0.01274046 0.00294843 0.99991449 -0.02091486] [ 0. 0. 0. 1. ]] SLAMing on 1.5618580640000002 meters 0.09341877277362605 Centerline is valid? [False, True] Translation: X:0.05, Y:0.11, Z:-0.02 [[ 9.99877342e-01 8.72170888e-03 -1.30089255e-02 4.92118333e-02] [-8.73502454e-03 9.99961381e-01 -9.67110503e-04 1.10846547e-01] [ 1.29999882e-02 1.08062516e-03 9.99914913e-01 -2.16687499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.621858064 meters 0.09208806146768952 Centerline is valid? [True, True] Translation: X:0.11, Y:0.12, Z:-0.02 [[ 9.99837380e-01 1.07825883e-02 -1.44550518e-02 1.08131276e-01] [-1.07839505e-02 9.99941851e-01 -1.62901673e-05 1.15287410e-01] [ 1.44540356e-02 1.72170081e-04 9.99895520e-01 -2.10461691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681858064 meters 0.08359901076919356 Centerline is valid? [True, True] Translation: X:0.17, Y:0.12, Z:-0.02 [[ 9.99801105e-01 1.27371432e-02 -1.53465101e-02 1.66819235e-01] [-1.27389243e-02 9.99918856e-01 -1.83007928e-05 1.21925912e-01] [ 1.53450318e-02 2.13795183e-04 9.99882235e-01 -2.00121607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741858064 meters 0.0807425629146909 Centerline is valid? [True, True] Translation: X:0.22, Y:0.13, Z:-0.02 [[ 9.99783922e-01 1.35677299e-02 -1.57488716e-02 2.24365516e-01] [-1.35697284e-02 9.99907927e-01 -2.00367141e-05 1.28348656e-01] [ 1.57471497e-02 2.33740295e-04 9.99875979e-01 -2.05036972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.801858064 meters 0.07474790431347453 Centerline is valid? [True, True] Translation: X:0.28, Y:0.13, Z:-0.02 [[ 9.99775911e-01 1.34533373e-02 -1.63442891e-02 2.82683574e-01] [-1.34554961e-02 9.99909470e-01 -2.21161266e-05 1.32339043e-01] [ 1.63425119e-02 2.42031688e-04 9.99866423e-01 -1.90431817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.861858064 meters 0.06380192619447696 Centerline is valid? [True, True] Translation: X:0.34, Y:0.13, Z:-0.02 [[ 9.99854444e-01 9.97792080e-03 -1.38394794e-02 3.41649587e-01] [-9.97914829e-03 9.99950207e-01 -1.96391482e-05 1.33603773e-01] [ 1.38385943e-02 1.57742507e-04 9.99904230e-01 -1.57657891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921858064 meters 0.06359787190951564 Centerline is valid? [True, True] Translation: X:0.40, Y:0.14, Z:-0.02 [[ 9.99859993e-01 9.46571341e-03 -1.37983438e-02 3.99563519e-01] [-9.46690007e-03 9.99955188e-01 -2.06841071e-05 1.36943360e-01] [ 1.37975296e-02 1.51308753e-04 9.99904798e-01 -1.50022514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.981858064 meters 0.057363987079070936 Centerline is valid? [True, True] Translation: X:0.46, Y:0.14, Z:-0.01 [[ 9.99927748e-01 7.41411833e-03 -9.46202202e-03 4.58579523e-01] [-7.41459039e-03 9.99972511e-01 -1.48115109e-05 1.40591450e-01] [ 9.46165210e-03 8.49674583e-05 9.99955234e-01 -9.89577399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.041858064 meters 0.05632553530165322 Centerline is valid? [True, True] Translation: X:0.52, Y:0.14, Z:-0.01 [[ 9.99928830e-01 7.97417740e-03 -8.87397485e-03 5.17571279e-01] [-7.97462003e-03 9.99968202e-01 -1.44961610e-05 1.42944953e-01] [ 8.87357708e-03 8.52617069e-05 9.99960625e-01 -8.18662419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101858064 meters 0.04913818209536993 Centerline is valid? [True, True] Translation: X:0.58, Y:0.15, Z:-0.01 [[ 9.99952485e-01 6.99346485e-03 -6.79111208e-03 5.76198447e-01] [-6.99370452e-03 9.99975544e-01 -1.15439499e-05 1.49620688e-01] [ 6.79086527e-03 5.90384326e-05 9.99976940e-01 -8.04300808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161858064 meters 0.045686888241886166 Centerline is valid? [True, True] Translation: X:0.64, Y:0.15, Z:-0.01 [[ 9.99945519e-01 7.40199435e-03 -7.35995543e-03 6.35344720e-01] [-7.40229063e-03 9.99972603e-01 -1.30148027e-05 1.54673285e-01] [ 7.35965745e-03 6.74946227e-05 9.99972915e-01 -7.60396104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2218580639999996 meters 0.04360498100423617 Centerline is valid? [True, True] Translation: X:0.69, Y:0.16, Z:-0.01 [[ 9.99937447e-01 7.75843023e-03 -8.05666043e-03 6.93751526e-01] [-7.75880122e-03 9.99969900e-01 -1.47923663e-05 1.57975434e-01] [ 8.05630316e-03 7.73014678e-05 9.99967544e-01 -7.71244411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2818580639999997 meters 0.04156687115322951 Centerline is valid? [True, True] Translation: X:0.75, Y:0.16, Z:-0.01 [[ 9.99931422e-01 8.40737793e-03 -8.15273337e-03 7.51233403e-01] [-8.40778476e-03 9.99964654e-01 -1.56279443e-05 1.64714590e-01] [ 8.15231381e-03 8.41732999e-05 9.99966766e-01 -7.25302673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3418580639999997 meters 0.03896023509599523 Centerline is valid? [True, True] Translation: X:0.81, Y:0.17, Z:-0.01 [[ 9.99918787e-01 8.93954157e-03 -9.08318210e-03 8.10132856e-01] [-8.94007409e-03 9.99960037e-01 -1.80246297e-05 1.70059619e-01] [ 9.08265798e-03 9.92274869e-05 9.99958747e-01 -7.67018115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401858064 meters 0.03881978294966331 Centerline is valid? [True, True] Translation: X:0.87, Y:0.17, Z:-0.01 [[ 9.99876969e-01 1.05842261e-02 -1.15767302e-02 8.69296736e-01] [-1.05852101e-02 9.99943975e-01 -2.37297627e-05 1.74560835e-01] [ 1.15758304e-02 1.46268964e-04 9.99932987e-01 -9.07028697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461858064 meters 0.03777457090849157 Centerline is valid? [True, True] Translation: X:0.93, Y:0.18, Z:-0.01 [[ 9.99829031e-01 1.32503032e-02 -1.28971906e-02 9.26656743e-01] [-1.32517618e-02 9.99912191e-01 -2.76378063e-05 1.80814710e-01] [ 1.28956919e-02 1.98543579e-04 9.99916827e-01 -1.00294122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521858064 meters 0.037072584549297405 Centerline is valid? [True, True] Translation: X:0.98, Y:0.19, Z:-0.01 [[ 9.99786074e-01 1.61798013e-02 -1.28848688e-02 9.84996868e-01] [-1.61815178e-02 9.99869070e-01 -2.89629963e-05 1.85849078e-01] [ 1.28827131e-02 2.37453533e-04 9.99916986e-01 -9.53905594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581858064 meters 0.037585862043270316 Centerline is valid? [True, True] Translation: X:1.04, Y:0.20, Z:-0.01 [[ 9.99674285e-01 2.27122069e-02 -1.16395274e-02 1.04464517e+00] [-2.27140549e-02 9.99742002e-01 -2.65785904e-05 1.96808398e-01] [ 1.16359207e-02 2.90950796e-04 9.99932258e-01 -8.94563537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6418580639999996 meters 0.04085190394354104 Centerline is valid? [True, True] Translation: X:1.11, Y:0.21, Z:-0.01 [[ 9.99374167e-01 3.26414781e-02 -1.36311429e-02 1.10518464e+00] [-3.26449367e-02 9.99467012e-01 -3.12409215e-05 2.10314136e-01] [ 1.36228579e-02 4.76209168e-04 9.99907091e-01 -1.00286669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7018580639999996 meters 0.042180461503712796 Centerline is valid? [True, True] Translation: X:1.16, Y:0.21, Z:-0.01 [[ 9.99247732e-01 3.61487513e-02 -1.40441704e-02 1.16464882e+00] [-3.61527771e-02 9.99346274e-01 -3.27928776e-05 2.14372937e-01] [ 1.40338040e-02 5.40503971e-04 9.99901375e-01 -1.01496597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7618580639999997 meters 0.04453675894714449 Centerline is valid? [True, True] Translation: X:1.23, Y:0.22, Z:-0.01 [[ 9.99022451e-01 4.17206778e-02 -1.46125916e-02 1.22530786e+00] [-4.17256319e-02 9.99129106e-01 -3.41866662e-05 2.23870212e-01] [ 1.45984393e-02 6.43872867e-04 9.99893230e-01 -1.00881554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8218580639999997 meters 0.047330317675559945 Centerline is valid? [True, True] Translation: X:1.29, Y:0.23, Z:-0.01 [[ 9.98753833e-01 4.79530681e-02 -1.38305751e-02 1.28604421e+00] [-4.79581020e-02 9.98849348e-01 -3.23515635e-05 2.34653990e-01] [ 1.38131095e-02 6.95599378e-04 9.99904352e-01 -7.57156533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8818580639999998 meters 0.04991519052343598 Centerline is valid? [True, True] Translation: X:1.35, Y:0.24, Z:-0.01 [[ 9.98549959e-01 5.19258956e-02 -1.42014487e-02 1.34601463e+00] [-5.19316049e-02 9.98650643e-01 -3.32978998e-05 2.41744432e-01] [ 1.41805568e-02 7.70753638e-04 9.99899154e-01 -6.86993104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941858064 meters 0.04074204167972485 Centerline is valid? [True, True] Translation: X:1.41, Y:0.23, Z:-0.00 [[ 9.98474285e-01 5.39744044e-02 -1.16561486e-02 1.40511877e+00] [-5.39783960e-02 9.98542103e-01 -2.78829237e-05 2.31753844e-01] [ 1.16376502e-02 6.57020587e-04 9.99932064e-01 -3.64072036e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001858064 meters 0.040245751956634754 Centerline is valid? [True, True] Translation: X:1.46, Y:0.23, Z:-0.00 [[ 9.98694744e-01 4.97352748e-02 -1.16279943e-02 1.46480306e+00] [-4.97389638e-02 9.98762251e-01 -2.80920205e-05 2.34564076e-01] [ 1.16122046e-02 6.06419740e-04 9.99932392e-01 -6.41242495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061858064 meters 0.038721842550024796 Centerline is valid? [True, True] Translation: X:1.53, Y:0.23, Z:-0.00 [[ 9.98935473e-01 4.44853508e-02 -1.22055195e-02 1.52522187e+00] [-4.44890250e-02 9.99009873e-01 -2.95391933e-05 2.32337323e-01] [ 1.21921204e-02 5.72519411e-04 9.99925509e-01 -1.47444338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121858064 meters 0.035078373577125274 Centerline is valid? [True, True] Translation: X:1.59, Y:0.23, Z:-0.00 [[ 9.99238547e-01 3.72145842e-02 -1.17217919e-02 1.58560536e+00] [-3.72174744e-02 9.99307189e-01 -2.84535502e-05 2.29091378e-01] [ 1.17126121e-02 4.64687375e-04 9.99931297e-01 -8.18811152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1818580639999996 meters 0.033088393650606555 Centerline is valid? [True, True] Translation: X:1.65, Y:0.23, Z:-0.00 [[ 9.99358654e-01 3.40280269e-02 -1.11522977e-02 1.64521836e+00] [-3.40304487e-02 9.99420796e-01 -2.74143278e-05 2.26241371e-01] [ 1.11449054e-02 4.06914441e-04 9.99937811e-01 -3.84961829e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2418580639999997 meters 0.032700398707989624 Centerline is valid? [True, True] Translation: X:1.70, Y:0.23, Z:-0.00 [[ 9.99455500e-01 3.09951286e-02 -1.13139801e-02 1.70368685e+00] [-3.09974331e-02 9.99519464e-01 -2.83459480e-05 2.27353024e-01] [ 1.13076647e-02 3.79034854e-04 9.99935994e-01 -7.57795128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3018580639999997 meters 0.032396299480098506 Centerline is valid? [True, True] Translation: X:1.76, Y:0.23, Z:-0.00 [[ 9.99473558e-01 3.03893981e-02 -1.13617934e-02 1.76295144e+00] [-3.03916911e-02 9.99538065e-01 -2.91759410e-05 2.30029354e-01] [ 1.13556583e-02 3.74464697e-04 9.99935452e-01 -1.57131161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3618580639999998 meters 0.032364843787076825 Centerline is valid? [True, True] Translation: X:1.82, Y:0.24, Z:0.00 [[ 9.99470922e-01 3.13062544e-02 -8.82012276e-03 1.82220354e+00] [-3.13076766e-02 9.99509794e-01 -2.31954866e-05 2.37840328e-01] [ 8.81507293e-03 2.99320766e-04 9.99961102e-01 7.61510453e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421858064 meters 0.032963491486871374 Centerline is valid? [True, True] Translation: X:1.88, Y:0.25, Z:0.00 [[ 9.99432759e-01 3.28487437e-02 -7.42427751e-03 1.88070820e+00] [-3.28497973e-02 9.99460300e-01 -1.99811279e-05 2.45409757e-01] [ 7.41961426e-03 2.63855805e-04 9.99972439e-01 2.08530713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481858064 meters 0.034214530279280404 Centerline is valid? [True, True] Translation: X:1.94, Y:0.25, Z:0.00 [[ 9.99383069e-01 3.45354788e-02 -6.38601038e-03 1.93902642e+00] [-3.45362957e-02 9.99403444e-01 -1.76595444e-05 2.52361198e-01] [ 6.38159089e-03 2.38197793e-04 9.99979609e-01 2.95344960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541858064 meters 0.036269240252932176 Centerline is valid? [True, True] Translation: X:2.00, Y:0.26, Z:0.00 [[ 9.99253250e-01 3.81695307e-02 -6.00246181e-03 1.99907644e+00] [-3.81703188e-02 9.99271248e-01 -1.67405002e-05 2.63730681e-01] [ 5.99744853e-03 2.45843880e-04 9.99981985e-01 3.17486784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6018580639999995 meters 0.03787953349614853 Centerline is valid? [True, True] Translation: X:2.06, Y:0.27, Z:0.00 [[ 9.99148699e-01 4.08451228e-02 -5.79257680e-03 2.05897314e+00] [-4.08459025e-02 9.99165458e-01 -1.63176782e-05 2.72625859e-01] [ 5.78707615e-03 2.52906814e-04 9.99983223e-01 3.36253442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6618580639999996 meters 0.04135815270540301 Centerline is valid? [True, True] Translation: X:2.12, Y:0.28, Z:0.00 [[ 9.98962754e-01 4.50795033e-02 -6.42298979e-03 2.11849473e+00] [-4.50805500e-02 9.98983355e-01 -1.82053952e-05 2.84895485e-01] [ 6.41563920e-03 3.07738424e-04 9.99979372e-01 1.47539553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7218580639999996 meters 0.0413457842608056 Centerline is valid? [True, True] Translation: X:2.18, Y:0.29, Z:0.00 [[ 9.98891089e-01 4.67519010e-02 -5.55445227e-03 2.17847318e+00] [-4.67527105e-02 9.98906494e-01 -1.58976674e-05 2.88481698e-01] [ 5.54763520e-03 2.75565737e-04 9.99984574e-01 1.57406117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7818580639999997 meters 0.042409532496848215 Centerline is valid? [True, True] Translation: X:2.24, Y:0.29, Z:0.00 [[ 9.98875069e-01 4.71524786e-02 -5.02393342e-03 2.23577832e+00] [-4.71531471e-02 9.98887672e-01 -1.46283991e-05 2.93932576e-01] [ 5.01765539e-03 2.51506215e-04 9.99987380e-01 1.23828362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8418580639999997 meters 0.0416174502504362 Centerline is valid? [True, True] Translation: X:2.29, Y:0.30, Z:-0.00 [[ 9.98981981e-01 4.46589413e-02 -6.37026141e-03 2.29497539e+00] [-4.46599669e-02 9.99002246e-01 -1.87704032e-05 2.97073515e-01] [ 6.36306719e-03 3.03246958e-04 9.99979710e-01 -1.70906588e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901858064 meters 0.036752950677602536 Centerline is valid? [True, True] Translation: X:2.36, Y:0.29, Z:0.00 [[ 9.99092928e-01 4.22452720e-02 -5.35334081e-03 2.35503968e+00] [-4.22459622e-02 9.99107241e-01 -1.58629420e-05 2.93462735e-01] [ 5.34789143e-03 2.42005587e-04 9.99985671e-01 5.73114998e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961858064 meters 0.03623468179485787 Centerline is valid? [True, True] Translation: X:2.41, Y:0.30, Z:-0.00 [[ 9.99256659e-01 3.79424684e-02 -6.81899184e-03 2.41489206e+00] [-3.79434905e-02 9.99279886e-01 -2.05266449e-05 2.96901546e-01] [ 6.81330256e-03 2.79247738e-04 9.99976750e-01 -1.13192389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021858064 meters 0.03540490066299052 Centerline is valid? [True, True] Translation: X:2.47, Y:0.30, Z:-0.00 [[ 9.99310069e-01 3.65831903e-02 -6.40745605e-03 2.47400198e+00] [-3.65840672e-02 9.99330579e-01 -1.96564351e-05 2.97847970e-01] [ 6.40244767e-03 2.54053676e-04 9.99979472e-01 -8.91371978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081858064 meters 0.03481660959409506 Centerline is valid? [True, True] Translation: X:2.53, Y:0.30, Z:0.00 [[ 9.99434917e-01 3.31171611e-02 -5.75332875e-03 2.53252313e+00] [-3.31178121e-02 9.99451455e-01 -1.79081756e-05 3.00771164e-01] [ 5.74957972e-03 2.08435717e-04 9.99983449e-01 5.58622054e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141858064 meters 0.034257217965175085 Centerline is valid? [True, True] Translation: X:2.59, Y:0.30, Z:0.00 [[ 9.99497751e-01 3.13338289e-02 -4.73666118e-03 2.59033226e+00] [-3.13342516e-02 9.99508962e-01 -1.50384172e-05 3.03016553e-01] [ 4.73386409e-03 1.63450597e-04 9.99988782e-01 2.44618678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2018580640000005 meters 0.032047437356981394 Centerline is valid? [True, True] Translation: X:2.65, Y:0.30, Z:0.00 [[ 9.99510546e-01 3.08825673e-02 -4.99353932e-03 2.64944679e+00] [-3.08830330e-02 9.99523005e-01 -1.61485276e-05 3.01687221e-01] [ 4.99065872e-03 1.70356263e-04 9.99987532e-01 3.16876813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261858064 meters 0.036675567770972126 Centerline is valid? [True, True] Translation: X:2.71, Y:0.31, Z:0.00 [[ 9.99423388e-01 3.36907462e-02 -4.22202431e-03 2.70812206e+00] [-3.36911049e-02 9.99432293e-01 -1.38674222e-05 3.11418875e-01] [ 4.21916024e-03 1.56104090e-04 9.99991087e-01 4.36627892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321858064000001 meters 0.0386757775461059 Centerline is valid? [True, True] Translation: X:2.77, Y:0.32, Z:0.00 [[ 9.99217723e-01 3.92949483e-02 -4.45533595e-03 2.76840040e+00] [-3.92954037e-02 9.99227637e-01 -1.46847798e-05 3.18655365e-01] [ 4.45131778e-03 1.89747517e-04 9.99990075e-01 4.58104549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381858064 meters 0.04082547028467315 Centerline is valid? [True, True] Translation: X:2.83, Y:0.32, Z:0.00 [[ 9.99146537e-01 4.10674657e-02 -4.43416704e-03 2.82755583e+00] [-4.10679350e-02 9.99156356e-01 -1.47994754e-05 3.22438483e-01] [ 4.42981841e-03 1.96888929e-04 9.99990169e-01 4.20869517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441858064 meters 0.029492711381706 Centerline is valid? [True, True] Translation: X:2.89, Y:0.31, Z:0.01 [[ 9.99067031e-01 4.31729150e-02 -1.08007114e-03 2.88751642e+00] [-4.31729441e-02 9.99067614e-01 -3.62264420e-06 3.07870230e-01] [ 1.07890770e-03 5.02491153e-05 9.99999417e-01 6.31827039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501858064 meters 0.02371543546304433 Centerline is valid? [True, True] Translation: X:2.95, Y:0.30, Z:0.01 [[ 9.99100853e-01 4.23703292e-02 -1.49710773e-03 2.94620160e+00] [-4.23703843e-02 9.99101972e-01 -5.10543041e-06 3.03118918e-01] [ 1.49554696e-03 6.85338696e-05 9.99998879e-01 7.14582949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561858064 meters 0.023502275287862848 Centerline is valid? [True, True] Translation: X:3.00, Y:0.31, Z:0.00 [[ 9.99267295e-01 3.81035747e-02 -3.60415788e-03 3.00490306e+00] [-3.81038675e-02 9.99273784e-01 -1.25834941e-05 3.06367207e-01] [ 3.60106101e-03 1.49906629e-04 9.99993505e-01 4.21593434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621858064 meters 0.022780395836022777 Centerline is valid? [True, True] Translation: X:3.06, Y:0.31, Z:0.00 [[ 9.99352165e-01 3.57427085e-02 -4.20810961e-03 3.06382805e+00] [-3.57430879e-02 9.99361012e-01 -1.49817391e-05 3.05519135e-01] [ 4.20488519e-03 1.65382865e-04 9.99991146e-01 3.25965031e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681858064 meters 0.021034684985934075 Centerline is valid? [True, True] Translation: X:3.12, Y:0.31, Z:0.00 [[ 9.99600073e-01 2.77346620e-02 -5.52103332e-03 3.12335359e+00] [-2.77351942e-02 9.99615305e-01 -1.98333327e-05 3.05585729e-01] [ 5.51835934e-03 1.72952332e-04 9.99984759e-01 2.81717638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7418580640000005 meters 0.01893904543593165 Centerline is valid? [True, True] Translation: X:3.18, Y:0.30, Z:0.00 [[ 9.99796679e-01 1.96713512e-02 -4.43156030e-03 3.18352693e+00] [-1.96716152e-02 9.99806495e-01 -1.59940904e-05 3.01401822e-01] [ 4.43038814e-03 1.03166787e-04 9.99990180e-01 2.88302494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801858064 meters 0.018131508257019948 Centerline is valid? [True, True] Translation: X:3.24, Y:0.30, Z:0.00 [[ 9.99875393e-01 1.49436659e-02 -5.08770599e-03 3.24216247e+00] [-1.49439542e-02 9.99888333e-01 -1.86717013e-05 2.98935615e-01] [ 5.08685884e-03 9.46998203e-05 9.99987057e-01 2.66534303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.861858064 meters 0.01741819266516256 Centerline is valid? [True, True] Translation: X:3.30, Y:0.30, Z:0.00 [[ 9.99917430e-01 1.17835861e-02 -5.12647685e-03 3.30126780e+00] [-1.17838393e-02 9.99930568e-01 -1.91834470e-05 2.95193267e-01] [ 5.12589486e-03 7.95914424e-05 9.99986859e-01 3.05405478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921858064 meters 0.018330439825698753 Centerline is valid? [True, True] Translation: X:3.36, Y:0.30, Z:0.00 [[ 9.99835065e-01 1.69251492e-02 -6.58651340e-03 3.35993043e+00] [-1.69256812e-02 9.99856750e-01 -2.50334584e-05 3.00044449e-01] [ 6.58514618e-03 1.36510555e-04 9.99978308e-01 1.93695007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981858064 meters 0.020264031705448035 Centerline is valid? [True, True] Translation: X:3.42, Y:0.30, Z:0.00 [[ 9.99727130e-01 2.18641387e-02 -8.22346136e-03 3.41894445e+00] [-2.18651386e-02 9.99760929e-01 -3.17011579e-05 3.02260324e-01] [ 8.22080225e-03 2.11499630e-04 9.99966186e-01 4.78976311e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041858064 meters 0.022790270621531133 Centerline is valid? [True, True] Translation: X:3.48, Y:0.31, Z:0.00 [[ 9.99564490e-01 2.87300464e-02 -6.73906715e-03 3.47873876e+00] [-2.87308749e-02 9.99587183e-01 -2.61464093e-05 3.08555210e-01] [ 6.73553396e-03 2.19754318e-04 9.99977292e-01 1.78069269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101858064 meters 0.024801005631013204 Centerline is valid? [True, True] Translation: X:3.54, Y:0.31, Z:0.00 [[ 9.99537138e-01 2.98108610e-02 -6.06816890e-03 3.53605651e+00] [-2.98115560e-02 9.99555537e-01 -2.40915686e-05 3.12911415e-01] [ 6.06475363e-03 2.04981975e-04 9.99981588e-01 1.78443823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1618580640000005 meters 0.025473890881282272 Centerline is valid? [True, True] Translation: X:3.59, Y:0.31, Z:-0.00 [[ 9.99498855e-01 3.08089237e-02 -7.26968818e-03 3.59478139e+00] [-3.08099515e-02 9.99525260e-01 -2.93996696e-05 3.14094994e-01] [ 7.26533120e-03 2.53363676e-04 9.99973575e-01 -1.94836744e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221858064 meters 0.02879543329289855 Centerline is valid? [True, True] Translation: X:3.65, Y:0.32, Z:-0.00 [[ 9.99390694e-01 3.38293469e-02 -8.59160294e-03 3.65305534e+00] [-3.38308989e-02 9.99427571e-01 -3.53260573e-05 3.17739544e-01] [ 8.58548980e-03 3.25966183e-04 9.99963091e-01 -1.99202632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.281858064 meters 0.02855292513833249 Centerline is valid? [True, True] Translation: X:3.71, Y:0.31, Z:0.00 [[ 9.99300318e-01 3.68192462e-02 -6.57404609e-03 3.71252177e+00] [-3.68202210e-02 9.99321905e-01 -2.72689163e-05 3.13828999e-01] [ 6.56858425e-03 2.69307667e-04 9.99978390e-01 5.50975594e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341858064 meters 0.03363178781091753 Centerline is valid? [True, True] Translation: X:3.77, Y:0.32, Z:-0.00 [[ 9.99217691e-01 3.89801053e-02 -6.67506825e-03 3.77058181e+00] [-3.89811608e-02 9.99239945e-01 -2.80547631e-05 3.20579217e-01] [ 6.66890126e-03 2.88234725e-04 9.99977721e-01 -1.45201294e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401858064 meters 0.032911208752005185 Centerline is valid? [True, True] Translation: X:3.83, Y:0.31, Z:0.00 [[ 9.99075502e-01 4.25580015e-02 -6.07924245e-03 3.83084482e+00] [-4.25589439e-02 9.99093957e-01 -2.56824234e-05 3.14992532e-01] [ 6.07264140e-03 2.84384818e-04 9.99981521e-01 2.86150004e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461858064 meters 0.03392683485587128 Centerline is valid? [True, True] Translation: X:3.89, Y:0.31, Z:-0.00 [[ 9.98996054e-01 4.43967279e-02 -5.98461231e-03 3.88994502e+00] [-4.43976756e-02 9.99013937e-01 -2.55455899e-05 3.14426389e-01] [ 5.97757696e-03 2.91222820e-04 9.99982092e-01 -1.18248446e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521858064 meters 0.03474011795182339 Centerline is valid? [True, True] Translation: X:3.95, Y:0.31, Z:0.00 [[ 9.99016796e-01 4.41085341e-02 -4.45859058e-03 3.94814150e+00] [-4.41090587e-02 9.99026722e-01 -1.93611743e-05 3.11847932e-01] [ 4.45339714e-03 2.16006372e-04 9.99990060e-01 6.85601890e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581858064 meters 0.03426773816166048 Centerline is valid? [True, True] Translation: X:4.01, Y:0.31, Z:0.00 [[ 9.99208776e-01 3.94473117e-02 -5.07267905e-03 4.00738376e+00] [-3.94479318e-02 9.99221627e-01 -2.21971971e-05 3.05317415e-01] [ 5.06785500e-03 2.22286331e-04 9.99987134e-01 2.91459738e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641858064 meters 0.03270022264154277 Centerline is valid? [True, True] Translation: X:4.07, Y:0.30, Z:-0.00 [[ 9.99388975e-01 3.44860170e-02 -5.69136849e-03 4.06638989e+00] [-3.44867180e-02 9.99405156e-01 -2.50433342e-05 2.98206419e-01] [ 5.68711937e-03 2.21304652e-04 9.99983804e-01 -9.36662543e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7018580640000005 meters 0.028647449810339332 Centerline is valid? [True, True] Translation: X:4.13, Y:0.28, Z:0.00 [[ 9.99618880e-01 2.71277895e-02 -5.11642070e-03 4.12661933e+00] [-2.71282599e-02 9.99631961e-01 -2.25458097e-05 2.80569746e-01] [ 5.11392604e-03 1.61336807e-04 9.99986911e-01 1.56459434e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761858064 meters 0.027768496432840014 Centerline is valid? [True, True] Translation: X:4.18, Y:0.28, Z:0.00 [[ 9.99692833e-01 2.45182416e-02 -3.61863832e-03 4.18445595e+00] [-2.45184606e-02 9.99699377e-01 -1.61718170e-05 2.78137242e-01] [ 3.61715397e-03 1.04890291e-04 9.99993453e-01 1.86983653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821858064 meters 0.027663307676803153 Centerline is valid? [True, True] Translation: X:4.24, Y:0.27, Z:0.00 [[ 9.99634203e-01 2.70006151e-02 -1.55767111e-03 4.24373511e+00] [-2.70006588e-02 9.99635416e-01 -7.02470490e-06 2.72493943e-01] [ 1.55691354e-03 4.90802815e-05 9.99998787e-01 4.58951151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881858064 meters 0.02756119560681987 Centerline is valid? [True, True] Translation: X:4.30, Y:0.26, Z:0.01 [[ 9.99455710e-01 3.29390055e-02 -1.81822875e-03 4.30404910e+00] [-3.29390750e-02 9.99457361e-01 -8.26410976e-06 2.64433061e-01] [ 1.81696990e-03 6.81503848e-05 9.99998347e-01 5.00154203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941858064 meters 0.029430273463213672 Centerline is valid? [True, True] Translation: X:4.36, Y:0.26, Z:0.00 [[ 9.99284841e-01 3.76570617e-02 -3.42809680e-03 4.36441885e+00] [-3.76573364e-02 9.99290711e-01 -1.56085995e-05 2.56471433e-01] [ 3.42507752e-03 1.44690432e-04 9.99994124e-01 3.06308929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001858064 meters 0.028709078690284176 Centerline is valid? [True, True] Translation: X:4.42, Y:0.25, Z:0.00 [[ 9.99235555e-01 3.89393252e-02 -3.46922059e-03 4.42437369e+00] [-3.89396146e-02 9.99241565e-01 -1.58882981e-05 2.51332829e-01] [ 3.46597073e-03 1.50966265e-04 9.99993982e-01 2.96590967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061858064 meters 0.028896700463314624 Centerline is valid? [True, True] Translation: X:4.48, Y:0.24, Z:0.00 [[ 9.99282959e-01 3.77404663e-02 -3.03733579e-03 4.48355952e+00] [-3.77406829e-02 9.99287567e-01 -1.40134791e-05 2.40911760e-01] [ 3.03464301e-03 1.28634558e-04 9.99995387e-01 2.96434485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121858064 meters 0.029197626228550353 Centerline is valid? [True, True] Translation: X:4.54, Y:0.23, Z:0.00 [[ 9.99343308e-01 3.60467670e-02 -3.68568944e-03 4.54299814e+00] [-3.60470750e-02 9.99350093e-01 -1.71386495e-05 2.33944826e-01] [ 3.68267629e-03 1.49985718e-04 9.99993208e-01 2.42657403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181858064 meters 0.02566218499532974 Centerline is valid? [True, True] Translation: X:4.60, Y:0.22, Z:0.00 [[ 9.99409619e-01 3.40837092e-02 -4.32594898e-03 4.60279267e+00] [-3.40841157e-02 9.99418968e-01 -2.02752387e-05 2.18100791e-01] [ 4.32274441e-03 1.67709414e-04 9.99990643e-01 2.97024667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2418580640000005 meters 0.027881460291034447 Centerline is valid? [True, True] Translation: X:4.66, Y:0.21, Z:0.00 [[ 9.99335771e-01 3.63308043e-02 -2.84424853e-03 4.66177005e+00] [-3.63309894e-02 9.99339812e-01 -1.34210351e-05 2.10592800e-01] [ 2.84188319e-03 1.16746484e-04 9.99995955e-01 4.77660323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301858064 meters 0.029785368195066563 Centerline is valid? [True, True] Translation: X:4.72, Y:0.21, Z:0.01 [[ 9.99166786e-01 4.07196719e-02 -2.76434478e-03 4.72050066e+00] [-4.07198638e-02 9.99170602e-01 -1.31393564e-05 2.08819375e-01] [ 2.76151700e-03 1.25692151e-04 9.99996179e-01 5.05318081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361858064 meters 0.030946770939755956 Centerline is valid? [True, True] Translation: X:4.78, Y:0.20, Z:0.01 [[ 9.98801597e-01 4.88333627e-02 -3.26672958e-03 4.78118189e+00] [-4.88336740e-02 9.98806924e-01 -1.55584985e-05 1.99481861e-01] [ 3.26207235e-03 1.75066261e-04 9.99994664e-01 5.61132687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421858064 meters 0.03411549230360433 Centerline is valid? [True, True] Translation: X:4.84, Y:0.20, Z:0.01 [[ 9.98569209e-01 5.33713279e-02 -3.32201982e-03 4.84101161e+00] [-5.33716747e-02 9.98574716e-01 -1.57679786e-05 1.95794269e-01] [ 3.31644344e-03 1.93047179e-04 9.99994482e-01 5.90090424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481858064 meters 0.03490151416513306 Centerline is valid? [True, True] Translation: X:4.90, Y:0.19, Z:0.01 [[ 9.98485792e-01 5.48926287e-02 -3.59476364e-03 4.90119896e+00] [-5.48930445e-02 9.98492240e-01 -1.70323462e-05 1.92948981e-01] [ 3.58840865e-03 2.14334076e-04 9.99993539e-01 5.61975310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541858064 meters 0.037196938035092074 Centerline is valid? [True, True] Translation: X:4.96, Y:0.18, Z:0.00 [[ 9.98520451e-01 5.42300053e-02 -4.00185070e-03 4.96164462e+00] [-5.42305151e-02 9.98528443e-01 -1.89038756e-05 1.79707519e-01] [ 3.99493659e-03 2.35898331e-04 9.99991992e-01 4.47849922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601858064 meters 0.03338793162640848 Centerline is valid? [True, True] Translation: X:5.02, Y:0.16, Z:0.01 [[ 9.98659016e-01 5.16599591e-02 -3.37917675e-03 5.02312062e+00] [-5.16603076e-02 9.98664715e-01 -1.58617296e-05 1.61430696e-01] [ 3.37384517e-03 1.90409770e-04 9.99994290e-01 6.48731378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6618580640000005 meters 0.032731025856111505 Centerline is valid? [True, True] Translation: X:5.09, Y:0.15, Z:0.01 [[ 9.98778170e-01 4.93464644e-02 -2.66342881e-03 5.08514748e+00] [-4.93466724e-02 9.98781711e-01 -1.23848452e-05 1.52191675e-01] [ 2.65957283e-03 1.43801062e-04 9.99996453e-01 7.68430687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721858064 meters 0.030789303361842803 Centerline is valid? [True, True] Translation: X:5.15, Y:0.14, Z:0.01 [[ 9.98949099e-01 4.56948479e-02 -3.56073558e-03 5.14625922e+00] [-4.56951961e-02 9.98955429e-01 -1.64500584e-05 1.36651793e-01] [ 3.55626445e-03 1.79141282e-04 9.99993660e-01 6.72718607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781858064 meters 0.031200324168795805 Centerline is valid? [True, True] Translation: X:5.21, Y:0.13, Z:0.01 [[ 9.98955093e-01 4.55545792e-02 -3.67447231e-03 5.20800844e+00] [-4.55549465e-02 9.98961834e-01 -1.62803342e-05 1.28646204e-01] [ 3.66991596e-03 1.83653712e-04 9.99993249e-01 7.20841719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841858064 meters 0.0319196584996605 Centerline is valid? [True, True] Translation: X:5.27, Y:0.12, Z:0.01 [[ 9.98938020e-01 4.59368629e-02 -3.55478160e-03 5.26968346e+00] [-4.59372059e-02 9.98944329e-01 -1.48590592e-05 1.18174719e-01] [ 3.55034634e-03 1.78140013e-04 9.99993682e-01 8.46645456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901858064 meters 0.029303851724357195 Centerline is valid? [True, True] Translation: X:5.33, Y:0.10, Z:0.01 [[ 9.98902365e-01 4.64446098e-02 -6.07980108e-03 5.33221424e+00] [-4.64456124e-02 9.98920820e-01 -2.37415220e-05 1.01351836e-01] [ 6.07213721e-03 3.06095547e-04 9.99981518e-01 7.58195535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961858064 meters 0.03001182598873871 Centerline is valid? [True, True] Translation: X:5.39, Y:0.09, Z:0.01 [[ 9.98942099e-01 4.55151235e-02 -6.56167158e-03 5.39427776e+00] [-4.55162606e-02 9.98963598e-01 -2.39956600e-05 9.19689453e-02] [ 6.55377888e-03 3.22633029e-04 9.99978472e-01 7.66504419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021858064 meters 0.030622184142535473 Centerline is valid? [True, True] Translation: X:5.46, Y:0.08, Z:0.01 [[ 9.98982744e-01 4.47497806e-02 -5.56189691e-03 5.45584229e+00] [-4.47505789e-02 9.98998191e-01 -1.91074689e-05 8.12339466e-02] [ 5.55546990e-03 2.67986139e-04 9.99984532e-01 1.03871972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081858064 meters 0.030906241129246434 Centerline is valid? [True, True] Translation: X:5.52, Y:0.07, Z:0.01 [[ 9.99009755e-01 4.41749673e-02 -5.29912634e-03 5.51792692e+00] [-4.41756774e-02 9.99023778e-01 -1.69740925e-05 6.94469481e-02] [ 5.29320339e-03 2.51049780e-04 9.99985959e-01 1.14190614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141858064 meters 0.029786354132585072 Centerline is valid? [True, True] Translation: X:5.58, Y:0.06, Z:0.01 [[ 9.99005619e-01 4.44590465e-02 -3.34149882e-03 5.58120089e+00] [-4.44593278e-02 9.99011195e-01 -9.90056377e-06 6.10213661e-02] [ 3.33775456e-03 1.58451510e-04 9.99994417e-01 1.40901861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201858064 meters 0.02795389542746883 Centerline is valid? [True, True] Translation: X:5.64, Y:0.05, Z:0.02 [[ 9.98988240e-01 4.48697878e-02 -3.03301633e-03 5.64418758e+00] [-4.48700189e-02 9.98992833e-01 -8.16274259e-06 4.50682177e-02] [ 3.02959532e-03 1.44245984e-04 9.99995400e-01 1.67836975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261858064 meters 0.03092318596941284 Centerline is valid? [True, True] Translation: X:5.71, Y:0.04, Z:0.02 [[ 9.98912742e-01 4.65390819e-02 -2.72915619e-03 5.70525495e+00] [-4.65392735e-02 9.98916461e-01 -6.70696697e-06 4.33248586e-02] [ 2.72588690e-03 1.33712621e-04 9.99996276e-01 1.79020833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321858064 meters 0.031610997780903045 Centerline is valid? [True, True] Translation: X:5.77, Y:0.03, Z:0.02 [[ 9.98782153e-01 4.92336436e-02 -3.20297541e-03 5.76591199e+00] [-4.92339204e-02 9.98787275e-01 -7.60217248e-06 3.21335974e-02] [ 3.19871680e-03 1.65287951e-04 9.99994870e-01 1.81935928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381858064 meters 0.03141599314801613 Centerline is valid? [True, True] Translation: X:5.83, Y:0.02, Z:0.02 [[ 9.98633854e-01 5.21109593e-02 -3.85653660e-03 5.82659827e+00] [-5.21113815e-02 9.98641279e-01 -9.00068209e-06 2.37289363e-02] [ 3.85082760e-03 2.09957836e-04 9.99992563e-01 1.91096016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441858064 meters 0.03161685199475786 Centerline is valid? [True, True] Translation: X:5.89, Y:0.02, Z:0.02 [[ 9.98621062e-01 5.23457060e-02 -3.98758144e-03 5.88919314e+00] [-5.23461556e-02 9.98629000e-01 -8.39849909e-06 1.80430948e-02] [ 3.98167485e-03 2.17121477e-04 9.99992050e-01 1.88790596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501858064 meters 0.030027013666076484 Centerline is valid? [True, True] Translation: X:5.95, Y:0.01, Z:0.02 [[ 9.98721851e-01 5.01725926e-02 -6.11350503e-03 5.95116644e+00] [-5.01736049e-02 9.98740511e-01 -1.22270468e-05 6.03328549e-03] [ 6.10519167e-03 3.18948005e-04 9.99981312e-01 1.72037530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561858064 meters 0.031932405022440026 Centerline is valid? [True, True] Translation: X:6.01, Y:0.00, Z:0.02 [[ 9.98772076e-01 4.89789849e-02 -7.44301294e-03 6.01200210e+00] [-4.89804408e-02 9.98799738e-01 -1.33475083e-05 3.59451955e-03] [ 7.43342562e-03 3.77893173e-04 9.99972300e-01 1.60115696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621858064 meters 0.030910365738237376 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.01, Z:0.01 [[ 9.98909473e-01 4.60132926e-02 -7.91471112e-03 6.07316445e+00] [-4.60148425e-02 9.98940756e-01 -1.37498361e-05 -5.07713552e-03] [ 7.90569484e-03 3.77929028e-04 9.99968678e-01 1.49263861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681858064 meters 0.030868020367960398 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.01, Z:0.01 [[ 9.98954776e-01 4.49955928e-02 -8.04692917e-03 6.13498871e+00] [-4.49971486e-02 9.98987115e-01 -1.23035049e-05 -9.91860709e-03] [ 8.03822496e-03 3.74379513e-04 9.99967623e-01 1.45781753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741858064 meters 0.02716560186297396 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.02, Z:0.02 [[ 9.99047185e-01 4.30771542e-02 -7.00576310e-03 6.19656318e+00] [-4.30782836e-02 9.99071700e-01 -1.03265090e-05 -2.44851444e-02] [ 6.99881481e-03 3.12112920e-04 9.99975459e-01 1.77505909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801858064 meters 0.027269746166675973 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.03, Z:0.02 [[ 9.99102690e-01 4.18850361e-02 -6.28165649e-03 6.25866197e+00] [-4.18859124e-02 9.99122400e-01 -7.95001744e-06 -3.09096467e-02] [ 6.27581072e-03 2.71055797e-04 9.99980270e-01 1.82127199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861858064 meters 0.027602171237515405 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.04, Z:0.02 [[ 9.99131730e-01 4.12901321e-02 -5.55972544e-03 6.32071073e+00] [-4.12908022e-02 9.99147171e-01 -5.75627850e-06 -3.59897926e-02] [ 5.55474627e-03 2.35316804e-04 9.99984545e-01 1.92031716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921858064 meters 0.027582145139943032 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.04, Z:0.02 [[ 9.99203773e-01 3.96776560e-02 -4.18368427e-03 6.38170298e+00] [-3.96780178e-02 9.99212517e-01 -3.47268323e-06 -4.42330592e-02] [ 4.18025190e-03 1.69470217e-04 9.99991248e-01 2.22688755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981858064 meters 0.028111341193245692 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.05, Z:0.02 [[ 9.99231660e-01 3.90333372e-02 -3.53380028e-03 6.44297447e+00] [-3.90335887e-02 9.99237899e-01 -2.21819202e-06 -5.06599006e-02] [ 3.53102059e-03 1.40153395e-04 9.99993756e-01 2.43820534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041858064 meters 0.028841545207407844 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.05, Z:0.02 [[ 9.99219832e-01 3.93691846e-02 -3.12959854e-03 6.50640622e+00] [-3.93693812e-02 9.99224725e-01 -1.22518833e-06 -5.26729826e-02] [ 3.12712401e-03 1.24434590e-04 9.99995103e-01 2.42681925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101858064 meters 0.029253385114457648 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.06, Z:0.03 [[ 9.99222762e-01 3.92566383e-02 -3.57619330e-03 6.56835080e+00] [-3.92568913e-02 9.99229151e-01 -5.49587209e-07 -5.90767689e-02] [ 3.57341502e-03 1.40939392e-04 9.99993605e-01 2.52177295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161858064 meters 0.0280674657417667 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.06, Z:0.02 [[ 9.99337487e-01 3.62138287e-02 -3.62568894e-03 6.62949937e+00] [-3.62140677e-02 9.99344056e-01 -2.76876596e-07 -6.44358594e-02] [ 3.62330066e-03 1.31577638e-04 9.99993427e-01 2.47059777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221858064 meters 0.023450119952942463 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.08, Z:0.02 [[ 9.99612313e-01 2.73789777e-02 -5.06108172e-03 6.69049972e+00] [-2.73793298e-02 9.99625116e-01 -2.84592354e-07 -7.70837598e-02] [ 5.05917661e-03 1.38853508e-04 9.99987193e-01 2.18075923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281858064 meters 0.01855960507985804 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.09, Z:0.02 [[ 9.99871409e-01 1.57080098e-02 -3.22866893e-03 6.74972822e+00] [-1.57080924e-02 9.99876620e-01 -2.07649053e-07 -9.32037937e-02] [ 3.22826731e-03 5.09238521e-05 9.99994788e-01 2.33827303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341858064 meters 0.014922846683382784 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.11, Z:0.03 [[ 9.99988981e-01 4.43909472e-03 -1.52689698e-03 6.81160595e+00] [-4.43909998e-03 9.99990147e-01 -5.45214824e-08 -1.09190629e-01] [ 1.52688169e-03 6.83256923e-06 9.99998834e-01 2.56834458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401858064 meters 0.014892430953233067 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.12, Z:0.03 [[ 9.99988253e-01 -4.83958100e-03 2.68494124e-04 6.87320610e+00] [ 4.83958119e-03 9.99988289e-01 -4.14450683e-08 -1.17337018e-01] [-2.68490779e-04 1.34084369e-06 9.99999964e-01 2.67749843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461858064 meters 0.01583911296285163 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.12, Z:0.03 [[ 9.99972153e-01 -7.42237645e-03 7.76062551e-04 6.93200950e+00] [ 7.42237866e-03 9.99972454e-01 3.33290901e-08 -1.22330921e-01] [-7.76041421e-04 5.72690196e-06 9.99999699e-01 2.79813425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521858064 meters 0.015550224829442346 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.12, Z:0.03 [[ 9.99940644e-01 -1.08614330e-02 8.58418569e-04 6.99069621e+00] [ 1.08614369e-02 9.99941013e-01 1.15161786e-07 -1.22509086e-01] [-8.58369184e-04 9.20850414e-06 9.99999632e-01 2.83509188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581858064 meters 0.015641189809560443 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.12, Z:0.03 [[ 9.99930482e-01 -1.17757752e-02 -6.02493947e-04 7.04834992e+00] [ 1.17757774e-02 9.99930663e-01 3.14270655e-08 -1.20283297e-01] [ 6.02451802e-04 -7.12625947e-06 9.99999819e-01 2.62335642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641858064000001 meters 0.015048954828300438 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.12, Z:0.02 [[ 9.99952808e-01 -9.56618992e-03 -1.69419081e-03 7.10743457e+00] [ 9.56620235e-03 9.99954243e-01 -7.67691468e-07 -1.15512176e-01] [ 1.69412063e-03 -1.54393169e-05 9.99998565e-01 2.49874244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701858064 meters 0.014597798314944215 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.11, Z:0.02 [[ 9.99987566e-01 -3.41430508e-03 -3.63468618e-03 7.16590704e+00] [ 3.41431750e-03 9.99994171e-01 -2.79024893e-06 -1.08141446e-01] [ 3.63467453e-03 -9.61975840e-06 9.99993395e-01 2.43024742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761858064 meters 0.01473950201144108 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.10, Z:0.02 [[ 9.99985022e-01 4.06197628e-03 -3.66828842e-03 7.22433185e+00] [-4.06201725e-03 9.99991750e-01 -3.71763101e-06 -9.94470245e-02] [ 3.66824306e-03 1.86182262e-05 9.99993272e-01 2.31668370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821858064 meters 0.015344490140938642 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.09, Z:0.02 [[ 9.99939725e-01 1.08040690e-02 -1.95425947e-03 7.28506385e+00] [-1.08040937e-02 9.99941634e-01 -2.09365113e-06 -9.32744276e-02] [ 1.95412279e-03 2.32075274e-05 9.99998090e-01 2.47226837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881858064 meters 0.015647052042966063 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.09, Z:0.03 [[ 9.99909681e-01 1.34355781e-02 3.38460450e-04 7.34701391e+00] [-1.34355789e-02 9.99909739e-01 6.07096584e-08 -9.02380878e-02] [-3.38429085e-04 -4.60811627e-06 9.99999943e-01 2.65300373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941858064 meters 0.016159337112729953 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.09, Z:0.03 [[ 9.99866817e-01 1.61113649e-02 2.60242985e-03 7.40904340e+00] [-1.61114228e-02 9.99870203e-01 1.27473859e-06 -8.65969590e-02] [-2.60207152e-03 -4.32034163e-05 9.99996614e-01 2.80852501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001858064 meters 0.016484611153660327 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.08, Z:0.03 [[ 9.99835524e-01 1.77562350e-02 3.69336738e-03 7.47145134e+00] [-1.77563598e-02 9.99842343e-01 9.90102736e-07 -8.33643522e-02] [-3.69276752e-03 -6.65706999e-05 9.99993179e-01 2.87710345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061858064 meters 0.016874939155924813 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.08, Z:0.03 [[ 9.99821504e-01 1.88293500e-02 1.55450087e-03 7.53289885e+00] [-1.88293730e-02 9.99822712e-01 1.84341040e-07 -7.97746183e-02] [-1.55422181e-03 -2.94545849e-05 9.99998792e-01 2.65412808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121858064 meters 0.015893191332049573 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.08, Z:0.02 [[ 9.99850081e-01 1.72419386e-02 -1.59078516e-03 7.59512932e+00] [-1.72419606e-02 9.99851346e-01 -1.26959110e-07 -7.97593784e-02] [ 1.59054649e-03 2.75551951e-05 9.99998735e-01 2.32488168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181858064 meters 0.015297462736766283 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.08, Z:0.02 [[ 9.99893711e-01 1.38236695e-02 -4.63398165e-03 7.65760293e+00] [-1.38238125e-02 9.99904447e-01 1.18494010e-06 -8.02878770e-02] [ 4.63355523e-03 6.28744791e-05 9.99989263e-01 2.03548243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241858064 meters 0.014406573437332986 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.08, Z:0.02 [[ 9.99958210e-01 6.93747284e-03 -5.95394024e-03 7.71954752e+00] [-6.93757754e-03 9.99975935e-01 3.06940183e-06 -8.30406347e-02] [ 5.95381825e-03 3.82366485e-05 9.99982275e-01 2.07509253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301858064 meters 0.014093792658145516 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.08, Z:0.02 [[ 9.99991237e-01 2.91815213e-04 -4.17616059e-03 7.77995851e+00] [-2.91808130e-04 9.99999957e-01 2.30533753e-06 -8.19113292e-02] [ 4.17616109e-03 -1.08667972e-06 9.99991280e-01 2.30938815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361858064 meters 0.01416843605367681 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.08, Z:0.03 [[ 9.99990891e-01 -3.29829044e-03 -2.70900746e-03 7.83866015e+00] [ 3.29830642e-03 9.99994561e-01 1.42800585e-06 -8.03681642e-02] [ 2.70898801e-03 -1.03631295e-05 9.99996331e-01 2.53113102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421858064 meters 0.014352028343812228 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.08, Z:0.03 [[ 9.99978582e-01 -6.13501098e-03 -2.27968969e-03 7.89716102e+00] [ 6.13502938e-03 9.99981181e-01 1.07578988e-06 -7.62605388e-02] [ 2.27964018e-03 -1.50617300e-05 9.99997402e-01 2.71260952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481858064 meters 0.014373986840225393 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.07, Z:0.03 [[ 9.99983983e-01 -3.87854373e-03 -4.12197894e-03 7.95544483e+00] [ 3.87858256e-03 9.99992478e-01 1.42684438e-06 -6.81783095e-02] [ 4.12194241e-03 -1.74142572e-05 9.99991505e-01 2.51397807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541858064 meters 0.014271793985924154 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.06, Z:0.02 [[ 9.99983899e-01 1.08624108e-03 -5.56979081e-03 8.01375482e+00] [-1.08625547e-03 9.99999410e-01 4.42632154e-07 -5.67778302e-02] [ 5.56978800e-03 5.60759068e-06 9.99984489e-01 2.41052431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601858064 meters 0.014415744175190807 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.05, Z:0.03 [[ 9.99978420e-01 3.61766875e-03 -5.48377554e-03 8.07255676e+00] [-3.61772833e-03 9.99993456e-01 -9.44521566e-07 -5.12806938e-02] [ 5.48373623e-03 2.07833113e-05 9.99984964e-01 2.50902774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661858064 meters 0.014843446867785116 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.04, Z:0.03 [[ 9.99960808e-01 7.20118974e-03 -5.15032994e-03 8.13143438e+00] [-7.20129625e-03 9.99974070e-01 -2.13461872e-06 -4.43745882e-02] [ 5.15018103e-03 3.92235868e-05 9.99986737e-01 2.52388847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721858064 meters 0.015159185084353715 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.04, Z:0.02 [[ 9.99948757e-01 8.89958639e-03 -4.82491873e-03 8.19123155e+00] [-8.89970092e-03 9.99960397e-01 -2.26651417e-06 -4.00478130e-02] [ 4.82470748e-03 4.52067317e-05 9.99988360e-01 2.42904444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781858064 meters 0.015302887194986545 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.04, Z:0.03 [[ 9.99950959e-01 9.27925084e-03 -3.46038632e-03 8.25204325e+00] [-9.27931206e-03 9.99956946e-01 -1.63621806e-06 -3.74135824e-02] [ 3.46022216e-03 3.37461423e-05 9.99994013e-01 2.51439230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841858064 meters 0.015007794042831276 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.04, Z:0.03 [[ 9.99951568e-01 9.08047494e-03 -3.79555882e-03 8.31342650e+00] [-9.08054676e-03 9.99958771e-01 -1.69100977e-06 -3.88590087e-02] [ 3.79538698e-03 3.61566772e-05 9.99992797e-01 2.58350513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901858064 meters 0.015570095830358103 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.04, Z:0.02 [[ 9.99943237e-01 9.75939724e-03 -4.27524550e-03 8.37328946e+00] [-9.75949418e-03 9.99952375e-01 -1.81066365e-06 -3.70054102e-02] [ 4.27502422e-03 4.35347944e-05 9.99990861e-01 2.46312510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961858064 meters 0.015841086870727362 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.04, Z:0.03 [[ 9.99892572e-01 1.39154991e-02 -4.60467230e-03 8.43479445e+00] [-1.39156549e-02 9.99903173e-01 -1.80229019e-06 -3.66917661e-02] [ 4.60420136e-03 6.58791273e-05 9.99989398e-01 2.53084456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021858064 meters 0.01779055268654579 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.03, Z:0.02 [[ 9.99750930e-01 2.13004136e-02 -6.66113003e-03 8.49537039e+00] [-2.13009026e-02 9.99773110e-01 -2.46242513e-06 -2.92396689e-02] [ 6.65956624e-03 1.44349894e-04 9.99977814e-01 2.28422451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081858064 meters 0.01919881772285105 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.03, Z:0.02 [[ 9.99659181e-01 2.53502831e-02 -6.23582629e-03 8.55693514e+00] [-2.53507829e-02 9.99678617e-01 -1.09755874e-06 -2.55963527e-02] [ 6.23379438e-03 1.59180263e-04 9.99980557e-01 2.21106843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141858064 meters 0.02028263026130401 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.02, Z:0.02 [[ 9.99603755e-01 2.74235250e-02 -6.34698164e-03 8.61775573e+00] [-2.74240756e-02 9.99623889e-01 2.78575739e-07 -2.34816398e-02] [ 6.34460211e-03 1.73781639e-04 9.99979858e-01 2.18403986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201858064 meters 0.020430161806607897 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.02, Z:0.02 [[ 9.99613588e-01 2.70217005e-02 -6.51942003e-03 8.67959104e+00] [-2.70222630e-02 9.99634832e-01 1.79616646e-06 -2.45076423e-02] [ 6.51708788e-03 1.74374010e-04 9.99978748e-01 2.17700573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261858064 meters 0.01883628468490273 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.03, Z:0.02 [[ 9.99646720e-01 2.55837227e-02 -7.20477070e-03 8.74204798e+00] [-2.55843598e-02 9.99672667e-01 3.73483595e-06 -2.97121497e-02] [ 7.20250789e-03 1.80595930e-04 9.99974045e-01 2.19650720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321858064 meters 0.018001889572838024 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.03, Z:0.02 [[ 9.99659986e-01 2.50592207e-02 -7.20754360e-03 8.80405696e+00] [-2.50598319e-02 9.99685953e-01 5.51158457e-06 -3.25688094e-02] [ 7.20541821e-03 1.75110120e-04 9.99974025e-01 2.26862275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381858064 meters 0.0181116937064252 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.03, Z:0.02 [[ 9.99676081e-01 2.44819122e-02 -6.95473107e-03 8.86631632e+00] [-2.44824556e-02 9.99700260e-01 7.00521229e-06 -3.26211986e-02] [ 6.95281796e-03 1.63265951e-04 9.99975816e-01 2.23037178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441858064 meters 0.017214849649022146 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.04, Z:0.02 [[ 9.99789994e-01 1.94870847e-02 -6.34205963e-03 8.92702708e+00] [-1.94874337e-02 9.99810102e-01 6.76893427e-06 -3.72011947e-02] [ 6.34098719e-03 1.16822953e-04 9.99979889e-01 2.36701708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501858064 meters 0.01567936391903548 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.04, Z:0.02 [[ 9.99895294e-01 1.32098778e-02 -5.90770993e-03 8.98886437e+00] [-1.32100687e-02 9.99912743e-01 6.71404848e-06 -4.34796130e-02] [ 5.90728313e-03 7.13279084e-05 9.99982549e-01 2.38884636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561858063999999 meters 0.014489889798455731 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.05, Z:0.03 [[ 9.99985964e-01 1.97711767e-03 -4.91556694e-03 9.04987654e+00] [-1.97711313e-03 9.99998045e-01 5.78370914e-06 -5.43494454e-02] [ 4.91556877e-03 3.93500398e-06 9.99987919e-01 2.54774331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621858064 meters 0.014847213934737721 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.06, Z:0.03 [[ 9.99968434e-01 -7.02436085e-03 -3.71341421e-03 9.10978111e+00] [ 7.02442522e-03 9.99975328e-01 4.29107347e-06 -6.30626787e-02] [ 3.71329246e-03 -3.03755385e-05 9.99993105e-01 2.82212584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681858064 meters 0.015068788961565554 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.07, Z:0.03 [[ 9.99956699e-01 -8.94764251e-03 -2.55717579e-03 9.16728109e+00] [ 8.94767889e-03 9.99959969e-01 2.78604981e-06 -6.52218151e-02] [ 2.55704850e-03 -2.56667170e-05 9.99996730e-01 2.91053386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741858064 meters 0.01467574283049354 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.06, Z:0.03 [[ 9.99988661e-01 -4.59022278e-03 -1.26790472e-03 9.22624829e+00] [ 4.59022804e-03 9.99989465e-01 1.24292273e-06 -6.17895673e-02] [ 1.26788566e-03 -7.06288044e-06 9.99999196e-01 3.05624937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801858064 meters 0.014466905773469417 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.06, Z:0.03 [[ 9.99994851e-01 1.65806949e-03 -2.74744630e-03 9.28538318e+00] [-1.65807095e-03 9.99998625e-01 1.74816834e-06 -5.62414848e-02] [ 2.74744542e-03 2.80730154e-06 9.99996226e-01 2.90087708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861858064 meters 0.01463704715618151 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.05, Z:0.03 [[ 9.99979681e-01 5.13671994e-03 -3.77525025e-03 9.34464425e+00] [-5.13674880e-03 9.99986807e-01 2.05230116e-06 -5.21009093e-02] [ 3.77521098e-03 1.73402527e-05 9.99992874e-01 2.75520423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921858064 meters 0.014586362540899848 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.05, Z:0.03 [[ 9.99968771e-01 6.97547618e-03 -3.71489154e-03 9.40490136e+00] [-6.97551687e-03 9.99975671e-01 2.00445939e-06 -4.88193102e-02] [ 3.71481514e-03 2.39088918e-05 9.99993100e-01 2.80218789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981858064 meters 0.014540085562183102 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.05, Z:0.03 [[ 9.99978695e-01 5.51496101e-03 -3.49199629e-03 9.46496576e+00] [-5.51498789e-03 9.99984792e-01 1.93148529e-06 -4.79001086e-02] [ 3.49195384e-03 1.73268731e-05 9.99993903e-01 2.81049570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041858064 meters 0.01448430148564586 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.05, Z:0.03 [[ 9.99985057e-01 4.63416920e-03 -2.89990559e-03 9.52483779e+00] [-4.63418410e-03 9.99989262e-01 1.58098642e-06 -4.73972868e-02] [ 2.89988178e-03 1.18577336e-05 9.99995795e-01 2.85153445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101858064 meters 0.014572447931908799 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.04, Z:0.03 [[ 9.99978529e-01 5.93527385e-03 -2.77751163e-03 9.58581838e+00] [-5.93529258e-03 9.99982386e-01 1.49952472e-06 -4.34986300e-02] [ 2.77747161e-03 1.49858516e-05 9.99996143e-01 2.69742177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161858064 meters 0.014935967175939247 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.04, Z:0.03 [[ 9.99959537e-01 8.73054126e-03 -2.16861582e-03 9.64590151e+00] [-8.73055925e-03 9.99961888e-01 1.17079367e-06 -4.13209229e-02] [ 2.16854339e-03 1.77624826e-05 9.99997649e-01 2.72020712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221858064 meters 0.01493166945512123 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.04, Z:0.03 [[ 9.99943303e-01 1.02150411e-02 -3.00719291e-03 9.70736971e+00] [-1.02150822e-02 9.99947825e-01 1.70082863e-06 -4.22497152e-02] [ 3.00705339e-03 2.90179905e-05 9.99995478e-01 2.70716527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281858064 meters 0.015221574700907611 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.04, Z:0.03 [[ 9.99935803e-01 1.10557252e-02 -2.48218853e-03 9.76802797e+00] [-1.10557548e-02 9.99938883e-01 1.80273222e-06 -4.25214708e-02] [ 2.48205676e-03 2.56398512e-05 9.99996919e-01 2.74093637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341858064 meters 0.015184952312371878 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.04, Z:0.03 [[ 9.99928363e-01 1.12871681e-02 -3.98345493e-03 9.83030090e+00] [-1.12872418e-02 9.99936297e-01 3.98372692e-06 -4.42046538e-02] [ 3.98324614e-03 4.09787776e-05 9.99992066e-01 2.65032648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401858064 meters 0.015244038823763299 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.05, Z:0.03 [[ 9.99931262e-01 1.11569739e-02 -3.60464263e-03 9.89130230e+00] [-1.11570323e-02 9.99937758e-01 3.89442994e-06 -4.59574774e-02] [ 3.60446172e-03 3.63229521e-05 9.99993503e-01 2.63308568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461858064 meters 0.015302013119691048 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.05, Z:0.02 [[ 9.99925702e-01 1.11022631e-02 -5.03281775e-03 9.95208526e+00] [-1.11023714e-02 9.99938367e-01 6.41155222e-06 -4.75720911e-02] [ 5.03257874e-03 4.94651360e-05 9.99987335e-01 2.44643037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521858064 meters 0.01529587013611312 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.05, Z:0.02 [[ 9.99915678e-01 1.10618211e-02 -6.80243497e-03 1.00138241e+01] [-1.10620149e-02 9.99938814e-01 9.13031649e-06 -5.05662797e-02] [ 6.80211975e-03 6.61190903e-05 9.99976863e-01 2.40534764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581858064 meters 0.0158012950136951 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.05, Z:0.02 [[ 9.99901761e-01 1.20270907e-02 -7.19848481e-03 1.00739710e+01] [-1.20273325e-02 9.99927669e-01 9.69314570e-06 -5.22028636e-02] [ 7.19808071e-03 7.68863769e-05 9.99974091e-01 2.42167400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641858064 meters 0.01575331759110377 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.06, Z:0.03 [[ 9.99897565e-01 1.29801278e-02 -6.03120893e-03 1.01342053e+01] [-1.29803149e-02 9.99915752e-01 8.12134615e-06 -5.63283954e-02] [ 6.03080623e-03 7.01664771e-05 9.99981812e-01 2.68383384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701858064 meters 0.016121660452840577 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.06, Z:0.03 [[ 9.99869519e-01 1.49651881e-02 -6.08184715e-03 1.01953958e+01] [-1.49654140e-02 9.99888012e-01 8.37329262e-06 -5.83154684e-02] [ 6.08129136e-03 8.26451603e-05 9.99981505e-01 2.74080100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761858064 meters 0.017204155029049296 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.06, Z:0.03 [[ 9.99799177e-01 1.92557019e-02 -5.55193061e-03 1.02563034e+01] [-1.92559526e-02 9.99814587e-01 8.29976271e-06 -5.91433139e-02] [ 5.55106103e-03 9.86096169e-05 9.99984588e-01 2.90482339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821858064 meters 0.017642292945239637 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.06, Z:0.03 [[ 9.99697471e-01 2.41586477e-02 -4.61799726e-03 1.03186498e+01] [-2.41588717e-02 9.99708132e-01 7.27124428e-06 -6.02574142e-02] [ 4.61682508e-03 1.04296559e-04 9.99989337e-01 3.09535972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881858064 meters 0.018815158798318438 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.06, Z:0.03 [[ 9.99655408e-01 2.58879650e-02 -4.34504362e-03 1.03802010e+01] [-2.58881759e-02 9.99664845e-01 7.70150717e-06 -6.32079573e-02] [ 4.34378673e-03 1.04786400e-04 9.99990560e-01 3.26295837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941858064 meters 0.018145761946838673 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.07, Z:0.03 [[ 9.99676733e-01 2.50516108e-02 -4.34111710e-03 1.04419909e+01] [-2.50518089e-02 9.99686154e-01 8.75582706e-06 -6.77996974e-02] [ 4.33997401e-03 9.99998394e-05 9.99990577e-01 3.32562285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001858064 meters 0.018192789919241326 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.07, Z:0.03 [[ 9.99730704e-01 2.25966534e-02 -5.28298435e-03 1.05036743e+01] [-2.25969054e-02 9.99744657e-01 1.19953946e-05 -7.11236016e-02] [ 5.28190643e-03 1.07386933e-04 9.99986045e-01 3.11408258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061858063999999 meters 0.017322456985644122 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.08, Z:0.03 [[ 9.99785100e-01 1.98642654e-02 -5.93003970e-03 1.05657539e+01] [-1.98645261e-02 9.99802681e-01 1.49292712e-05 -7.76655638e-02] [ 5.92916615e-03 1.02871366e-04 9.99982417e-01 3.13182252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121858064 meters 0.01628177446861093 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.09, Z:0.03 [[ 9.99843009e-01 1.63900496e-02 -6.73232334e-03 1.06278853e+01] [-1.63902954e-02 9.99865670e-01 1.86644995e-05 -8.66255682e-02] [ 6.73172490e-03 9.16831989e-05 9.99977337e-01 3.21635868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181858064 meters 0.016124574060589987 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.09, Z:0.03 [[ 9.99868505e-01 1.47433972e-02 -6.75309967e-03 1.06902838e+01] [-1.47435955e-02 9.99891307e-01 2.04190952e-05 -9.13688813e-02] [ 6.75266670e-03 7.91485595e-05 9.99977197e-01 3.13726506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241858064 meters 0.016026187160385945 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.09, Z:0.03 [[ 9.99874943e-01 1.44331739e-02 -6.46392977e-03 1.07525297e+01] [-1.44333386e-02 9.99895834e-01 2.11734426e-05 -9.33528258e-02] [ 6.46356205e-03 7.21252925e-05 9.99979108e-01 3.13159508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301858064 meters 0.015785448809698403 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.10, Z:0.03 [[ 9.99902302e-01 1.21582017e-02 -6.89676782e-03 1.08139299e+01] [-1.21583238e-02 9.99926085e-01 2.42234529e-05 -9.83936392e-02] [ 6.89655255e-03 5.96320500e-05 9.99976217e-01 3.11462612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361858064 meters 0.015703328127000267 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.10, Z:0.03 [[ 9.99919946e-01 1.02601789e-02 -7.40475353e-03 1.08757129e+01] [-1.02602643e-02 9.99947362e-01 2.64529410e-05 -1.02128149e-01] [ 7.40463516e-03 4.95239047e-05 9.99972584e-01 3.10350551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421858064 meters 0.015435537218393518 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.11, Z:0.03 [[ 9.99943100e-01 7.15324298e-03 -7.91380279e-03 1.09366826e+01] [-7.15324300e-03 9.99974415e-01 2.83038465e-05 -1.09138133e-01] [ 7.91380278e-03 2.83071184e-05 9.99968685e-01 3.23673472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481858064 meters 0.015525728468956211 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.12, Z:0.03 [[ 9.99951193e-01 4.04920972e-03 -9.01200762e-03 1.09957014e+01] [-4.04908765e-03 9.99991802e-01 3.17913341e-05 -1.15205924e-01] [ 9.01206247e-03 4.70062632e-06 9.99959391e-01 3.15628984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541858064 meters 0.01550201640986154 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.12, Z:0.03 [[ 9.99955042e-01 1.47797466e-03 -9.36639809e-03 1.10542737e+01] [-1.47773604e-03 9.99998908e-01 3.23973816e-05 -1.19514490e-01] [ 9.36643574e-03 -1.85548611e-05 9.99956134e-01 3.12341739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601858064 meters 0.015717117189721554 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.12, Z:0.03 [[ 9.99947073e-01 -1.68284376e-04 -1.02870576e-02 1.11127480e+01] [ 1.68651854e-04 9.99999985e-01 3.48549309e-05 -1.24902866e-01] [ 1.02870515e-02 -3.65880175e-05 9.99947086e-01 3.04199497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661858064 meters 0.015572693142596952 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.13, Z:0.03 [[ 9.99935487e-01 4.15754115e-04 -1.13512106e-02 1.11712845e+01] [-4.15374832e-04 9.99999913e-01 3.57709959e-05 -1.27811304e-01] [ 1.13512244e-02 -3.10536810e-05 9.99935572e-01 3.03002930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721858064 meters 0.015580584465980653 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.13, Z:0.03 [[ 9.99955986e-01 2.66435009e-03 -8.99593779e-03 1.12302264e+01] [-2.66422254e-03 9.99996451e-01 2.61627722e-05 -1.29070311e-01] [ 8.99597557e-03 -2.19444043e-06 9.99959535e-01 3.22128147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781858064 meters 0.015644329146277204 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.13, Z:0.03 [[ 9.99954459e-01 4.54484895e-03 -8.39188537e-03 1.12879707e+01] [-4.54482363e-03 9.99989672e-01 2.20868178e-05 -1.31099901e-01] [ 8.39189908e-03 1.60538270e-05 9.99964787e-01 3.30086396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841858064 meters 0.015485796418966294 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.13, Z:0.03 [[ 9.99948361e-01 4.63523549e-03 -9.04382791e-03 1.13465027e+01] [-4.63521742e-03 9.99989257e-01 2.29585313e-05 -1.33407299e-01] [ 9.04383717e-03 1.89627629e-05 9.99959103e-01 3.27058625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901858064 meters 0.01567217198316704 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.14, Z:0.03 [[ 9.99952440e-01 4.27328901e-03 -8.76677269e-03 1.14040101e+01] [-4.27326516e-03 9.99990869e-01 2.14520605e-05 -1.36504029e-01] [ 8.76678431e-03 1.60117040e-05 9.99961571e-01 3.34784181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961858064 meters 0.015558298162626395 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.14, Z:0.03 [[ 9.99948784e-01 4.25385043e-03 -9.18336913e-03 1.14626962e+01] [-4.25382962e-03 9.99990952e-01 2.17989389e-05 -1.39081547e-01] [ 9.18337877e-03 1.72666651e-05 9.99957832e-01 3.46177378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021858064 meters 0.01543073484649879 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.14, Z:0.04 [[ 9.99951831e-01 4.15397716e-03 -8.89265251e-03 1.15218618e+01] [-4.15395929e-03 9.99991372e-01 2.04792574e-05 -1.40817776e-01] [ 8.89266085e-03 1.64614456e-05 9.99960459e-01 3.57268708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081858064 meters 0.015164580410883033 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.14, Z:0.04 [[ 9.99957881e-01 1.61357152e-03 -9.03506318e-03 1.15807975e+01] [-1.61345519e-03 9.99998698e-01 2.01639178e-05 -1.43673259e-01] [ 9.03508395e-03 -5.58539890e-06 9.99959183e-01 3.63072754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141858064 meters 0.015327033573920573 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.15, Z:0.04 [[ 9.99952168e-01 -1.48484941e-03 -9.66734028e-03 1.16381996e+01] [ 1.48511931e-03 9.99998897e-01 2.07397892e-05 -1.46936893e-01] [ 9.66729882e-03 -3.50959509e-05 9.99953270e-01 3.55469409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201858064 meters 0.015341919729059145 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.15, Z:0.03 [[ 9.99931795e-01 -5.44266840e-03 -1.03335325e-02 1.16967802e+01] [ 5.44318049e-03 9.99985186e-01 2.14318750e-05 -1.52376489e-01] [ 1.03332628e-02 -7.76776956e-05 9.99946607e-01 3.45538505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261858064 meters 0.015322548056818434 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.16, Z:0.03 [[ 9.99926400e-01 -6.60698833e-03 -1.01755883e-02 1.17552112e+01] [ 6.60751790e-03 9.99978170e-01 1.84242823e-05 -1.55063993e-01] [ 1.01752445e-02 -8.56583082e-05 9.99948227e-01 3.49603849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321858064 meters 0.014956477788413984 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.15, Z:0.03 [[ 9.99938121e-01 -5.09689681e-03 -9.88815797e-03 1.18141888e+01] [ 5.09729867e-03 9.99987009e-01 1.54387958e-05 -1.54973258e-01] [ 9.88795082e-03 -6.58407349e-05 9.99951111e-01 3.47098749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381858064 meters 0.014836784237412607 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.16, Z:0.04 [[ 9.99956362e-01 -3.28339019e-03 -8.74608034e-03 1.18724131e+01] [ 3.28362758e-03 9.99994609e-01 1.27831096e-05 -1.55413135e-01] [ 8.74599122e-03 -4.15014225e-05 9.99961752e-01 3.55928292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441858064 meters 0.014570231036876756 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.16, Z:0.04 [[ 9.99962752e-01 2.43810251e-05 -8.63097904e-03 1.19317229e+01] [-2.42901309e-05 1.00000000e+00 1.06359871e-05 -1.57794343e-01] [ 8.63097930e-03 -1.04259433e-05 9.99962752e-01 3.82022782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501858064 meters 0.014524214792748832 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.16, Z:0.04 [[ 9.99959249e-01 2.46599082e-03 -8.68439415e-03 1.19894532e+01] [-2.46601221e-03 9.99996959e-01 8.24551685e-06 -1.57575122e-01] [ 8.68438808e-03 1.31706412e-05 9.99962290e-01 3.76626444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561858063999999 meters 0.014567912984492117 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.16, Z:0.04 [[ 9.99954241e-01 3.92548261e-03 -8.72389425e-03 1.20479131e+01] [-3.92558153e-03 9.99992295e-01 5.78459955e-06 -1.57739927e-01] [ 8.72384974e-03 2.84620233e-05 9.99961946e-01 3.74563909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621858064 meters 0.014684581779055579 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.16, Z:0.04 [[ 9.99938322e-01 7.71726890e-03 -7.98718536e-03 1.21068031e+01] [-7.71748871e-03 9.99970220e-01 3.30064870e-06 -1.58217260e-01] [ 7.98697297e-03 5.83405677e-05 9.99968102e-01 3.76854705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681858064 meters 0.014815964332470576 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.16, Z:0.04 [[ 9.99925180e-01 9.43473085e-03 -7.78593077e-03 1.21667401e+01] [-9.43499533e-03 9.99955489e-01 2.76063658e-06 -1.58548600e-01] [ 7.78561026e-03 7.06997904e-05 9.99969689e-01 3.71260343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741858064 meters 0.014614538699609422 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.16, Z:0.04 [[ 9.99946288e-01 7.75970829e-03 -6.87082684e-03 1.22269076e+01] [-7.75987490e-03 9.99969892e-01 2.40885193e-06 -1.61249968e-01] [ 6.87063866e-03 5.09080342e-05 9.99976396e-01 3.59953162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801858064 meters 0.014245097436853458 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.17, Z:0.04 [[ 9.99969647e-01 4.18273179e-03 -6.57337829e-03 1.22870451e+01] [-4.18280701e-03 9.99991252e-01 2.30456906e-06 -1.66339229e-01] [ 6.57333043e-03 2.51906737e-05 9.99978395e-01 3.70092963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861858064 meters 0.01404819988317059 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.17, Z:0.04 [[ 9.99969785e-01 -6.68501328e-05 -7.77338408e-03 1.23461752e+01] [ 6.68712732e-05 9.99999998e-01 2.45967970e-06 -1.71575937e-01] [ 7.77338390e-03 -2.97942147e-06 9.99969787e-01 3.73179470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921858064 meters 0.014077652018589288 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.17, Z:0.03 [[ 9.99945190e-01 -1.77367403e-03 -1.03184894e-02 1.24049938e+01] [ 1.77379488e-03 9.99998427e-01 2.56041230e-06 -1.72448383e-01] [ 1.03184686e-02 -2.08631556e-05 9.99946763e-01 3.45045093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981858063999999 meters 0.014085493675404036 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.18, Z:0.03 [[ 9.99938335e-01 -2.32332074e-03 -1.08594634e-02 1.24623863e+01] [ 2.32347003e-03 9.99997301e-01 1.13137547e-06 -1.75349047e-01] [ 1.08594315e-02 -2.63629435e-05 9.99941034e-01 3.49457697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041858064 meters 0.013993125263401584 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.18, Z:0.04 [[ 9.99958340e-01 -2.96298792e-03 -8.63363087e-03 1.25208525e+01] [ 2.96308877e-03 9.99995610e-01 -1.10980001e-06 -1.75303615e-01] [ 8.63359626e-03 -2.44724609e-05 9.99962730e-01 3.76889215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101858064 meters 0.013927786307074391 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.18, Z:0.04 [[ 9.99965917e-01 -3.31619757e-03 -7.56095812e-03 1.25787081e+01] [ 3.31626943e-03 9.99994501e-01 -3.03295085e-06 -1.75022273e-01] [ 7.56092660e-03 -2.20413268e-05 9.99971416e-01 3.86081371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161858064 meters 0.013870530699481805 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.17, Z:0.04 [[ 9.99978541e-01 -3.36797369e-03 -5.61901862e-03 1.26372969e+01] [ 3.36800673e-03 9.99994328e-01 -3.58313543e-06 -1.74442890e-01] [ 5.61899882e-03 -1.53418340e-05 9.99984213e-01 4.07391908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221858064 meters 0.013727115562345724 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.17, Z:0.04 [[ 9.99979499e-01 -1.33593676e-03 -6.26237434e-03 1.26958219e+01] [ 1.33592727e-03 9.99999108e-01 -5.69799385e-06 -1.72079064e-01] [ 6.26237636e-03 -2.66819963e-06 9.99980391e-01 4.01204374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281858064 meters 0.01387300804626497 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.17, Z:0.04 [[ 9.99966178e-01 1.49740688e-03 -8.08705531e-03 1.27543670e+01] [-1.49753189e-03 9.99998879e-01 -9.40324939e-06 -1.69726212e-01] [ 8.08703216e-03 2.15135546e-05 9.99967299e-01 3.95856261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341858064 meters 0.014182174200078088 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.16, Z:0.04 [[ 9.99936689e-01 5.93052296e-03 -9.56281777e-03 1.28137097e+01] [-5.93092304e-03 9.99982412e-01 -1.34781303e-05 -1.63597722e-01] [ 9.56256965e-03 7.01936132e-05 9.99954275e-01 3.63456898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401858063999999 meters 0.014318888561870647 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.16, Z:0.04 [[ 9.99915768e-01 7.92500109e-03 -1.02786635e-02 1.28727757e+01] [-7.92559519e-03 9.99968592e-01 -1.70666961e-05 -1.64853143e-01] [ 1.02782055e-02 9.85297849e-05 9.99947173e-01 3.78033145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461858064 meters 0.014668387387511393 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.16, Z:0.04 [[ 9.99927312e-01 8.38830630e-03 -8.66064662e-03 1.29313370e+01] [-8.38875059e-03 9.99964814e-01 -1.49733763e-05 -1.64398345e-01] [ 8.66021629e-03 8.76242923e-05 9.99962496e-01 3.84570095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521858064 meters 0.014424222654845584 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.17, Z:0.04 [[ 9.99956344e-01 7.30933873e-03 -5.82099987e-03 1.29908165e+01] [-7.30952233e-03 9.99973285e-01 -1.02682626e-05 -1.65867420e-01] [ 5.82076931e-03 5.28165429e-05 9.99983058e-01 4.05561832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581858064 meters 0.014482883100432085 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.17, Z:0.04 [[ 9.99968188e-01 6.47086847e-03 -4.66371906e-03 1.30510596e+01] [-6.47097732e-03 9.99979063e-01 -8.25119933e-06 -1.67165756e-01] [ 4.66356802e-03 3.84297571e-05 9.99989125e-01 4.20184956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641858064 meters 0.0142947307991939 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.17, Z:0.04 [[ 9.99972406e-01 5.73933676e-03 -4.71676899e-03 1.31114721e+01] [-5.73943996e-03 9.99983529e-01 -8.34505694e-06 -1.67535016e-01] [ 4.71664340e-03 3.54164391e-05 9.99988876e-01 4.22513632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701858064 meters 0.014013912220380578 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.17, Z:0.04 [[ 9.99970278e-01 3.85487497e-03 -6.67701418e-03 1.31718704e+01] [-3.85503978e-03 9.99992569e-01 -1.18131848e-05 -1.67850842e-01] [ 6.67691903e-03 3.75529889e-05 9.99977708e-01 3.98573250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761858064 meters 0.013798371978998733 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.17, Z:0.04 [[ 9.99972124e-01 1.23127610e-03 -7.36451542e-03 1.32319368e+01] [-1.23140711e-03 9.99999242e-01 -1.32538644e-05 -1.70075288e-01] [ 7.36449352e-03 2.23222115e-05 9.99972882e-01 3.91619303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821858064 meters 0.013876397300142118 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.17, Z:0.04 [[ 9.99958907e-01 -4.05771715e-03 -8.10669961e-03 1.32907292e+01] [ 4.05772796e-03 9.99991767e-01 -1.51149164e-05 -1.74565291e-01] [ 8.10669420e-03 -1.77804863e-05 9.99967140e-01 3.77071079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881858064 meters 0.013959335315880603 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.18, Z:0.04 [[ 9.99933161e-01 -7.28636639e-03 -8.97671799e-03 1.33498152e+01] [ 7.28650412e-03 9.99973453e-01 -1.73624828e-05 -1.78060224e-01] [ 8.97660620e-03 -4.80475703e-05 9.99959708e-01 3.75838239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941858064 meters 0.01398712050497168 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.18, Z:0.04 [[ 9.99926674e-01 -8.64018949e-03 -8.48486164e-03 1.34075465e+01] [ 8.64034236e-03 9.99962671e-01 -1.86412036e-05 -1.79375404e-01] [ 8.48470598e-03 -5.46722727e-05 9.99964003e-01 3.77877653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001858064 meters 0.014072446119079653 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.18, Z:0.04 [[ 9.99955207e-01 -6.17528504e-03 -7.17289331e-03 1.34656119e+01] [ 6.17532370e-03 9.99980932e-01 -1.67580658e-05 -1.78781984e-01] [ 7.17286002e-03 -2.75376229e-05 9.99974274e-01 3.70552337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061858063999999 meters 0.014011042021770689 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.18, Z:0.04 [[ 9.99968590e-01 -5.16070480e-03 -6.01549030e-03 1.35236168e+01] [ 5.16070440e-03 9.99986683e-01 -1.55892293e-05 -1.78449323e-01] [ 6.01549065e-03 -1.54554276e-05 9.99981907e-01 3.83999274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121858064 meters 0.013887042585184648 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.18, Z:0.04 [[ 9.99982090e-01 -3.75320181e-03 -4.66192177e-03 1.35817417e+01] [ 3.75318386e-03 9.99992957e-01 -1.25972792e-05 -1.78311612e-01] [ 4.66193621e-03 -4.89999600e-06 9.99989133e-01 3.94356075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181858064 meters 0.013793281548017615 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.18, Z:0.04 [[ 9.99985286e-01 -3.31076296e-03 -4.29733320e-03 1.36401667e+01] [ 3.31073937e-03 9.99994519e-01 -1.26024106e-05 -1.78267576e-01] [ 4.29735137e-03 -1.62512505e-06 9.99990766e-01 4.00203615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241858064 meters 0.01387750856143889 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.18, Z:0.04 [[ 9.99983473e-01 -3.05735478e-03 -4.86900330e-03 1.36978028e+01] [ 3.05731480e-03 9.99995326e-01 -1.56530461e-05 -1.77509241e-01] [ 4.86902840e-03 7.66711537e-07 9.99988146e-01 3.87685429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301858064 meters 0.013875477728718553 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.18, Z:0.04 [[ 9.99973541e-01 -3.82379541e-03 -6.18843238e-03 1.37561692e+01] [ 3.82373462e-03 9.99992689e-01 -2.16552449e-05 -1.77089012e-01] [ 6.18846994e-03 -2.00825121e-06 9.99980851e-01 3.61016295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361858064 meters 0.014152787393587055 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.18, Z:0.03 [[ 9.99947016e-01 -7.44510514e-03 -7.10886554e-03 1.38153225e+01] [ 7.44511138e-03 9.99972284e-01 -2.55853200e-05 -1.80384564e-01] [ 7.10885900e-03 -2.73423314e-05 9.99974731e-01 3.47572153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421858064 meters 0.014593613192891151 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.18, Z:0.04 [[ 9.99912061e-01 -1.17417338e-02 -6.16454664e-03 1.38740174e+01] [ 1.17418175e-02 9.99931062e-01 -2.26089849e-05 -1.83260244e-01] [ 6.16438714e-03 -4.97759851e-05 9.99980999e-01 3.52061412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481858063999999 meters 0.015588573950181749 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.19, Z:0.04 [[ 9.99819218e-01 -1.83508060e-02 -4.97781541e-03 1.39323755e+01] [ 1.83509404e-02 9.99831607e-01 -1.86655342e-05 -1.85947751e-01] [ 4.97731971e-03 -7.26854342e-05 9.99987610e-01 3.60769073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541858064 meters 0.01638577384993569 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.19, Z:0.03 [[ 9.99727758e-01 -2.23847649e-02 -6.58277375e-03 1.39908330e+01] [ 2.23850835e-02 9.99749422e-01 -2.52787634e-05 -1.86525084e-01] [ 6.58169011e-03 -1.22084059e-04 9.99978333e-01 3.46423309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601858064 meters 0.016907901485963477 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.19, Z:0.03 [[ 9.99689455e-01 -2.38265609e-02 -7.29991207e-03 1.40498290e+01] [ 2.38269793e-02 9.99716097e-01 -2.96569075e-05 -1.85556260e-01] [ 7.29854622e-03 -1.44287156e-04 9.99973355e-01 3.42740697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661858064 meters 0.018042793680857587 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.18, Z:0.03 [[ 9.99623283e-01 -2.64766855e-02 -7.23029860e-03 1.41077030e+01] [ 2.64771599e-02 9.99649418e-01 -3.01153016e-05 -1.84808377e-01] [ 7.22856114e-03 -1.61333816e-04 9.99973861e-01 3.43792788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721858064 meters 0.017446316295766706 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.18, Z:0.04 [[ 9.99591130e-01 -2.79303918e-02 -6.12099277e-03 1.41669627e+01] [ 2.79307508e-02 9.99609860e-01 -2.68375077e-05 -1.81679334e-01] [ 6.11935431e-03 -1.44137389e-04 9.99981266e-01 3.63357674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781858064 meters 0.017835523822450332 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.18, Z:0.04 [[ 9.99606404e-01 -2.77953892e-02 -3.80186503e-03 1.42252417e+01] [ 2.77955253e-02 9.99613630e-01 -1.70518534e-05 -1.78153216e-01] [ 3.80087007e-03 -8.86296937e-05 9.99992773e-01 3.84201194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841858064 meters 0.01727241185757759 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.17, Z:0.04 [[ 9.99675926e-01 -2.51427030e-02 -3.98600305e-03 1.42844750e+01] [ 2.51428282e-02 9.99683869e-01 -1.86971211e-05 -1.71368081e-01] [ 3.98521304e-03 -8.15283281e-05 9.99992056e-01 3.73500430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901858063999999 meters 0.016867961473785845 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.17, Z:0.04 [[ 9.99724498e-01 -2.31962513e-02 -3.58644337e-03 1.43438907e+01] [ 2.31963382e-02 9.99730929e-01 -1.73483502e-05 -1.66609327e-01] [ 3.58588078e-03 -6.58487828e-05 9.99993569e-01 3.72515222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961858064 meters 0.015678026419831674 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.16, Z:0.04 [[ 9.99824181e-01 -1.87323869e-02 -8.39634055e-04 1.44024940e+01] [ 1.87323901e-02 9.99824533e-01 -4.08486831e-06 -1.57234091e-01] [ 8.39563247e-04 -1.16442026e-05 9.99999647e-01 3.95827351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021858064 meters 0.01530063433424106 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.15, Z:0.04 [[ 9.99851118e-01 -1.72336944e-02 -8.60649424e-04 1.44616270e+01] [ 1.72336971e-02 9.99851489e-01 -4.24783490e-06 -1.53443894e-01] [ 8.60594813e-04 -1.05849690e-05 9.99999630e-01 3.99198457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081858064 meters 0.01501807856165682 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.15, Z:0.04 [[ 9.99910757e-01 -1.31530385e-02 -2.33997625e-03 1.45203664e+01] [ 1.31530452e-02 9.99913495e-01 -1.25016480e-05 -1.45676126e-01] [ 2.33993826e-03 -1.82772810e-05 9.99997262e-01 3.82799269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141858064 meters 0.014875748499842176 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.14, Z:0.04 [[ 9.99950007e-01 -9.24860944e-03 -3.80077618e-03 1.45785155e+01] [ 9.24859675e-03 9.99957231e-01 -2.09154552e-05 -1.40217148e-01] [ 3.80080706e-03 -1.42374366e-05 9.99992777e-01 3.79001453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201858064 meters 0.014864636211523825 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.13, Z:0.04 [[ 9.99954021e-01 -8.94723397e-03 -3.45008918e-03 1.46359784e+01] [ 8.94721978e-03 9.99959973e-01 -1.95478804e-05 -1.33770821e-01] [ 3.45012599e-03 -1.13217246e-05 9.99994048e-01 3.63077601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261858064 meters 0.014973706154050736 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.13, Z:0.03 [[ 9.99950998e-01 -8.99807178e-03 -4.12762136e-03 1.46940572e+01] [ 8.99804739e-03 9.99959516e-01 -2.44794048e-05 -1.30753648e-01] [ 4.12767452e-03 -1.26623274e-05 9.99991481e-01 3.42704942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321858064 meters 0.015127754293401283 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.13, Z:0.03 [[ 9.99954047e-01 -8.62403571e-03 -4.18699040e-03 1.47518036e+01] [ 8.62400245e-03 9.99962812e-01 -2.59982788e-05 -1.29000980e-01] [ 4.18705891e-03 -1.01115314e-05 9.99991234e-01 3.39505889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381858064 meters 0.015095637851743603 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.13, Z:0.03 [[ 9.99957633e-01 -8.54517349e-03 -3.42234996e-03 1.48089847e+01] [ 8.54514908e-03 9.99963489e-01 -2.17541182e-05 -1.25903730e-01] [ 3.42241090e-03 -7.49129406e-06 9.99994144e-01 3.40411234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441858063999998 meters 0.015044828109646755 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.12, Z:0.03 [[ 9.99959490e-01 -8.28598633e-03 -3.51573463e-03 1.48666800e+01] [ 8.28595598e-03 9.99965671e-01 -2.31970590e-05 -1.22084222e-01] [ 3.51580615e-03 -5.93510303e-06 9.99993820e-01 3.35883928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501858064 meters 0.015091745049635934 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.12, Z:0.03 [[ 9.99966619e-01 -7.47641336e-03 -3.29607603e-03 1.49252505e+01] [ 7.47637942e-03 9.99972051e-01 -2.26206243e-05 -1.20266669e-01] [ 3.29615303e-03 -2.02284581e-06 9.99994568e-01 3.46484769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561858064 meters 0.015134708457663302 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.12, Z:0.04 [[ 9.99956122e-01 -8.39828401e-03 -4.15013711e-03 1.49833192e+01] [ 8.39823307e-03 9.99964734e-01 -2.96998715e-05 -1.20351344e-01] [ 4.15024018e-03 -5.15525040e-06 9.99991388e-01 3.52732145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621858064 meters 0.01511408344930539 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.12, Z:0.03 [[ 9.99946072e-01 -8.92961416e-03 -5.30234332e-03 1.50410407e+01] [ 8.92953026e-03 9.99960130e-01 -3.94973381e-05 -1.18507899e-01] [ 5.30248461e-03 -7.85222702e-06 9.99985942e-01 3.39579585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681858064 meters 0.015233468767561742 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.12, Z:0.03 [[ 9.99927329e-01 -1.05623796e-02 -5.81145654e-03 1.50988359e+01] [ 1.05622967e-02 9.99944216e-01 -4.49593009e-05 -1.18946275e-01] [ 5.81160723e-03 -1.64262946e-05 9.99983112e-01 3.41769586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741858064 meters 0.015433794570027479 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.12, Z:0.03 [[ 9.99889756e-01 -1.36437127e-02 -5.85869203e-03 1.51577459e+01] [ 1.36436778e-02 9.99906920e-01 -4.59233816e-05 -1.20841774e-01] [ 5.85877326e-03 -3.40157877e-05 9.99982837e-01 3.45809339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801858064 meters 0.016069804755152715 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.12, Z:0.03 [[ 9.99789535e-01 -2.01482483e-02 -3.86445785e-03 1.52160734e+01] [ 2.01482801e-02 9.99797002e-01 -3.07070242e-05 -1.22322707e-01] [ 3.86429207e-03 -4.71616177e-05 9.99992532e-01 3.48859876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861858064 meters 0.016440509918960098 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.12, Z:0.04 [[ 9.99697959e-01 -2.44229571e-02 -2.74030312e-03 1.52744098e+01] [ 2.44229885e-02 9.99701714e-01 -2.20185197e-05 -1.24126468e-01] [ 2.74002348e-03 -4.49145222e-05 9.99996245e-01 3.69030594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921858064 meters 0.0185572830375645 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.13, Z:0.04 [[ 9.99572393e-01 -2.91137985e-02 -2.72358153e-03 1.53328422e+01] [ 2.91138464e-02 9.99576102e-01 -2.20587184e-05 -1.28277820e-01] [ 2.72306922e-03 -5.72446483e-05 9.99996291e-01 3.73272194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981858064 meters 0.018073295180396125 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.13, Z:0.04 [[ 9.99525644e-01 -3.06581663e-02 -2.92649071e-03 1.53915572e+01] [ 3.06582267e-02 9.99529926e-01 -2.42495652e-05 -1.25373348e-01] [ 2.92585848e-03 -6.54829531e-05 9.99995718e-01 3.71492482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041858064 meters 0.01853165943417659 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.12, Z:0.04 [[ 9.99524698e-01 -3.07302370e-02 -2.45582487e-03 1.54483722e+01] [ 3.07302785e-02 9.99527713e-01 -2.08224075e-05 -1.23628415e-01] [ 2.45530490e-03 -5.46556719e-05 9.99996984e-01 3.74432695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101858063999998 meters 0.017625279733375226 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.12, Z:0.04 [[ 9.99580277e-01 -2.88103818e-02 -3.03844196e-03 1.55077939e+01] [ 2.88104344e-02 9.99584893e-01 -2.64566512e-05 -1.18743110e-01] [ 3.03794291e-03 -6.10932860e-05 9.99995384e-01 3.79739100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161858064 meters 0.01719752655822403 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.12, Z:0.04 [[ 9.99629145e-01 -2.70530634e-02 -3.11511488e-03 1.55663062e+01] [ 2.70531078e-02 9.99633997e-01 -2.78817027e-05 -1.15171571e-01] [ 3.11472903e-03 -5.64021761e-05 9.99995148e-01 3.87651292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221858064 meters 0.016492200083750273 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.11, Z:0.04 [[ 9.99709888e-01 -2.36962783e-02 -4.31571966e-03 1.56256023e+01] [ 2.36963275e-02 9.99719202e-01 -3.97371682e-05 -1.08773538e-01] [ 4.31544944e-03 -6.25410667e-05 9.99990686e-01 3.89225190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281858064 meters 0.016440978971852767 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.10, Z:0.04 [[ 9.99763092e-01 -2.11487454e-02 -5.14694069e-03 1.56832537e+01] [ 2.11487785e-02 9.99776338e-01 -4.80160101e-05 -1.04850586e-01] [ 5.14680499e-03 -6.08468737e-05 9.99986753e-01 3.78477243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341858064 meters 0.01617572740926734 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.10, Z:0.04 [[ 9.99817612e-01 -1.83445587e-02 -5.31221245e-03 1.57416821e+01] [ 1.83445480e-02 9.99831723e-01 -5.07250002e-05 -1.00976335e-01] [ 5.31224906e-03 -4.67343880e-05 9.99985889e-01 3.93652247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401858064 meters 0.01605435355011368 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.10, Z:0.04 [[ 9.99862147e-01 -1.61606154e-02 -3.81058970e-03 1.58003493e+01] [ 1.61605908e-02 9.99869408e-01 -3.72488556e-05 -9.66868313e-02] [ 3.81069403e-03 -2.43376601e-05 9.99992739e-01 4.13242326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461858064 meters 0.015991179473561982 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.09, Z:0.04 [[ 9.99857511e-01 -1.65407928e-02 -3.37032035e-03 1.58584809e+01] [ 1.65407727e-02 9.99863191e-01 -3.38325351e-05 -9.34525765e-02] [ 3.37041888e-03 -2.19199887e-05 9.99994320e-01 4.11404367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521858064 meters 0.016405327954027993 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.09, Z:0.04 [[ 9.99792110e-01 -2.00665520e-02 -3.61536824e-03 1.59176071e+01] [ 2.00665485e-02 9.99798646e-01 -3.72334287e-05 -9.39871831e-02] [ 3.61538741e-03 -3.53222740e-05 9.99993464e-01 4.00118395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581858064 meters 0.01668726445679342 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.09, Z:0.04 [[ 9.99756111e-01 -2.16376337e-02 -4.41952132e-03 1.59749470e+01] [ 2.16376411e-02 9.99765878e-01 -4.61476236e-05 -9.39544923e-02] [ 4.41948514e-03 -4.94916475e-05 9.99990233e-01 3.84035362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641858064 meters 0.016669688013639494 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.09, Z:0.04 [[ 9.99781284e-01 -2.02647643e-02 -5.16951178e-03 1.60340395e+01] [ 2.02647502e-02 9.99794647e-01 -5.51136883e-05 -8.97196310e-02] [ 5.16956707e-03 -4.96572308e-05 9.99986636e-01 3.58625430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701858064 meters 0.016100333059552534 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.08, Z:0.04 [[ 9.99883887e-01 -1.48608284e-02 -3.37180999e-03 1.60932838e+01] [ 1.48607891e-02 9.99889572e-01 -3.66975445e-05 -8.48547738e-02] [ 3.37198300e-03 -1.34144737e-05 9.99994315e-01 3.83688228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761858064 meters 0.016057175908129884 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.08, Z:0.04 [[ 9.99942941e-01 -9.74947161e-03 -4.36613141e-03 1.61504357e+01] [ 9.74935401e-03 9.99952473e-01 -4.82176650e-05 -7.96666371e-02] [ 4.36639400e-03 5.64795292e-06 9.99990467e-01 3.78522126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821858064 meters 0.016784504860718717 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.08, Z:0.03 [[ 9.99946515e-01 -2.24219004e-03 -1.00965615e-02 1.62079025e+01] [ 2.24116684e-03 9.99997482e-01 -1.12654456e-04 -7.52184796e-02] [ 1.00967887e-02 9.00203523e-05 9.99949022e-01 3.46987906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881858064 meters 0.017805269516013175 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.07, Z:0.04 [[ 9.99925281e-01 3.94254620e-03 -1.15710176e-02 1.62678324e+01] [-3.94430939e-03 9.99992213e-01 -1.29563312e-04 -7.29347047e-02] [ 1.15704167e-02 1.75193304e-04 9.99933045e-01 3.52434419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941858063999998 meters 0.01826039954438531 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.07, Z:0.04 [[ 9.99922702e-01 5.48279152e-03 -1.11592642e-02 1.63262121e+01] [-5.48453726e-03 9.99984952e-01 -1.25841866e-04 -7.09855643e-02] [ 1.11584063e-02 1.87035539e-04 9.99937726e-01 3.58111125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001858064 meters 0.018386796836840073 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.07, Z:0.04 [[ 9.99906344e-01 8.87804113e-03 -1.04155765e-02 1.63845656e+01] [-8.87975996e-03 9.99960567e-01 -1.18790924e-04 -6.96307518e-02] [ 1.04141112e-02 2.11267618e-04 9.99945749e-01 3.68241278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061858064 meters 0.018790525835531577 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.07, Z:0.04 [[ 9.99897098e-01 1.11296879e-02 -9.05112367e-03 1.64431953e+01] [-1.11310842e-02 9.99938042e-01 -1.03907499e-04 -6.94117550e-02] [ 9.04940643e-03 2.04645626e-04 9.99959032e-01 3.72745378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121858064 meters 0.01854816604822788 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.07, Z:0.04 [[ 9.99894540e-01 1.07756427e-02 -9.73628065e-03 1.65032655e+01] [-1.07772454e-02 9.99941918e-01 -1.12155248e-04 -7.10051148e-02] [ 9.73450660e-03 2.17073706e-04 9.99952595e-01 3.67798350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181858064 meters 0.01811138936682144 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.08, Z:0.04 [[ 9.99919719e-01 9.59003604e-03 -8.28174021e-03 1.65628060e+01] [-9.59115738e-03 9.99953999e-01 -9.56924629e-05 -7.57700418e-02] [ 8.28044155e-03 1.75116254e-04 9.99965701e-01 3.77198779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241858064 meters 0.017893582606365574 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.08, Z:0.04 [[ 9.99942918e-01 6.96712501e-03 -8.10062772e-03 1.66229130e+01] [-6.96811205e-03 9.99975718e-01 -9.36302644e-05 -8.08619599e-02] [ 8.09977869e-03 1.50071001e-04 9.99967185e-01 3.84872916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301858064 meters 0.017419193924678566 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.09, Z:0.04 [[ 9.99948498e-01 4.45626097e-03 -9.11825551e-03 1.66824770e+01] [-4.45740987e-03 9.99990060e-01 -1.05682162e-04 -8.56526000e-02] [ 9.11769393e-03 1.46320522e-04 9.99958422e-01 3.70636671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361858064 meters 0.01673416496479321 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.10, Z:0.04 [[ 9.99945494e-01 -1.17118600e-03 -1.03748347e-02 1.67409560e+01] [ 1.16999596e-03 9.99999308e-01 -1.20773109e-04 -9.64402317e-02] [ 1.03749689e-02 1.08628012e-04 9.99946173e-01 3.69098796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421858064 meters 0.016060217358481073 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.10, Z:0.04 [[ 9.99930971e-01 -5.73587967e-03 -1.02544479e-02 1.68002267e+01] [ 5.73495004e-03 9.99983548e-01 -1.20058498e-04 -1.03180459e-01] [ 1.02549679e-02 6.12414639e-05 9.99947415e-01 3.75831382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481858064 meters 0.016004462912425948 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.11, Z:0.04 [[ 9.99886687e-01 -1.07650926e-02 -1.05226661e-02 1.68581234e+01] [ 1.07643811e-02 9.99942055e-01 -1.24258728e-04 -1.12655365e-01] [ 1.05233940e-02 1.09746596e-05 9.99944627e-01 3.79984188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541858064 meters 0.01598754461752896 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.12, Z:0.04 [[ 9.99873697e-01 -1.36618378e-02 -8.12057030e-03 1.69172772e+01] [ 1.36614943e-02 9.99906673e-01 -9.77699672e-05 -1.21199795e-01] [ 8.12114815e-03 -1.31815060e-05 9.99967023e-01 4.03162322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601858063999998 meters 0.016062380602170582 Centerline is valid? [True, True] Translation: X:16.98, Y:-0.13, Z:0.04 [[ 9.99852541e-01 -1.56519595e-02 -7.06483776e-03 1.69750024e+01] [ 1.56517355e-02 9.99877500e-01 -8.69967821e-05 -1.26448710e-01] [ 7.06533399e-03 -2.35930184e-05 9.99975040e-01 4.05261727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661858064 meters 0.016104165011327748 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.13, Z:0.04 [[ 9.99877396e-01 -1.43477608e-02 -6.27180498e-03 1.70331481e+01] [ 1.43475543e-02 9.99897066e-01 -7.79167615e-05 -1.28318103e-01] [ 6.27227732e-03 -1.20778539e-05 9.99980329e-01 4.10133505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721858064 meters 0.016240783126931252 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.13, Z:0.04 [[ 9.99932643e-01 -9.53152288e-03 -6.62261995e-03 1.70909377e+01] [ 9.53117582e-03 9.99954574e-01 -8.39647642e-05 -1.27867350e-01] [ 6.62311942e-03 2.08377535e-05 9.99978067e-01 4.05106716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781858063999998 meters 0.016539688849071227 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.13, Z:0.04 [[ 9.99964007e-01 -5.18614382e-03 -6.71480654e-03 1.71487127e+01] [ 5.18568403e-03 9.99986551e-01 -8.58823045e-05 -1.27148471e-01] [ 6.71516163e-03 5.10583482e-05 9.99977452e-01 4.02461033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841858064 meters 0.01665105089913803 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.13, Z:0.04 [[ 9.99954539e-01 -4.63695429e-03 -8.33173217e-03 1.72076538e+01] [ 4.63621169e-03 9.99989247e-01 -1.08441420e-04 -1.28919513e-01] [ 8.33214541e-03 6.98088165e-05 9.99965285e-01 3.93413854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901858064 meters 0.016725632138171465 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.13, Z:0.04 [[ 9.99943405e-01 -5.13805408e-03 -9.31594041e-03 1.72650577e+01] [ 5.13713055e-03 9.99986797e-01 -1.23061196e-04 -1.34530213e-01] [ 9.31644971e-03 7.51970294e-05 9.99956598e-01 3.88560276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961858064 meters 0.016423855568718882 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.14, Z:0.04 [[ 9.99946336e-01 -6.23567936e-03 -8.27291369e-03 1.73241107e+01] [ 6.23497255e-03 9.99980556e-01 -1.11225290e-04 -1.38138048e-01] [ 8.27344640e-03 5.96379310e-05 9.99965773e-01 4.05024961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021858064 meters 0.01619289753790973 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.14, Z:0.04 [[ 9.99937685e-01 -9.09112048e-03 -6.47902394e-03 1.73833082e+01] [ 9.09074331e-03 9.99958674e-01 -8.76620748e-05 -1.41520769e-01] [ 6.47955314e-03 2.87574686e-05 9.99979007e-01 4.22557361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081858064 meters 0.01585910019345912 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.15, Z:0.05 [[ 9.99906471e-01 -1.29941489e-02 -4.26620877e-03 1.74423037e+01] [ 1.29940197e-02 9.99915572e-01 -5.80025038e-05 -1.47372940e-01] [ 4.26660228e-03 2.56187801e-06 9.99990898e-01 4.56012753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141858064 meters 0.015805329888737424 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.15, Z:0.05 [[ 9.99847214e-01 -1.66531047e-02 -5.31243662e-03 1.75017315e+01] [ 1.66529498e-02 9.99861327e-01 -7.34094665e-05 -1.52318502e-01] [ 5.31292242e-03 -1.50694895e-05 9.99985886e-01 4.63716693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201858064 meters 0.01614841139764987 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.16, Z:0.04 [[ 9.99722550e-01 -2.19787804e-02 -8.47090613e-03 1.75593351e+01] [ 2.19785690e-02 9.99758435e-01 -1.18063766e-04 -1.56086209e-01] [ 8.47145475e-03 -6.81473853e-05 9.99964114e-01 4.40026141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261858064 meters 0.016336158640641807 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.16, Z:0.04 [[ 9.99615835e-01 -2.56736614e-02 -1.04425282e-02 1.76184617e+01] [ 2.56735160e-02 9.99670370e-01 -1.47995462e-04 -1.57064392e-01] [ 1.04428856e-02 -1.20157806e-04 9.99945464e-01 4.35539040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321858064 meters 0.016805170793571418 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.16, Z:0.04 [[ 9.99559275e-01 -2.73299693e-02 -1.15900284e-02 1.76765966e+01] [ 2.73298880e-02 9.99626455e-01 -1.65421525e-04 -1.57277404e-01] [ 1.15902199e-02 -1.51405559e-04 9.99932820e-01 4.29630673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381858064 meters 0.016985546062443856 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.16, Z:0.04 [[ 9.99426856e-01 -3.03349271e-02 -1.50250139e-02 1.77354848e+01] [ 3.03350763e-02 9.99539762e-01 -2.18031209e-04 -1.55014870e-01] [ 1.50247128e-02 -2.37878698e-04 9.99887094e-01 4.19543097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441858063999998 meters 0.017258669982249647 Centerline is valid? [True, True] Translation: X:17.79, Y:-0.15, Z:0.04 [[ 9.99358823e-01 -3.20260610e-02 -1.60085635e-02 1.77941357e+01] [ 3.20263839e-02 9.99486996e-01 -2.36254467e-04 -1.53268074e-01] [ 1.60079174e-02 -2.76593417e-04 9.99871827e-01 4.12850999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501858064 meters 0.01936016795533625 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.15, Z:0.04 [[ 9.99267117e-01 -3.58509423e-02 -1.34141185e-02 1.78520097e+01] [ 3.58514965e-02 9.99357109e-01 -1.99227839e-04 -1.54735532e-01] [ 1.34126372e-02 -2.81834395e-04 9.99910007e-01 4.26279153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561858064 meters 0.018231776286687262 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.15, Z:0.05 [[ 9.99207893e-01 -3.78230100e-02 -1.23695888e-02 1.79109934e+01] [ 3.78235965e-02 9.99284414e-01 -1.86607316e-04 -1.49380639e-01] [ 1.23677953e-02 -2.81402832e-04 9.99923476e-01 4.66867189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621858064 meters 0.017528617108941255 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.15, Z:0.05 [[ 9.99310757e-01 -3.45353536e-02 -1.36132055e-02 1.79699066e+01] [ 3.45357134e-02 9.99403443e-01 -2.08719687e-04 -1.45433105e-01] [ 1.36122927e-02 -2.61565936e-04 9.99907314e-01 4.73569384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681858064 meters 0.016717974546267066 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.14, Z:0.05 [[ 9.99469242e-01 -2.96223511e-02 -1.35554859e-02 1.80286138e+01] [ 2.96222413e-02 9.99561143e-01 -2.08928754e-04 -1.37427907e-01] [ 1.35557259e-02 -1.92726010e-04 9.99908098e-01 4.53430145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741858064 meters 0.0157829051930864 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.13, Z:0.04 [[ 9.99692035e-01 -2.03667992e-02 -1.41784747e-02 1.80863823e+01] [ 2.03657238e-02 9.99792573e-01 -2.20242130e-04 -1.28242409e-01] [ 1.41800193e-02 -6.85805963e-05 9.99899456e-01 4.27594271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801858064 meters 0.015420456028795786 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.12, Z:0.04 [[ 9.99784656e-01 -1.45091282e-02 -1.48367009e-02 1.81447147e+01] [ 1.45072462e-02 9.99894737e-01 -2.34471559e-04 -1.23457880e-01] [ 1.48385411e-02 1.91813931e-05 9.99889903e-01 4.41589302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861858064 meters 0.01548510343269907 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.12, Z:0.04 [[ 9.99837509e-01 -9.21738940e-03 -1.54917744e-02 1.82029914e+01] [ 9.21467846e-03 9.99957514e-01 -2.46364977e-04 -1.18554390e-01] [ 1.54933871e-02 1.03573225e-04 9.99879965e-01 4.44190817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921858064 meters 0.015663928845429134 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.12, Z:0.04 [[ 9.99877017e-01 -6.48902155e-03 -1.42773564e-02 1.82610784e+01] [ 6.48638642e-03 9.99978937e-01 -2.30866388e-04 -1.15214749e-01] [ 1.42785537e-02 1.38229545e-04 9.99898047e-01 4.44831833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981858064 meters 0.015393192675979977 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.12, Z:0.05 [[ 9.99922950e-01 -6.14855069e-03 -1.07837324e-02 1.83201323e+01] [ 6.14699936e-03 9.99981091e-01 -1.76997719e-04 -1.16034423e-01] [ 1.07846168e-02 1.10696485e-04 9.99941838e-01 4.88891119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041858064 meters 0.015425235945987596 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.11, Z:0.05 [[ 9.99917308e-01 -7.24940683e-03 -1.06218262e-02 1.83775632e+01] [ 7.24795263e-03 9.99973718e-01 -1.75395245e-04 -1.14409105e-01] [ 1.06228185e-02 9.83942479e-05 9.99943571e-01 4.78303418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101858063999998 meters 0.015292312564027511 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.11, Z:0.05 [[ 9.99890593e-01 -9.08429752e-03 -1.16738304e-02 1.84358108e+01] [ 9.08263085e-03 9.99958733e-01 -1.95779601e-04 -1.14386052e-01] [ 1.16751272e-02 8.97290888e-05 9.99931839e-01 4.58950878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161858064 meters 0.014691763720393209 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.12, Z:0.05 [[ 9.99809623e-01 -1.55425881e-02 -1.17959871e-02 1.84944749e+01] [ 1.55413238e-02 9.99879207e-01 -1.98838091e-04 -1.21558851e-01] [ 1.17976527e-02 1.54749816e-05 9.99930405e-01 4.85407012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221858064 meters 0.015356541712007449 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.13, Z:0.05 [[ 9.99584726e-01 -2.55884331e-02 -1.32516998e-02 1.85523627e+01] [ 2.55877049e-02 9.99672556e-01 -2.24520259e-04 -1.29106461e-01] [ 1.32531057e-02 -1.14653562e-04 9.99912167e-01 4.78944195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281858063999998 meters 0.016124199273886 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.13, Z:0.05 [[ 9.99400789e-01 -3.18441943e-02 -1.35650022e-02 1.86113498e+01] [ 3.18439642e-02 9.99492825e-01 -2.33004474e-04 -1.30808751e-01] [ 1.35655422e-02 -1.99098588e-04 9.99907964e-01 4.68957871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341858064 meters 0.018437886822676886 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.14, Z:0.05 [[ 9.99116981e-01 -3.95073833e-02 -1.42976980e-02 1.86697248e+01] [ 3.95078929e-02 9.99219228e-01 -2.46918796e-04 -1.36010274e-01] [ 1.42962898e-02 -3.18171157e-04 9.99897752e-01 4.50833805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401858064 meters 0.01940849307734779 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.14, Z:0.05 [[ 9.98907692e-01 -4.48476790e-02 -1.31190036e-02 1.87288920e+01] [ 4.48485590e-02 9.98993771e-01 -2.27253938e-04 -1.36012486e-01] [ 1.31159947e-02 -3.61362701e-04 9.99913916e-01 4.59866651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461858064 meters 0.01832221802420238 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.13, Z:0.05 [[ 9.98948645e-01 -4.50780631e-02 -8.34099776e-03 1.87876376e+01] [ 4.50784112e-02 9.98983441e-01 -1.46359870e-04 -1.28640505e-01] [ 8.33911626e-03 -2.29792933e-04 9.99965203e-01 4.99319141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521858064 meters 0.018517792685141466 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.13, Z:0.05 [[ 9.98975138e-01 -4.48067646e-02 -6.40531381e-03 1.88464642e+01] [ 4.48069546e-02 9.98995658e-01 -1.13907365e-04 -1.26168694e-01] [ 6.40398450e-03 -1.73211980e-04 9.99979479e-01 5.08720596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581858064 meters 0.01768479702959858 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.12, Z:0.05 [[ 9.99132696e-01 -4.14974273e-02 -3.43796925e-03 1.89050110e+01] [ 4.14974615e-02 9.99138607e-01 -6.14289227e-05 -1.17850531e-01] [ 3.43755695e-03 -8.12913512e-05 9.99994088e-01 5.41525321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641858064 meters 0.016931545029856696 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.11, Z:0.05 [[ 9.99285238e-01 -3.73156678e-02 -6.04592633e-03 1.89643857e+01] [ 3.73156893e-02 9.99303521e-01 -1.09286253e-04 -1.10675488e-01] [ 6.04579356e-03 -1.16399769e-04 9.99981717e-01 5.16297536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701858064 meters 0.015494051142214823 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.10, Z:0.05 [[ 9.99531841e-01 -2.90140280e-02 -9.71006531e-03 1.90222573e+01] [ 2.90136815e-02 9.99578999e-01 -1.76574535e-04 -9.79854832e-02] [ 9.71110050e-03 -1.05232873e-04 9.99952841e-01 4.67562737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761858064 meters 0.014399531353655796 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.09, Z:0.05 [[ 9.99757225e-01 -2.03119832e-02 -8.53894851e-03 1.90812785e+01] [ 2.03113821e-02 9.99793690e-01 -1.57119258e-04 -8.60474751e-02] [ 8.54037825e-03 -1.63567325e-05 9.99963530e-01 4.76331938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821858064 meters 0.01408530320555657 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.08, Z:0.05 [[ 9.99845228e-01 -1.60037919e-02 -7.30750488e-03 1.91405508e+01] [ 1.60032293e-02 9.99871931e-01 -1.35461343e-04 -8.04372623e-02] [ 7.30873691e-03 1.84967009e-05 9.99973291e-01 4.99908385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881858064 meters 0.014377441770594898 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.07, Z:0.05 [[ 9.99920955e-01 -1.18613681e-02 -4.17039108e-03 1.91986986e+01] [ 1.18611474e-02 9.99929651e-01 -7.76424481e-05 -7.19753051e-02] [ 4.17101864e-03 2.81706874e-05 9.99991301e-01 5.07580170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941858063999998 meters 0.014665462298439963 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.07, Z:0.05 [[ 9.99956219e-01 -8.35613290e-03 -4.21140360e-03 1.92570135e+01] [ 8.35587466e-03 9.99965086e-01 -7.89106261e-05 -6.84553329e-02] [ 4.21191595e-03 4.37172107e-05 9.99991129e-01 5.02408390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001858064 meters 0.015166922715729607 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.07, Z:0.05 [[ 9.99969258e-01 -5.57236753e-03 -5.51656350e-03 1.93161126e+01] [ 5.57187495e-03 9.99984472e-01 -1.04656796e-04 -6.63624562e-02] [ 5.51706103e-03 7.39159771e-05 9.99984778e-01 4.87494843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061858064 meters 0.016252266760819537 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.06, Z:0.05 [[ 9.99972607e-01 -1.16802372e-03 -7.30897428e-03 1.93752107e+01] [ 1.16702790e-03 9.99999309e-01 -1.40508932e-04 -6.14721465e-02] [ 7.30913335e-03 1.31975306e-04 9.99973279e-01 4.67011628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121858063999998 meters 0.015904287891037122 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.06, Z:0.05 [[ 9.99971551e-01 -5.14646823e-05 -7.54278219e-03 1.94342826e+01] [ 5.03579564e-05 9.99999988e-01 -1.46916328e-04 -6.05759041e-02] [ 7.54278966e-03 1.46532310e-04 9.99971542e-01 4.64992092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181858064 meters 0.01654111746392971 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.06, Z:0.04 [[ 9.99948878e-01 -1.72023135e-03 -9.96401066e-03 1.94920141e+01] [ 1.71837187e-03 9.99998505e-01 -1.95177718e-04 -6.06987536e-02] [ 9.96433151e-03 1.78045864e-04 9.99950339e-01 4.40292647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241858064 meters 0.015728219445473944 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.06, Z:0.04 [[ 9.99918901e-01 -6.43641239e-03 -1.09892941e-02 1.95504155e+01] [ 6.43442685e-03 9.99979276e-01 -2.16026035e-04 -6.47214160e-02] [ 1.09904568e-02 1.45298707e-04 9.99939593e-01 4.26109696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301858064 meters 0.014899567242991471 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.07, Z:0.04 [[ 9.99893075e-01 -8.38632990e-03 -1.19794938e-02 1.96094346e+01] [ 8.38409995e-03 9.99964825e-01 -2.36357021e-04 -6.82449994e-02] [ 1.19810546e-02 1.35894475e-04 9.99928215e-01 4.26873449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361858064 meters 0.014796068936222711 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.07, Z:0.04 [[ 9.99871125e-01 -1.05878114e-02 -1.20677824e-02 1.96678944e+01] [ 1.05856743e-02 9.99943941e-01 -2.40952175e-04 -7.15699478e-02] [ 1.20696571e-02 1.13175508e-04 9.99927153e-01 4.25366068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421858064 meters 0.01433717506714054 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.08, Z:0.04 [[ 9.99809849e-01 -1.64258762e-02 -1.05097898e-02 1.97263809e+01] [ 1.64245688e-02 9.99865085e-01 -2.10703892e-04 -7.91841084e-02] [ 1.05118328e-02 3.80450615e-05 9.99944748e-01 4.35921011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481858064 meters 0.014302404986985519 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.09, Z:0.04 [[ 9.99750140e-01 -1.99115160e-02 -1.01581618e-02 1.97842440e+01] [ 1.99104473e-02 9.99801746e-01 -2.06327762e-04 -8.50685391e-02] [ 1.01602562e-02 4.02266480e-06 9.99948383e-01 4.44994004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541858064 meters 0.014314806376839738 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.09, Z:0.05 [[ 9.99733570e-01 -2.09071632e-02 -9.78154975e-03 1.98423499e+01] [ 2.09061933e-02 9.99781421e-01 -2.01408493e-04 -9.17493967e-02] [ 9.78362259e-03 -3.14013713e-06 9.99952139e-01 4.65501175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601858063999998 meters 0.014582418567240713 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.09, Z:0.05 [[ 9.99836367e-01 -1.52061293e-02 -9.79865355e-03 1.98999576e+01] [ 1.52048722e-02 9.99884379e-01 -2.02771335e-04 -9.04730195e-02] [ 9.80060399e-03 5.37508791e-05 9.99951971e-01 4.62231060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661858064 meters 0.015460958486731628 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.09, Z:0.05 [[ 9.99922246e-01 -7.32684290e-03 -1.00905429e-02 1.99586523e+01] [ 7.32508498e-03 9.99973149e-01 -2.11161824e-04 -8.70028633e-02] [ 1.00918191e-02 1.37231321e-04 9.99949067e-01 4.66178111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721858064 meters 0.01623731960140898 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.08, Z:0.05 [[ 9.99934514e-01 -5.66979786e-03 -9.94086240e-03 2.00168153e+01] [ 5.66799581e-03 9.99983915e-01 -2.09440944e-04 -8.38907208e-02] [ 9.94188999e-03 1.53082462e-04 9.99950566e-01 4.52863455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781858063999998 meters 0.016724106712062595 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.09, Z:0.05 [[ 9.99940610e-01 -3.03647016e-03 -1.04668697e-02 2.00758102e+01] [ 3.03430257e-03 9.99995372e-01 -2.22964605e-04 -8.70336369e-02] [ 1.04674983e-02 1.91191714e-04 9.99945196e-01 4.71160226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841858064 meters 0.01772782833167502 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.09, Z:0.05 [[ 9.99951261e-01 -1.74447658e-03 -9.71760376e-03 2.01334554e+01] [ 1.74253806e-03 9.99998460e-01 -2.07949080e-04 -8.57301555e-02] [ 9.71795156e-03 1.91005650e-04 9.99952761e-01 4.78314492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901858064 meters 0.018994425921529765 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.08, Z:0.05 [[ 9.99962240e-01 7.35943896e-04 -8.65888603e-03 2.01913025e+01] [-7.37582054e-04 9.99999711e-01 -1.85996278e-04 -8.31758351e-02] [ 8.65874665e-03 1.92375893e-04 9.99962494e-01 4.89721483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961858064 meters 0.018594943380830137 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.08, Z:0.05 [[ 9.99955483e-01 1.16858718e-03 -9.36304145e-03 2.02500817e+01] [-1.17054103e-03 9.99999294e-01 -2.03198605e-04 -8.27259900e-02] [ 9.36279739e-03 2.14149384e-04 9.99956145e-01 4.74621352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021858064 meters 0.01881904977080761 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.08, Z:0.05 [[ 9.99946628e-01 9.14076488e-04 -1.02909969e-02 2.03086594e+01] [-9.16432135e-04 9.99999555e-01 -2.24190307e-04 -8.39946164e-02] [ 1.02907874e-02 2.33609341e-04 9.99947021e-01 4.56334771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081858064 meters 0.01896439624467546 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.09, Z:0.05 [[ 9.99948778e-01 -4.41235949e-05 -1.01212562e-02 2.03679094e+01] [ 4.18873424e-05 9.99999975e-01 -2.21158003e-04 -8.51257026e-02] [ 1.01212657e-02 2.20722723e-04 9.99948754e-01 4.64272794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141858064 meters 0.017232720191969347 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.09, Z:0.05 [[ 9.99944457e-01 -1.69748556e-03 -1.04019861e-02 2.04264461e+01] [ 1.69520531e-03 9.99998537e-01 -2.28026241e-04 -8.98234797e-02] [ 1.04023580e-02 2.10380074e-04 9.99945872e-01 4.74399509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201858064 meters 0.016852333713271668 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.09, Z:0.05 [[ 9.99914590e-01 -4.22206523e-03 -1.23687661e-02 2.04853602e+01] [ 4.21902311e-03 9.99991063e-01 -2.72034294e-04 -9.30557135e-02] [ 1.23698041e-02 2.19826949e-04 9.99923467e-01 4.62167421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261858064 meters 0.01856756984356193 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.09, Z:0.04 [[ 9.99866425e-01 -6.13759939e-03 -1.51480288e-02 2.05431807e+01] [ 6.13323970e-03 9.99981136e-01 -3.34245532e-04 -9.08610937e-02] [ 1.51497945e-02 2.41294394e-04 9.99885206e-01 3.89289992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321858064 meters 0.01632251439651413 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.10, Z:0.04 [[ 9.99852758e-01 -8.59326622e-03 -1.48532447e-02 2.06024197e+01] [ 8.58929243e-03 9.99963056e-01 -3.31310167e-04 -9.52751019e-02] [ 1.48555430e-02 2.03682522e-04 9.99889630e-01 4.27944276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381858064 meters 0.01564849864392586 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.10, Z:0.05 [[ 9.99848654e-01 -1.31531984e-02 -1.13869637e-02 2.06614915e+01] [ 1.31511484e-02 9.99913487e-01 -2.54890450e-04 -9.61883455e-02] [ 1.13893312e-02 1.05100223e-04 9.99935134e-01 4.60908926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441858063999998 meters 0.014957868037829584 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.10, Z:0.05 [[ 9.99752288e-01 -1.92588593e-02 -1.11561122e-02 2.07205544e+01] [ 1.92572629e-02 9.99814530e-01 -2.50509281e-04 -1.01007261e-01] [ 1.11588676e-02 3.56110409e-05 9.99937737e-01 5.00914131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501858064 meters 0.014983345864872615 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.10, Z:0.05 [[ 9.99606539e-01 -2.49556025e-02 -1.28056468e-02 2.07794334e+01] [ 2.49539278e-02 9.99688560e-01 -2.90568020e-04 -1.02836428e-01] [ 1.28089099e-02 -2.90974925e-05 9.99917962e-01 4.91726499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561858064 meters 0.015807974513961928 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.10, Z:0.05 [[ 9.99311697e-01 -3.44427902e-02 -1.37777787e-02 2.08385998e+01] [ 3.44417064e-02 9.99406658e-01 -3.15998679e-04 -1.04018018e-01] [ 1.37804877e-02 -1.58749034e-04 9.99905032e-01 4.65213323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621858063999998 meters 0.01732337248635056 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.11, Z:0.05 [[ 9.98935908e-01 -4.40776751e-02 -1.35724341e-02 2.08982955e+01] [ 4.40775032e-02 9.99028066e-01 -3.11940236e-04 -1.05663203e-01] [ 1.35729922e-02 -2.86630704e-04 9.99907842e-01 4.73985875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681858064 meters 0.018483134839398417 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.11, Z:0.05 [[ 9.98676668e-01 -4.98614901e-02 -1.25993988e-02 2.09579758e+01] [ 4.98617964e-02 9.98756085e-01 -2.90016725e-04 -1.05527887e-01] [ 1.25981868e-02 -3.38595719e-04 9.99920582e-01 4.88393210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741858064 meters 0.020284521774697774 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.10, Z:0.05 [[ 9.98378664e-01 -5.58931633e-02 -1.07701768e-02 2.10170662e+01] [ 5.58937318e-02 9.98436693e-01 -2.48446238e-04 -1.02965204e-01] [ 1.07672261e-02 -3.53941949e-04 9.99941969e-01 5.08307353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801858064 meters 0.020067525462513884 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.09, Z:0.05 [[ 9.98338416e-01 -5.69795457e-02 -8.58709361e-03 2.10750432e+01] [ 5.69799282e-02 9.98375304e-01 -2.00294274e-04 -9.23653555e-02] [ 8.58455487e-03 -2.89330509e-04 9.99963110e-01 5.13369878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861858064 meters 0.01936230051889602 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.08, Z:0.05 [[ 9.98451256e-01 -5.47565273e-02 -9.83933799e-03 2.11336032e+01] [ 5.47568972e-02 9.98499689e-01 -2.31996959e-04 -8.32312347e-02] [ 9.83727927e-03 -3.07133964e-04 9.99951566e-01 5.03475577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921858064 meters 0.01796270761556502 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.07, Z:0.05 [[ 9.98815017e-01 -4.78960559e-02 -8.63302096e-03 2.11921859e+01] [ 4.78960805e-02 9.98852303e-01 -2.04010641e-04 -7.03552921e-02] [ 8.63288417e-03 -2.09718975e-04 9.99962714e-01 5.19129208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981858064 meters 0.016396694407666706 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.06, Z:0.05 [[ 9.99161985e-01 -4.04696867e-02 -6.12637061e-03 2.12521365e+01] [ 4.04695589e-02 9.99180761e-01 -1.44886576e-04 -5.53697459e-02] [ 6.12721516e-03 -1.03166357e-04 9.99981223e-01 5.33013170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041858064 meters 0.015135290254887546 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.05, Z:0.06 [[ 9.99305841e-01 -3.69671069e-02 -4.61178202e-03 2.13109299e+01] [ 3.69669927e-02 9.99316481e-01 -1.10028542e-04 -4.59388939e-02] [ 4.61269721e-03 -6.05315477e-05 9.99989360e-01 5.51609627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101858063999998 meters 0.014691739837332648 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.04, Z:0.05 [[ 9.99470684e-01 -3.21769255e-02 -4.79552214e-03 2.13686012e+01] [ 3.21767441e-02 9.99482188e-01 -1.14991382e-04 -3.69880520e-02] [ 4.79673902e-03 -3.93737730e-05 9.99988495e-01 5.46875937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161858064 meters 0.014229977340289864 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.03, Z:0.05 [[ 9.99626425e-01 -2.65915322e-02 -6.31664456e-03 2.14270996e+01] [ 2.65910967e-02 9.99646383e-01 -1.52925762e-04 -2.57864636e-02] [ 6.31847742e-03 -1.50978740e-05 9.99980038e-01 5.26523713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221858064 meters 0.014217983766912187 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.02, Z:0.05 [[ 9.99720406e-01 -2.26880520e-02 -6.66043133e-03 2.14846700e+01] [ 2.26874688e-02 9.99742593e-01 -1.63105870e-04 -1.90035745e-02] [ 6.66241745e-03 1.19519386e-05 9.99977806e-01 5.15931924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281858063999998 meters 0.014223124316227704 Centerline is valid? [True, True] Translation: X:21.54, Y:-0.01, Z:0.05 [[ 9.99810120e-01 -1.87880471e-02 -5.17037344e-03 2.15436571e+01] [ 1.87876372e-02 9.99823489e-01 -1.27855570e-04 -1.14296110e-02] [ 5.17186297e-03 3.06921923e-05 9.99986625e-01 5.27926227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341858064 meters 0.014146867171132302 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.01, Z:0.05 [[ 9.99820749e-01 -1.77705750e-02 -6.53273943e-03 2.16025925e+01] [ 1.77698878e-02 9.99842090e-01 -1.63233953e-04 -8.85782926e-03] [ 6.53460860e-03 4.71186466e-05 9.99978648e-01 5.27219260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401858064 meters 0.014320338815363542 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.01, Z:0.05 [[ 9.99807560e-01 -1.79499714e-02 -7.91469770e-03 2.16615110e+01] [ 1.79489522e-02 9.99838885e-01 -1.99786790e-04 -6.31458925e-03] [ 7.91700869e-03 5.76878122e-05 9.99968658e-01 5.13863984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461858064 meters 0.014182178004187154 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.00, Z:0.05 [[ 9.99806892e-01 -1.84085005e-02 -6.87794097e-03 2.17191623e+01] [ 1.84077288e-02 9.99830548e-01 -1.75495292e-04 -2.20056281e-03] [ 6.88000610e-03 4.88541303e-05 9.99976331e-01 5.14406527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521858064 meters 0.014055396752205804 Centerline is valid? [True, True] Translation: X:21.78, Y:0.00, Z:0.05 [[ 9.99808644e-01 -1.89289804e-02 -4.93645350e-03 2.17784804e+01] [ 1.89285838e-02 9.99820830e-01 -1.27062286e-04 1.09134685e-03] [ 4.93797419e-03 3.35978986e-05 9.99987808e-01 5.31364787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581858064 meters 0.01383550183023236 Centerline is valid? [True, True] Translation: X:21.84, Y:0.00, Z:0.05 [[ 9.99766958e-01 -2.11431082e-02 -4.35863638e-03 2.18375943e+01] [ 2.11428155e-02 9.99776459e-01 -1.13225192e-04 1.76750649e-03] [ 4.36005598e-03 2.10449613e-05 9.99990495e-01 5.38800861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641858064 meters 0.013775126753512367 Centerline is valid? [True, True] Translation: X:21.90, Y:0.00, Z:0.05 [[ 9.99687836e-01 -2.46150545e-02 -4.28142082e-03 2.18952259e+01] [ 2.46147988e-02 9.99697004e-01 -1.12400795e-04 1.70598036e-03] [ 4.28289032e-03 6.97939533e-06 9.99990828e-01 5.46750281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701858064 meters 0.013674986838318479 Centerline is valid? [True, True] Translation: X:21.95, Y:0.00, Z:0.06 [[ 9.99548325e-01 -2.98512357e-02 -3.47141160e-03 2.19523914e+01] [ 2.98510974e-02 9.99554352e-01 -9.16544174e-05 1.28323875e-04] [ 3.47260057e-03 -1.20124263e-05 9.99993970e-01 5.66045860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761858064 meters 0.013798867018256158 Centerline is valid? [True, True] Translation: X:22.01, Y:0.00, Z:0.06 [[ 9.99499039e-01 -3.15425244e-02 -2.59602227e-03 2.20102954e+01] [ 3.15424513e-02 9.99502411e-01 -6.91047317e-05 3.58912178e-03] [ 2.59691025e-03 -1.28147929e-05 9.99996628e-01 5.63336464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821858064 meters 0.013663455744336573 Centerline is valid? [True, True] Translation: X:22.07, Y:0.01, Z:0.06 [[ 9.99508469e-01 -3.10920352e-02 -4.01316481e-03 2.20685927e+01] [ 3.10918518e-02 9.99516526e-01 -1.08083584e-04 7.00359649e-03] [ 4.01458509e-03 -1.67462686e-05 9.99991941e-01 5.54847423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881858064 meters 0.013547909650774655 Centerline is valid? [True, True] Translation: X:22.13, Y:0.01, Z:0.05 [[ 9.99531310e-01 -3.02846138e-02 -4.47250773e-03 2.21263595e+01] [ 3.02843720e-02 9.99541316e-01 -1.21776106e-04 1.25032282e-02] [ 4.47414420e-03 -1.37280569e-05 9.99989991e-01 5.47686352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941858063999998 meters 0.013555387538542105 Centerline is valid? [True, True] Translation: X:22.18, Y:0.02, Z:0.05 [[ 9.99540158e-01 -2.99181879e-02 -4.93711022e-03 2.21836683e+01] [ 2.99178836e-02 9.99552351e-01 -1.35503501e-04 1.61543770e-02] [ 4.93895415e-03 -1.22666976e-05 9.99987803e-01 5.41927629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001858064 meters 0.013425392728214948 Centerline is valid? [True, True] Translation: X:22.24, Y:0.02, Z:0.06 [[ 9.99595071e-01 -2.81446740e-02 -4.19172829e-03 2.22418361e+01] [ 2.81444345e-02 9.99603860e-01 -1.16129822e-04 1.99251459e-02] [ 4.19333622e-03 -1.89102452e-06 9.99991208e-01 5.77167858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061858064 meters 0.013608826743059785 Centerline is valid? [True, True] Translation: X:22.30, Y:0.03, Z:0.06 [[ 9.99682344e-01 -2.48704831e-02 -4.08288757e-03 2.22999913e+01] [ 2.48702264e-02 9.99690682e-01 -1.13632510e-04 2.61910587e-02] [ 4.08445075e-03 1.20540760e-05 9.99991659e-01 5.76253048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121858063999998 meters 0.013794683604592533 Centerline is valid? [True, True] Translation: X:22.36, Y:0.03, Z:0.06 [[ 9.99732103e-01 -2.26906307e-02 -4.56692867e-03 2.23587894e+01] [ 2.26902824e-02 9.99742534e-01 -1.28069298e-04 3.22419811e-02] [ 4.56865881e-03 2.44100875e-05 9.99989563e-01 5.60063569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181858064 meters 0.0139027749882104 Centerline is valid? [True, True] Translation: X:22.42, Y:0.04, Z:0.06 [[ 9.99767643e-01 -2.06499663e-02 -6.18377327e-03 2.24172788e+01] [ 2.06492788e-02 9.99786766e-01 -1.75018688e-04 3.64597960e-02] [ 6.18606881e-03 4.72875629e-05 9.99980865e-01 5.57751232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241858064 meters 0.01376808138426409 Centerline is valid? [True, True] Translation: X:22.48, Y:0.04, Z:0.06 [[ 9.99722849e-01 -2.27561616e-02 -6.03174628e-03 2.24765752e+01] [ 2.27555368e-02 9.99741044e-01 -1.72202305e-04 3.90855832e-02] [ 6.03410299e-03 3.48989546e-05 9.99981794e-01 5.58494838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301858064 meters 0.013600483979970893 Centerline is valid? [True, True] Translation: X:22.54, Y:0.04, Z:0.06 [[ 9.99632422e-01 -2.62660096e-02 -6.71700190e-03 2.25350249e+01] [ 2.62653010e-02 9.99654989e-01 -1.93703074e-04 3.91957663e-02] [ 6.71977226e-03 1.72077966e-05 9.99977422e-01 5.59210803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361858064 meters 0.013748197322712171 Centerline is valid? [True, True] Translation: X:22.59, Y:0.04, Z:0.06 [[ 9.99413233e-01 -3.34086799e-02 -7.55313126e-03 2.25943635e+01] [ 3.34079730e-02 9.99441774e-01 -2.19769254e-04 3.59871439e-02] [ 7.55625711e-03 -3.26945045e-05 9.99971451e-01 5.56598688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421858064 meters 0.01429628932760297 Centerline is valid? [True, True] Translation: X:22.65, Y:0.04, Z:0.06 [[ 9.99181746e-01 -3.96284493e-02 -8.08849170e-03 2.26529231e+01] [ 3.96278259e-02 9.99214481e-01 -2.37385589e-04 3.54750497e-02] [ 8.09154525e-03 -8.33379941e-05 9.99967259e-01 5.51472175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481858064 meters 0.014416390214289978 Centerline is valid? [True, True] Translation: X:22.71, Y:0.04, Z:0.05 [[ 9.99072171e-01 -4.19956662e-02 -9.54781402e-03 2.27115337e+01] [ 4.19948821e-02 9.99117786e-01 -2.82679352e-04 3.54071550e-02] [ 9.55126211e-03 -1.18542250e-04 9.99954379e-01 5.48711626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541858064 meters 0.014882353900338322 Centerline is valid? [True, True] Translation: X:22.77, Y:0.04, Z:0.05 [[ 9.99035239e-01 -4.28952378e-02 -9.41225428e-03 2.27691924e+01] [ 4.28945065e-02 9.99079568e-01 -2.79645648e-04 3.59416837e-02] [ 9.41558640e-03 -1.24358146e-04 9.99955665e-01 5.38291285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601858063999998 meters 0.014707237802623304 Centerline is valid? [True, True] Translation: X:22.83, Y:0.04, Z:0.05 [[ 9.99103602e-01 -4.13964433e-02 -8.85022814e-03 2.28282687e+01] [ 4.13957200e-02 9.99142795e-01 -2.64968258e-04 3.80688276e-02] [ 8.85361042e-03 -1.01630825e-04 9.99960801e-01 5.36643525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661858064 meters 0.014464409495718025 Centerline is valid? [True, True] Translation: X:22.89, Y:0.04, Z:0.05 [[ 9.99174896e-01 -3.94118061e-02 -9.81001964e-03 2.28873200e+01] [ 3.94107979e-02 9.99223049e-01 -2.96148639e-04 3.99413299e-02] [ 9.81406949e-03 -9.07164155e-05 9.99951837e-01 5.46142636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721858064 meters 0.01413411666956206 Centerline is valid? [True, True] Translation: X:22.95, Y:0.04, Z:0.05 [[ 9.99297911e-01 -3.61326233e-02 -9.90545229e-03 2.29456743e+01] [ 3.61314099e-02 9.99347002e-01 -3.01479080e-04 4.46426796e-02] [ 9.90987727e-03 -5.66305415e-05 9.99950894e-01 5.37088026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781858063999998 meters 0.014017321122318372 Centerline is valid? [True, True] Translation: X:23.00, Y:0.05, Z:0.05 [[ 9.99395577e-01 -3.37678328e-02 -8.25915474e-03 2.30038247e+01] [ 3.37669018e-02 9.99429704e-01 -2.52193237e-04 4.66937780e-02] [ 8.26296059e-03 -2.68452605e-05 9.99965861e-01 5.41582006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841858064 meters 0.01408659740700083 Centerline is valid? [True, True] Translation: X:23.06, Y:0.05, Z:0.06 [[ 9.99407674e-01 -3.37610971e-02 -6.67008484e-03 2.30628739e+01] [ 3.37604797e-02 9.99429931e-01 -2.05154871e-04 4.57918786e-02] [ 6.67320869e-03 -2.01519114e-05 9.99977734e-01 5.68039048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901858064 meters 0.01422740651169711 Centerline is valid? [True, True] Translation: X:23.12, Y:0.05, Z:0.06 [[ 9.99423019e-01 -3.34903322e-02 -5.65927963e-03 2.31212985e+01] [ 3.34898749e-02 9.99439041e-01 -1.75578667e-04 4.57680509e-02] [ 5.66198520e-03 -1.40512050e-05 9.99983971e-01 5.72869267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961858064 meters 0.014339829384177803 Centerline is valid? [True, True] Translation: X:23.18, Y:0.04, Z:0.06 [[ 9.99482731e-01 -3.13461042e-02 -7.18975814e-03 2.31798059e+01] [ 3.13452959e-02 9.99508590e-01 -2.25110998e-04 4.47756747e-02] [ 7.19328137e-03 -3.70540960e-07 9.99974128e-01 5.65281967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021858064 meters 0.014396375194829447 Centerline is valid? [True, True] Translation: X:23.24, Y:0.04, Z:0.06 [[ 9.99557813e-01 -2.92689339e-02 -5.24478794e-03 2.32374024e+01] [ 2.92684723e-02 9.99571573e-01 -1.64758989e-04 4.38376862e-02] [ 5.24736325e-03 1.11792041e-05 9.99986232e-01 5.94621635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081858064 meters 0.014403522213837483 Centerline is valid? [True, True] Translation: X:23.30, Y:0.05, Z:0.06 [[ 9.99557067e-01 -2.93827163e-02 -4.72496805e-03 2.32959283e+01] [ 2.93823377e-02 9.99568235e-01 -1.49528134e-04 4.57326809e-02] [ 4.72732151e-03 1.06312962e-05 9.99988826e-01 5.96717717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141858064 meters 0.014418062360077886 Centerline is valid? [True, True] Translation: X:23.35, Y:0.05, Z:0.06 [[ 9.99536118e-01 -2.97642898e-02 -6.45265259e-03 2.33547496e+01] [ 2.97635811e-02 9.99556945e-01 -2.05852735e-04 4.57020788e-02] [ 6.45592077e-03 1.37031950e-05 9.99979160e-01 5.67093738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201858064 meters 0.014354426242068055 Centerline is valid? [True, True] Translation: X:23.41, Y:0.05, Z:0.06 [[ 9.99527517e-01 -3.01838073e-02 -5.80357380e-03 2.34117094e+01] [ 3.01832366e-02 9.99544365e-01 -1.85911609e-04 4.61702573e-02] [ 5.80654100e-03 1.06531275e-05 9.99983142e-01 5.61808257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261858064 meters 0.014414583276911332 Centerline is valid? [True, True] Translation: X:23.47, Y:0.05, Z:0.06 [[ 9.99499779e-01 -3.08434010e-02 -6.99121445e-03 2.34694479e+01] [ 3.08425761e-02 9.99524229e-01 -2.25806287e-04 4.64929947e-02] [ 6.99485287e-03 1.00662702e-05 9.99975536e-01 5.56870841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321858064 meters 0.014451249551734815 Centerline is valid? [True, True] Translation: X:23.53, Y:0.04, Z:0.06 [[ 9.99483711e-01 -3.13092557e-02 -7.21404094e-03 2.35272959e+01] [ 3.13083749e-02 9.99509745e-01 -2.35020501e-04 4.45702300e-02] [ 7.21786254e-03 9.03926394e-06 9.99973951e-01 5.60284271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381858064 meters 0.01470975828411357 Centerline is valid? [True, True] Translation: X:23.59, Y:0.04, Z:0.06 [[ 9.99476112e-01 -3.13017451e-02 -8.22819966e-03 2.35857188e+01] [ 3.13005885e-02 9.99509980e-01 -2.69342542e-04 4.41825476e-02] [ 8.23259857e-03 1.16539450e-05 9.99966112e-01 5.63849119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441858063999998 meters 0.014795966789717029 Centerline is valid? [True, True] Translation: X:23.64, Y:0.04, Z:0.05 [[ 9.99456287e-01 -3.16792654e-02 -9.14078043e-03 2.36431205e+01] [ 3.16778458e-02 9.99498086e-01 -3.00081401e-04 4.44051985e-02] [ 9.14569891e-03 1.03580100e-05 9.99958177e-01 5.47351877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501858064 meters 0.01482148388196353 Centerline is valid? [True, True] Translation: X:23.70, Y:0.04, Z:0.06 [[ 9.99360828e-01 -3.47042549e-02 -8.57615300e-03 2.37017538e+01] [ 3.47030969e-02 9.99397626e-01 -2.83842123e-04 3.99871284e-02] [ 8.58083748e-03 -1.39583693e-05 9.99963184e-01 5.73385342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561858064 meters 0.014793496146186752 Centerline is valid? [True, True] Translation: X:23.76, Y:0.04, Z:0.06 [[ 9.99295348e-01 -3.64643012e-02 -8.89731641e-03 2.37591658e+01] [ 3.64631160e-02 9.99334956e-01 -2.95442195e-04 3.99653761e-02] [ 8.90217240e-03 -2.91898699e-05 9.99960374e-01 5.70650046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621858063999998 meters 0.015064334534149973 Centerline is valid? [True, True] Translation: X:23.82, Y:0.04, Z:0.06 [[ 9.99156085e-01 -4.02627759e-02 -8.12564868e-03 2.38185331e+01] [ 4.02618976e-02 9.99189124e-01 -2.71702437e-04 3.83626330e-02] [ 8.12999928e-03 -5.56808918e-05 9.99966949e-01 5.79616039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681858064 meters 0.015885831733427114 Centerline is valid? [True, True] Translation: X:23.88, Y:0.03, Z:0.06 [[ 9.98902498e-01 -4.61626058e-02 -7.92552650e-03 2.38765925e+01] [ 4.61619493e-02 9.98933934e-01 -2.65841891e-04 3.42234083e-02] [ 7.92934932e-03 -1.00307624e-04 9.99968557e-01 5.71665385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741858064 meters 0.016055364633728933 Centerline is valid? [True, True] Translation: X:23.94, Y:0.04, Z:0.06 [[ 9.98823340e-01 -4.79930658e-02 -6.97143184e-03 2.39357260e+01] [ 4.79925916e-02 9.98847664e-01 -2.35395474e-04 3.63470384e-02] [ 6.97469576e-03 -9.94585872e-05 9.99975672e-01 5.62928127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801858064 meters 0.016524983542932165 Centerline is valid? [True, True] Translation: X:23.99, Y:0.04, Z:0.06 [[ 9.98760740e-01 -4.90275170e-02 -8.56074434e-03 2.39937685e+01] [ 4.90268320e-02 9.98797420e-01 -2.89978579e-04 3.58714427e-02] [ 8.56466629e-03 -1.30086954e-04 9.99963314e-01 5.55934040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861858064 meters 0.016129761098343253 Centerline is valid? [True, True] Translation: X:24.05, Y:0.04, Z:0.06 [[ 9.98701781e-01 -4.99433468e-02 -1.00207066e-02 2.40524360e+01] [ 4.99424309e-02 9.98752040e-01 -3.41771279e-04 3.90410547e-02] [ 1.00252704e-02 -1.59130864e-04 9.99949733e-01 5.58795790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921858064 meters 0.016968056371048045 Centerline is valid? [True, True] Translation: X:24.11, Y:0.04, Z:0.05 [[ 9.98556893e-01 -5.26018634e-02 -1.08247565e-02 2.41107053e+01] [ 5.26009389e-02 9.98615544e-01 -3.70287788e-04 4.12611123e-02] [ 1.08292479e-02 -1.99638931e-04 9.99941342e-01 5.39101940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981858064 meters 0.017883571131778013 Centerline is valid? [True, True] Translation: X:24.17, Y:0.04, Z:0.05 [[ 9.98367808e-01 -5.59882736e-02 -1.12709047e-02 2.41695154e+01] [ 5.59874581e-02 9.98431397e-01 -3.88117026e-04 3.97184173e-02] [ 1.12749551e-02 -2.43545760e-04 9.99936406e-01 5.45016550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041858064 meters 0.018157828003599913 Centerline is valid? [True, True] Translation: X:24.23, Y:0.04, Z:0.06 [[ 9.98392613e-01 -5.57073807e-02 -1.04344610e-02 2.42273217e+01] [ 5.57066560e-02 9.98447114e-01 -3.60308666e-04 4.23147084e-02] [ 1.04383293e-02 -2.21539419e-04 9.99945495e-01 5.54466076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101858063999998 meters 0.016639724381303473 Centerline is valid? [True, True] Translation: X:24.29, Y:0.05, Z:0.06 [[ 9.98537521e-01 -5.31856967e-02 -9.70059006e-03 2.42858190e+01] [ 5.31849294e-02 9.98584623e-01 -3.37229076e-04 4.95632708e-02] [ 9.70479584e-03 -1.79189312e-04 9.99952891e-01 5.71130458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161858064 meters 0.01535588317410942 Centerline is valid? [True, True] Translation: X:24.34, Y:0.06, Z:0.06 [[ 9.98846083e-01 -4.73652270e-02 -7.93957119e-03 2.43449829e+01] [ 4.73645146e-02 9.98877633e-01 -2.77841212e-04 5.76663986e-02] [ 7.94382009e-03 -9.85333282e-05 9.99968443e-01 5.91270050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221858064 meters 0.01507004075403187 Centerline is valid? [True, True] Translation: X:24.40, Y:0.06, Z:0.06 [[ 9.99034161e-01 -4.32798591e-02 -7.58933835e-03 2.44032582e+01] [ 4.32790761e-02 9.99062986e-01 -2.67451251e-04 6.37956501e-02] [ 7.59380228e-03 -6.12666156e-05 9.99971165e-01 5.96540813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281858063999998 meters 0.014901170520730837 Centerline is valid? [True, True] Translation: X:24.46, Y:0.07, Z:0.06 [[ 9.99049417e-01 -4.29184178e-02 -7.63359578e-03 2.44610313e+01] [ 4.29175986e-02 9.99078579e-01 -2.71168000e-04 6.85247741e-02] [ 7.63820012e-03 -5.67053679e-05 9.99970827e-01 5.96612291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341858064 meters 0.015113277060335302 Centerline is valid? [True, True] Translation: X:24.52, Y:0.07, Z:0.06 [[ 9.99026493e-01 -4.34388556e-02 -7.68970723e-03 2.45176590e+01] [ 4.34380276e-02 9.99056086e-01 -2.74730908e-04 6.98043433e-02] [ 7.69438281e-03 -5.95622591e-05 9.99970396e-01 5.97135021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401858064 meters 0.015215548606774834 Centerline is valid? [True, True] Translation: X:24.58, Y:0.07, Z:0.06 [[ 9.98902531e-01 -4.62108496e-02 -7.63482469e-03 2.45766121e+01] [ 4.62101004e-02 9.98931705e-01 -2.74602130e-04 7.24739901e-02] [ 7.63935804e-03 -7.85052522e-05 9.99970817e-01 6.01043917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461858063999998 meters 0.015656136609453267 Centerline is valid? [True, True] Translation: X:24.64, Y:0.07, Z:0.06 [[ 9.98734835e-01 -4.95919271e-02 -8.32890750e-03 2.46354961e+01] [ 4.95911358e-02 9.98769557e-01 -3.01634270e-04 7.31592104e-02] [ 8.33361788e-03 -1.11787330e-04 9.99965269e-01 5.99968754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521858064 meters 0.016167131590589436 Centerline is valid? [True, True] Translation: X:24.69, Y:0.07, Z:0.06 [[ 9.98566377e-01 -5.28150880e-02 -8.70385237e-03 2.46945829e+01] [ 5.28143275e-02 9.98604299e-01 -3.17366379e-04 7.29151782e-02] [ 8.70846612e-03 -1.42776714e-04 9.99962070e-01 6.02109553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581858064 meters 0.016984802885512424 Centerline is valid? [True, True] Translation: X:24.75, Y:0.07, Z:0.06 [[ 9.98297090e-01 -5.77634051e-02 -8.14298850e-03 2.47536053e+01] [ 5.77628876e-02 9.98330286e-01 -2.98921245e-04 7.27263588e-02] [ 8.14665875e-03 -1.71950321e-04 9.99966801e-01 6.05282224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641858064 meters 0.017498888567258564 Centerline is valid? [True, True] Translation: X:24.81, Y:0.07, Z:0.06 [[ 9.98124965e-01 -6.04322685e-02 -9.72084575e-03 2.48126416e+01] [ 6.04316337e-02 9.98172274e-01 -3.59294108e-04 7.47495407e-02] [ 9.72479167e-03 -2.28826171e-04 9.99952687e-01 5.86432870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701858064 meters 0.01775186535049005 Centerline is valid? [True, True] Translation: X:24.87, Y:0.08, Z:0.06 [[ 9.98070936e-01 -6.12665031e-02 -1.00410674e-02 2.48716124e+01] [ 6.12658429e-02 9.98121414e-01 -3.73612889e-04 7.54720986e-02] [ 1.00450944e-02 -2.42282293e-04 9.99949517e-01 5.96779442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761858064 meters 0.018301072672798114 Centerline is valid? [True, True] Translation: X:24.93, Y:0.08, Z:0.06 [[ 9.98106634e-01 -6.09905933e-02 -7.95574985e-03 2.49300380e+01] [ 6.09901551e-02 9.98138323e-01 -2.97909320e-04 7.66733156e-02] [ 7.95910848e-03 -1.87877149e-04 9.99968308e-01 6.16742361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821858064 meters 0.017428268967081252 Centerline is valid? [True, True] Translation: X:24.99, Y:0.08, Z:0.06 [[ 9.98334597e-01 -5.71868963e-02 -7.59544251e-03 2.49889322e+01] [ 5.71863818e-02 9.98363479e-01 -2.85070704e-04 8.30622075e-02] [ 7.59931472e-03 -1.49759929e-04 9.99971114e-01 6.21429565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881858064 meters 0.01579759796568354 Centerline is valid? [True, True] Translation: X:25.05, Y:0.09, Z:0.06 [[ 9.98525122e-01 -5.37000753e-02 -7.99267760e-03 2.50480633e+01] [ 5.36993801e-02 9.98557102e-01 -3.01713865e-04 8.98216465e-02] [ 7.99734703e-03 -1.27932958e-04 9.99968013e-01 6.28306726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941858063999998 meters 0.015230663187572227 Centerline is valid? [True, True] Translation: X:25.11, Y:0.10, Z:0.06 [[ 9.98831182e-01 -4.76902109e-02 -7.86853525e-03 2.51061935e+01] [ 4.76893451e-02 9.98862172e-01 -2.97725975e-04 9.66593072e-02] [ 7.87378082e-03 -7.78673055e-05 9.99968998e-01 6.12242835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001858064 meters 0.014415609342714927 Centerline is valid? [True, True] Translation: X:25.16, Y:0.11, Z:0.06 [[ 9.99184197e-01 -3.91956653e-02 -9.72829682e-03 2.51648986e+01] [ 3.91939169e-02 9.99231555e-01 -3.70382218e-04 1.07335345e-01] [ 9.73533853e-03 -1.12099977e-05 9.99952610e-01 5.86552614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061858064 meters 0.014435756668141892 Centerline is valid? [True, True] Translation: X:25.22, Y:0.11, Z:0.06 [[ 9.99381807e-01 -3.38066357e-02 -9.64958791e-03 2.52228457e+01] [ 3.38046547e-02 9.99428391e-01 -3.68370826e-04 1.11113534e-01] [ 9.65652550e-03 4.19421144e-05 9.99953374e-01 5.86845904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121858063999998 meters 0.014600356647452973 Centerline is valid? [True, True] Translation: X:25.28, Y:0.11, Z:0.06 [[ 9.99407439e-01 -3.32029671e-02 -9.07382382e-03 2.52806258e+01] [ 3.32011691e-02 9.99448628e-01 -3.48756070e-04 1.14021341e-01] [ 9.08040051e-03 4.72878514e-05 9.99958771e-01 5.85472318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181858064 meters 0.014439553806398572 Centerline is valid? [True, True] Translation: X:25.34, Y:0.11, Z:0.06 [[ 9.99379438e-01 -3.39759083e-02 -9.29391862e-03 2.53390675e+01] [ 3.39740307e-02 9.99422651e-01 -3.59880493e-04 1.13196317e-01] [ 9.30078005e-03 4.39052888e-05 9.99956746e-01 6.01460990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241858064 meters 0.014486755498326672 Centerline is valid? [True, True] Translation: X:25.40, Y:0.11, Z:0.06 [[ 9.99354796e-01 -3.47873310e-02 -8.93491976e-03 2.53970972e+01] [ 3.47856055e-02 9.99394737e-01 -3.48505812e-04 1.13107269e-01] [ 8.94163537e-03 3.74743609e-05 9.99960022e-01 6.02798739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301858064 meters 0.01443885761428247 Centerline is valid? [True, True] Translation: X:25.46, Y:0.11, Z:0.06 [[ 9.99284673e-01 -3.67142075e-02 -9.06694558e-03 2.54552732e+01] [ 3.67124867e-02 9.99325806e-01 -3.56212576e-04 1.12957797e-01] [ 9.07391076e-03 2.30876486e-05 9.99958831e-01 5.88675092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361858064 meters 0.014564991473042311 Centerline is valid? [True, True] Translation: X:25.51, Y:0.11, Z:0.06 [[ 9.99247625e-01 -3.75031796e-02 -9.88412607e-03 2.55136253e+01] [ 3.75011457e-02 9.99296508e-01 -3.91105720e-04 1.09350078e-01] [ 9.89184037e-03 2.01454100e-05 9.99951074e-01 5.82803071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421858064 meters 0.014353588286579682 Centerline is valid? [True, True] Translation: X:25.57, Y:0.11, Z:0.06 [[ 9.99260377e-01 -3.76219943e-02 -7.95519076e-03 2.55725251e+01] [ 3.76206649e-02 9.99292042e-01 -3.16740227e-04 1.05618112e-01] [ 7.96147522e-03 1.72263922e-05 9.99968307e-01 6.03565883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481858064 meters 0.014353588286579682 Centerline is valid? [True, True] Translation: X:25.63, Y:0.11, Z:0.06 [[ 9.99249636e-01 -3.79062175e-02 -7.95510156e-03 2.56300714e+01] [ 3.79048793e-02 9.99281301e-01 -3.18971869e-04 1.07984781e-01] [ 7.96147525e-03 1.71953593e-05 9.99968307e-01 6.04065092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541858064 meters 0.014516985549191386 Centerline is valid? [True, True] Translation: X:25.69, Y:0.11, Z:0.06 [[ 9.99288903e-01 -3.62580408e-02 -1.03461552e-02 2.56894809e+01] [ 3.62556614e-02 9.99342460e-01 -4.17499756e-04 1.06180953e-01] [ 1.03544899e-02 4.20961729e-05 9.99946390e-01 5.71379250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601858063999998 meters 0.01447299185411004 Centerline is valid? [True, True] Translation: X:25.75, Y:0.10, Z:0.06 [[ 9.99323045e-01 -3.51466311e-02 -1.08704520e-02 2.57486274e+01] [ 3.51439091e-02 9.99382165e-01 -4.41381276e-04 1.00821429e-01] [ 1.08792489e-02 5.90523050e-05 9.99940817e-01 5.73390698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661858064 meters 0.01455605392660665 Centerline is valid? [True, True] Translation: X:25.81, Y:0.10, Z:0.06 [[ 9.99306709e-01 -3.58810520e-02 -9.93234009e-03 2.58065855e+01] [ 3.58788019e-02 9.99356067e-01 -4.04685517e-04 9.52440870e-02] [ 9.94046487e-03 4.80444895e-05 9.99950591e-01 5.78679858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721858064 meters 0.014358928004076895 Centerline is valid? [True, True] Translation: X:25.87, Y:0.09, Z:0.06 [[ 9.99231577e-01 -3.81149479e-02 -9.13816718e-03 2.58657008e+01] [ 3.81131172e-02 9.99273361e-01 -3.74461046e-04 9.04273946e-02] [ 9.14579960e-03 2.58892646e-05 9.99958176e-01 5.86399584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781858063999998 meters 0.014242200127700177 Centerline is valid? [True, True] Translation: X:25.93, Y:0.08, Z:0.06 [[ 9.99113783e-01 -4.14669823e-02 -7.22062751e-03 2.59252636e+01] [ 4.14659144e-02 9.99139875e-01 -2.97602064e-04 8.17022409e-02] [ 7.22675753e-03 -2.07159789e-06 9.99973887e-01 6.14404492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841858064 meters 0.014389974437810612 Centerline is valid? [True, True] Translation: X:25.98, Y:0.08, Z:0.06 [[ 9.99037777e-01 -4.31361158e-02 -7.92439077e-03 2.59835759e+01] [ 4.31348645e-02 9.99069204e-01 -3.28830192e-04 7.79615757e-02] [ 7.93119924e-03 -1.33037375e-05 9.99968547e-01 6.09362284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901858064 meters 0.014555243982441499 Centerline is valid? [True, True] Translation: X:26.04, Y:0.08, Z:0.06 [[ 9.99071046e-01 -4.23133730e-02 -8.16236323e-03 2.60403846e+01] [ 4.23120086e-02 9.99104388e-01 -3.39845430e-04 7.74887247e-02] [ 8.16943293e-03 -5.83625412e-06 9.99966630e-01 6.03714600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961858063999998 meters 0.014509632982780926 Centerline is valid? [True, True] Translation: X:26.10, Y:0.08, Z:0.06 [[ 9.99122238e-01 -4.09935302e-02 -8.61886832e-03 2.60983360e+01] [ 4.09919406e-02 9.99159412e-01 -3.61072212e-04 7.66695014e-02] [ 8.62642503e-03 7.45113727e-06 9.99962792e-01 6.06461449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021858064 meters 0.014519480983570388 Centerline is valid? [True, True] Translation: X:26.16, Y:0.08, Z:0.06 [[ 9.99155571e-01 -4.00071849e-02 -9.35784137e-03 2.61569193e+01] [ 4.00052457e-02 9.99199392e-01 -3.94394333e-04 7.83357867e-02] [ 9.36612802e-03 1.96985517e-05 9.99956137e-01 6.06724765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081858064 meters 0.014883259935368163 Centerline is valid? [True, True] Translation: X:26.21, Y:0.08, Z:0.06 [[ 9.99254078e-01 -3.70970398e-02 -1.07283770e-02 2.62143379e+01] [ 3.70943113e-02 9.99311666e-01 -4.53269117e-04 8.00759700e-02] [ 1.07378073e-02 5.49692566e-05 9.99942347e-01 5.97249168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141858064 meters 0.014956985376624304 Centerline is valid? [True, True] Translation: X:26.27, Y:0.08, Z:0.06 [[ 9.99318268e-01 -3.57124276e-02 -9.36067662e-03 2.62712821e+01] [ 3.57102799e-02 9.99362106e-01 -3.96525693e-04 8.17389838e-02] [ 9.36886639e-03 6.19829863e-05 9.99956109e-01 6.20876351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201858064 meters 0.01507451555767564 Centerline is valid? [True, True] Translation: X:26.33, Y:0.09, Z:0.06 [[ 9.99348577e-01 -3.49566133e-02 -8.96982624e-03 2.63296446e+01] [ 3.49545908e-02 9.99388828e-01 -3.82198624e-04 8.51706655e-02] [ 8.97770451e-03 6.84130460e-05 9.99959697e-01 6.26932748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261858064 meters 0.014956708349176433 Centerline is valid? [True, True] Translation: X:26.39, Y:0.09, Z:0.06 [[ 9.99432254e-01 -3.25522455e-02 -8.69025150e-03 2.63880968e+01] [ 3.25502373e-02 9.99470031e-01 -3.72454242e-04 8.95316233e-02] [ 8.69777016e-03 8.93730336e-05 9.99962170e-01 6.38432954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321858064 meters 0.015020963967902869 Centerline is valid? [True, True] Translation: X:26.45, Y:0.09, Z:0.07 [[ 9.99458592e-01 -3.16845082e-02 -8.86654704e-03 2.64465255e+01] [ 3.16823641e-02 9.99497915e-01 -3.82210243e-04 9.32909023e-02] [ 8.87420543e-03 1.01090139e-04 9.99960618e-01 6.52692131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381858064 meters 0.014812364958742228 Centerline is valid? [True, True] Translation: X:26.51, Y:0.10, Z:0.07 [[ 9.99429803e-01 -3.21895938e-02 -1.01930619e-02 2.65052066e+01] [ 3.21867604e-02 9.99481774e-01 -4.41943328e-04 9.82160856e-02] [ 1.02020056e-02 1.13609692e-04 9.99947952e-01 6.57123894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441858063999998 meters 0.014737450693279391 Centerline is valid? [True, True] Translation: X:26.56, Y:0.10, Z:0.06 [[ 9.99362183e-01 -3.27783338e-02 -1.41707051e-02 2.65640442e+01] [ 3.27728652e-02 9.99462634e-01 -6.18020844e-04 1.03554329e-01] [ 1.41833480e-02 1.53212052e-04 9.99899400e-01 6.27727241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501858064 meters 0.014614397557606459 Centerline is valid? [True, True] Translation: X:26.62, Y:0.11, Z:0.06 [[ 9.99266665e-01 -3.47701377e-02 -1.60365280e-02 2.66219942e+01] [ 3.47633652e-02 9.99395326e-01 -7.00968171e-04 1.06628921e-01] [ 1.60512038e-02 1.42970447e-04 9.99871161e-01 6.06071187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561858064 meters 0.01402335066307906 Centerline is valid? [True, True] Translation: X:26.68, Y:0.11, Z:0.06 [[ 9.99089869e-01 -3.96516473e-02 -1.57219711e-02 2.66810904e+01] [ 3.96456834e-02 9.99213562e-01 -6.90945613e-04 1.06924033e-01] [ 1.57370039e-02 6.70084739e-05 9.99876163e-01 6.34238218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621858063999998 meters 0.01391955799028216 Centerline is valid? [True, True] Translation: X:26.74, Y:0.11, Z:0.07 [[ 9.98953765e-01 -4.32296216e-02 -1.49189434e-02 2.67396896e+01] [ 4.32245968e-02 9.99065163e-01 -6.59247445e-04 1.07122287e-01] [ 1.49334957e-02 1.36924029e-05 9.99888489e-01 6.53501219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681858064 meters 0.014746856300947467 Centerline is valid? [True, True] Translation: X:26.80, Y:0.11, Z:0.06 [[ 9.98922092e-01 -4.37338457e-02 -1.55565099e-02 2.67990518e+01] [ 4.37283854e-02 9.99043218e-01 -6.91139805e-04 1.08619766e-01] [ 1.55718519e-02 1.01337591e-05 9.99878751e-01 6.45471524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741858064 meters 0.01494244484612892 Centerline is valid? [True, True] Translation: X:26.86, Y:0.11, Z:0.06 [[ 9.98884227e-01 -4.48689323e-02 -1.47336130e-02 2.68582215e+01] [ 4.48641065e-02 9.98992882e-01 -6.58061880e-04 1.12093545e-01] [ 1.47483010e-02 -3.68274928e-06 9.99891238e-01 6.35506508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801858063999997 meters 0.015289316471537563 Centerline is valid? [True, True] Translation: X:26.92, Y:0.12, Z:0.06 [[ 9.98890491e-01 -4.50257827e-02 -1.38009095e-02 2.69163730e+01] [ 4.50215191e-02 9.98985825e-01 -6.19625067e-04 1.19798722e-01] [ 1.38148121e-02 -2.40032291e-06 9.99904571e-01 6.09058487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861858064 meters 0.015360196301432946 Centerline is valid? [True, True] Translation: X:26.97, Y:0.12, Z:0.06 [[ 9.98909616e-01 -4.46989143e-02 -1.34753943e-02 2.69730497e+01] [ 4.46947976e-02 9.99000504e-01 -6.06653071e-04 1.24092873e-01] [ 1.34890425e-02 3.71156511e-06 9.99909019e-01 6.07083047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921858064 meters 0.01533299322376923 Centerline is valid? [True, True] Translation: X:27.03, Y:0.13, Z:0.06 [[ 9.98930737e-01 -4.46431723e-02 -1.20153904e-02 2.70315286e+01] [ 4.46398621e-02 9.99002997e-01 -5.43682023e-04 1.28696586e-01] [ 1.20276827e-02 6.73531439e-06 9.99927665e-01 6.40057467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981858064 meters 0.015356073970164613 Centerline is valid? [True, True] Translation: X:27.09, Y:0.14, Z:0.06 [[ 9.98934703e-01 -4.47701005e-02 -1.11846633e-02 2.70890333e+01] [ 4.47672065e-02 9.98997316e-01 -5.09098680e-04 1.35312304e-01] [ 1.11962410e-02 7.85020724e-06 9.99937320e-01 6.32578380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041858064 meters 0.015422930107722476 Centerline is valid? [True, True] Translation: X:27.15, Y:0.14, Z:0.06 [[ 9.98910766e-01 -4.51423649e-02 -1.18088137e-02 2.71468813e+01] [ 4.51391251e-02 9.98980564e-01 -5.40876682e-04 1.40652244e-01] [ 1.18211918e-02 7.24802383e-06 9.99930127e-01 6.26126872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101858063999998 meters 0.01558885781114024 Centerline is valid? [True, True] Translation: X:27.20, Y:0.14, Z:0.06 [[ 9.98762711e-01 -4.84726540e-02 -1.11107336e-02 2.72047467e+01] [ 4.84699567e-02 9.98824510e-01 -5.12064320e-04 1.42395697e-01] [ 1.11224942e-02 -2.71060286e-05 9.99938143e-01 6.32484484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161858064 meters 0.01614236376641093 Centerline is valid? [True, True] Translation: X:27.26, Y:0.14, Z:0.06 [[ 9.98475037e-01 -5.44932389e-02 -8.83666147e-03 2.72624926e+01] [ 5.44917605e-02 9.98514137e-01 -4.08156213e-04 1.43323152e-01] [ 8.84577315e-03 -7.39914500e-05 9.99960873e-01 6.34570119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221858064 meters 0.016806107667202117 Centerline is valid? [True, True] Translation: X:27.32, Y:0.15, Z:0.06 [[ 9.98164462e-01 -6.02808806e-02 -5.82434875e-03 2.73218130e+01] [ 6.02803295e-02 9.98181451e-01 -2.70280001e-04 1.45012410e-01] [ 5.83004960e-03 -8.13097699e-05 9.99983002e-01 6.49865767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281858063999998 meters 0.01724839548921298 Centerline is valid? [True, True] Translation: X:27.38, Y:0.15, Z:0.07 [[ 9.98041898e-01 -6.23190040e-02 -5.35825876e-03 2.73810298e+01] [ 6.23185601e-02 9.98056278e-01 -2.49930044e-04 1.47261135e-01] [ 5.36341919e-03 -8.44783151e-05 9.99985613e-01 6.51815472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341858064 meters 0.01738397683050217 Centerline is valid? [True, True] Translation: X:27.44, Y:0.15, Z:0.06 [[ 9.97986624e-01 -6.31823828e-02 -5.53941633e-03 2.74396728e+01] [ 6.31819142e-02 9.98001993e-01 -2.59732847e-04 1.53072181e-01] [ 5.54475908e-03 -9.07810201e-05 9.99984624e-01 6.30571279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401858064 meters 0.017376651604938186 Centerline is valid? [True, True] Translation: X:27.50, Y:0.16, Z:0.06 [[ 9.97966856e-01 -6.34607585e-02 -5.90649285e-03 2.74977582e+01] [ 6.34602209e-02 9.97984330e-01 -2.78575559e-04 1.58485856e-01] [ 5.91226592e-03 -9.68181655e-05 9.99982518e-01 6.14335260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461858063999998 meters 0.017358444154400438 Centerline is valid? [True, True] Translation: X:27.56, Y:0.16, Z:0.06 [[ 9.98009909e-01 -6.29324584e-02 -3.96578309e-03 2.75562765e+01] [ 6.29322082e-02 9.98017786e-01 -1.87970176e-04 1.63898601e-01] [ 3.96975149e-03 -6.19793888e-05 9.99992119e-01 6.25706000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521858064 meters 0.01734494053300105 Centerline is valid? [True, True] Translation: X:27.61, Y:0.17, Z:0.06 [[ 9.98055719e-01 -6.22468790e-02 -3.17915908e-03 2.76146800e+01] [ 6.22467124e-02 9.98060782e-01 -1.51422255e-04 1.69729334e-01] [ 3.18241956e-03 -4.67643531e-05 9.99994935e-01 6.23901926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581858064 meters 0.017051449890033783 Centerline is valid? [True, True] Translation: X:27.67, Y:0.18, Z:0.06 [[ 9.98228632e-01 -5.94115640e-02 -3.14065895e-03 2.76717568e+01] [ 5.94113861e-02 9.98233572e-01 -1.49992809e-04 1.78827272e-01] [ 3.14402251e-03 -3.68637851e-05 9.99995057e-01 6.08852341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641858064 meters 0.017024630404392966 Centerline is valid? [True, True] Translation: X:27.73, Y:0.19, Z:0.06 [[ 9.98312803e-01 -5.79162341e-02 -4.15409452e-03 2.77305302e+01] [ 5.79159062e-02 9.98321445e-01 -1.99270633e-04 1.86015648e-01] [ 4.15866265e-03 -4.16537242e-05 9.99991352e-01 5.92566183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701858064 meters 0.01789051130834223 Centerline is valid? [True, True] Translation: X:27.79, Y:0.19, Z:0.06 [[ 9.98289716e-01 -5.82549630e-02 -4.89914963e-03 2.77886122e+01] [ 5.82545045e-02 9.98301736e-01 -2.36345112e-04 1.91816266e-01] [ 4.90459786e-03 -4.94566397e-05 9.99987971e-01 5.76870264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761858064 meters 0.017368726306916923 Centerline is valid? [True, True] Translation: X:27.85, Y:0.20, Z:0.06 [[ 9.98241977e-01 -5.90595298e-02 -4.99273441e-03 2.78465464e+01] [ 5.90590571e-02 9.98254461e-01 -2.42201055e-04 1.99428524e-01] [ 4.99832368e-03 -5.30909266e-05 9.99987507e-01 5.57614963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821858064 meters 0.017441522176382708 Centerline is valid? [True, True] Translation: X:27.90, Y:0.20, Z:0.06 [[ 9.98251754e-01 -5.89676388e-02 -4.03153491e-03 2.79034491e+01] [ 5.89673268e-02 9.98259894e-01 -1.96328425e-04 2.04457407e-01] [ 4.03609663e-03 -4.17436420e-05 9.99991854e-01 5.81362206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881858064 meters 0.01749211070673486 Centerline is valid? [True, True] Translation: X:27.96, Y:0.21, Z:0.06 [[ 9.98206233e-01 -5.97632460e-02 -3.55971847e-03 2.79616359e+01] [ 5.97630048e-02 9.98212579e-01 -1.74185766e-04 2.09915811e-01] [ 3.56376566e-03 -3.88661547e-05 9.99993649e-01 5.79486152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941858063999998 meters 0.017148355020219642 Centerline is valid? [True, True] Translation: X:28.02, Y:0.22, Z:0.06 [[ 9.98139496e-01 -6.08534581e-02 -3.79520438e-03 2.80200245e+01] [ 6.08531882e-02 9.98146710e-01 -1.86655423e-04 2.18883984e-01] [ 3.79952940e-03 -4.46421363e-05 9.99992781e-01 5.79599151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001858064 meters 0.017926711510870098 Centerline is valid? [True, True] Translation: X:28.08, Y:0.22, Z:0.06 [[ 9.98095430e-01 -6.14980862e-02 -4.84742795e-03 2.80773635e+01] [ 6.14976506e-02 9.98107200e-01 -2.39011285e-04 2.22988781e-01] [ 4.85295148e-03 -5.95493590e-05 9.99988223e-01 5.71820414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061858064 meters 0.016681575396316074 Centerline is valid? [True, True] Translation: X:28.14, Y:0.23, Z:0.06 [[ 9.98094151e-01 -6.15431393e-02 -4.52851374e-03 2.81354239e+01] [ 6.15427544e-02 9.98104423e-01 -2.24417429e-04 2.33341054e-01] [ 4.53374094e-03 -5.47074858e-05 9.99989721e-01 5.86274534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121858063999998 meters 0.016907410913796498 Centerline is valid? [True, True] Translation: X:28.19, Y:0.24, Z:0.06 [[ 9.98038049e-01 -6.22015123e-02 -7.14314061e-03 2.81931840e+01] [ 6.22005648e-02 9.98063607e-01 -3.54944646e-04 2.39125895e-01] [ 7.15138677e-03 -9.00591182e-05 9.99974424e-01 5.64661414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181858064 meters 0.017048081451179687 Centerline is valid? [True, True] Translation: X:28.25, Y:0.24, Z:0.06 [[ 9.97861289e-01 -6.49974776e-02 -6.94092730e-03 2.82520401e+01] [ 6.49966397e-02 9.97885423e-01 -3.46463205e-04 2.43348442e-01] [ 6.94876941e-03 -1.05414731e-04 9.99975851e-01 5.75706568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241858064 meters 0.016984905649246852 Centerline is valid? [True, True] Translation: X:28.31, Y:0.25, Z:0.06 [[ 9.97770071e-01 -6.63520186e-02 -7.23156537e-03 2.83108276e+01] [ 6.63511315e-02 9.97796270e-01 -3.62777454e-04 2.48818166e-01] [ 7.23969997e-03 -1.17854059e-04 9.99973786e-01 5.81545603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301858063999997 meters 0.016787281592197476 Centerline is valid? [True, True] Translation: X:28.37, Y:0.26, Z:0.06 [[ 9.97818848e-01 -6.55253295e-02 -7.99866946e-03 2.83694754e+01] [ 6.55242015e-02 9.97850899e-01 -4.03275077e-04 2.55919745e-01] [ 8.00790424e-03 -1.21710957e-04 9.99967929e-01 5.90773856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361858064 meters 0.016704951971887632 Centerline is valid? [True, True] Translation: X:28.43, Y:0.26, Z:0.06 [[ 9.97939943e-01 -6.34168219e-02 -9.70443213e-03 2.84283268e+01] [ 6.34150382e-02 9.97987120e-01 -4.91718004e-04 2.60497773e-01] [ 9.71608146e-03 -1.24701897e-04 9.99952790e-01 5.99851925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421858064 meters 0.017410311049746954 Centerline is valid? [True, True] Translation: X:28.49, Y:0.27, Z:0.06 [[ 9.98209080e-01 -5.90163661e-02 -9.78268803e-03 2.84870604e+01] [ 5.90143187e-02 9.98257012e-01 -4.98070122e-04 2.72421966e-01] [ 9.79503121e-03 -8.01405506e-05 9.99952024e-01 6.03265623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481858064 meters 0.01529059461323103 Centerline is valid? [True, True] Translation: X:28.55, Y:0.28, Z:0.06 [[ 9.98554799e-01 -5.26153962e-02 -1.09514061e-02 2.85458149e+01] [ 5.26124152e-02 9.98614851e-01 -5.60330565e-04 2.84465903e-01] [ 1.09657188e-02 -1.66591481e-05 9.99939875e-01 6.06698822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541858064 meters 0.015117903574494595 Centerline is valid? [True, True] Translation: X:28.60, Y:0.29, Z:0.06 [[ 9.98657237e-01 -5.05111906e-02 -1.15039974e-02 2.86034602e+01] [ 5.05077243e-02 9.98723495e-01 -5.91826616e-04 2.90722049e-01] [ 1.15192064e-02 9.99120145e-06 9.99933652e-01 5.98610102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601858063999998 meters 0.014930623321911434 Centerline is valid? [True, True] Translation: X:28.66, Y:0.30, Z:0.06 [[ 9.98672248e-01 -5.02408328e-02 -1.13842208e-02 2.86609662e+01] [ 5.02373840e-02 9.98737132e-01 -5.88887566e-04 2.96650531e-01] [ 1.13994302e-02 1.61921977e-05 9.99935024e-01 6.06952939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661858064 meters 0.01497437491888462 Centerline is valid? [True, True] Translation: X:28.72, Y:0.30, Z:0.06 [[ 9.98656304e-01 -5.04169929e-02 -1.19880285e-02 2.87191972e+01] [ 5.04131402e-02 9.98728255e-01 -6.23543421e-04 2.98939329e-01] [ 1.20042200e-02 1.83514063e-05 9.99927947e-01 6.12866112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721858064 meters 0.01486821588299051 Centerline is valid? [True, True] Translation: X:28.78, Y:0.30, Z:0.06 [[ 9.98729413e-01 -4.85648167e-02 -1.34542883e-02 2.87784728e+01] [ 4.85597501e-02 9.98820032e-01 -7.03197282e-04 3.02202749e-01] [ 1.34725634e-02 4.89669293e-05 9.99909240e-01 6.09356803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781858063999998 meters 0.01520202371592447 Centerline is valid? [True, True] Translation: X:28.84, Y:0.31, Z:0.06 [[ 9.98950639e-01 -4.30275898e-02 -1.56922909e-02 2.88368341e+01] [ 4.30199520e-02 9.99073873e-01 -8.24115668e-04 3.08512121e-01] [ 1.57132175e-02 1.48169273e-04 9.99876529e-01 5.89334297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841858064 meters 0.015552628041981667 Centerline is valid? [True, True] Translation: X:28.90, Y:0.31, Z:0.06 [[ 9.99106201e-01 -3.93100584e-02 -1.55408944e-02 2.88957666e+01] [ 3.93020575e-02 9.99227039e-01 -8.20024963e-04 3.11794219e-01] [ 1.55611171e-02 2.08502898e-04 9.99878897e-01 5.93292902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901858064 meters 0.01656307886948975 Centerline is valid? [True, True] Translation: X:28.95, Y:0.31, Z:0.06 [[ 9.99288508e-01 -3.40435549e-02 -1.62331092e-02 2.89549185e+01] [ 3.40341138e-02 9.99420304e-01 -8.57580764e-04 3.14755900e-01] [ 1.62528940e-02 3.04491118e-04 9.99867867e-01 5.93716445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961858063999998 meters 0.017401409137799133 Centerline is valid? [True, True] Translation: X:29.01, Y:0.32, Z:0.06 [[ 9.99390613e-01 -3.07891488e-02 -1.64447616e-02 2.90137806e+01] [ 3.07789561e-02 9.99525835e-01 -8.72609629e-04 3.18516869e-01] [ 1.64638310e-02 3.65925277e-04 9.99864395e-01 5.93029338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021858064 meters 0.01901187305132702 Centerline is valid? [True, True] Translation: X:29.07, Y:0.32, Z:0.06 [[ 9.99524473e-01 -2.69677522e-02 -1.49522280e-02 2.90709709e+01] [ 2.69588740e-02 9.99636227e-01 -7.95052383e-04 3.21674701e-01] [ 1.49682296e-02 3.91579082e-04 9.99887893e-01 6.00299544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081858064 meters 0.01849642887259777 Centerline is valid? [True, True] Translation: X:29.13, Y:0.32, Z:0.06 [[ 9.99561705e-01 -2.62880647e-02 -1.36138071e-02 2.91293515e+01] [ 2.62805920e-02 9.99654341e-01 -7.27543486e-04 3.22209786e-01] [ 1.36282271e-02 3.69445697e-04 9.99907063e-01 6.17729050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141858064 meters 0.0184540628618096 Centerline is valid? [True, True] Translation: X:29.19, Y:0.32, Z:0.06 [[ 9.99542301e-01 -2.69091269e-02 -1.38234326e-02 2.91881374e+01] [ 2.69014314e-02 9.99637815e-01 -7.42379664e-04 3.19880129e-01] [ 1.38384027e-02 3.70169754e-04 9.99904176e-01 6.19219490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201858064 meters 0.019594493951454912 Centerline is valid? [True, True] Translation: X:29.25, Y:0.32, Z:0.06 [[ 9.99552249e-01 -2.72634062e-02 -1.23291466e-02 2.92463915e+01] [ 2.72572968e-02 9.99628231e-01 -6.63314099e-04 3.18623077e-01] [ 1.23426472e-02 3.26957892e-04 9.99923773e-01 6.27007728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261858064 meters 0.01799983878519789 Centerline is valid? [True, True] Translation: X:29.30, Y:0.32, Z:0.06 [[ 9.99556575e-01 -2.74874058e-02 -1.14496729e-02 2.93044772e+01] [ 2.74821168e-02 9.99622104e-01 -6.19046757e-04 3.17880936e-01] [ 1.14623621e-02 3.04111009e-04 9.99934259e-01 6.45534174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321858064 meters 0.018286886155295792 Centerline is valid? [True, True] Translation: X:29.36, Y:0.32, Z:0.06 [[ 9.99549888e-01 -2.79230905e-02 -1.09692006e-02 2.93629194e+01] [ 2.79182288e-02 9.99610033e-01 -5.96119115e-04 3.19123136e-01] [ 1.09815684e-02 2.89610143e-04 9.99939659e-01 6.37809467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381858064 meters 0.017766256189618846 Centerline is valid? [True, True] Translation: X:29.42, Y:0.31, Z:0.06 [[ 9.99437779e-01 -3.13014569e-02 -1.20143734e-02 2.94216285e+01] [ 3.12958331e-02 9.99509950e-01 -6.55856892e-04 3.13919561e-01] [ 1.20290150e-02 2.79488331e-04 9.99927610e-01 6.30326956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441858063999998 meters 0.014931160608757807 Centerline is valid? [True, True] Translation: X:29.48, Y:0.31, Z:0.06 [[ 9.99185714e-01 -3.86397585e-02 -1.16137328e-02 2.94825076e+01] [ 3.86349944e-02 9.99253189e-01 -6.34379281e-04 3.05132047e-01] [ 1.16295718e-02 1.85166213e-04 9.99932357e-01 6.47677721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501858064 meters 0.013766853233193677 Centerline is valid? [True, True] Translation: X:29.54, Y:0.30, Z:0.06 [[ 9.98867221e-01 -4.62665884e-02 -1.11210847e-02 2.95416370e+01] [ 4.62626841e-02 9.98929124e-01 -6.08209385e-04 3.01290935e-01] [ 1.11373152e-02 9.30291906e-05 9.99937974e-01 6.37597159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561858064 meters 0.013398488785932644 Centerline is valid? [True, True] Translation: X:29.60, Y:0.30, Z:0.07 [[ 9.98646979e-01 -5.11675172e-02 -9.27882717e-03 2.96005017e+01] [ 5.11649913e-02 9.98690084e-01 -5.09559257e-04 2.97027878e-01] [ 9.29274557e-03 3.41187011e-05 9.99956821e-01 6.66103322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621858063999998 meters 0.013377662419431993 Centerline is valid? [True, True] Translation: X:29.66, Y:0.30, Z:0.07 [[ 9.98392328e-01 -5.60362691e-02 -8.52620942e-03 2.96600567e+01] [ 5.60342965e-02 9.98428734e-01 -4.70263069e-04 2.95309383e-01] [ 8.53916427e-03 -8.25310639e-06 9.99963541e-01 6.70906363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681858064 meters 0.013421925638982894 Centerline is valid? [True, True] Translation: X:29.72, Y:0.30, Z:0.07 [[ 9.98320081e-01 -5.72926500e-02 -8.63529232e-03 2.97178372e+01] [ 5.72906535e-02 9.98357427e-01 -4.78597554e-04 2.98679650e-01] [ 8.64852834e-03 -1.69279911e-05 9.99962601e-01 6.51853182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741858064 meters 0.0132101048294874 Centerline is valid? [True, True] Translation: X:29.78, Y:0.30, Z:0.07 [[ 9.98327398e-01 -5.70281005e-02 -9.49743263e-03 2.97760792e+01] [ 5.70256479e-02 9.98372574e-01 -5.29065032e-04 2.98465087e-01] [ 9.51214783e-03 -1.34171329e-05 9.99954758e-01 6.62588249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801858063999997 meters 0.01317549932915898 Centerline is valid? [True, True] Translation: X:29.83, Y:0.30, Z:0.07 [[ 9.98348133e-01 -5.66907943e-02 -9.33594743e-03 2.98344171e+01] [ 5.66883850e-02 9.98391784e-01 -5.22703042e-04 3.00096271e-01] [ 9.35056565e-03 -7.40017533e-06 9.99956282e-01 6.65806640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861858064 meters 0.01310360531658703 Centerline is valid? [True, True] Translation: X:29.89, Y:0.31, Z:0.06 [[ 9.98477389e-01 -5.43517964e-02 -9.42258658e-03 2.98913720e+01] [ 5.43492259e-02 9.98521849e-01 -5.28841253e-04 3.05146589e-01] [ 9.43740204e-03 1.59257479e-05 9.99955467e-01 6.42869585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921858064 meters 0.013077903630255188 Centerline is valid? [True, True] Translation: X:29.95, Y:0.31, Z:0.06 [[ 9.98576003e-01 -5.24446774e-02 -9.77352585e-03 2.99497674e+01] [ 5.24417977e-02 9.98623830e-01 -5.50860907e-04 3.08883672e-01] [ 9.78896554e-03 3.75352166e-05 9.99952086e-01 6.34600482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981858064 meters 0.01334566453825153 Centerline is valid? [True, True] Translation: X:30.01, Y:0.31, Z:0.06 [[ 9.98691253e-01 -5.02088231e-02 -9.73939164e-03 3.00072223e+01] [ 5.02058476e-02 9.98738740e-01 -5.49920219e-04 3.11464147e-01] [ 9.75471858e-03 6.02260996e-05 9.99952420e-01 6.35587428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041858063999996 meters 0.013537042393675631 Centerline is valid? [True, True] Translation: X:30.07, Y:0.32, Z:0.06 [[ 9.98795987e-01 -4.83880141e-02 -8.07313865e-03 3.00654666e+01] [ 4.83858935e-02 9.98828612e-01 -4.57905450e-04 3.15926376e-01] [ 8.08583901e-03 6.67280990e-05 9.99967307e-01 6.31963717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101858064 meters 0.013788692845849701 Centerline is valid? [True, True] Translation: X:30.12, Y:0.32, Z:0.06 [[ 9.98885775e-01 -4.65652651e-02 -7.67358549e-03 3.01243359e+01] [ 4.65632810e-02 9.98915247e-01 -4.37110053e-04 3.20005734e-01] [ 7.68561568e-03 7.93156974e-05 9.99970462e-01 6.34278139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16185806399999 meters 0.013926835818984271 Centerline is valid? [True, True] Translation: X:30.18, Y:0.32, Z:0.06 [[ 9.98984248e-01 -4.44395698e-02 -7.45626919e-03 3.01834354e+01] [ 4.44376237e-02 9.99012070e-01 -4.26557571e-04 3.22455126e-01] [ 7.46785896e-03 9.47854098e-05 9.99972111e-01 6.39927612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221858063999996 meters 0.014264976431570693 Centerline is valid? [True, True] Translation: X:30.24, Y:0.33, Z:0.06 [[ 9.99001757e-01 -4.37158522e-02 -9.18771772e-03 3.02425907e+01] [ 4.37128456e-02 9.99043997e-01 -5.27894987e-04 3.25236880e-01] [ 9.20201161e-03 1.25746734e-04 9.99957653e-01 6.24212840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281858064 meters 0.014615792494962173 Centerline is valid? [True, True] Translation: X:30.30, Y:0.33, Z:0.06 [[ 9.98965965e-01 -4.36396343e-02 -1.27507760e-02 3.03000631e+01] [ 4.36338180e-02 9.99047322e-01 -7.34126066e-04 3.26054092e-01] [ 1.27706656e-02 1.77001914e-04 9.99918436e-01 5.96111093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34185806399999 meters 0.01460317235645434 Centerline is valid? [True, True] Translation: X:30.36, Y:0.33, Z:0.06 [[ 9.98877029e-01 -4.50507598e-02 -1.46666388e-02 3.03583719e+01] [ 4.50431978e-02 9.98984682e-01 -8.45687789e-04 3.25964053e-01] [ 1.46898464e-02 1.84105794e-04 9.99892081e-01 5.75568507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401858063999995 meters 0.013669512689814025 Centerline is valid? [True, True] Translation: X:30.42, Y:0.32, Z:0.06 [[ 9.98759364e-01 -4.79322247e-02 -1.34994103e-02 3.04172148e+01] [ 4.79260393e-02 9.98850581e-01 -7.81511319e-04 3.24358228e-01] [ 1.35213534e-02 1.33568478e-04 9.99908573e-01 5.97653468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461858064 meters 0.012890108810932648 Centerline is valid? [True, True] Translation: X:30.48, Y:0.32, Z:0.06 [[ 9.98396996e-01 -5.53763382e-02 -1.17003688e-02 3.04771303e+01] [ 5.53721718e-02 9.98465553e-01 -6.79988973e-04 3.18721671e-01] [ 1.17200705e-02 3.10241191e-05 9.99931317e-01 6.19390019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52185806399999 meters 0.013140759009007078 Centerline is valid? [True, True] Translation: X:30.54, Y:0.31, Z:0.06 [[ 9.98040275e-01 -6.18908530e-02 -9.22669197e-03 3.05357701e+01] [ 6.18885324e-02 9.98082923e-01 -5.37093228e-04 3.14747515e-01] [ 9.24224485e-03 -3.49857522e-05 9.99957289e-01 6.43395025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581858063999995 meters 0.013296516342403664 Centerline is valid? [True, True] Translation: X:30.60, Y:0.32, Z:0.07 [[ 9.97938671e-01 -6.34398548e-02 -9.68476188e-03 3.05950557e+01] [ 6.34373500e-02 9.97985662e-01 -5.65917070e-04 3.16020723e-01] [ 9.70115520e-03 -4.96251017e-05 9.99952941e-01 6.57513848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641858064 meters 0.013255436492612124 Centerline is valid? [True, True] Translation: X:30.65, Y:0.32, Z:0.06 [[ 9.98081203e-01 -6.08495349e-02 -1.14562492e-02 3.06523614e+01] [ 6.08458217e-02 9.98146950e-01 -6.72709183e-04 3.23260437e-01] [ 1.14759542e-02 -2.56465044e-05 9.99934149e-01 6.38494496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70185806399999 meters 0.013254037771860292 Centerline is valid? [True, True] Translation: X:30.71, Y:0.33, Z:0.06 [[ 9.98227145e-01 -5.81366752e-02 -1.27551270e-02 3.07106204e+01] [ 5.81318088e-02 9.98308633e-01 -7.52259064e-04 3.29412398e-01] [ 1.27772873e-02 9.44681268e-06 9.99918367e-01 6.33622351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761858063999995 meters 0.01321763309324205 Centerline is valid? [True, True] Translation: X:30.77, Y:0.34, Z:0.06 [[ 9.98417838e-01 -5.50856015e-02 -1.12870420e-02 3.07677514e+01] [ 5.50815833e-02 9.98481635e-01 -6.66791382e-04 3.35940201e-01] [ 1.13066347e-02 4.40282665e-05 9.99936077e-01 6.46499693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821858064 meters 0.013330431134535232 Centerline is valid? [True, True] Translation: X:30.83, Y:0.34, Z:0.07 [[ 9.98515129e-01 -5.36317480e-02 -9.54845529e-03 3.08252635e+01] [ 5.36287818e-02 9.98560781e-01 -5.66595853e-04 3.41665703e-01] [ 9.56510049e-03 5.36825056e-05 9.99954252e-01 6.70394912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88185806399999 meters 0.013362761748817275 Centerline is valid? [True, True] Translation: X:30.88, Y:0.35, Z:0.07 [[ 9.98547153e-01 -5.29844574e-02 -9.80973670e-03 3.08840265e+01] [ 5.29812716e-02 9.98595335e-01 -5.84530217e-04 3.46106447e-01] [ 9.82692833e-03 6.39486592e-05 9.99951713e-01 6.71012537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941858063999994 meters 0.013522645830170977 Centerline is valid? [True, True] Translation: X:30.94, Y:0.35, Z:0.07 [[ 9.98543192e-01 -5.32833544e-02 -8.50757627e-03 3.09428247e+01] [ 5.32809514e-02 9.98579432e-01 -5.09007055e-04 3.49833413e-01] [ 8.52261228e-03 5.49737709e-05 9.99963680e-01 6.89849666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001858064 meters 0.013416055486489836 Centerline is valid? [True, True] Translation: X:31.00, Y:0.35, Z:0.07 [[ 9.98511441e-01 -5.42442772e-02 -5.69743438e-03 3.10020601e+01] [ 5.42432080e-02 9.98527695e-01 -3.42133701e-04 3.54898480e-01] [ 5.70760481e-03 3.25772973e-05 9.99983711e-01 7.12297206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061858064 meters 0.0134895606046828 Centerline is valid? [True, True] Translation: X:31.06, Y:0.36, Z:0.07 [[ 9.98510350e-01 -5.42147075e-02 -6.15190885e-03 3.10603504e+01] [ 5.42134497e-02 9.98529301e-01 -3.71153709e-04 3.58846971e-01] [ 6.16298323e-03 3.70846194e-05 9.99981008e-01 7.16548693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121858063999994 meters 0.013731312893120693 Centerline is valid? [True, True] Translation: X:31.12, Y:0.36, Z:0.07 [[ 9.98600092e-01 -5.22592245e-02 -8.17496963e-03 3.11190211e+01] [ 5.22569202e-02 9.98633551e-01 -4.95377082e-04 3.64749594e-01] [ 8.18968697e-03 6.74848641e-05 9.99966462e-01 7.05451387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181858064 meters 0.013864316918746903 Centerline is valid? [True, True] Translation: X:31.18, Y:0.37, Z:0.07 [[ 9.98583824e-01 -5.24078874e-02 -9.15206205e-03 3.11775316e+01] [ 5.24049844e-02 9.98625759e-01 -5.56891014e-04 3.68660487e-01] [ 9.16867040e-03 7.64886898e-05 9.99957964e-01 6.99858262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241858064 meters 0.01407907833556922 Centerline is valid? [True, True] Translation: X:31.23, Y:0.37, Z:0.07 [[ 9.98485851e-01 -5.40850901e-02 -1.00403167e-02 3.12347175e+01] [ 5.40816672e-02 9.98536328e-01 -6.12302015e-04 3.72445252e-01] [ 1.00587374e-02 6.83778302e-05 9.99949407e-01 6.85746265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301858063999994 meters 0.013942730378387544 Centerline is valid? [True, True] Translation: X:31.29, Y:0.37, Z:0.07 [[ 9.98301881e-01 -5.74292933e-02 -9.75860496e-03 3.12933458e+01] [ 5.74261969e-02 9.98349576e-01 -5.97444389e-04 3.74937676e-01] [ 9.77680992e-03 3.60302880e-05 9.99952205e-01 6.81216995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361858063999996 meters 0.013955729959742836 Centerline is valid? [True, True] Translation: X:31.35, Y:0.37, Z:0.07 [[ 9.98033177e-01 -6.21525488e-02 -8.17541841e-03 3.13527586e+01] [ 6.21505175e-02 9.98066661e-01 -5.02531103e-04 3.73118851e-01] [ 8.19084615e-03 -6.56377193e-06 9.99966454e-01 7.07772150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421858064 meters 0.014220214004669692 Centerline is valid? [True, True] Translation: X:31.41, Y:0.38, Z:0.07 [[ 9.97820108e-01 -6.57510991e-02 -5.64128255e-03 3.14103090e+01] [ 6.57501862e-02 9.97836055e-01 -3.47329714e-04 3.75274238e-01] [ 5.65191243e-03 -2.43428048e-05 9.99984028e-01 7.29588366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481858063999994 meters 0.01448237963680345 Centerline is valid? [True, True] Translation: X:31.47, Y:0.38, Z:0.07 [[ 9.97725256e-01 -6.71348231e-02 -6.10163247e-03 3.14687383e+01] [ 6.71337727e-02 9.97743912e-01 -3.77024757e-04 3.77477238e-01] [ 6.11317814e-03 -3.34584858e-05 9.99981314e-01 7.40624350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541858063999996 meters 0.014554070292442397 Centerline is valid? [True, True] Translation: X:31.53, Y:0.38, Z:0.08 [[ 9.97733189e-01 -6.69648147e-02 -6.64813905e-03 3.15272158e+01] [ 6.69635517e-02 9.97755337e-01 -4.12634547e-04 3.79281403e-01] [ 6.66084821e-03 -3.34838206e-05 9.99977816e-01 7.57096239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601858064 meters 0.014589643867840507 Centerline is valid? [True, True] Translation: X:31.58, Y:0.39, Z:0.07 [[ 9.97815114e-01 -6.56993773e-02 -6.97066170e-03 3.15848985e+01] [ 6.56979441e-02 9.97839462e-01 -4.34635735e-04 3.85094845e-01] [ 6.98415662e-03 -2.42720369e-05 9.99975610e-01 7.48212580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66185806399999 meters 0.014729020962195529 Centerline is valid? [True, True] Translation: X:31.64, Y:0.39, Z:0.07 [[ 9.97983859e-01 -6.31568173e-02 -6.27956282e-03 3.16427272e+01] [ 6.31555928e-02 9.98003615e-01 -3.93291102e-04 3.91168524e-01] [ 6.29186541e-03 -4.09134141e-06 9.99980206e-01 7.46837671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721858063999996 meters 0.014871332165034511 Centerline is valid? [True, True] Translation: X:31.70, Y:0.39, Z:0.08 [[ 9.98154010e-01 -6.02896428e-02 -7.33015293e-03 3.17006759e+01] [ 6.02878889e-02 9.98180925e-01 -4.60210996e-04 3.94304683e-01] [ 7.34456479e-03 1.74420056e-05 9.99973028e-01 7.64392453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781858064 meters 0.015141872201979847 Centerline is valid? [True, True] Translation: X:31.76, Y:0.40, Z:0.08 [[ 9.98324961e-01 -5.73389832e-02 -7.71451673e-03 3.17590380e+01] [ 5.73369389e-02 9.98354766e-01 -4.86088195e-04 4.01663870e-01] [ 7.72969635e-03 4.29472039e-05 9.99970125e-01 7.71409837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84185806399999 meters 0.015442533880419534 Centerline is valid? [True, True] Translation: X:31.82, Y:0.41, Z:0.08 [[ 9.98475531e-01 -5.46864444e-02 -7.48371935e-03 3.18175108e+01] [ 5.46844324e-02 9.98503575e-01 -4.73373037e-04 4.08552818e-01] [ 7.49840761e-03 6.34084498e-05 9.99971885e-01 7.83801664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901858063999995 meters 0.015429997880346505 Centerline is valid? [True, True] Translation: X:31.88, Y:0.41, Z:0.08 [[ 9.98460123e-01 -5.50909780e-02 -6.50897963e-03 3.18758007e+01] [ 5.50894529e-02 9.98481337e-01 -4.13494749e-04 4.13216649e-01] [ 6.52187452e-03 5.42818913e-05 9.99978731e-01 7.99431089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961858064 meters 0.015276289216479767 Centerline is valid? [True, True] Translation: X:31.93, Y:0.42, Z:0.08 [[ 9.98322164e-01 -5.72035946e-02 -8.97810740e-03 3.19340890e+01] [ 5.72007544e-02 9.98362532e-01 -5.73020208e-04 4.16911408e-01] [ 8.99618485e-03 5.85042569e-05 9.99959532e-01 7.94822698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02185806399999 meters 0.015270172587958526 Centerline is valid? [True, True] Translation: X:31.99, Y:0.42, Z:0.08 [[ 9.98092776e-01 -6.07998031e-02 -1.06861351e-02 3.19917123e+01] [ 6.07959524e-02 9.98149980e-01 -6.85131488e-04 4.21060682e-01] [ 1.07080213e-02 3.41510314e-05 9.99942667e-01 7.77335153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081858063999995 meters 0.015234525313013845 Centerline is valid? [True, True] Translation: X:32.05, Y:0.43, Z:0.08 [[ 9.97916825e-01 -6.35035601e-02 -1.13714101e-02 3.20495158e+01] [ 6.34993376e-02 9.97981612e-01 -7.32356682e-04 4.25078918e-01] [ 1.13949654e-02 8.75404768e-06 9.99935075e-01 7.73683500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141858064 meters 0.015475954506457184 Centerline is valid? [True, True] Translation: X:32.11, Y:0.43, Z:0.08 [[ 9.97620685e-01 -6.76969533e-02 -1.30418775e-02 3.21086822e+01] [ 6.76917134e-02 9.97705929e-01 -8.43293415e-04 4.29651349e-01] [ 1.30690469e-02 -4.15400771e-05 9.99914595e-01 7.67728640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20185806399999 meters 0.015748633025172844 Centerline is valid? [True, True] Translation: X:32.17, Y:0.44, Z:0.08 [[ 9.97449320e-01 -7.04000178e-02 -1.17766983e-02 3.21669251e+01] [ 7.03958947e-02 9.97518838e-01 -7.64783589e-04 4.35239304e-01] [ 1.18013191e-02 -6.61983394e-05 9.99930360e-01 7.79276063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261858063999995 meters 0.015726416494647195 Centerline is valid? [True, True] Translation: X:32.22, Y:0.44, Z:0.08 [[ 9.97379120e-01 -7.15761504e-02 -1.05710264e-02 3.22249980e+01] [ 7.15728633e-02 9.97435136e-01 -6.89425683e-04 4.39888466e-01] [ 1.05932596e-02 -6.89798466e-05 9.99943887e-01 7.99492387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321858064 meters 0.01579788593086118 Centerline is valid? [True, True] Translation: X:32.28, Y:0.45, Z:0.08 [[ 9.97370707e-01 -7.18067114e-02 -9.77087603e-03 3.22825713e+01] [ 7.18038868e-02 9.97418564e-01 -6.40023449e-04 4.50252676e-01] [ 9.79161112e-03 -6.32462369e-05 9.99952059e-01 8.11591889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38185806399999 meters 0.01587111653976689 Centerline is valid? [True, True] Translation: X:32.34, Y:0.46, Z:0.08 [[ 9.97565245e-01 -6.90323307e-02 -9.90547050e-03 3.23404402e+01] [ 6.90292664e-02 9.97614423e-01 -6.51325936e-04 4.60476448e-01] [ 9.92680278e-03 -3.40272444e-05 9.99950728e-01 7.94387862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441858063999994 meters 0.015960629335821392 Centerline is valid? [True, True] Translation: X:32.40, Y:0.47, Z:0.08 [[ 9.97733420e-01 -6.65418191e-02 -1.00104499e-02 3.23979647e+01] [ 6.65385364e-02 9.97783637e-01 -6.60984826e-04 4.69194127e-01] [ 1.00322462e-02 -6.59403204e-06 9.99949676e-01 7.92727756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501858064 meters 0.01614119651071813 Centerline is valid? [True, True] Translation: X:32.46, Y:0.48, Z:0.08 [[ 9.97957095e-01 -6.31318914e-02 -9.79795784e-03 3.24554358e+01] [ 6.31285550e-02 9.98005192e-01 -6.49724536e-04 4.81470642e-01] [ 9.81943113e-03 2.98662905e-05 9.99951788e-01 7.88515465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561858064 meters 0.01606890893787184 Centerline is valid? [True, True] Translation: X:32.51, Y:0.49, Z:0.08 [[ 9.98040838e-01 -6.19257101e-02 -8.92709749e-03 3.25128271e+01] [ 6.19228699e-02 9.98080761e-01 -5.94473507e-04 4.90398178e-01] [ 8.94677745e-03 4.05173407e-05 9.99959976e-01 7.85868321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621858063999994 meters 0.016168251908646594 Centerline is valid? [True, True] Translation: X:32.57, Y:0.50, Z:0.08 [[ 9.98016516e-01 -6.22873552e-02 -9.12796749e-03 3.25702417e+01] [ 6.22843769e-02 9.98058257e-01 -6.10462630e-04 4.98394334e-01] [ 9.14826742e-03 4.07220192e-05 9.99958153e-01 7.80675174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681858064 meters 0.016078689550796436 Centerline is valid? [True, True] Translation: X:32.63, Y:0.50, Z:0.08 [[ 9.97910436e-01 -6.39218618e-02 -9.42114803e-03 3.26281421e+01] [ 6.39187367e-02 9.97954906e-01 -6.32754045e-04 5.04965300e-01] [ 9.44232771e-03 2.92439850e-05 9.99955420e-01 7.73722571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741858064 meters 0.016003176892241698 Centerline is valid? [True, True] Translation: X:32.69, Y:0.51, Z:0.08 [[ 9.97689436e-01 -6.73570065e-02 -8.87824910e-03 3.26861146e+01] [ 6.73543588e-02 9.97728938e-01 -5.97220524e-04 5.10994521e-01] [ 8.89831303e-03 -2.14816859e-06 9.99960409e-01 7.67016061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801858063999994 meters 0.01601242744989367 Centerline is valid? [True, True] Translation: X:32.74, Y:0.52, Z:0.08 [[ 9.97532563e-01 -6.95840898e-02 -9.31880311e-03 3.27437954e+01] [ 6.95812467e-02 9.97576089e-01 -6.29351665e-04 5.16067047e-01] [ 9.34000803e-03 -2.06151597e-05 9.99956381e-01 7.69261211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861858063999996 meters 0.01624820857429532 Centerline is valid? [True, True] Translation: X:32.80, Y:0.52, Z:0.08 [[ 9.97407194e-01 -7.14327468e-02 -8.73228392e-03 3.28013947e+01] [ 7.14302996e-02 9.97445418e-01 -5.92202192e-04 5.21044833e-01] [ 8.75227921e-03 -3.30829299e-05 9.99961698e-01 7.61077450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921858064 meters 0.01617406694433516 Centerline is valid? [True, True] Translation: X:32.86, Y:0.53, Z:0.08 [[ 9.97426809e-01 -7.10948544e-02 -9.23483946e-03 3.28590564e+01] [ 7.10920788e-02 9.97469559e-01 -6.28893116e-04 5.27859997e-01] [ 9.25618230e-03 -2.92490810e-05 9.99957160e-01 7.52993551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981858063999994 meters 0.016213730865666152 Centerline is valid? [True, True] Translation: X:32.92, Y:0.54, Z:0.07 [[ 9.97525335e-01 -6.97331656e-02 -8.97172326e-03 3.29163079e+01] [ 6.97304682e-02 9.97565680e-01 -6.13496250e-04 5.35705398e-01] [ 8.99266425e-03 -1.36244113e-05 9.99959565e-01 7.46810584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041858063999996 meters 0.016134443878746414 Centerline is valid? [True, True] Translation: X:32.97, Y:0.54, Z:0.08 [[ 9.97687865e-01 -6.74608212e-02 -8.24386296e-03 3.29735947e+01] [ 6.74584467e-02 9.97721924e-01 -5.66075410e-04 5.42660098e-01] [ 8.26327072e-03 8.64837784e-06 9.99965859e-01 7.61452712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101858064 meters 0.0161171667948079 Centerline is valid? [True, True] Translation: X:33.03, Y:0.55, Z:0.08 [[ 9.97728521e-01 -6.68751581e-02 -8.09391723e-03 3.30303093e+01] [ 6.68728406e-02 9.97761351e-01 -5.56922200e-04 5.48163990e-01] [ 8.11304205e-03 1.43939266e-05 9.99967089e-01 7.60686326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16185806399999 meters 0.016372094985772846 Centerline is valid? [True, True] Translation: X:33.09, Y:0.56, Z:0.08 [[ 9.97713450e-01 -6.71093862e-02 -8.01260016e-03 3.30877952e+01] [ 6.71071056e-02 9.97745624e-01 -5.53455343e-04 5.55230194e-01] [ 8.03167880e-03 1.44874351e-05 9.99967745e-01 7.54632281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221858063999996 meters 0.0163917868772109 Centerline is valid? [True, True] Translation: X:33.15, Y:0.56, Z:0.07 [[ 9.97572589e-01 -6.91854800e-02 -7.89302201e-03 3.31452385e+01] [ 6.91833144e-02 9.97603814e-01 -5.47395268e-04 5.63186629e-01] [ 7.91198066e-03 1.09117159e-09 9.99968700e-01 7.34738245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281858064 meters 0.0163174865198479 Centerline is valid? [True, True] Translation: X:33.20, Y:0.57, Z:0.07 [[ 9.97459396e-01 -7.08406502e-02 -7.50708818e-03 3.32037040e+01] [ 7.08387227e-02 9.97487645e-01 -5.22678418e-04 5.66864283e-01] [ 7.52525459e-03 -1.04420390e-05 9.99971685e-01 7.44028852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34185806399999 meters 0.016397433749108792 Centerline is valid? [True, True] Translation: X:33.26, Y:0.57, Z:0.08 [[ 9.97369930e-01 -7.21536493e-02 -6.86100130e-03 3.32600985e+01] [ 7.21520638e-02 9.97393528e-01 -4.78662606e-04 5.71565140e-01] [ 6.87765555e-03 -1.76317138e-05 9.99976348e-01 7.50236163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401858063999995 meters 0.016417885361341256 Centerline is valid? [True, True] Translation: X:33.32, Y:0.58, Z:0.07 [[ 9.97284589e-01 -7.33274546e-02 -6.82154245e-03 3.33178475e+01] [ 7.33259025e-02 9.97307918e-01 -4.77696963e-04 5.77973775e-01] [ 6.83820661e-03 -2.37959371e-05 9.99976619e-01 7.42358661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461858064 meters 0.016281987227467272 Centerline is valid? [True, True] Translation: X:33.38, Y:0.58, Z:0.07 [[ 9.97296345e-01 -7.30724493e-02 -7.77291872e-03 3.33753422e+01] [ 7.30704194e-02 9.97326635e-01 -5.45196362e-04 5.83090595e-01] [ 7.79197770e-03 -2.42480915e-05 9.99969642e-01 7.20433712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52185806399999 meters 0.01629981802238037 Centerline is valid? [True, True] Translation: X:33.43, Y:0.59, Z:0.07 [[ 9.97298621e-01 -7.29789379e-02 -8.33882418e-03 3.34331302e+01] [ 7.29765816e-02 9.97333482e-01 -5.86896373e-04 5.86997971e-01] [ 8.35941963e-03 -2.32279400e-05 9.99965059e-01 7.15340676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581858063999995 meters 0.016067359883773825 Centerline is valid? [True, True] Translation: X:33.49, Y:0.59, Z:0.07 [[ 9.97316626e-01 -7.28288624e-02 -7.45016064e-03 3.34905649e+01] [ 7.28269622e-02 9.97344452e-01 -5.26380050e-04 5.92517231e-01] [ 7.46871205e-03 -1.76049929e-05 9.99972109e-01 7.31315785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641858064 meters 0.015765568415420757 Centerline is valid? [True, True] Translation: X:33.55, Y:0.60, Z:0.07 [[ 9.97480217e-01 -7.07151512e-02 -5.70819364e-03 3.35493809e+01] [ 7.07139930e-02 9.97496550e-01 -4.04718553e-04 5.99383190e-01] [ 5.72252320e-03 4.95847950e-08 9.99983626e-01 7.41884378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70185806399999 meters 0.01575666405681019 Centerline is valid? [True, True] Translation: X:33.61, Y:0.61, Z:0.07 [[ 9.97690983e-01 -6.77008596e-02 -5.41252802e-03 3.36056354e+01] [ 6.76997680e-02 9.97705665e-01 -3.84855178e-04 6.06054530e-01] [ 5.42616489e-03 1.75396501e-05 9.99985278e-01 7.37973219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761858063999995 meters 0.015792508948184302 Centerline is valid? [True, True] Translation: X:33.66, Y:0.61, Z:0.07 [[ 9.97950852e-01 -6.36113721e-02 -6.90583744e-03 3.36636345e+01] [ 6.36094918e-02 9.97974745e-01 -4.91796718e-04 6.12812321e-01] [ 6.92313522e-03 5.15121442e-05 9.99976033e-01 7.19144393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821858064 meters 0.015780298210516033 Centerline is valid? [True, True] Translation: X:33.72, Y:0.62, Z:0.07 [[ 9.98061283e-01 -6.17629811e-02 -7.68170237e-03 3.37219503e+01] [ 6.17605859e-02 9.98090842e-01 -5.48849287e-04 6.18594279e-01] [ 7.70093535e-03 7.33587842e-05 9.99970345e-01 7.05380291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88185806399999 meters 0.015808547073131507 Centerline is valid? [True, True] Translation: X:33.78, Y:0.62, Z:0.07 [[ 9.98103569e-01 -6.12226713e-02 -6.40695689e-03 3.37785999e+01] [ 6.12209885e-02 9.98124131e-01 -4.58636527e-04 6.21340110e-01] [ 6.42301723e-03 6.55265201e-05 9.99979370e-01 7.16016714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941858063999994 meters 0.015324170461755337 Centerline is valid? [True, True] Translation: X:33.84, Y:0.62, Z:0.07 [[ 9.97981731e-01 -6.31585377e-02 -6.59277470e-03 3.38378712e+01] [ 6.31567878e-02 9.98003505e-01 -4.73489868e-04 6.21604320e-01] [ 6.60951718e-03 5.61557651e-05 9.99978155e-01 7.25578329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001858064 meters 0.014999116089625108 Centerline is valid? [True, True] Translation: X:33.90, Y:0.62, Z:0.07 [[ 9.97806754e-01 -6.57636766e-02 -7.53794479e-03 3.38969207e+01] [ 6.57614488e-02 9.97835225e-01 -5.43295763e-04 6.22875303e-01] [ 7.55735597e-03 4.63980112e-05 9.99971442e-01 7.15365170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06185806399999 meters 0.014654338668874414 Centerline is valid? [True, True] Translation: X:33.96, Y:0.62, Z:0.07 [[ 9.97415356e-01 -7.15817632e-02 -6.21768923e-03 3.39559643e+01] [ 7.15803510e-02 9.97434735e-01 -4.49641110e-04 6.20798854e-01] [ 6.23392531e-03 3.41457031e-06 9.99980569e-01 7.16364423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121858063999994 meters 0.014772823380855154 Centerline is valid? [True, True] Translation: X:34.01, Y:0.62, Z:0.07 [[ 9.97181200e-01 -7.48454961e-02 -5.27305836e-03 3.40145463e+01] [ 7.48445186e-02 9.97195142e-01 -3.82741996e-04 6.21347502e-01] [ 5.28691470e-03 -1.29963916e-05 9.99986024e-01 7.22788533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181858064 meters 0.014758100879667741 Centerline is valid? [True, True] Translation: X:34.07, Y:0.62, Z:0.07 [[ 9.97019090e-01 -7.70145557e-02 -4.65758826e-03 3.40730401e+01] [ 7.70138109e-02 9.97029968e-01 -3.39325276e-04 6.23159509e-01] [ 4.66988806e-03 -2.03848441e-05 9.99989096e-01 7.12208341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241858064 meters 0.014974690100231681 Centerline is valid? [True, True] Translation: X:34.13, Y:0.63, Z:0.07 [[ 9.96958903e-01 -7.78770743e-02 -2.84726990e-03 3.41313950e+01] [ 7.78767975e-02 9.96962969e-01 -2.08136224e-04 6.27508545e-01] [ 2.85483169e-03 -1.42330000e-05 9.99995925e-01 7.07051703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301858063999994 meters 0.01505144146370525 Centerline is valid? [True, True] Translation: X:34.19, Y:0.63, Z:0.07 [[ 9.96959443e-01 -7.79039569e-02 -1.68622080e-03 3.41891884e+01] [ 7.79038592e-02 9.96960869e-01 -1.23638346e-04 6.31171245e-01] [ 1.69072807e-03 -8.10069138e-06 9.99998571e-01 7.19443135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361858063999996 meters 0.014869984317101301 Centerline is valid? [True, True] Translation: X:34.25, Y:0.64, Z:0.07 [[ 9.97182233e-01 -7.50128552e-02 -8.15941102e-04 3.42468636e+01] [ 7.50128313e-02 9.97182567e-01 -5.99387755e-05 6.37772807e-01] [ 8.18138421e-04 -1.43617026e-06 9.99999665e-01 7.21562020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421858064 meters 0.014932297579643488 Centerline is valid? [True, True] Translation: X:34.31, Y:0.64, Z:0.07 [[ 9.97381517e-01 -7.23185437e-02 -3.71208808e-04 3.43050738e+01] [ 7.23185386e-02 9.97381586e-01 -2.71841383e-05 6.44439007e-01] [ 3.72202747e-04 2.67678562e-07 9.99999931e-01 7.18486843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481858063999994 meters 0.014997354152313083 Centerline is valid? [True, True] Translation: X:34.36, Y:0.65, Z:0.07 [[ 9.97661905e-01 -6.83402779e-02 -5.74513131e-04 3.43636055e+01] [ 6.83402648e-02 9.97662070e-01 -4.23724584e-05 6.52893041e-01] [ 5.76065705e-04 3.01100810e-06 9.99999834e-01 7.08503915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541858063999996 meters 0.015147712906713287 Centerline is valid? [True, True] Translation: X:34.42, Y:0.66, Z:0.07 [[ 9.97733912e-01 -6.72830922e-02 -1.63139736e-04 3.44216732e+01] [ 6.72830911e-02 9.97733925e-01 -1.20019485e-05 6.57608997e-01] [ 1.63577578e-04 9.98205256e-07 9.99999987e-01 7.17351463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601858064 meters 0.014877777923349395 Centerline is valid? [True, True] Translation: X:34.48, Y:0.66, Z:0.07 [[ 9.97642906e-01 -6.86121436e-02 1.00259609e-03 3.44799551e+01] [ 6.86121030e-02 9.97643410e-01 7.49228216e-05 6.59699313e-01] [-1.00537399e-03 -5.95599559e-06 9.99999495e-01 7.30223182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66185806399999 meters 0.014695598589359937 Centerline is valid? [True, True] Translation: X:34.54, Y:0.66, Z:0.07 [[ 9.97532521e-01 -7.01776513e-02 1.99152597e-03 3.45378502e+01] [ 7.01774934e-02 9.97534509e-01 1.49113874e-04 6.63013609e-01] [-1.99708035e-03 -8.98563797e-06 9.99998006e-01 7.37523950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721858063999996 meters 0.014549361036634291 Centerline is valid? [True, True] Translation: X:34.60, Y:0.66, Z:0.07 [[ 9.97403165e-01 -7.20008229e-02 1.67550004e-03 3.45961151e+01] [ 7.20007128e-02 9.97404573e-01 1.26003900e-04 6.64365031e-01] [-1.68022379e-03 -5.03949170e-06 9.99998588e-01 7.20108183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781858064 meters 0.014628264646697033 Centerline is valid? [True, True] Translation: X:34.65, Y:0.67, Z:0.07 [[ 9.97512932e-01 -7.04834558e-02 -1.81276034e-04 3.46538654e+01] [ 7.04834545e-02 9.97512949e-01 -1.34075900e-05 6.67388035e-01] [ 1.81770204e-04 5.97283357e-07 9.99999983e-01 7.21446131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84185806399999 meters 0.014841562637582593 Centerline is valid? [True, True] Translation: X:34.71, Y:0.67, Z:0.07 [[ 9.97605355e-01 -6.91499815e-02 -1.35506795e-03 3.47126425e+01] [ 6.91499064e-02 9.97606275e-01 -1.02217225e-04 6.72740756e-01] [ 1.35889261e-03 8.26962927e-06 9.99999077e-01 7.07204527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901858063999995 meters 0.01518625899128668 Centerline is valid? [True, True] Translation: X:34.77, Y:0.68, Z:0.07 [[ 9.97753534e-01 -6.69262390e-02 -2.96050259e-03 3.47713598e+01] [ 6.69258680e-02 9.97757925e-01 -2.24324905e-04 6.77320385e-01] [ 2.96887814e-03 2.56867610e-05 9.99995593e-01 6.92099720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961858064 meters 0.015327427523448404 Centerline is valid? [True, True] Translation: X:34.83, Y:0.68, Z:0.07 [[ 9.97778871e-01 -6.65174887e-02 -3.57057241e-03 3.48287468e+01] [ 6.65169442e-02 9.97785259e-01 -2.71175207e-04 6.81720585e-01] [ 3.58070241e-03 3.30693267e-05 9.99993589e-01 6.89496734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02185806399999 meters 0.015421377258538253 Centerline is valid? [True, True] Translation: X:34.89, Y:0.69, Z:0.07 [[ 9.97819768e-01 -6.58443878e-02 -4.49738765e-03 3.48871411e+01] [ 6.58435124e-02 9.97829903e-01 -3.42593352e-04 6.86370317e-01] [ 4.51018573e-03 4.57226193e-05 9.99989828e-01 6.76985750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081858063999995 meters 0.015085478928307547 Centerline is valid? [True, True] Translation: X:34.95, Y:0.69, Z:0.07 [[ 9.97641353e-01 -6.84772754e-02 -4.75321633e-03 3.49461412e+01] [ 6.84763218e-02 9.97652676e-01 -3.63268857e-04 6.85439407e-01] [ 4.76693466e-03 3.69292630e-05 9.99988637e-01 6.78858255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141858064 meters 0.014975672763586863 Centerline is valid? [True, True] Translation: X:35.01, Y:0.69, Z:0.07 [[ 9.97543577e-01 -6.99720171e-02 -3.27553816e-03 3.50054317e+01] [ 6.99715698e-02 9.97548954e-01 -2.51091384e-04 6.87089085e-01] [ 3.28507904e-03 2.12800503e-05 9.99994604e-01 6.95076755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20185806399999 meters 0.015057660196336763 Centerline is valid? [True, True] Translation: X:35.06, Y:0.69, Z:0.07 [[ 9.97592142e-01 -6.91822219e-02 -4.87212785e-03 3.50648650e+01] [ 6.91812163e-02 9.97604039e-01 -3.74827731e-04 6.88592061e-01] [ 4.88638583e-03 3.68654693e-05 9.99988061e-01 6.80266541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261858063999995 meters 0.015235565560936852 Centerline is valid? [True, True] Translation: X:35.12, Y:0.69, Z:0.07 [[ 9.97655607e-01 -6.81726959e-02 -5.98113490e-03 3.51232019e+01] [ 6.81711579e-02 9.97673534e-01 -4.60877350e-04 6.89009133e-01] [ 5.99863924e-03 5.20559807e-05 9.99982007e-01 6.73491010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321858064 meters 0.015264881608316861 Centerline is valid? [True, True] Translation: X:35.18, Y:0.69, Z:0.07 [[ 9.97627508e-01 -6.86528936e-02 -5.11226965e-03 3.51812360e+01] [ 6.86517698e-02 9.97640606e-01 -3.95194882e-04 6.90382763e-01] [ 5.12733906e-03 4.32909266e-05 9.99986854e-01 6.79818173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38185806399999 meters 0.015015829525457656 Centerline is valid? [True, True] Translation: X:35.24, Y:0.69, Z:0.07 [[ 9.97458651e-01 -7.11492281e-02 -3.74523529e-03 3.52389244e+01] [ 7.11486410e-02 9.97465682e-01 -2.89948297e-04 6.90127546e-01] [ 3.75637327e-03 2.27430360e-05 9.99992945e-01 6.79541494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441858063999994 meters 0.014879166145307392 Centerline is valid? [True, True] Translation: X:35.30, Y:0.69, Z:0.07 [[ 9.97342754e-01 -7.27651561e-02 -3.55853496e-03 3.52972401e+01] [ 7.27646333e-02 9.97349102e-01 -2.76310588e-04 6.90812097e-01] [ 3.56920743e-03 1.66408711e-05 9.99993630e-01 6.81178503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501858064 meters 0.01482778749355953 Centerline is valid? [True, True] Translation: X:35.36, Y:0.69, Z:0.07 [[ 9.97196731e-01 -7.48004350e-02 -1.89051124e-03 3.53554111e+01] [ 7.48002903e-02 9.97198523e-01 -1.47216429e-04 6.89912202e-01] [ 1.89622687e-03 5.39295192e-06 9.99998202e-01 6.86445484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56185806399999 meters 0.014923866685695966 Centerline is valid? [True, True] Translation: X:35.41, Y:0.69, Z:0.07 [[ 9.97263734e-01 -7.38649662e-02 -3.00187040e-03 3.54134892e+01] [ 7.38645942e-02 9.97268252e-01 -2.34767679e-04 6.90801121e-01] [ 3.01101116e-03 1.23933528e-05 9.99995467e-01 6.84096183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621858063999994 meters 0.015089586936878634 Centerline is valid? [True, True] Translation: X:35.47, Y:0.69, Z:0.07 [[ 9.97392059e-01 -7.21133288e-02 -2.95790441e-03 3.54724366e+01] [ 7.21129576e-02 9.97396444e-01 -2.32096404e-04 6.94566794e-01] [ 2.96694059e-03 1.81878747e-05 9.99995598e-01 6.81481986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681858064 meters 0.015521973529714149 Centerline is valid? [True, True] Translation: X:35.53, Y:0.70, Z:0.07 [[ 9.97631640e-01 -6.86873685e-02 -3.62722839e-03 3.55312419e+01] [ 6.86867842e-02 9.97638233e-01 -2.85563394e-04 6.99160196e-01] [ 3.63827632e-03 3.57444237e-05 9.99993381e-01 6.69429724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741858064 meters 0.01734538793589798 Centerline is valid? [True, True] Translation: X:35.59, Y:0.71, Z:0.07 [[ 9.97911971e-01 -6.44183556e-02 -4.68756613e-03 3.55888563e+01] [ 6.44173298e-02 9.97922978e-01 -3.69649665e-04 7.06372390e-01] [ 4.70164218e-03 6.69173322e-05 9.99988945e-01 6.56613413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801858063999994 meters 0.01639065825452122 Centerline is valid? [True, True] Translation: X:35.65, Y:0.71, Z:0.07 [[ 9.97994539e-01 -6.31605093e-02 -4.20126565e-03 3.56476312e+01] [ 6.31596703e-02 9.98003380e-01 -3.32213667e-04 7.05824912e-01] [ 4.21386010e-03 6.61968721e-05 9.99991119e-01 6.76609743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861858063999996 meters 0.0164919103858886 Centerline is valid? [True, True] Translation: X:35.71, Y:0.71, Z:0.07 [[ 9.97960263e-01 -6.37954429e-02 -2.33578801e-03 3.57071930e+01] [ 6.37951842e-02 9.97962995e-01 -1.85164384e-04 7.06248111e-01] [ 2.34284264e-03 3.57746710e-05 9.99997255e-01 7.03133178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921858064 meters 0.016525317305152745 Centerline is valid? [True, True] Translation: X:35.76, Y:0.71, Z:0.07 [[ 9.97903226e-01 -6.46826379e-02 -2.30399576e-03 3.57648998e+01] [ 6.46823872e-02 9.97905885e-01 -1.83248546e-04 7.08810607e-01] [ 2.31102392e-03 3.38363693e-05 9.99997329e-01 7.02741651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981858063999994 meters 0.016143381899242328 Centerline is valid? [True, True] Translation: X:35.82, Y:0.71, Z:0.07 [[ 9.97807418e-01 -6.60611126e-02 -4.03552675e-03 3.58240149e+01] [ 6.60603497e-02 9.97815577e-01 -3.22200371e-04 7.07201624e-01] [ 4.04799637e-03 5.49056118e-05 9.99991805e-01 6.91136939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041858063999996 meters 0.016094990687320142 Centerline is valid? [True, True] Translation: X:35.88, Y:0.71, Z:0.07 [[ 9.97658976e-01 -6.82260123e-02 -4.66680770e-03 3.58820551e+01] [ 6.82250129e-02 9.97669889e-01 -3.73195698e-04 7.08536123e-01] [ 4.68139517e-03 5.39290222e-05 9.99989041e-01 6.78581019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101858064 meters 0.015452081565193216 Centerline is valid? [True, True] Translation: X:35.94, Y:0.71, Z:0.07 [[ 9.97383088e-01 -7.21447735e-02 -4.70175299e-03 3.59416700e+01] [ 7.21437977e-02 9.97394170e-01 -3.77035280e-04 7.06729906e-01] [ 4.71670214e-03 3.68462959e-05 9.99988876e-01 6.75990157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16185806399999 meters 0.015150774444226776 Centerline is valid? [True, True] Translation: X:36.00, Y:0.71, Z:0.07 [[ 9.97097078e-01 -7.59676175e-02 -5.13210190e-03 3.60009381e+01] [ 7.59664988e-02 9.97110285e-01 -4.12844496e-04 7.05863900e-01] [ 5.14863440e-03 2.17782278e-05 9.99986745e-01 6.70865849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221858063999996 meters 0.015046679250880077 Centerline is valid? [True, True] Translation: X:36.06, Y:0.70, Z:0.07 [[ 9.96626391e-01 -8.19377221e-02 -4.69541529e-03 3.60597359e+01] [ 8.19368459e-02 9.96637451e-01 -3.79002112e-04 7.03056657e-01] [ 4.71068129e-03 -7.00401189e-06 9.99988905e-01 6.77964524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281858064 meters 0.015281364009943187 Centerline is valid? [True, True] Translation: X:36.12, Y:0.70, Z:0.07 [[ 9.96367887e-01 -8.50235872e-02 -4.69287973e-03 3.61175132e+01] [ 8.50227434e-02 9.96378939e-01 -3.79376477e-04 7.03614818e-01] [ 4.70814248e-03 -2.10029710e-05 9.99988916e-01 6.72694389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34185806399999 meters 0.015364306787889106 Centerline is valid? [True, True] Translation: X:36.18, Y:0.71, Z:0.07 [[ 9.96310705e-01 -8.57167841e-02 -4.19676200e-03 3.61759494e+01] [ 8.57161113e-02 9.96319543e-01 -3.40254613e-04 7.07125768e-01] [ 4.21048153e-03 -2.07308047e-05 9.99991136e-01 6.73431473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401858063999995 meters 0.01517466868613643 Centerline is valid? [True, True] Translation: X:36.23, Y:0.71, Z:0.07 [[ 9.96443713e-01 -8.42030450e-02 -3.12627309e-03 3.62334047e+01] [ 8.42026617e-02 9.96448617e-01 -2.54254911e-04 7.12780019e-01] [ 3.13657954e-03 -9.88980810e-06 9.99995081e-01 6.75634420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461858064 meters 0.015096348235402308 Centerline is valid? [True, True] Translation: X:36.29, Y:0.72, Z:0.07 [[ 9.96766213e-01 -8.02265457e-02 -4.56275142e-03 3.62904080e+01] [ 8.02256813e-02 9.96776656e-01 -3.72463643e-04 7.22591948e-01] [ 4.57792558e-03 5.20933291e-06 9.99989521e-01 6.60046368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52185806399999 meters 0.015185662174138463 Centerline is valid? [True, True] Translation: X:36.35, Y:0.73, Z:0.07 [[ 9.96938012e-01 -7.80248128e-02 -5.17003310e-03 3.63487358e+01] [ 7.80236664e-02 9.96951417e-01 -4.23359006e-04 7.30094236e-01] [ 5.18730433e-03 1.86777483e-05 9.99986546e-01 6.53098295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581858063999995 meters 0.015396495091349896 Centerline is valid? [True, True] Translation: X:36.41, Y:0.74, Z:0.07 [[ 9.97052133e-01 -7.65505763e-02 -5.20130993e-03 3.64068893e+01] [ 7.65493893e-02 9.97065699e-01 -4.27195455e-04 7.35957133e-01] [ 5.21874978e-03 2.77790403e-05 9.99986382e-01 6.66214860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641858064 meters 0.015485901406933036 Centerline is valid? [True, True] Translation: X:36.46, Y:0.74, Z:0.07 [[ 9.96985272e-01 -7.74024272e-02 -5.40665412e-03 3.64647241e+01] [ 7.74011492e-02 9.96999932e-01 -4.45535923e-04 7.42034630e-01] [ 5.42491935e-03 2.57115115e-05 9.99985285e-01 6.58206297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70185806399999 meters 0.015681142036611462 Centerline is valid? [True, True] Translation: X:36.52, Y:0.75, Z:0.07 [[ 9.96857858e-01 -7.91099134e-02 -4.00407504e-03 3.65232595e+01] [ 7.91092224e-02 9.96865899e-01 -3.30894348e-04 7.47282647e-01] [ 4.01770289e-03 1.30953683e-05 9.99991929e-01 6.54750333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761858063999995 meters 0.01565292054454565 Centerline is valid? [True, True] Translation: X:36.58, Y:0.75, Z:0.06 [[ 9.96587625e-01 -8.24361891e-02 -4.16904404e-03 3.65808127e+01] [ 8.24354643e-02 9.96596345e-01 -3.45673664e-04 7.52005499e-01] [ 4.18335007e-03 8.17014336e-07 9.99991250e-01 6.48881494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821858064 meters 0.015706088619981042 Centerline is valid? [True, True] Translation: X:36.64, Y:0.76, Z:0.06 [[ 9.96393963e-01 -8.46500210e-02 -5.78312591e-03 3.66385491e+01] [ 8.46486580e-02 9.96410746e-01 -4.80481536e-04 7.55683428e-01] [ 5.80304158e-03 -1.07849461e-05 9.99983162e-01 6.33866193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88185806399999 meters 0.015988390491795765 Centerline is valid? [True, True] Translation: X:36.70, Y:0.76, Z:0.06 [[ 9.96118934e-01 -8.76676764e-02 -7.83891509e-03 3.66978513e+01] [ 8.76652515e-02 9.96149776e-01 -6.53077972e-04 7.58528309e-01] [ 7.86598734e-03 -3.66571303e-05 9.99969062e-01 6.19427489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941858063999994 meters 0.016484446047508792 Centerline is valid? [True, True] Translation: X:36.76, Y:0.76, Z:0.06 [[ 9.95695151e-01 -9.22236538e-02 -9.27163504e-03 3.67564703e+01] [ 9.22204378e-02 9.95738314e-01 -7.74697820e-04 7.62169515e-01] [ 9.30356771e-03 -8.36713796e-05 9.99956717e-01 6.04080955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001858064 meters 0.017128975419978733 Centerline is valid? [True, True] Translation: X:36.81, Y:0.77, Z:0.06 [[ 9.95428907e-01 -9.51094423e-02 -8.68823892e-03 3.68137559e+01] [ 9.51067208e-02 9.95466817e-01 -7.26807075e-04 7.66800115e-01] [ 8.71797975e-03 -1.02825141e-04 9.99961992e-01 6.03787422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06185806399999 meters 0.018522613040261326 Centerline is valid? [True, True] Translation: X:36.87, Y:0.77, Z:0.06 [[ 9.94900200e-01 -1.00533213e-01 -8.16482978e-03 3.68716664e+01] [ 1.00530984e-01 9.94933693e-01 -6.84003856e-04 7.68002812e-01] [ 8.19222935e-03 -1.40302801e-04 9.99966433e-01 6.11342334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121858063999994 meters 0.0186140045893196 Centerline is valid? [True, True] Translation: X:36.93, Y:0.77, Z:0.06 [[ 9.94494382e-01 -1.04583216e-01 -6.57841256e-03 3.69307063e+01] [ 1.04581848e-01 9.94516129e-01 -5.52587189e-04 7.72863957e-01] [ 6.60012875e-03 -1.38437686e-04 9.99978209e-01 6.36531067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181858064 meters 0.019119893266949427 Centerline is valid? [True, True] Translation: X:36.99, Y:0.78, Z:0.06 [[ 9.94094744e-01 -1.08388582e-01 -5.24939376e-03 3.69893674e+01] [ 1.08387757e-01 9.94108595e-01 -4.42206747e-04 7.79756039e-01] [ 5.26639762e-03 -1.29374611e-04 9.99986124e-01 6.38015170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241858064 meters 0.01916761928989849 Centerline is valid? [True, True] Translation: X:37.05, Y:0.79, Z:0.06 [[ 9.94306966e-01 -1.06421083e-01 -5.31144144e-03 3.70470951e+01] [ 1.06420206e-01 9.94321145e-01 -4.48220679e-04 7.88436994e-01] [ 5.32897867e-03 -1.19575750e-04 9.99985794e-01 6.30024571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301858063999994 meters 0.018652463539561254 Centerline is valid? [True, True] Translation: X:37.11, Y:0.80, Z:0.06 [[ 9.94485180e-01 -1.04719416e-01 -5.75071242e-03 3.71055771e+01] [ 1.04718352e-01 9.94501800e-01 -4.86613028e-04 7.98162189e-01] [ 5.77005168e-03 -1.18275682e-04 9.99983346e-01 6.22512945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361858063999996 meters 0.019654526683604078 Centerline is valid? [True, True] Translation: X:37.16, Y:0.81, Z:0.06 [[ 9.94729872e-01 -1.02264027e-01 -7.38590493e-03 3.71642025e+01] [ 1.02262191e-01 9.94757283e-01 -6.26731502e-04 8.08966076e-01] [ 7.41127481e-03 -1.31870275e-04 9.99972527e-01 5.92077661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421858064 meters 0.017829187744167235 Centerline is valid? [True, True] Translation: X:37.22, Y:0.82, Z:0.06 [[ 9.95049787e-01 -9.91172182e-02 -7.19017118e-03 3.72225742e+01] [ 9.91153839e-02 9.95075759e-01 -6.11874775e-04 8.20716675e-01] [ 7.21541237e-03 -1.03810712e-04 9.99973963e-01 6.13236809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481858063999994 meters 0.017548799317824937 Centerline is valid? [True, True] Translation: X:37.28, Y:0.83, Z:0.06 [[ 9.95258063e-01 -9.70112953e-02 -7.08490829e-03 3.72807806e+01] [ 9.70094486e-02 9.95283277e-01 -6.04656072e-04 8.29600469e-01] [ 7.11014921e-03 -8.55142153e-05 9.99974719e-01 6.13992386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541858063999996 meters 0.0172097691414549 Centerline is valid? [True, True] Translation: X:37.34, Y:0.84, Z:0.06 [[ 9.95612484e-01 -9.34044791e-02 -5.60227173e-03 3.73390654e+01] [ 9.34032599e-02 9.95628244e-01 -4.79437687e-04 8.41758114e-01] [ 5.62256160e-03 -4.59362968e-05 9.99984192e-01 6.21545369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601858064 meters 0.016921602793685056 Centerline is valid? [True, True] Translation: X:37.40, Y:0.85, Z:0.06 [[ 9.95931604e-01 -8.99854141e-02 -4.78182980e-03 3.73968895e+01] [ 8.99844810e-02 9.95943083e-01 -4.10360842e-04 8.53185490e-01] [ 4.79935680e-03 -2.15991407e-05 9.99988483e-01 6.18750826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66185806399999 meters 0.01688585517168548 Centerline is valid? [True, True] Translation: X:37.45, Y:0.86, Z:0.06 [[ 9.96142643e-01 -8.76389005e-02 -4.38828876e-03 3.74541733e+01] [ 8.76380866e-02 9.96152309e-01 -3.77798827e-04 8.63343649e-01] [ 4.40451385e-03 -8.23970769e-06 9.99990300e-01 6.32420688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721858063999996 meters 0.018928079746909566 Centerline is valid? [True, True] Translation: X:37.51, Y:0.87, Z:0.06 [[ 9.96097666e-01 -8.79654604e-02 -7.17758949e-03 3.75124616e+01] [ 8.79632770e-02 9.96123525e-01 -6.19921799e-04 8.71698783e-01] [ 7.20429745e-03 -1.38616354e-05 9.99974049e-01 5.97838111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781858064 meters 0.016904771696230884 Centerline is valid? [True, True] Translation: X:37.57, Y:0.88, Z:0.06 [[ 9.95921206e-01 -8.98437306e-02 -8.30992760e-03 3.75708968e+01] [ 8.98408518e-02 9.95955874e-01 -7.19834981e-04 8.79457562e-01] [ 8.34099387e-03 -2.96720518e-05 9.99965213e-01 6.04664678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84185806399999 meters 0.017020534935601916 Centerline is valid? [True, True] Translation: X:37.63, Y:0.89, Z:0.06 [[ 9.95706406e-01 -9.22606578e-02 -7.53153109e-03 3.76285067e+01] [ 9.22583563e-02 9.95734889e-01 -6.53189093e-04 8.85318035e-01] [ 7.55967193e-03 -4.44621137e-05 9.99971424e-01 6.00319389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901858063999995 meters 0.017424240739385755 Centerline is valid? [True, True] Translation: X:37.69, Y:0.89, Z:0.06 [[ 9.95138860e-01 -9.83360976e-02 -5.35363393e-03 3.76876795e+01] [ 9.83350164e-02 9.95153258e-01 -4.65463472e-04 8.89456420e-01] [ 5.37345812e-03 -6.32488916e-05 9.99985561e-01 6.12112734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961858064 meters 0.018078452371492738 Centerline is valid? [True, True] Translation: X:37.75, Y:0.89, Z:0.06 [[ 9.94615638e-01 -1.03503368e-01 -5.17551979e-03 3.77462684e+01] [ 1.03502421e-01 9.94629099e-01 -4.51253107e-04 8.93123175e-01] [ 5.19442880e-03 -8.68554319e-05 9.99986505e-01 6.24736542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02185806399999 meters 0.018234025921344158 Centerline is valid? [True, True] Translation: X:37.80, Y:0.90, Z:0.06 [[ 9.94471596e-01 -1.04869331e-01 -5.35420764e-03 3.78045783e+01] [ 1.04868330e-01 9.94486005e-01 -4.68163611e-04 9.00973231e-01] [ 5.37378057e-03 -9.59114024e-05 9.99985557e-01 6.15660155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081858063999995 meters 0.0180127066449496 Centerline is valid? [True, True] Translation: X:37.86, Y:0.91, Z:0.06 [[ 9.94660971e-01 -1.03006651e-01 -6.25957143e-03 3.78624245e+01] [ 1.03005236e-01 9.94680662e-01 -5.48901809e-04 9.10743860e-01] [ 6.28281519e-03 -9.87974247e-05 9.99980258e-01 6.17049868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141858064 meters 0.019910510932796718 Centerline is valid? [True, True] Translation: X:37.92, Y:0.92, Z:0.06 [[ 9.94893721e-01 -1.00599110e-01 -8.14261707e-03 3.79201964e+01] [ 1.00596628e-01 9.94927036e-01 -7.14930611e-04 9.19299387e-01] [ 8.17323125e-03 -1.07839841e-04 9.99966593e-01 5.92080022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20185806399999 meters 0.01705540396763867 Centerline is valid? [True, True] Translation: X:37.98, Y:0.93, Z:0.06 [[ 9.95440382e-01 -9.49637973e-02 -8.96232030e-03 3.79782437e+01] [ 9.49605424e-02 9.95480725e-01 -7.88984367e-04 9.33640990e-01] [ 8.99674206e-03 -6.56798967e-05 9.99959526e-01 6.17351497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261858063999995 meters 0.01672295884049448 Centerline is valid? [True, True] Translation: X:38.04, Y:0.94, Z:0.06 [[ 9.95708329e-01 -9.20738877e-02 -9.34465480e-03 3.80361559e+01] [ 9.20701998e-02 9.95752177e-01 -8.25001714e-04 9.44062920e-01] [ 9.38092147e-03 -3.89031566e-05 9.99955997e-01 6.22463667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321858064 meters 0.017822821679036163 Centerline is valid? [True, True] Translation: X:38.09, Y:0.95, Z:0.06 [[ 9.95634622e-01 -9.30243829e-02 -7.62651674e-03 3.80936517e+01] [ 9.30219484e-02 9.95663830e-01 -6.74090397e-04 9.53012513e-01] [ 7.65615371e-03 -3.82857086e-05 9.99970690e-01 6.25962513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38185806399999 meters 0.016753574983290075 Centerline is valid? [True, True] Translation: X:38.15, Y:0.96, Z:0.07 [[ 9.95199944e-01 -9.76864072e-02 -5.86825550e-03 3.81526104e+01] [ 9.76850391e-02 9.95217244e-01 -5.19996871e-04 9.59442749e-01] [ 5.89098569e-03 -5.57399105e-05 9.99982646e-01 6.60228739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441858063999994 meters 0.017121615264404987 Centerline is valid? [True, True] Translation: X:38.21, Y:0.96, Z:0.07 [[ 9.94841671e-01 -1.01336920e-01 -4.56918737e-03 3.82115477e+01] [ 1.01336124e-01 9.94852162e-01 -4.05969384e-04 9.64150680e-01] [ 4.58680562e-03 -5.91484797e-05 9.99989479e-01 6.81918171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501858064 meters 0.01680299529073365 Centerline is valid? [True, True] Translation: X:38.27, Y:0.97, Z:0.07 [[ 9.94895711e-01 -1.00789655e-01 -4.89586751e-03 3.82686495e+01] [ 1.00788727e-01 9.94907756e-01 -4.36385848e-04 9.73785542e-01] [ 4.91491974e-03 -5.92898472e-05 9.99987920e-01 6.77412825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56185806399999 meters 0.016429136646018118 Centerline is valid? [True, True] Translation: X:38.33, Y:0.99, Z:0.07 [[ 9.95406867e-01 -9.55562246e-02 -5.84611087e-03 3.83255942e+01] [ 9.55548078e-02 9.95424033e-01 -5.21822285e-04 9.85398191e-01] [ 5.86922263e-03 -3.91985152e-05 9.99982775e-01 6.62660864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621858063999994 meters 0.016235473327046196 Centerline is valid? [True, True] Translation: X:38.38, Y:0.99, Z:0.07 [[ 9.95654640e-01 -9.28773920e-02 -6.75484096e-03 3.83827742e+01] [ 9.28754266e-02 9.95677553e-01 -6.04740266e-04 9.94080670e-01] [ 6.78181022e-03 -2.52462841e-05 9.99977003e-01 6.62089456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681858064 meters 0.01614137566704586 Centerline is valid? [True, True] Translation: X:38.44, Y:1.01, Z:0.06 [[ 9.95883691e-01 -9.02959771e-02 -7.89373357e-03 3.84394771e+01] [ 9.02932027e-02 9.95914975e-01 -7.07877632e-04 1.00571288e+00] [ 7.92540597e-03 -7.78669718e-06 9.99968593e-01 6.32372417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741858064 meters 0.016098704427033945 Centerline is valid? [True, True] Translation: X:38.50, Y:1.01, Z:0.06 [[ 9.95974110e-01 -8.93257091e-02 -7.51599812e-03 3.84972647e+01] [ 8.93231509e-02 9.96002469e-01 -6.76036079e-04 1.01229792e+00] [ 7.54634008e-03 1.96179733e-06 9.99971526e-01 6.40907107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801858063999994 meters 0.016101854233542698 Centerline is valid? [True, True] Translation: X:38.56, Y:1.02, Z:0.07 [[ 9.95989150e-01 -8.91780712e-02 -7.27224798e-03 3.85553228e+01] [ 8.91756572e-02 9.96015698e-01 -6.56186155e-04 1.01732653e+00] [ 7.30179057e-03 5.04679766e-06 9.99973342e-01 6.50115818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861858063999996 meters 0.016161847277583807 Centerline is valid? [True, True] Translation: X:38.61, Y:1.03, Z:0.07 [[ 9.96200586e-01 -8.68455873e-02 -6.49891669e-03 3.86134151e+01] [ 8.68435977e-02 9.96221784e-01 -5.88255684e-04 1.02519049e+00] [ 6.52544979e-03 2.16313505e-05 9.99978709e-01 6.60029818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921858064 meters 0.016341955927680205 Centerline is valid? [True, True] Translation: X:38.67, Y:1.03, Z:0.06 [[ 9.96432777e-01 -8.40540129e-02 -7.52615376e-03 3.86722438e+01] [ 8.40512499e-02 9.96461199e-01 -6.83218308e-04 1.03217016e+00] [ 7.55694744e-03 4.81984854e-05 9.99971445e-01 6.49078973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981858063999994 meters 0.016597794551092924 Centerline is valid? [True, True] Translation: X:38.73, Y:1.04, Z:0.07 [[ 9.96820292e-01 -7.92866121e-02 -7.93342455e-03 3.87311226e+01] [ 7.92833750e-02 9.96851857e-01 -7.22194754e-04 1.03628120e+00] [ 7.96570937e-03 9.09097118e-05 9.99968269e-01 6.59506880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041858063999996 meters 0.017311506884061138 Centerline is valid? [True, True] Translation: X:38.79, Y:1.04, Z:0.07 [[ 9.97100648e-01 -7.56185462e-02 -8.49307648e-03 3.87889752e+01] [ 7.56146955e-02 9.97136810e-01 -7.74045767e-04 1.04141749e+00] [ 8.52729140e-03 1.29600145e-04 9.99963634e-01 6.53005370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101858064 meters 0.017706736979335058 Centerline is valid? [True, True] Translation: X:38.85, Y:1.05, Z:0.07 [[ 9.97228071e-01 -7.38949736e-02 -8.70098437e-03 3.88478441e+01] [ 7.38908490e-02 9.97266018e-01 -7.94994234e-04 1.04587092e+00] [ 8.73594212e-03 1.49867444e-04 9.99961830e-01 6.53300669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16185806399999 meters 0.018814026762200266 Centerline is valid? [True, True] Translation: X:38.91, Y:1.05, Z:0.07 [[ 9.97318953e-01 -7.27859915e-02 -7.55683757e-03 3.89056564e+01] [ 7.27828428e-02 9.97347572e-01 -6.91216891e-04 1.04678461e+00] [ 7.58710451e-03 1.39355585e-04 9.99971208e-01 6.62877819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221858063999996 meters 0.01732982197785455 Centerline is valid? [True, True] Translation: X:38.97, Y:1.04, Z:0.07 [[ 9.97257110e-01 -7.37184717e-02 -6.62145536e-03 3.89652816e+01] [ 7.37160646e-02 9.97279085e-01 -6.07184186e-04 1.04451440e+00] [ 6.64819963e-03 1.17411115e-04 9.99977894e-01 6.83520542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281858064 meters 0.01720812605668457 Centerline is valid? [True, True] Translation: X:39.02, Y:1.04, Z:0.07 [[ 9.97135332e-01 -7.53808525e-02 -6.23351688e-03 3.90235146e+01] [ 7.53787474e-02 9.97154811e-01 -5.72295735e-04 1.04278712e+00] [ 6.25892149e-03 1.00781603e-04 9.99980408e-01 6.90251945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34185806399999 meters 0.016676876634485176 Centerline is valid? [True, True] Translation: X:39.08, Y:1.04, Z:0.07 [[ 9.96935445e-01 -7.78853889e-02 -7.32019461e-03 3.90833972e+01] [ 7.78825416e-02 9.96962314e-01 -6.73654697e-04 1.03971531e+00] [ 7.35042602e-03 1.01474884e-04 9.99972980e-01 6.84863794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401858063999995 meters 0.016288441628133997 Centerline is valid? [True, True] Translation: X:39.14, Y:1.04, Z:0.07 [[ 9.96761070e-01 -8.00216864e-02 -7.99372410e-03 3.91423187e+01] [ 8.00183436e-02 9.96793118e-01 -7.37647449e-04 1.03983077e+00] [ 8.02711696e-03 9.56136982e-05 9.99967778e-01 6.74844799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461858064 meters 0.016006370386874805 Centerline is valid? [True, True] Translation: X:39.20, Y:1.04, Z:0.07 [[ 9.96500475e-01 -8.29876989e-02 -9.99227181e-03 3.92015357e+01] [ 8.29825991e-02 9.96550567e-01 -9.24618934e-04 1.03658201e+00] [ 1.00345361e-02 9.21985207e-05 9.99949649e-01 6.64081229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52185806399999 meters 0.01566233335346202 Centerline is valid? [True, True] Translation: X:39.26, Y:1.03, Z:0.07 [[ 9.96214569e-01 -8.64440211e-02 -9.16316865e-03 3.92612426e+01] [ 8.64398573e-02 9.96256708e-01 -8.50223177e-04 1.03406285e+00] [ 9.20236494e-03 5.49417259e-05 9.99957656e-01 6.77413851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581858063999995 meters 0.01554077115074017 Centerline is valid? [True, True] Translation: X:39.32, Y:1.03, Z:0.07 [[ 9.95983953e-01 -8.91357641e-02 -8.41311028e-03 3.93192171e+01] [ 8.91323426e-02 9.96019485e-01 -7.81507862e-04 1.03408340e+00] [ 8.44928207e-03 2.84890620e-05 9.99964304e-01 6.82697506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641858064 meters 0.01549131730760125 Centerline is valid? [True, True] Translation: X:39.38, Y:1.03, Z:0.07 [[ 9.95749379e-01 -9.18454391e-02 -6.89849988e-03 3.93771032e+01] [ 9.18431996e-02 9.95773275e-01 -6.41406415e-04 1.03159023e+00] [ 6.92825207e-03 5.09973785e-06 9.99975999e-01 6.80850403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70185806399999 meters 0.015398784447259502 Centerline is valid? [True, True] Translation: X:39.44, Y:1.03, Z:0.07 [[ 9.95765673e-01 -9.17906411e-02 -5.02026493e-03 3.94351640e+01] [ 9.17894482e-02 9.95778328e-01 -4.67989732e-04 1.03363198e+00] [ 5.04202810e-03 5.20076243e-06 9.99987289e-01 7.01638729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761858063999995 meters 0.015517592244354957 Centerline is valid? [True, True] Translation: X:39.49, Y:1.04, Z:0.07 [[ 9.95956036e-01 -8.97152656e-02 -4.76929578e-03 3.94932540e+01] [ 8.97141588e-02 9.95967455e-01 -4.45937988e-04 1.03697813e+00] [ 4.79007083e-03 1.62612719e-05 9.99988527e-01 6.95428008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821858064 meters 0.015733652157969166 Centerline is valid? [True, True] Translation: X:39.55, Y:1.04, Z:0.07 [[ 9.96091249e-01 -8.81192670e-02 -6.10061844e-03 3.95518634e+01] [ 8.81174161e-02 9.96109931e-01 -5.72046671e-04 1.03829632e+00] [ 6.12729494e-03 3.22399497e-05 9.99981227e-01 6.83501675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88185806399999 meters 0.015876115539833154 Centerline is valid? [True, True] Translation: X:39.61, Y:1.04, Z:0.07 [[ 9.96182918e-01 -8.70360957e-02 -6.65671006e-03 3.96101689e+01] [ 8.70338566e-02 9.96205158e-01 -6.25862276e-04 1.04271509e+00] [ 6.68592150e-03 4.41141603e-05 9.99977648e-01 6.65820701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941858063999994 meters 0.016041572848165497 Centerline is valid? [True, True] Translation: X:39.67, Y:1.04, Z:0.07 [[ 9.96353041e-01 -8.49983838e-02 -7.47608452e-03 3.96688523e+01] [ 8.49954880e-02 9.96381087e-01 -7.04799023e-04 1.04494498e+00] [ 7.50893600e-03 6.67951982e-05 9.99971805e-01 6.57657384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001858064 meters 0.016201417424357115 Centerline is valid? [True, True] Translation: X:39.73, Y:1.05, Z:0.07 [[ 9.96427226e-01 -8.41830751e-02 -6.78188452e-03 3.97272978e+01] [ 8.41806602e-02 9.96450302e-01 -6.41252134e-04 1.04779659e+00] [ 6.81179346e-03 6.80575682e-05 9.99976797e-01 6.65605961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06185806399999 meters 0.016505948608048087 Centerline is valid? [True, True] Translation: X:39.79, Y:1.05, Z:0.07 [[ 9.96603214e-01 -8.21505182e-02 -5.77287878e-03 3.97857099e+01] [ 8.21487261e-02 9.96619931e-01 -5.47276847e-04 1.05169386e+00] [ 5.79832513e-03 7.11832273e-05 9.99983187e-01 6.71089045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121858063999994 meters 0.01686001749216852 Centerline is valid? [True, True] Translation: X:39.84, Y:1.06, Z:0.07 [[ 9.96738082e-01 -8.05322603e-02 -5.26799156e-03 3.98447356e+01] [ 8.05307386e-02 9.96752000e-01 -5.00695181e-04 1.05728965e+00] [ 5.29120324e-03 7.48267022e-05 9.99985999e-01 6.62557200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181858064 meters 0.017133689148296792 Centerline is valid? [True, True] Translation: X:39.90, Y:1.06, Z:0.07 [[ 9.96823732e-01 -7.94909318e-02 -4.86198826e-03 3.99038940e+01] [ 7.94896175e-02 9.96835586e-01 -4.63279087e-04 1.06034062e+00] [ 4.88342941e-03 7.53300014e-05 9.99988073e-01 6.56468603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24185806399999 meters 0.01690556409677581 Centerline is valid? [True, True] Translation: X:39.96, Y:1.06, Z:0.06 [[ 9.96654419e-01 -8.15429980e-02 -5.54154131e-03 3.99628892e+01] [ 8.15413146e-02 9.96669822e-01 -5.29413819e-04 1.06165896e+00] [ 5.56625698e-03 7.57780583e-05 9.99984505e-01 6.44247840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301858063999994 meters 0.016338660279867693 Centerline is valid? [True, True] Translation: X:40.02, Y:1.06, Z:0.06 [[ 9.96524159e-01 -8.29767484e-02 -7.37972322e-03 4.00208611e+01] [ 8.29737863e-02 9.96551479e-01 -7.07189488e-04 1.06378753e+00] [ 7.41295438e-03 9.24078321e-05 9.99972519e-01 6.28771815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361858063999996 meters 0.01606923419712601 Centerline is valid? [True, True] Translation: X:40.08, Y:1.06, Z:0.06 [[ 9.96284138e-01 -8.57016493e-02 -8.55243498e-03 4.00797993e+01] [ 8.56977522e-02 9.96320842e-01 -8.21778827e-04 1.06475058e+00] [ 8.59139702e-03 8.58007557e-05 9.99963090e-01 6.15965731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421858064 meters 0.015799779878757993 Centerline is valid? [True, True] Translation: X:40.14, Y:1.07, Z:0.06 [[ 9.95992020e-01 -8.90780320e-02 -8.06227735e-03 4.01385220e+01] [ 8.90746632e-02 9.96024649e-01 -7.76682556e-04 1.06702561e+00] [ 8.09941232e-03 5.54249884e-05 9.99967198e-01 6.14308592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481858063999994 meters 0.015428747996746595 Centerline is valid? [True, True] Translation: X:40.20, Y:1.07, Z:0.06 [[ 9.95390102e-01 -9.55344698e-02 -8.46818367e-03 4.01978183e+01] [ 9.55309690e-02 9.95426122e-01 -8.17875516e-04 1.06746623e+00] [ 8.50758654e-03 5.13140165e-06 9.99963810e-01 6.07521972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541858063999996 meters 0.015415070770798215 Centerline is valid? [True, True] Translation: X:40.26, Y:1.07, Z:0.06 [[ 9.94987218e-01 -9.96975853e-02 -7.79919600e-03 4.02562527e+01] [ 9.96947265e-02 9.95017784e-01 -7.55442118e-04 1.07011313e+00] [ 7.83565447e-03 -2.58834598e-05 9.99969300e-01 6.22377129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601858064 meters 0.0158146553263391 Centerline is valid? [True, True] Translation: X:40.31, Y:1.07, Z:0.06 [[ 9.94476117e-01 -1.04748807e-01 -6.70369666e-03 4.03136136e+01] [ 1.04746805e-01 9.94498710e-01 -6.50055101e-04 1.07346556e+00] [ 6.73491018e-03 -5.57265341e-05 9.99977319e-01 6.17401051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66185806399999 meters 0.016123996644637744 Centerline is valid? [True, True] Translation: X:40.37, Y:1.08, Z:0.06 [[ 9.93983544e-01 -1.09327332e-01 -6.65201342e-03 4.03720157e+01] [ 1.09325453e-01 9.94005798e-01 -6.46554318e-04 1.07922168e+00] [ 6.68282597e-03 -8.45700291e-05 9.99977666e-01 6.09298395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721858063999996 meters 0.01615286778771889 Centerline is valid? [True, True] Translation: X:40.43, Y:1.09, Z:0.06 [[ 9.93878554e-01 -1.10240107e-01 -7.24832379e-03 4.04305953e+01] [ 1.10237887e-01 9.93904980e-01 -7.06346403e-04 1.08535431e+00] [ 7.28201282e-03 -9.70173579e-05 9.99973481e-01 6.04729302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781858064 meters 0.01623175001884797 Centerline is valid? [True, True] Translation: X:40.49, Y:1.09, Z:0.06 [[ 9.93917785e-01 -1.09825426e-01 -8.11251671e-03 4.04869082e+01] [ 1.09822622e-01 9.93950887e-01 -7.91696686e-04 1.09207571e+00] [ 8.15039160e-03 -1.04056438e-04 9.99966780e-01 5.95679072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84185806399999 meters 0.01566422387659864 Centerline is valid? [True, True] Translation: X:40.55, Y:1.10, Z:0.06 [[ 9.94207538e-01 -1.07115277e-01 -8.81416356e-03 4.05452259e+01] [ 1.07111841e-01 9.94246604e-01 -8.62269512e-04 1.10333770e+00] [ 8.85581443e-03 -8.68264387e-05 9.99960783e-01 5.93159527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901858063999995 meters 0.015439296829373526 Centerline is valid? [True, True] Translation: X:40.60, Y:1.11, Z:0.06 [[ 9.94329078e-01 -1.05998313e-01 -8.60476188e-03 4.06038950e+01] [ 1.05994979e-01 9.94366307e-01 -8.43918153e-04 1.11331628e+00] [ 8.64573919e-03 -7.29291913e-05 9.99962622e-01 5.85147214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961858064 meters 0.015347540715654216 Centerline is valid? [True, True] Translation: X:40.66, Y:1.12, Z:0.06 [[ 9.94403859e-01 -1.05366081e-01 -7.67812364e-03 4.06620553e+01] [ 1.05363392e-01 9.94433500e-01 -7.54915878e-04 1.11957854e+00] [ 7.71492589e-03 -5.83018910e-05 9.99970238e-01 6.07098565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02185806399999 meters 0.015139638721113813 Centerline is valid? [True, True] Translation: X:40.72, Y:1.13, Z:0.06 [[ 9.94590713e-01 -1.03773222e-01 -4.52018452e-03 4.07202762e+01] [ 1.03772269e-01 9.94600984e-01 -4.45457635e-04 1.12894900e+00] [ 4.54200654e-03 -2.60217783e-05 9.99989685e-01 6.30415166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081858063999995 meters 0.01505156952619889 Centerline is valid? [True, True] Translation: X:40.78, Y:1.14, Z:0.06 [[ 9.94845389e-01 -1.01295015e-01 -4.68741165e-03 4.07770352e+01] [ 1.01293960e-01 9.94856432e-01 -4.62492698e-04 1.14018422e+00] [ 4.71014984e-03 -1.46977595e-05 9.99988907e-01 6.08105988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141858064 meters 0.01502751309397487 Centerline is valid? [True, True] Translation: X:40.83, Y:1.15, Z:0.06 [[ 9.95010233e-01 -9.96594922e-02 -4.75630983e-03 4.08344267e+01] [ 9.96583820e-02 9.95021601e-01 -4.70438903e-04 1.14820130e+00] [ 4.77951472e-03 -5.91461963e-06 9.99988578e-01 5.99244079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20185806399999 meters 0.015050568076231145 Centerline is valid? [True, True] Translation: X:40.89, Y:1.16, Z:0.06 [[ 9.95105582e-01 -9.86653180e-02 -5.48055967e-03 4.08918221e+01] [ 9.86638201e-02 9.95120674e-01 -5.43679164e-04 1.15661988e+00] [ 5.50746051e-03 2.85217379e-07 9.99984834e-01 6.01767315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261858063999995 meters 0.01510464923306333 Centerline is valid? [True, True] Translation: X:40.95, Y:1.17, Z:0.06 [[ 9.95074511e-01 -9.89660596e-02 -5.69534497e-03 4.09492473e+01] [ 9.89644373e-02 9.95090809e-01 -5.66657853e-04 1.16574435e+00] [ 5.72346533e-03 2.30175479e-07 9.99983621e-01 5.90165152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321858064 meters 0.015009319110623497 Centerline is valid? [True, True] Translation: X:41.01, Y:1.17, Z:0.06 [[ 9.94754052e-01 -1.02101104e-01 -6.30395617e-03 4.10070851e+01] [ 1.02099168e-01 9.94774027e-01 -6.29080139e-04 1.16992662e+00] [ 6.33524164e-03 -1.78486602e-05 9.99979932e-01 5.88857740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38185806399999 meters 0.015346311530610024 Centerline is valid? [True, True] Translation: X:41.06, Y:1.17, Z:0.06 [[ 9.94227394e-01 -1.07143507e-01 -5.67082194e-03 4.10647658e+01] [ 1.07142018e-01 9.94243565e-01 -5.66558070e-04 1.17405537e+00] [ 5.69888124e-03 -4.42957520e-05 9.99983760e-01 5.89664864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441858063999994 meters 0.015489253917472535 Centerline is valid? [True, True] Translation: X:41.12, Y:1.18, Z:0.06 [[ 9.93975981e-01 -1.09449029e-01 -5.71481456e-03 4.11236168e+01] [ 1.09447548e-01 9.93992408e-01 -5.72244200e-04 1.17849251e+00] [ 5.74311385e-03 -5.66754493e-05 9.99983507e-01 5.99566746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501858064 meters 0.015824600896261875 Centerline is valid? [True, True] Translation: X:41.18, Y:1.18, Z:0.06 [[ 9.93747260e-01 -1.11498637e-01 -5.86823851e-03 4.11812770e+01] [ 1.11497106e-01 9.93764584e-01 -5.88485787e-04 1.18254391e+00] [ 5.89726296e-03 -6.94854729e-05 9.99982609e-01 6.06261213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56185806399999 meters 0.015507786438243652 Centerline is valid? [True, True] Translation: X:41.24, Y:1.19, Z:0.06 [[ 9.93828233e-01 -1.10797150e-01 -5.42531349e-03 4.12396878e+01] [ 1.10795823e-01 9.93843040e-01 -5.45323949e-04 1.19095796e+00] [ 5.45233039e-03 -5.91437373e-05 9.99985134e-01 6.09560317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621858063999994 meters 0.015474672260004518 Centerline is valid? [True, True] Translation: X:41.30, Y:1.20, Z:0.06 [[ 9.93911938e-01 -1.10013398e-01 -6.00936791e-03 4.12974298e+01] [ 1.10011747e-01 9.93930103e-01 -6.05733115e-04 1.19906165e+00] [ 6.03953042e-03 -5.90556860e-05 9.99981760e-01 5.94682572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681858064 meters 0.015358475515084772 Centerline is valid? [True, True] Translation: X:41.35, Y:1.20, Z:0.06 [[ 9.94030399e-01 -1.08861949e-01 -7.25550092e-03 4.13540562e+01] [ 1.08859500e-01 9.94056876e-01 -7.32861713e-04 1.20452646e+00] [ 7.29216133e-03 -6.13433788e-05 9.99973410e-01 5.85548416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74185806399999 meters 0.01499959566401204 Centerline is valid? [True, True] Translation: X:41.41, Y:1.21, Z:0.06 [[ 9.94132863e-01 -1.07980756e-01 -6.32508510e-03 4.14122588e+01] [ 1.07978867e-01 9.94152983e-01 -6.40399110e-04 1.21477831e+00] [ 6.35725300e-03 -4.63337217e-05 9.99979791e-01 5.98645811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801858063999994 meters 0.014818322158501155 Centerline is valid? [True, True] Translation: X:41.47, Y:1.23, Z:0.06 [[ 9.94345053e-01 -1.05976437e-01 -6.84913626e-03 4.14706570e+01] [ 1.05974162e-01 9.94368641e-01 -6.95199848e-04 1.22537240e+00] [ 6.88424111e-03 -3.45629457e-05 9.99976303e-01 5.88067092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861858063999996 meters 0.014678583318285131 Centerline is valid? [True, True] Translation: X:41.53, Y:1.23, Z:0.06 [[ 9.94646132e-01 -1.03112625e-01 -6.84535470e-03 4.15281522e+01] [ 1.03110271e-01 9.94669687e-01 -6.96751120e-04 1.23475199e+00] [ 6.88071065e-03 -1.28055743e-05 9.99976328e-01 5.93610249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921858064 meters 0.014730423067028237 Centerline is valid? [True, True] Translation: X:41.59, Y:1.24, Z:0.06 [[ 9.94681482e-01 -1.02824778e-01 -5.98456521e-03 4.15854617e+01] [ 1.02822964e-01 9.94699485e-01 -6.10809117e-04 1.24249490e+00] [ 6.01565024e-03 -7.79021664e-06 9.99981906e-01 5.99116765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981858063999994 meters 0.014774819656762887 Centerline is valid? [True, True] Translation: X:41.64, Y:1.25, Z:0.06 [[ 9.94707886e-01 -1.02577295e-01 -5.84118257e-03 4.16424846e+01] [ 1.02575553e-01 9.94725037e-01 -5.97841280e-04 1.25128799e+00] [ 5.87169549e-03 -4.48509690e-06 9.99982761e-01 6.08241499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041858063999996 meters 0.014822704005089615 Centerline is valid? [True, True] Translation: X:41.70, Y:1.26, Z:0.06 [[ 9.94777815e-01 -1.01931434e-01 -5.20392985e-03 4.16983561e+01] [ 1.01930039e-01 9.94791427e-01 -5.33372337e-04 1.26078247e+00] [ 5.23119221e-03 1.50196116e-07 9.99986317e-01 6.18359337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101858064 meters 0.014728173127919894 Centerline is valid? [True, True] Translation: X:41.76, Y:1.27, Z:0.06 [[ 9.94768113e-01 -1.01990488e-01 -5.86023422e-03 4.17563438e+01] [ 1.01988710e-01 9.94785374e-01 -6.02191355e-04 1.26873178e+00] [ 5.89109308e-03 1.36302784e-06 9.99982647e-01 6.18653882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16185806399999 meters 0.01478670592012606 Centerline is valid? [True, True] Translation: X:41.81, Y:1.28, Z:0.06 [[ 9.94732683e-01 -1.02283039e-01 -6.71332776e-03 4.18133934e+01] [ 1.02280707e-01 9.94755337e-01 -6.90653090e-04 1.27614456e+00] [ 6.74876072e-03 3.71290794e-07 9.99977227e-01 6.07165260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221858063999996 meters 0.014805100903934375 Centerline is valid? [True, True] Translation: X:41.87, Y:1.28, Z:0.06 [[ 9.94665579e-01 -1.02840921e-01 -8.00812911e-03 4.18705048e+01] [ 1.02837615e-01 9.94697816e-01 -8.24560709e-04 1.28338209e+00] [ 8.05046711e-03 -3.37474208e-06 9.99967594e-01 6.01281304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281858064 meters 0.014854107237979499 Centerline is valid? [True, True] Translation: X:41.93, Y:1.29, Z:0.06 [[ 9.94588458e-01 -1.03587545e-01 -7.96369240e-03 4.19277994e+01] [ 1.03584283e-01 9.94620340e-01 -8.22083568e-04 1.29129398e+00] [ 8.00600806e-03 -7.27853702e-06 9.99967951e-01 6.08162470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34185806399999 meters 0.014781605394098079 Centerline is valid? [True, True] Translation: X:41.99, Y:1.30, Z:0.06 [[ 9.94468446e-01 -1.04722495e-01 -8.10612070e-03 4.19858461e+01] [ 1.04719135e-01 9.94501483e-01 -8.39078416e-04 1.29705257e+00] [ 8.14941944e-03 -1.44289376e-05 9.99966793e-01 6.13289150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401858063999995 meters 0.014712339466828364 Centerline is valid? [True, True] Translation: X:42.04, Y:1.30, Z:0.06 [[ 9.94377034e-01 -1.05579349e-01 -8.20458196e-03 4.20434724e+01] [ 1.05575917e-01 9.94410881e-01 -8.51567363e-04 1.30377404e+00] [ 8.24863350e-03 -1.94272324e-05 9.99965979e-01 6.13492725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461858064 meters 0.014776385023644348 Centerline is valid? [True, True] Translation: X:42.10, Y:1.31, Z:0.06 [[ 9.94397537e-01 -1.05271308e-01 -9.56499840e-03 4.21023179e+01] [ 1.05266606e-01 9.94443539e-01 -9.95164474e-04 1.31196982e+00] [ 9.61661312e-03 -1.72858154e-05 9.99953759e-01 5.99584678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52185806399999 meters 0.014824239965279163 Centerline is valid? [True, True] Translation: X:42.16, Y:1.32, Z:0.06 [[ 9.94399882e-01 -1.05224764e-01 -9.82969352e-03 4.21597723e+01] [ 1.05219768e-01 9.94448465e-01 -1.02545571e-03 1.31915533e+00] [ 9.88302697e-03 -1.45650365e-05 9.99951162e-01 5.95964948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581858063999995 meters 0.014814629890744278 Centerline is valid? [True, True] Translation: X:42.22, Y:1.33, Z:0.06 [[ 9.94356908e-01 -1.05613221e-01 -1.00093675e-02 4.22178110e+01] [ 1.05608031e-01 9.94407284e-01 -1.04708823e-03 1.32501017e+00] [ 1.00639743e-02 -1.58901802e-05 9.99949357e-01 6.03460509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641858064 meters 0.01489639016124123 Centerline is valid? [True, True] Translation: X:42.28, Y:1.33, Z:0.06 [[ 9.94245340e-01 -1.06723300e-01 -9.29195006e-03 4.22755637e+01] [ 1.06718851e-01 9.94288759e-01 -9.74674569e-04 1.33007591e+00] [ 9.34290198e-03 -2.25605891e-05 9.99956354e-01 6.14876989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70185806399999 meters 0.015021446541155059 Centerline is valid? [True, True] Translation: X:42.33, Y:1.34, Z:0.06 [[ 9.94169751e-01 -1.07457377e-01 -8.91166853e-03 4.23337006e+01] [ 1.07453292e-01 9.94209692e-01 -9.37285201e-04 1.33649363e+00] [ 8.96078544e-03 -2.57675272e-05 9.99959851e-01 6.21200892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761858063999995 meters 0.015095369913663443 Centerline is valid? [True, True] Translation: X:42.39, Y:1.34, Z:0.06 [[ 9.94074974e-01 -1.08255053e-01 -9.78719491e-03 4.23926103e+01] [ 1.08250140e-01 9.94123153e-01 -1.03188895e-03 1.34161530e+00] [ 9.84138425e-03 -3.36902371e-05 9.99951572e-01 6.21463534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821858064 meters 0.015339631992298769 Centerline is valid? [True, True] Translation: X:42.45, Y:1.35, Z:0.06 [[ 9.94003141e-01 -1.08900985e-01 -9.91620974e-03 4.24500132e+01] [ 1.08895964e-01 9.94052601e-01 -1.04651451e-03 1.34696674e+00] [ 9.97120055e-03 -3.95965134e-05 9.99950286e-01 6.18047570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88185806399999 meters 0.015369896390863405 Centerline is valid? [True, True] Translation: X:42.51, Y:1.35, Z:0.06 [[ 9.93955771e-01 -1.09345562e-01 -9.77104345e-03 4.25073285e+01] [ 1.09340691e-01 9.94003796e-01 -1.03297571e-03 1.35167538e+00] [ 9.82540559e-03 -4.16404765e-05 9.99951729e-01 6.11353240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941858063999994 meters 0.015393368101982906 Centerline is valid? [True, True] Translation: X:42.56, Y:1.36, Z:0.06 [[ 9.93923215e-01 -1.09683864e-01 -9.27865901e-03 4.25648127e+01] [ 1.09679463e-01 9.93966523e-01 -9.83396449e-04 1.35644184e+00] [ 9.33053915e-03 -4.02577766e-05 9.99956469e-01 6.17264760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001858064 meters 0.015578844083411146 Centerline is valid? [True, True] Translation: X:42.62, Y:1.36, Z:0.06 [[ 9.93863848e-01 -1.10175552e-01 -9.79793583e-03 4.26230366e+01] [ 1.10170642e-01 9.93912142e-01 -1.04110849e-03 1.36117351e+00] [ 9.85299209e-03 -4.47247925e-05 9.99951457e-01 6.13816551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06185806399999 meters 0.015643474065721478 Centerline is valid? [True, True] Translation: X:42.68, Y:1.37, Z:0.06 [[ 9.93814076e-01 -1.10460166e-01 -1.14949243e-02 4.26822587e+01] [ 1.10453393e-01 9.93880551e-01 -1.22436194e-03 1.36528961e+00] [ 1.15598249e-02 -5.28652467e-05 9.99933182e-01 6.18316889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121858063999994 meters 0.015895176602531345 Centerline is valid? [True, True] Translation: X:42.74, Y:1.37, Z:0.06 [[ 9.93666097e-01 -1.11602979e-01 -1.31325344e-02 4.27412808e+01] [ 1.11594195e-01 9.93752872e-01 -1.40206154e-03 1.36931650e+00] [ 1.32069680e-02 -7.23335734e-05 9.99912782e-01 6.06686554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181858064 meters 0.015990569836378844 Centerline is valid? [True, True] Translation: X:42.80, Y:1.37, Z:0.06 [[ 9.93524963e-01 -1.12867989e-01 -1.29986871e-02 4.27988480e+01] [ 1.12859444e-01 9.93609989e-01 -1.39139637e-03 1.37351954e+00] [ 1.30726695e-02 -8.46375731e-05 9.99914545e-01 6.10737374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24185806399999 meters 0.01612303346257794 Centerline is valid? [True, True] Translation: X:42.86, Y:1.37, Z:0.06 [[ 9.93327632e-01 -1.14708274e-01 -1.19259522e-02 4.28561895e+01] [ 1.14701195e-01 9.93399216e-01 -1.27813005e-03 1.37467687e+00] [ 1.19938437e-02 -9.83190769e-05 9.99928066e-01 6.33714523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301858063999994 meters 0.016048237089236476 Centerline is valid? [True, True] Translation: X:42.91, Y:1.38, Z:0.06 [[ 9.93319826e-01 -1.14915705e-01 -1.04930538e-02 4.29144872e+01] [ 1.14910211e-01 9.93375243e-01 -1.12699435e-03 1.38157283e+00] [ 1.05530492e-02 -8.62931868e-05 9.99944311e-01 6.48602102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361858063999996 meters 0.015780849492935484 Centerline is valid? [True, True] Translation: X:42.97, Y:1.39, Z:0.06 [[ 9.93735236e-01 -1.11170179e-01 -1.14661493e-02 4.29730455e+01] [ 1.11163337e-01 9.93801383e-01 -1.23428072e-03 1.39214559e+00] [ 1.15322903e-02 -4.80671742e-05 9.99933500e-01 6.39141654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421858064 meters 0.01548247167516442 Centerline is valid? [True, True] Translation: X:43.03, Y:1.40, Z:0.06 [[ 9.94199362e-01 -1.06702705e-01 -1.34966898e-02 4.30313932e+01] [ 1.06692767e-01 9.94290970e-01 -1.45626073e-03 1.40182228e+00] [ 1.35750238e-02 7.81429756e-06 9.99907855e-01 6.39600238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481858063999994 meters 0.015500788626052758 Centerline is valid? [True, True] Translation: X:43.09, Y:1.41, Z:0.06 [[ 9.94416490e-01 -1.04647161e-01 -1.35947393e-02 4.30884497e+01] [ 1.04636835e-01 9.94509412e-01 -1.47066118e-03 1.41010888e+00] [ 1.36739967e-02 3.99392427e-05 9.99906506e-01 6.32503730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541858063999996 meters 0.015758136193267547 Centerline is valid? [True, True] Translation: X:43.15, Y:1.42, Z:0.06 [[ 9.94606986e-01 -1.02718312e-01 -1.43489025e-02 4.31469707e+01] [ 1.02706556e-01 9.94710482e-01 -1.55580826e-03 1.41808269e+00] [ 1.44328137e-02 7.36914179e-05 9.99895839e-01 6.17149991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601858064 meters 0.01578615632015449 Centerline is valid? [True, True] Translation: X:43.20, Y:1.42, Z:0.06 [[ 9.94634187e-01 -1.02472193e-01 -1.42226371e-02 4.32038956e+01] [ 1.02460591e-01 9.94735866e-01 -1.54393579e-03 1.42412820e+00] [ 1.43059778e-02 7.83915141e-05 9.99897661e-01 6.09171161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66185806399999 meters 0.015695517451683773 Centerline is valid? [True, True] Translation: X:43.26, Y:1.43, Z:0.06 [[ 9.94660810e-01 -1.02208370e-01 -1.42591148e-02 4.32620336e+01] [ 1.02196625e-01 9.94763008e-01 -1.55179411e-03 1.42967573e+00] [ 1.43430462e-02 8.62753759e-05 9.99897129e-01 6.18893417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721858063999996 meters 0.01565834817385729 Centerline is valid? [True, True] Translation: X:43.32, Y:1.44, Z:0.06 [[ 9.94734697e-01 -1.01674552e-01 -1.28517771e-02 4.33202374e+01] [ 1.01664926e-01 9.94817711e-01 -1.40186975e-03 1.43507568e+00] [ 1.29277099e-02 8.79135246e-05 9.99916430e-01 6.34946402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781858064 meters 0.015515607653689605 Centerline is valid? [True, True] Translation: X:43.38, Y:1.44, Z:0.06 [[ 9.94696610e-01 -1.02178963e-01 -1.17521476e-02 4.33792611e+01] [ 1.02170914e-01 9.94766030e-01 -1.28484309e-03 1.43974353e+00] [ 1.18219212e-02 7.73014062e-05 9.99930116e-01 6.44830158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84185806399999 meters 0.015428559710009969 Centerline is valid? [True, True] Translation: X:43.44, Y:1.44, Z:0.06 [[ 9.94631859e-01 -1.02895761e-01 -1.09511700e-02 4.34384375e+01] [ 1.02888786e-01 9.94692142e-01 -1.19996993e-03 1.44489225e+00] [ 1.10165146e-02 6.67757339e-05 9.99939314e-01 6.36248423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901858063999995 meters 0.015405742225077564 Centerline is valid? [True, True] Translation: X:43.49, Y:1.45, Z:0.06 [[ 9.94616172e-01 -1.03030772e-01 -1.11053918e-02 4.34949712e+01] [ 1.03023590e-01 9.94678167e-01 -1.21832984e-03 1.44862568e+00] [ 1.11718162e-02 6.76532328e-05 9.99937591e-01 6.30235378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961858064 meters 0.015447494240906573 Centerline is valid? [True, True] Translation: X:43.55, Y:1.45, Z:0.06 [[ 9.94492827e-01 -1.04081272e-01 -1.22925515e-02 4.35536819e+01] [ 1.04072517e-01 9.94568793e-01 -1.35143798e-03 1.45342879e+00] [ 1.23664475e-02 6.46785939e-05 9.99923530e-01 6.24674607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02185806399999 meters 0.015446017695416585 Centerline is valid? [True, True] Translation: X:43.61, Y:1.46, Z:0.06 [[ 9.94326737e-01 -1.05531269e-01 -1.33226178e-02 4.36121070e+01] [ 1.05521067e-01 9.94415984e-01 -1.46830597e-03 1.45695160e+00] [ 1.34031763e-02 5.41590238e-05 9.99910172e-01 6.17062091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081858063999995 meters 0.015290785716666947 Centerline is valid? [True, True] Translation: X:43.67, Y:1.46, Z:0.06 [[ 9.94020162e-01 -1.08442836e-01 -1.28089084e-02 4.36706062e+01] [ 1.08433607e-01 9.94102686e-01 -1.41492721e-03 1.46009014e+00] [ 1.28868090e-02 1.75500385e-05 9.99916961e-01 6.31376939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141858064 meters 0.015370492936166574 Centerline is valid? [True, True] Translation: X:43.73, Y:1.46, Z:0.06 [[ 9.93636807e-01 -1.11915236e-01 -1.26836723e-02 4.37290524e+01] [ 1.11906423e-01 9.93717756e-01 -1.40466619e-03 1.46323450e+00] [ 1.27611939e-02 -2.36563665e-05 9.99918572e-01 6.33622639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20185806399999 meters 0.015965543053588056 Centerline is valid? [True, True] Translation: X:43.79, Y:1.46, Z:0.06 [[ 9.92984027e-01 -1.17694163e-01 -1.14370284e-02 4.37875879e+01] [ 1.17687367e-01 9.93049886e-01 -1.26774801e-03 1.46389051e+00] [ 1.15067463e-02 -8.71402341e-05 9.99933791e-01 6.40337060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261858063999995 meters 0.016631907318013256 Centerline is valid? [True, True] Translation: X:43.85, Y:1.47, Z:0.06 [[ 9.92567180e-01 -1.21105517e-01 -1.19936266e-02 4.38452378e+01] [ 1.21098280e-01 9.92639631e-01 -1.33047381e-03 1.46619227e+00] [ 1.20664768e-02 -1.31822925e-04 9.99927189e-01 6.40384519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321858064 meters 0.016913994442438088 Centerline is valid? [True, True] Translation: X:43.90, Y:1.47, Z:0.06 [[ 9.92466474e-01 -1.21838190e-01 -1.28745090e-02 4.39041588e+01] [ 1.21829875e-01 9.92549965e-01 -1.43109529e-03 1.47302904e+00] [ 1.29529555e-02 -1.48185726e-04 9.99916096e-01 6.31515094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38185806399999 meters 0.016875126079370886 Centerline is valid? [True, True] Translation: X:43.96, Y:1.48, Z:0.06 [[ 9.92589153e-01 -1.20881741e-01 -1.24248832e-02 4.39613842e+01] [ 1.20873907e-01 9.92666907e-01 -1.38226747e-03 1.48077576e+00] [ 1.25008613e-02 -1.29820484e-04 9.99921853e-01 6.35377098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441858063999994 meters 0.01636660157612321 Centerline is valid? [True, True] Translation: X:44.02, Y:1.49, Z:0.07 [[ 9.92704994e-01 -1.20036496e-01 -1.13152297e-02 4.40196329e+01] [ 1.20029914e-01 9.92769474e-01 -1.26145007e-03 1.48940445e+00] [ 1.13848347e-02 -1.05918265e-04 9.99935185e-01 6.65270762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501858064 meters 0.01635624791188271 Centerline is valid? [True, True] Translation: X:44.08, Y:1.50, Z:0.07 [[ 9.92844269e-01 -1.18984753e-01 -1.01432669e-02 4.40777215e+01] [ 1.18979385e-01 9.92896078e-01 -1.13324169e-03 1.49808665e+00] [ 1.02060485e-02 -8.17071472e-05 9.99947914e-01 6.76096526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56185806399999 meters 0.016351723815216265 Centerline is valid? [True, True] Translation: X:44.14, Y:1.51, Z:0.07 [[ 9.92977350e-01 -1.17919441e-01 -9.53871150e-03 4.41360408e+01] [ 1.17914622e-01 9.93023162e-01 -1.06797318e-03 1.50789107e+00] [ 9.59809626e-03 -6.42803846e-05 9.99953935e-01 6.74997094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621858063999994 meters 0.016196385685968397 Centerline is valid? [True, True] Translation: X:44.19, Y:1.52, Z:0.07 [[ 9.93155072e-01 -1.16455779e-01 -9.00302893e-03 4.41928420e+01] [ 1.16451418e-01 9.93195877e-01 -1.00887717e-03 1.51838925e+00] [ 9.05926079e-03 -4.64440046e-05 9.99958963e-01 6.77201009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681858064 meters 0.016081187593330853 Centerline is valid? [True, True] Translation: X:44.25, Y:1.53, Z:0.07 [[ 9.93160674e-01 -1.16296328e-01 -1.03459931e-02 4.42510677e+01] [ 1.16290535e-01 9.93214560e-01 -1.16181837e-03 1.52685299e+00] [ 1.04109062e-02 -4.92687585e-05 9.99945804e-01 6.82523000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74185806399999 meters 0.016147900650098232 Centerline is valid? [True, True] Translation: X:44.31, Y:1.54, Z:0.07 [[ 9.93067106e-01 -1.16841763e-01 -1.28734442e-02 4.43090046e+01] [ 1.16832798e-01 9.93150542e-01 -1.44887225e-03 1.53602556e+00] [ 1.29545568e-02 -6.52131210e-05 9.99916084e-01 6.54733036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801858063999994 meters 0.01643394366723695 Centerline is valid? [True, True] Translation: X:44.37, Y:1.54, Z:0.06 [[ 9.92623767e-01 -1.20316095e-01 -1.49028576e-02 4.43672400e+01] [ 1.20304416e-01 9.92735625e-01 -1.68098905e-03 1.54288459e+00] [ 1.49968477e-02 -1.24289891e-04 9.99887533e-01 6.43179070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861858063999996 meters 0.01667880881805012 Centerline is valid? [True, True] Translation: X:44.43, Y:1.55, Z:0.06 [[ 9.92135577e-01 -1.24068514e-01 -1.65529649e-02 4.44263981e+01] [ 1.24054558e-01 9.92273634e-01 -1.87125312e-03 1.54689800e+00] [ 1.66572342e-02 -1.96933958e-04 9.99861239e-01 6.46997241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921858064 meters 0.017208471822085375 Centerline is valid? [True, True] Translation: X:44.48, Y:1.55, Z:0.07 [[ 9.91677753e-01 -1.27732166e-01 -1.61160862e-02 4.44848352e+01] [ 1.27719356e-01 9.91808667e-01 -1.82583708e-03 1.55150763e+00] [ 1.62172921e-02 -2.47694134e-04 9.99868460e-01 6.67299565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981858063999994 meters 0.01681898103536024 Centerline is valid? [True, True] Translation: X:44.54, Y:1.56, Z:0.07 [[ 9.91534299e-01 -1.28974030e-01 -1.50144258e-02 4.45424792e+01] [ 1.28962988e-01 9.91647941e-01 -1.70534580e-03 1.56104344e+00] [ 1.51089698e-02 -2.45396364e-04 9.99885823e-01 6.89854657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041858063999996 meters 0.017391000124197163 Centerline is valid? [True, True] Translation: X:44.60, Y:1.57, Z:0.07 [[ 9.91538717e-01 -1.29015702e-01 -1.43499402e-02 4.46005343e+01] [ 1.29005600e-01 9.91642523e-01 -1.63131922e-03 1.56649691e+00] [ 1.44404767e-02 -2.33706477e-04 9.99895704e-01 6.97668240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101858064 meters 0.017477509603319775 Centerline is valid? [True, True] Translation: X:44.66, Y:1.57, Z:0.07 [[ 9.91646440e-01 -1.28104229e-01 -1.50546951e-02 4.46576538e+01] [ 1.28092986e-01 9.91760684e-01 -1.71272529e-03 1.57407016e+00] [ 1.51500621e-02 -2.29982906e-04 9.99885205e-01 7.04639390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16185806399999 meters 0.01655622976142114 Centerline is valid? [True, True] Translation: X:44.72, Y:1.58, Z:0.07 [[ 9.91714189e-01 -1.27458428e-01 -1.60410707e-02 4.47153180e+01] [ 1.27445507e-01 9.91843887e-01 -1.82940437e-03 1.58439998e+00] [ 1.61434110e-02 -2.30116119e-04 9.99869660e-01 7.28646575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221858063999996 meters 0.01596349824487105 Centerline is valid? [True, True] Translation: X:44.77, Y:1.60, Z:0.07 [[ 9.92066237e-01 -1.24777745e-01 -1.53328401e-02 4.47734348e+01] [ 1.24765559e-01 9.92184703e-01 -1.75251526e-03 1.59667929e+00] [ 1.54316843e-02 -1.74399151e-04 9.99880909e-01 7.39271803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281858064 meters 0.015517830402881466 Centerline is valid? [True, True] Translation: X:44.83, Y:1.61, Z:0.07 [[ 9.92582533e-01 -1.20343089e-01 -1.72468966e-02 4.48315981e+01] [ 1.20326926e-01 9.92732355e-01 -1.97561069e-03 1.60853166e+00] [ 1.73593033e-02 -1.14309385e-04 9.99849309e-01 7.42096691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34185806399999 meters 0.015280915813070731 Centerline is valid? [True, True] Translation: X:44.89, Y:1.62, Z:0.07 [[ 9.92937724e-01 -1.17176851e-01 -1.85543207e-02 4.48889321e+01] [ 1.17157493e-01 9.93111062e-01 -2.13062988e-03 1.61921523e+00] [ 1.86761616e-02 -5.81949184e-05 9.99825584e-01 7.47887777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401858063999995 meters 0.014989299752854587 Centerline is valid? [True, True] Translation: X:44.95, Y:1.63, Z:0.08 [[ 9.93479170e-01 -1.12621264e-01 -1.77648569e-02 4.49471554e+01] [ 1.12602710e-01 9.93637987e-01 -2.04443412e-03 1.63202225e+00] [ 1.78820834e-02 3.07316725e-05 9.99840102e-01 7.78822888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461858064 meters 0.014889332616318036 Centerline is valid? [True, True] Translation: X:45.00, Y:1.64, Z:0.08 [[ 9.93657155e-01 -1.11055510e-01 -1.76672689e-02 4.50048070e+01] [ 1.11036822e-01 9.93814203e-01 -2.03825687e-03 1.64175109e+00] [ 1.77843425e-02 6.36111218e-05 9.99841844e-01 7.86852856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52185806399999 meters 0.014840522244826697 Centerline is valid? [True, True] Translation: X:45.06, Y:1.65, Z:0.08 [[ 9.93700605e-01 -1.10362953e-01 -1.94711778e-02 4.50636069e+01] [ 1.10340022e-01 9.93891348e-01 -2.25139547e-03 1.64973860e+00] [ 1.96007058e-02 8.87628600e-05 9.99807884e-01 8.01013555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581858063999995 meters 0.014753603422767093 Centerline is valid? [True, True] Translation: X:45.12, Y:1.66, Z:0.08 [[ 9.93532470e-01 -1.11640020e-01 -2.07300951e-02 4.51223702e+01] [ 1.11614195e-01 9.93748711e-01 -2.40227408e-03 1.65694024e+00] [ 2.08686952e-02 7.29644298e-05 9.99782222e-01 8.09211512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641858064 meters 0.014749636275920205 Centerline is valid? [True, True] Translation: X:45.18, Y:1.66, Z:0.08 [[ 9.93357767e-01 -1.13184409e-01 -2.07276554e-02 4.51804317e+01] [ 1.13158801e-01 9.93573997e-01 -2.40796296e-03 1.66264433e+00] [ 2.08670033e-02 4.64520709e-05 9.99782259e-01 8.24454905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70185806399999 meters 0.014709217225765295 Centerline is valid? [True, True] Translation: X:45.24, Y:1.67, Z:0.08 [[ 9.93154683e-01 -1.14861947e-01 -2.12252131e-02 4.52392017e+01] [ 1.14835362e-01 9.93381464e-01 -2.47118338e-03 1.66708849e+00] [ 2.13685782e-02 1.68623076e-05 9.99771666e-01 8.41275499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761858063999995 meters 0.014695434878361188 Centerline is valid? [True, True] Translation: X:45.30, Y:1.67, Z:0.09 [[ 9.92934722e-01 -1.16847852e-01 -2.06692241e-02 4.52982178e+01] [ 1.16822964e-01 9.93149827e-01 -2.41165006e-03 1.67249772e+00] [ 2.08094325e-02 -2.00289444e-05 9.99783460e-01 8.56539042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821858064 meters 0.014694668972795089 Centerline is valid? [True, True] Translation: X:45.36, Y:1.68, Z:0.09 [[ 9.92815650e-01 -1.17805588e-01 -2.09506234e-02 4.53562563e+01] [ 1.17780103e-01 9.93036677e-01 -2.45052298e-03 1.67911631e+00] [ 2.10934228e-02 -3.46490350e-05 9.99777508e-01 8.67988580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88185806399999 meters 0.014956248269802953 Centerline is valid? [True, True] Translation: X:45.41, Y:1.68, Z:0.09 [[ 9.92682145e-01 -1.18804969e-01 -2.16226348e-02 4.54139552e+01] [ 1.18778015e-01 9.92917608e-01 -2.53123063e-03 1.68405085e+00] [ 2.17702176e-02 -5.55861782e-05 9.99762999e-01 8.63720316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941858063999994 meters 0.015137819941664665 Centerline is valid? [True, True] Translation: X:45.47, Y:1.69, Z:0.09 [[ 9.92552831e-01 -1.19673841e-01 -2.27387279e-02 4.54722835e+01] [ 1.19644213e-01 9.92813258e-01 -2.66387929e-03 1.68809531e+00] [ 2.28941072e-02 -7.65162727e-05 9.99737893e-01 8.59482725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001858064 meters 0.015191658276270248 Centerline is valid? [True, True] Translation: X:45.53, Y:1.69, Z:0.08 [[ 9.92500223e-01 -1.20094630e-01 -2.28163826e-02 4.55304217e+01] [ 1.20064768e-01 9.92762446e-01 -2.67917623e-03 1.69393591e+00] [ 2.29730025e-02 -8.03606916e-05 9.99736083e-01 8.49786829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06185806399999 meters 0.01525165942933187 Centerline is valid? [True, True] Translation: X:45.59, Y:1.70, Z:0.09 [[ 9.92619813e-01 -1.19387698e-01 -2.12716605e-02 4.55883914e+01] [ 1.19361539e-01 9.92847709e-01 -2.49976420e-03 1.69901090e+00] [ 2.14179605e-02 -5.77026567e-05 9.99770608e-01 8.51616628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121858063999994 meters 0.014839285673608317 Centerline is valid? [True, True] Translation: X:45.65, Y:1.70, Z:0.09 [[ 9.92574780e-01 -1.20041290e-01 -1.96314854e-02 4.56467582e+01] [ 1.20019042e-01 9.92768898e-01 -2.31185531e-03 1.70454317e+00] [ 1.97670462e-02 -6.14627891e-05 9.99804611e-01 8.73625190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181858064 meters 0.015175511355546885 Centerline is valid? [True, True] Translation: X:45.70, Y:1.71, Z:0.09 [[ 9.92301076e-01 -1.22725799e-01 -1.66418868e-02 4.57044672e+01] [ 1.22710162e-01 9.92440612e-01 -1.96138654e-03 1.70709778e+00] [ 1.67567971e-02 -9.58426470e-05 9.99859590e-01 8.63864807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24185806399999 meters 0.015577439214105445 Centerline is valid? [True, True] Translation: X:45.76, Y:1.71, Z:0.09 [[ 9.91799449e-01 -1.27087166e-01 -1.35168845e-02 4.57637155e+01] [ 1.27077210e-01 9.91891544e-01 -1.59637813e-03 1.70782016e+00] [ 1.36101626e-02 -1.34401025e-04 9.99907368e-01 8.75000572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301858063999994 meters 0.01623946513435918 Centerline is valid? [True, True] Translation: X:45.82, Y:1.71, Z:0.09 [[ 9.91571922e-01 -1.28981248e-01 -1.22049312e-02 4.58215279e+01] [ 1.28973260e-01 9.91647022e-01 -1.44264985e-03 1.71122484e+00] [ 1.22890585e-02 -1.43618685e-04 9.99924476e-01 8.56131657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361858063999996 meters 0.016338150373094298 Centerline is valid? [True, True] Translation: X:45.88, Y:1.72, Z:0.08 [[ 9.91325923e-01 -1.31033882e-01 -1.01506234e-02 4.58794839e+01] [ 1.31028436e-01 9.91377881e-01 -1.20256045e-03 1.71531956e+00] [ 1.02206796e-02 -1.37890961e-04 9.99947758e-01 8.44439996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421858064 meters 0.016789229918109792 Centerline is valid? [True, True] Translation: X:45.94, Y:1.72, Z:0.08 [[ 9.91175679e-01 -1.32223202e-01 -9.37004371e-03 4.59368912e+01] [ 1.32218590e-01 9.91219959e-01 -1.11273112e-03 1.72054057e+00] [ 9.43490321e-03 -1.35981946e-04 9.99955481e-01 8.42372393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481858063999994 meters 0.01735553286447652 Centerline is valid? [True, True] Translation: X:46.00, Y:1.72, Z:0.08 [[ 9.90773172e-01 -1.35307577e-01 -7.77057778e-03 4.59961079e+01] [ 1.35304485e-01 9.90803634e-01 -9.24699505e-04 1.72363699e+00] [ 7.82423556e-03 -1.35226560e-04 9.99969381e-01 8.30609852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541858063999996 meters 0.0178361559363548 Centerline is valid? [True, True] Translation: X:46.05, Y:1.73, Z:0.08 [[ 9.90477853e-01 -1.37483909e-01 -7.19702330e-03 4.60542507e+01] [ 1.37481308e-01 9.90503990e-01 -8.57204022e-04 1.72854398e+00] [ 7.24653206e-03 -1.40414579e-04 9.99973734e-01 8.16530454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601858064 meters 0.019095547645587387 Centerline is valid? [True, True] Translation: X:46.11, Y:1.73, Z:0.08 [[ 9.90103850e-01 -1.40213709e-01 -5.87215910e-03 4.61125560e+01] [ 1.40212023e-01 9.90121255e-01 -6.99903801e-04 1.73008969e+00] [ 5.91228564e-03 -1.30369860e-04 9.99982514e-01 8.09472388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66185806399999 meters 0.01860019861147001 Centerline is valid? [True, True] Translation: X:46.17, Y:1.74, Z:0.08 [[ 9.89864001e-01 -1.41994712e-01 -2.60028649e-03 4.61706842e+01] [ 1.41994386e-01 9.89867414e-01 -3.10394909e-04 1.73860656e+00] [ 2.61801330e-03 -6.19773375e-05 9.99996571e-01 8.19059039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721858063999996 meters 0.018505605540212553 Centerline is valid? [True, True] Translation: X:46.23, Y:1.75, Z:0.08 [[ 9.89902139e-01 -1.41744223e-01 -1.52684861e-03 4.62287752e+01] [ 1.41744110e-01 9.89903315e-01 -1.82550930e-04 1.74752707e+00] [ 1.53730804e-03 -3.57142421e-05 9.99998818e-01 8.12868340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781858064 meters 0.01823710734016232 Centerline is valid? [True, True] Translation: X:46.29, Y:1.76, Z:0.08 [[ 9.90105608e-01 -1.40323360e-01 -4.90116384e-04 4.62868363e+01] [ 1.40323348e-01 9.90105729e-01 -5.85748771e-05 1.75672846e+00] [ 4.93486463e-04 -1.07794579e-05 9.99999878e-01 8.10197183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84185806399999 meters 0.01818326990259274 Centerline is valid? [True, True] Translation: X:46.34, Y:1.77, Z:0.08 [[ 9.90259575e-01 -1.39226433e-01 1.40510668e-03 4.63449065e+01] [ 1.39226333e-01 9.90260572e-01 1.69107642e-04 1.76866000e+00] [-1.41496600e-03 2.81673896e-05 9.99998999e-01 8.05607645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901858063999995 meters 0.01803830099354117 Centerline is valid? [True, True] Translation: X:46.40, Y:1.78, Z:0.08 [[ 9.90502934e-01 -1.37484639e-01 1.38260803e-03 4.64026628e+01] [ 1.37484540e-01 9.90503899e-01 1.66744314e-04 1.77898489e+00] [-1.39240342e-03 2.49264961e-05 9.99999030e-01 7.97858540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961858064 meters 0.01742913608913792 Centerline is valid? [True, True] Translation: X:46.46, Y:1.79, Z:0.08 [[ 9.90983268e-01 -1.33962011e-01 2.51828709e-03 4.64608604e+01] [ 1.33961671e-01 9.90986467e-01 3.04168469e-04 1.79088509e+00] [-2.53633544e-03 3.59280833e-05 9.99996783e-01 7.98794201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02185806399999 meters 0.01734237467457277 Centerline is valid? [True, True] Translation: X:46.52, Y:1.80, Z:0.08 [[ 9.91384727e-01 -1.30940574e-01 3.29990321e-03 4.65178241e+01] [ 1.30939972e-01 9.91390218e-01 3.98659226e-04 1.80233613e+00] [-3.32369243e-03 3.68645662e-05 9.99994476e-01 7.96344400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081858063999995 meters 0.017108060541477933 Centerline is valid? [True, True] Translation: X:46.58, Y:1.82, Z:0.08 [[ 9.91965142e-01 -1.26419072e-01 4.83470892e-03 4.65754032e+01] [ 1.26417720e-01 9.91976924e-01 5.85381856e-04 1.81643462e+00] [-4.86992312e-03 3.05144828e-05 9.99988141e-01 8.05254370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141858064 meters 0.01719990116464357 Centerline is valid? [True, True] Translation: X:46.63, Y:1.83, Z:0.08 [[ 9.92499335e-01 -1.22143768e-01 5.09603759e-03 4.66335790e+01] [ 1.22142204e-01 9.92512418e-01 6.18317797e-04 1.82851986e+00] [-5.13340426e-03 8.76125917e-06 9.99986824e-01 8.10395329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20185806399999 meters 0.017272368887915435 Centerline is valid? [True, True] Translation: X:46.69, Y:1.84, Z:0.08 [[ 9.92868371e-01 -1.19135313e-01 4.37903127e-03 4.66893314e+01] [ 1.19134127e-01 9.92878027e-01 5.31789850e-04 1.83926462e+00] [-4.41119888e-03 -6.30525653e-06 9.99990271e-01 8.07409821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261858063999995 meters 0.01751537276694996 Centerline is valid? [True, True] Translation: X:46.75, Y:1.85, Z:0.08 [[ 9.93358834e-01 -1.15024215e-01 2.76725673e-03 4.67459112e+01] [ 1.15023724e-01 9.93362688e-01 3.36461116e-04 1.85205758e+00] [-2.78759076e-03 -1.59264464e-05 9.99996115e-01 7.80969738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321858064 meters 0.01752741386124847 Centerline is valid? [True, True] Translation: X:46.80, Y:1.86, Z:0.08 [[ 9.93548987e-01 -1.13381951e-01 2.22348658e-03 4.68046007e+01] [ 1.13381628e-01 9.93551475e-01 2.71035307e-04 1.85931736e+00] [-2.23987888e-03 -1.71843272e-05 9.99997491e-01 7.80157744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38185806399999 meters 0.01790029795180813 Centerline is valid? [True, True] Translation: X:46.86, Y:1.87, Z:0.08 [[ 9.93753084e-01 -1.11585606e-01 1.86050770e-03 4.68626789e+01] [ 1.11585376e-01 9.93754825e-01 2.27292399e-04 1.86688046e+00] [-1.87425106e-03 -1.82670718e-05 9.99998243e-01 7.75251870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441858063999994 meters 0.019670511017846722 Centerline is valid? [True, True] Translation: X:46.92, Y:1.87, Z:0.07 [[ 9.93717752e-01 -1.11907082e-01 1.35470950e-03 4.69203173e+01] [ 1.11906959e-01 9.93718675e-01 1.65996156e-04 1.87214493e+00] [-1.36477627e-03 -1.33519056e-05 9.99999069e-01 7.48733405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501858064 meters 0.01789363534338883 Centerline is valid? [True, True] Translation: X:46.98, Y:1.88, Z:0.08 [[ 9.93584877e-01 -1.13083488e-01 1.10280027e-03 4.69783179e+01] [ 1.13083408e-01 9.93585489e-01 1.35500365e-04 1.87576787e+00] [-1.11104920e-03 -9.92270148e-06 9.99999383e-01 7.57187563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56185806399999 meters 0.01799320758615993 Centerline is valid? [True, True] Translation: X:47.04, Y:1.88, Z:0.07 [[ 9.93340735e-01 -1.15206643e-01 1.26988320e-03 4.70360438e+01] [ 1.15206538e-01 9.93341547e-01 1.55929822e-04 1.87861788e+00] [-1.27939189e-03 -8.59259707e-06 9.99999182e-01 7.45440825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621858063999994 meters 0.01784432745183299 Centerline is valid? [True, True] Translation: X:47.10, Y:1.88, Z:0.07 [[ 9.93070836e-01 -1.17514972e-01 7.38920521e-04 4.70956636e+01] [ 1.17514937e-01 9.93071111e-01 9.10898746e-05 1.87817261e+00] [-7.44505047e-04 -3.62449977e-06 9.99999723e-01 7.46491517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681858064 meters 0.017895171620709305 Centerline is valid? [True, True] Translation: X:47.15, Y:1.88, Z:0.07 [[ 9.93265058e-01 -1.15864199e-01 -1.11967293e-04 4.71531372e+01] [ 1.15864198e-01 9.93265064e-01 -1.37035307e-05 1.88216432e+00] [ 1.12800949e-04 6.38237613e-07 9.99999994e-01 7.44506030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74185806399999 meters 0.01801247796039386 Centerline is valid? [True, True] Translation: X:47.21, Y:1.89, Z:0.07 [[ 9.93451545e-01 -1.14244575e-01 -1.48484691e-03 4.72119444e+01] [ 1.14244430e-01 9.93452655e-01 -1.82892140e-04 1.88880873e+00] [ 1.49601954e-03 1.20589912e-05 9.99998881e-01 7.31892951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801858063999994 meters 0.018027910670282997 Centerline is valid? [True, True] Translation: X:47.27, Y:1.89, Z:0.07 [[ 9.93617878e-01 -1.12764070e-01 -2.78878332e-03 4.72696729e+01] [ 1.12763548e-01 9.93621791e-01 -3.44064231e-04 1.89299302e+00] [ 2.80979396e-03 2.73952689e-05 9.99996052e-01 7.25907022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861858063999996 meters 0.017688783567894825 Centerline is valid? [True, True] Translation: X:47.33, Y:1.90, Z:0.07 [[ 9.93339871e-01 -1.15162619e-01 -3.67030511e-03 4.73273737e+01] [ 1.15161731e-01 9.93346652e-01 -4.53156543e-04 1.89524907e+00] [ 3.69807199e-03 2.74597737e-05 9.99993162e-01 7.33860725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921858064 meters 0.017108956085691296 Centerline is valid? [True, True] Translation: X:47.39, Y:1.90, Z:0.08 [[ 9.92921163e-01 -1.18743390e-01 -2.75163521e-03 4.73857935e+01] [ 1.18742903e-01 9.92924976e-01 -3.40259257e-04 1.89910428e+00] [ 2.77257086e-03 1.11134644e-05 9.99996156e-01 7.50379313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981858063999994 meters 0.01687336268659102 Centerline is valid? [True, True] Translation: X:47.44, Y:1.90, Z:0.08 [[ 9.92159281e-01 -1.24977807e-01 -7.13650527e-04 4.74442251e+01] [ 1.24977776e-01 9.92159537e-01 -8.82608142e-05 1.90185238e+00] [ 7.19085820e-04 -1.62166987e-06 9.99999741e-01 7.69988410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041858063999996 meters 0.016810774425171215 Centerline is valid? [True, True] Translation: X:47.50, Y:1.91, Z:0.08 [[ 9.91529618e-01 -1.29878079e-01 -8.37009300e-04 4.75034830e+01] [ 1.29878038e-01 9.91529972e-01 -1.03804673e-04 1.90526608e+00] [ 8.43401759e-04 -5.78371755e-06 9.99999644e-01 7.75940561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101858064 meters 0.01696705441283167 Centerline is valid? [True, True] Translation: X:47.56, Y:1.91, Z:0.08 [[ 9.91320439e-01 -1.31453394e-01 -1.94751670e-03 4.75607901e+01] [ 1.31453172e-01 9.91322352e-01 -2.42123483e-04 1.91329168e+00] [ 1.96244479e-03 -1.59852898e-05 9.99998074e-01 7.57580889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16185806399999 meters 0.016680131729858747 Centerline is valid? [True, True] Translation: X:47.62, Y:1.92, Z:0.07 [[ 9.91719664e-01 -1.28404943e-01 -2.06862214e-03 4.76189024e+01] [ 1.28404686e-01 9.91721821e-01 -2.57553737e-04 1.92482588e+00] [ 2.08456889e-03 -1.01996694e-05 9.99997827e-01 7.45386023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221858063999996 meters 0.016555919899163538 Centerline is valid? [True, True] Translation: X:47.68, Y:1.93, Z:0.07 [[ 9.92218031e-01 -1.24481918e-01 -2.76260015e-03 4.76758094e+01] [ 1.24481441e-01 9.92221876e-01 -3.44772684e-04 1.93489912e+00] [ 2.78403027e-03 -1.80277317e-06 9.99996125e-01 7.47374063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281858064 meters 0.016510993675049622 Centerline is valid? [True, True] Translation: X:47.73, Y:1.95, Z:0.07 [[ 9.92893092e-01 -1.18952353e-01 -3.69406054e-03 4.77337456e+01] [ 1.18951457e-01 9.92899963e-01 -4.62055347e-04 1.94830752e+00] [ 3.72279515e-03 1.93576775e-05 9.99993070e-01 7.38763797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34185806399999 meters 0.01667030956573581 Centerline is valid? [True, True] Translation: X:47.79, Y:1.96, Z:0.07 [[ 9.93019626e-01 -1.17897798e-01 -3.48297772e-03 4.77913379e+01] [ 1.17896992e-01 9.93025734e-01 -4.36608369e-04 1.95751951e+00] [ 3.51016167e-03 2.29280828e-05 9.99993839e-01 7.38808631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401858063999995 meters 0.016837933856695356 Centerline is valid? [True, True] Translation: X:47.85, Y:1.97, Z:0.07 [[ 9.93448782e-01 -1.14214008e-01 -3.83123752e-03 4.78494909e+01] [ 1.14213001e-01 9.93456169e-01 -4.81287355e-04 1.96761939e+00] [ 3.86113630e-03 4.05572021e-05 9.99992545e-01 7.47945800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461858064 meters 0.016987999961711155 Centerline is valid? [True, True] Translation: X:47.91, Y:1.98, Z:0.08 [[ 9.93518937e-01 -1.13623632e-01 -3.12936605e-03 4.79068771e+01] [ 1.13622956e-01 9.93523864e-01 -3.93496409e-04 1.97538722e+00] [ 3.15381034e-03 3.53783123e-05 9.99995026e-01 7.57647494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52185806399999 meters 0.016874080484230048 Centerline is valid? [True, True] Translation: X:47.96, Y:1.98, Z:0.08 [[ 9.93491344e-01 -1.13895545e-01 -1.65942874e-03 4.79641331e+01] [ 1.13895355e-01 9.93492730e-01 -2.08929950e-04 1.98464791e+00] [ 1.67242658e-03 1.85688713e-05 9.99998601e-01 7.59233794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581858063999995 meters 0.0169969671486145 Centerline is valid? [True, True] Translation: X:48.02, Y:1.99, Z:0.08 [[ 9.93548608e-01 -1.13404310e-01 -7.91785480e-04 4.80224046e+01] [ 1.13404266e-01 9.93548923e-01 -9.97894418e-05 1.99230331e+00] [ 7.97994164e-04 9.35380941e-06 9.99999682e-01 7.72741009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641858064 meters 0.017086948619628978 Centerline is valid? [True, True] Translation: X:48.08, Y:2.00, Z:0.08 [[ 9.93552523e-01 -1.13332417e-01 -3.02431275e-03 4.80795887e+01] [ 1.13331779e-01 9.93557126e-01 -3.82164015e-04 1.99828075e+00] [ 3.04813906e-03 3.69492773e-05 9.99995354e-01 7.76652941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70185806399999 meters 0.016349125993387757 Centerline is valid? [True, True] Translation: X:48.14, Y:2.00, Z:0.07 [[ 9.93012669e-01 -1.17830907e-01 -6.45889045e-03 4.81381961e+01] [ 1.17828080e-01 9.93033673e-01 -8.17690326e-04 2.00358762e+00] [ 6.51024490e-03 5.09381888e-05 9.99978807e-01 7.41239896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761858063999995 meters 0.015821913384688878 Centerline is valid? [True, True] Translation: X:48.20, Y:2.01, Z:0.07 [[ 9.92439670e-01 -1.22498544e-01 -7.59005632e-03 4.81973627e+01] [ 1.22494763e-01 9.92468693e-01 -9.62783671e-04 2.00826798e+00] [ 7.65083287e-03 2.57625606e-05 9.99970732e-01 7.18379504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821858064 meters 0.01582519054991155 Centerline is valid? [True, True] Translation: X:48.26, Y:2.01, Z:0.07 [[ 9.91333258e-01 -1.31134080e-01 -7.88829117e-03 4.82557495e+01] [ 1.31130263e-01 9.91364641e-01 -1.00143672e-03 2.00790472e+00] [ 7.95149542e-03 -4.16361654e-05 9.99968385e-01 7.21979174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88185806399999 meters 0.016354733217317625 Centerline is valid? [True, True] Translation: X:48.31, Y:2.01, Z:0.07 [[ 9.90204741e-01 -1.39471262e-01 -6.50674195e-03 4.83147152e+01] [ 1.39468835e-01 9.90226115e-01 -8.27524869e-04 2.01120043e+00] [ 6.55856174e-03 -8.80686710e-05 9.99978489e-01 7.47648634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941858063999994 meters 0.01702409120906662 Centerline is valid? [True, True] Translation: X:48.37, Y:2.02, Z:0.07 [[ 9.89650566e-01 -1.43357937e-01 -6.34502205e-03 4.83735641e+01] [ 1.43355699e-01 9.89670900e-01 -8.08530748e-04 2.01712013e+00] [ 6.39539298e-03 -1.09432157e-04 9.99979543e-01 7.47483166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001858064 meters 0.017614156061605293 Centerline is valid? [True, True] Translation: X:48.43, Y:2.03, Z:0.07 [[ 9.89257428e-01 -1.46069531e-01 -5.78216970e-03 4.84310590e+01] [ 1.46067715e-01 9.89274319e-01 -7.37434040e-04 2.02555793e+00] [ 5.82786863e-03 -1.15076214e-04 9.99983011e-01 7.42423562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06185806399999 meters 0.016999343545886985 Centerline is valid? [True, True] Translation: X:48.49, Y:2.04, Z:0.07 [[ 9.89191875e-01 -1.46487477e-01 -6.39163569e-03 4.84885385e+01] [ 1.46485256e-01 9.89212516e-01 -8.16845282e-04 2.03686945e+00] [ 6.44234363e-03 -1.28263672e-04 9.99979240e-01 7.48675013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121858063999994 meters 0.017383545031790966 Centerline is valid? [True, True] Translation: X:48.55, Y:2.05, Z:0.07 [[ 9.89512696e-01 -1.44274992e-01 -7.02506604e-03 4.85456249e+01] [ 1.44272247e-01 9.89537625e-01 -8.98618129e-04 2.04734250e+00] [ 7.08121529e-03 -1.24328014e-04 9.99974920e-01 7.36239477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181858064 meters 0.01593558369292738 Centerline is valid? [True, True] Translation: X:48.60, Y:2.06, Z:0.07 [[ 9.89974965e-01 -1.41092962e-01 -6.50731197e-03 4.86027276e+01] [ 1.41090528e-01 9.89996347e-01 -8.33867650e-04 2.06304313e+00] [ 6.55986794e-03 -9.26119873e-05 9.99978480e-01 7.47632677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24185806399999 meters 0.015514033107813246 Centerline is valid? [True, True] Translation: X:48.66, Y:2.08, Z:0.08 [[ 9.90297783e-01 -1.38853125e-01 -5.48727628e-03 4.86602009e+01] [ 1.38851353e-01 9.90312984e-01 -7.04490513e-04 2.07559825e+00] [ 5.53194165e-03 -6.42603410e-05 9.99984697e-01 7.54759601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301858063999994 meters 0.014847482456925956 Centerline is valid? [True, True] Translation: X:48.72, Y:2.09, Z:0.08 [[ 9.90970885e-01 -1.33993060e-01 -4.75025805e-03 4.87175516e+01] [ 1.33991671e-01 9.90982270e-01 -6.11031093e-04 2.09098681e+00] [ 4.78929543e-03 -3.09809885e-05 9.99988531e-01 7.61659817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361858063999996 meters 0.014547780945712487 Centerline is valid? [True, True] Translation: X:48.77, Y:2.10, Z:0.08 [[ 9.91368253e-01 -1.31013152e-01 -4.95394321e-03 4.87739610e+01] [ 1.31011600e-01 9.91380630e-01 -6.37818423e-04 2.10349550e+00] [ 4.99480595e-03 -1.67110915e-05 9.99987526e-01 7.54244430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42185806399999 meters 0.014299596726281063 Centerline is valid? [True, True] Translation: X:48.83, Y:2.12, Z:0.08 [[ 9.91692564e-01 -1.28567257e-01 -4.03964451e-03 4.88305172e+01] [ 1.28566203e-01 9.91700792e-01 -5.20573891e-04 2.11764785e+00] [ 4.07304741e-03 -3.11249768e-06 9.99991705e-01 7.50275436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481858063999994 meters 0.014190457536612478 Centerline is valid? [True, True] Translation: X:48.89, Y:2.13, Z:0.08 [[ 9.91739526e-01 -1.28165247e-01 -5.13639585e-03 4.88880334e+01] [ 1.28163531e-01 9.91752827e-01 -6.63245589e-04 2.12674957e+00] [ 5.17904013e-03 -5.31763535e-07 9.99986589e-01 7.63641434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541858063999996 meters 0.014063677126971038 Centerline is valid? [True, True] Translation: X:48.95, Y:2.14, Z:0.08 [[ 9.91685429e-01 -1.28533630e-01 -6.25431194e-03 4.89452291e+01] [ 1.28531082e-01 9.91705151e-01 -8.09426415e-04 2.13711340e+00] [ 6.30647188e-03 -1.17709690e-06 9.99980114e-01 7.64326721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601858064 meters 0.01401050891859394 Centerline is valid? [True, True] Translation: X:49.00, Y:2.15, Z:0.07 [[ 9.91652737e-01 -1.28735742e-01 -7.20813407e-03 4.90019713e+01] [ 1.28732347e-01 9.91678934e-01 -9.34950395e-04 2.14834550e+00] [ 7.26851624e-03 -7.73897269e-07 9.99973584e-01 7.43471401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66185806399999 meters 0.013995030029068142 Centerline is valid? [True, True] Translation: X:49.06, Y:2.16, Z:0.07 [[ 9.91489203e-01 -1.30002483e-01 -6.96525921e-03 4.90596085e+01] [ 1.29999330e-01 9.91513668e-01 -9.05420666e-04 2.15647159e+00] [ 7.02385664e-03 -7.76421664e-06 9.99975332e-01 7.41849653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721858063999996 meters 0.014037242579478682 Centerline is valid? [True, True] Translation: X:49.12, Y:2.16, Z:0.07 [[ 9.90989049e-01 -1.33679538e-01 -8.39554614e-03 4.91183473e+01] [ 1.33675071e-01 9.91024611e-01 -1.09350120e-03 2.16209350e+00] [ 8.46637158e-03 -3.86275054e-05 9.99964159e-01 7.36133573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781858064 meters 0.01427573148542068 Centerline is valid? [True, True] Translation: X:49.18, Y:2.17, Z:0.07 [[ 9.90572533e-01 -1.36703379e-01 -8.84552947e-03 4.91770510e+01] [ 1.36698521e-01 9.90612024e-01 -1.15435212e-03 2.16876130e+00] [ 8.92029169e-03 -6.57012864e-05 9.99960211e-01 7.42511911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84185806399999 meters 0.014589579708014977 Centerline is valid? [True, True] Translation: X:49.24, Y:2.17, Z:0.07 [[ 9.89889391e-01 -1.41555045e-01 -9.00900006e-03 4.92359542e+01] [ 1.41550186e-01 9.89930380e-01 -1.17795700e-03 2.17434732e+00] [ 9.08502861e-03 -1.09178494e-04 9.99958724e-01 7.46230714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901858063999995 meters 0.01563604511124867 Centerline is valid? [True, True] Translation: X:49.29, Y:2.18, Z:0.07 [[ 9.89352336e-01 -1.45286605e-01 -8.58822629e-03 4.92934876e+01] [ 1.45282322e-01 9.89389602e-01 -1.12382839e-03 2.17856890e+00] [ 8.66037900e-03 -1.35855218e-04 9.99962489e-01 7.45839914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961858064 meters 0.015621821841564177 Centerline is valid? [True, True] Translation: X:49.35, Y:2.19, Z:0.07 [[ 9.89055080e-01 -1.47291868e-01 -8.66910491e-03 4.93519699e+01] [ 1.47287564e-01 9.89093060e-01 -1.13640187e-03 2.18553849e+00] [ 8.74193427e-03 -1.52887301e-04 9.99961777e-01 7.48550667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02185806399999 meters 0.015827092571562403 Centerline is valid? [True, True] Translation: X:49.41, Y:2.19, Z:0.08 [[ 9.89022190e-01 -1.47578135e-01 -7.47002986e-03 4.94089342e+01] [ 1.47574941e-01 9.89050391e-01 -9.79969568e-04 2.19253611e+00] [ 7.53285803e-03 -1.33177566e-04 9.99971619e-01 7.57026026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081858063999995 meters 0.01560822992555621 Centerline is valid? [True, True] Translation: X:49.47, Y:2.20, Z:0.08 [[ 9.89249111e-01 -1.46140565e-01 -5.39742972e-03 4.94661441e+01] [ 1.46138874e-01 9.89263831e-01 -7.08509415e-04 2.20104505e+00] [ 5.44302397e-03 -8.78819953e-05 9.99985183e-01 7.65785775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141858064 meters 0.015604435230003367 Centerline is valid? [True, True] Translation: X:49.52, Y:2.21, Z:0.08 [[ 9.89321141e-01 -1.45677307e-01 -4.66937177e-03 4.95243718e+01] [ 1.45676031e-01 9.89332157e-01 -6.13889966e-04 2.20852631e+00] [ 4.70898948e-03 -7.28812263e-05 9.99988910e-01 7.72291885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20185806399999 meters 0.014756071133138975 Centerline is valid? [True, True] Translation: X:49.58, Y:2.22, Z:0.08 [[ 9.89378248e-01 -1.45312941e-01 -3.85117533e-03 4.95820622e+01] [ 1.45312068e-01 9.89385742e-01 -5.07228339e-04 2.21860685e+00] [ 3.88400480e-03 -5.77815646e-05 9.99992456e-01 7.85995500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261858063999995 meters 0.014201619561326328 Centerline is valid? [True, True] Translation: X:49.64, Y:2.23, Z:0.08 [[ 9.89610557e-01 -1.43736915e-01 -3.26272694e-03 4.96403288e+01] [ 1.43736276e-01 9.89615934e-01 -4.30522319e-04 2.22915919e+00] [ 3.29072852e-03 -4.29227886e-05 9.99994585e-01 7.87862225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321858064 meters 0.013904192095438707 Centerline is valid? [True, True] Translation: X:49.70, Y:2.24, Z:0.08 [[ 9.89872250e-01 -1.41931483e-01 -2.89549393e-03 4.96986152e+01] [ 1.41930970e-01 9.89876484e-01 -3.82778960e-04 2.23730681e+00] [ 2.92050974e-03 -3.20579929e-05 9.99995735e-01 7.86644828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38185806399999 meters 0.013454383005934508 Centerline is valid? [True, True] Translation: X:49.76, Y:2.25, Z:0.08 [[ 9.90384734e-01 -1.38309447e-01 -2.92833610e-03 4.97563601e+01] [ 1.38308904e-01 9.90389063e-01 -3.87863335e-04 2.24689081e+00] [ 2.95383721e-03 -2.08810312e-05 9.99995637e-01 7.79366141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441858063999994 meters 0.013149049580704739 Centerline is valid? [True, True] Translation: X:49.81, Y:2.26, Z:0.08 [[ 9.90999566e-01 -1.33837004e-01 -2.74171128e-03 4.98147660e+01] [ 1.33836510e-01 9.91003358e-01 -3.63819211e-04 2.25638120e+00] [ 2.76573756e-03 -6.39638972e-06 9.99996175e-01 7.80838685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501858064 meters 0.013048641252903805 Centerline is valid? [True, True] Translation: X:49.87, Y:2.26, Z:0.08 [[ 9.91336201e-01 -1.31319508e-01 -2.77906857e-03 4.98721007e+01] [ 1.31318988e-01 9.91340096e-01 -3.69564193e-04 2.26413893e+00] [ 2.80353309e-03 1.41789151e-06 9.99996070e-01 7.87570013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56185806399999 meters 0.01307251417840926 Centerline is valid? [True, True] Translation: X:49.93, Y:2.27, Z:0.08 [[ 9.91660597e-01 -1.28860108e-01 -2.08172188e-03 4.99297347e+01] [ 1.28859810e-01 9.91662782e-01 -2.77132654e-04 2.27200421e+00] [ 2.10007745e-03 6.57124629e-06 9.99997795e-01 7.90702675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621858063999994 meters 0.013086580073067471 Centerline is valid? [True, True] Translation: X:49.99, Y:2.28, Z:0.08 [[ 9.91672672e-01 -1.28771328e-01 -1.80453793e-03 4.99874416e+01] [ 1.28771103e-01 9.91674314e-01 -2.40569611e-04 2.27895724e+00] [ 1.82049238e-03 6.19396890e-06 9.99998343e-01 7.83205658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681858064 meters 0.01293161079154895 Centerline is valid? [True, True] Translation: X:50.05, Y:2.28, Z:0.08 [[ 9.91595802e-01 -1.29369184e-01 -1.17443996e-03 5.00456535e+01] [ 1.29369089e-01 9.91596498e-01 -1.56819128e-04 2.28413740e+00] [ 1.18485811e-03 3.56496109e-06 9.99999298e-01 7.85525688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74185806399999 meters 0.012881650073961718 Centerline is valid? [True, True] Translation: X:50.10, Y:2.29, Z:0.08 [[ 9.91437855e-01 -1.30579372e-01 8.98801835e-05 5.01030696e+01] [ 1.30579371e-01 9.91437859e-01 1.22928590e-05 2.28985359e+00] [-9.07158104e-05 -4.51107953e-07 9.99999996e-01 7.91227320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801858063999994 meters 0.012873955904227493 Centerline is valid? [True, True] Translation: X:50.16, Y:2.30, Z:0.08 [[ 9.91449210e-01 -1.30492898e-01 2.61328245e-04 5.01608744e+01] [ 1.30492893e-01 9.91449244e-01 3.53482534e-05 2.29610617e+00] [-2.63706387e-04 -9.44519033e-07 9.99999965e-01 7.97886810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861858063999996 meters 0.012991308291721888 Centerline is valid? [True, True] Translation: X:50.22, Y:2.30, Z:0.08 [[ 9.91636888e-01 -1.29057728e-01 -6.20712616e-04 5.02182789e+01] [ 1.29057701e-01 9.91637082e-01 -8.33485053e-05 2.30334151e+00] [ 6.26278416e-04 2.54370912e-06 9.99999804e-01 7.82942329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92185806399999 meters 0.012922011624965646 Centerline is valid? [True, True] Translation: X:50.28, Y:2.31, Z:0.08 [[ 9.91734124e-01 -1.28308302e-01 -6.38005769e-04 5.02760586e+01] [ 1.28308273e-01 9.91734329e-01 -8.56851049e-05 2.31104135e+00] [ 6.43726333e-04 3.11542402e-06 9.99999793e-01 7.65942581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981858063999994 meters 0.012913707272232263 Centerline is valid? [True, True] Translation: X:50.33, Y:2.31, Z:0.08 [[ 9.91667068e-01 -1.28826716e-01 -3.22279307e-04 5.03342112e+01] [ 1.28826709e-01 9.91667120e-01 -4.32523847e-05 2.31389809e+00] [ 3.25165855e-04 1.37378305e-06 9.99999947e-01 7.62152150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041858063999996 meters 0.012788307972784095 Centerline is valid? [True, True] Translation: X:50.39, Y:2.32, Z:0.08 [[ 9.91447811e-01 -1.30502479e-01 5.83749123e-04 5.03924090e+01] [ 1.30502455e-01 9.91447983e-01 7.92121688e-05 2.31580635e+00] [-5.89094275e-04 -2.35403766e-06 9.99999826e-01 7.69058752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101858064 meters 0.012705931155003321 Centerline is valid? [True, True] Translation: X:50.45, Y:2.32, Z:0.08 [[ 9.91296340e-01 -1.31646932e-01 8.07385900e-04 5.04506422e+01] [ 1.31646886e-01 9.91296669e-01 1.09694459e-04 2.32081477e+00] [-8.14799892e-04 -2.44987576e-06 9.99999668e-01 7.69875488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16185806399999 meters 0.012636920122518519 Centerline is valid? [True, True] Translation: X:50.51, Y:2.32, Z:0.08 [[ 9.91233557e-01 -1.32121096e-01 2.28493511e-04 5.05086818e+01] [ 1.32121092e-01 9.91233583e-01 3.12913983e-05 2.32455056e+00] [-2.30624695e-04 -8.28271811e-07 9.99999973e-01 7.50582824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221858063999996 meters 0.012702831167577854 Centerline is valid? [True, True] Translation: X:50.57, Y:2.33, Z:0.07 [[ 9.91222318e-01 -1.32205433e-01 -2.00785175e-04 5.05663838e+01] [ 1.32205430e-01 9.91222338e-01 -2.70850980e-05 2.32995404e+00] [ 2.02603548e-04 3.02463335e-07 9.99999979e-01 7.41414025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281858064 meters 0.012549366811173699 Centerline is valid? [True, True] Translation: X:50.62, Y:2.33, Z:0.07 [[ 9.90989688e-01 -1.33935020e-01 -9.21306496e-04 5.06248823e+01] [ 1.33934962e-01 9.90990116e-01 -1.25442139e-04 2.33337309e+00] [ 9.29806727e-04 9.16716417e-07 9.99999568e-01 7.21996285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34185806399999 meters 0.012660458620339488 Centerline is valid? [True, True] Translation: X:50.68, Y:2.34, Z:0.07 [[ 9.90596923e-01 -1.36806616e-01 -1.29866059e-03 5.06832378e+01] [ 1.36806501e-01 9.90597774e-01 -1.77298788e-04 2.33537280e+00] [ 1.31070593e-03 -2.03357755e-06 9.99999141e-01 7.02964307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401858063999995 meters 0.01276708539286455 Centerline is valid? [True, True] Translation: X:50.74, Y:2.34, Z:0.07 [[ 9.90222261e-01 -1.39490012e-01 -1.55257055e-03 5.07418940e+01] [ 1.39489850e-01 9.90223478e-01 -2.12466985e-04 2.33851621e+00] [ 1.56702884e-03 -6.17829567e-06 9.99998772e-01 6.95822259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461858064 meters 0.013347340659315888 Centerline is valid? [True, True] Translation: X:50.80, Y:2.34, Z:0.07 [[ 9.89559580e-01 -1.44113478e-01 -1.77302025e-03 5.08001351e+01] [ 1.44113274e-01 9.89561168e-01 -2.43003693e-04 2.33896941e+00] [ 1.78953210e-03 -1.50491206e-05 9.99998399e-01 6.79980123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52185806399999 meters 0.013727017352880578 Centerline is valid? [True, True] Translation: X:50.86, Y:2.34, Z:0.07 [[ 9.89150872e-01 -1.46888901e-01 -2.05039429e-03 5.08590856e+01] [ 1.46888633e-01 9.89152996e-01 -2.81408126e-04 2.34225629e+00] [ 2.06948938e-03 -2.28245203e-05 9.99997858e-01 6.83885264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581858063999995 meters 0.013996150815822993 Centerline is valid? [True, True] Translation: X:50.92, Y:2.34, Z:0.07 [[ 9.88868512e-01 -1.48756421e-01 -3.25475556e-03 5.09177884e+01] [ 1.48755755e-01 9.88873867e-01 -4.47261293e-04 2.34360653e+00] [ 3.28507571e-03 -4.18810108e-05 9.99994603e-01 6.80512859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641858064 meters 0.014023886599812626 Centerline is valid? [True, True] Translation: X:50.98, Y:2.35, Z:0.07 [[ 9.88832423e-01 -1.48988857e-01 -3.57207346e-03 5.09757380e+01] [ 1.48988052e-01 9.88838874e-01 -4.91740719e-04 2.34980003e+00] [ 3.60546898e-03 -4.59471011e-05 9.99993499e-01 6.57964707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70185806399999 meters 0.01403193243345914 Centerline is valid? [True, True] Translation: X:51.03, Y:2.36, Z:0.07 [[ 9.88955026e-01 -1.48165706e-01 -3.85755709e-03 5.10349604e+01] [ 1.48164758e-01 9.88962548e-01 -5.32013807e-04 2.35514705e+00] [ 3.89380569e-03 -4.54162845e-05 9.99992418e-01 6.62644477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761858063999995 meters 0.013666426755175392 Centerline is valid? [True, True] Translation: X:51.09, Y:2.36, Z:0.07 [[ 9.89527762e-01 -1.44286263e-01 -4.03520493e-03 5.10936706e+01] [ 1.44285189e-01 9.89535989e-01 -5.57515059e-04 2.36085306e+00] [ 4.07342227e-03 -3.05436792e-05 9.99991703e-01 6.79137054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821858064 meters 0.013515050564406977 Centerline is valid? [True, True] Translation: X:51.15, Y:2.37, Z:0.07 [[ 9.90003084e-01 -1.40989752e-01 -3.97272345e-03 5.11519179e+01] [ 1.40988681e-01 9.90011055e-01 -5.49877088e-04 2.37035910e+00] [ 4.01056717e-03 -1.57290248e-05 9.99991958e-01 6.76996611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88185806399999 meters 0.01341540682728093 Centerline is valid? [True, True] Translation: X:51.21, Y:2.38, Z:0.07 [[ 9.90594121e-01 -1.36788467e-01 -3.49324254e-03 5.12088271e+01] [ 1.36787611e-01 9.90600280e-01 -4.83936212e-04 2.38018840e+00] [ 3.52660393e-03 1.55206502e-06 9.99993782e-01 6.76660123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941858063999994 meters 0.013341295620879585 Centerline is valid? [True, True] Translation: X:51.27, Y:2.39, Z:0.07 [[ 9.90801261e-01 -1.35293303e-01 -2.92988844e-03 5.12664272e+01] [ 1.35292692e-01 9.90805592e-01 -4.06555630e-04 2.38782230e+00] [ 2.95795410e-03 6.42333537e-06 9.99995625e-01 6.94292630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001858064 meters 0.013409273265228906 Centerline is valid? [True, True] Translation: X:51.32, Y:2.40, Z:0.07 [[ 9.90772468e-01 -1.35495181e-01 -3.31252985e-03 5.13226977e+01] [ 1.35494399e-01 9.90778005e-01 -4.60410509e-04 2.39591649e+00] [ 3.34436513e-03 7.33281532e-06 9.99994408e-01 6.88774780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06185806399999 meters 0.013365258546298083 Centerline is valid? [True, True] Translation: X:51.38, Y:2.40, Z:0.07 [[ 9.90505144e-01 -1.37423401e-01 -3.79050194e-03 5.13804012e+01] [ 1.37422387e-01 9.90512397e-01 -5.27854081e-04 2.40293053e+00] [ 3.82707867e-03 1.94235751e-06 9.99992677e-01 6.87115180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121858063999994 meters 0.013402685263925166 Centerline is valid? [True, True] Translation: X:51.44, Y:2.41, Z:0.07 [[ 9.90323742e-01 -1.38714854e-01 -4.13224731e-03 5.14383792e+01] [ 1.38713655e-01 9.90332363e-01 -5.76621813e-04 2.41045308e+00] [ 4.17228425e-03 -2.15685709e-06 9.99991296e-01 6.85323077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181858064 meters 0.013610449721624939 Centerline is valid? [True, True] Translation: X:51.50, Y:2.42, Z:0.07 [[ 9.89802446e-01 -1.42349085e-01 -5.27793800e-03 5.14971243e+01] [ 1.42347174e-01 9.89816517e-01 -7.37882723e-04 2.41697598e+00] [ 5.32922714e-03 -2.09414336e-05 9.99985799e-01 6.90447747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24185806399999 meters 0.013903399955257524 Centerline is valid? [True, True] Translation: X:51.55, Y:2.42, Z:0.07 [[ 9.89387209e-01 -1.45187497e-01 -5.79154947e-03 5.15544779e+01] [ 1.45185241e-01 9.89404159e-01 -8.10342224e-04 2.42357570e+00] [ 5.84783469e-03 -3.91052740e-05 9.99982901e-01 6.83652431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301858063999994 meters 0.014486869468450146 Centerline is valid? [True, True] Translation: X:51.61, Y:2.43, Z:0.07 [[ 9.88496239e-01 -1.51140167e-01 -5.64229421e-03 5.16131072e+01] [ 1.51138115e-01 9.88512339e-01 -7.90736937e-04 2.43024951e+00] [ 5.69698957e-03 -7.11252249e-05 9.99983769e-01 6.91104435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361858063999996 meters 0.015046753536131267 Centerline is valid? [True, True] Translation: X:51.67, Y:2.44, Z:0.07 [[ 9.88003258e-01 -1.54328941e-01 -5.66919233e-03 5.16699638e+01] [ 1.54326918e-01 9.88019519e-01 -7.95235710e-04 2.43744497e+00] [ 5.72400056e-03 -8.92135089e-05 9.99983614e-01 6.88755189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42185806399999 meters 0.015383183869993633 Centerline is valid? [True, True] Translation: X:51.73, Y:2.45, Z:0.07 [[ 9.87465760e-01 -1.57765357e-01 -4.63304974e-03 5.17280081e+01] [ 1.57764039e-01 9.87476625e-01 -6.50912036e-04 2.44674096e+00] [ 4.67771969e-03 -8.81752932e-05 9.99989056e-01 7.02170087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481858063999994 meters 0.01633923885945973 Centerline is valid? [True, True] Translation: X:51.79, Y:2.45, Z:0.07 [[ 9.87237090e-01 -1.59209278e-01 -3.91583429e-03 5.17856500e+01] [ 1.59208345e-01 9.87244853e-01 -5.50598649e-04 2.45414153e+00] [ 3.95354767e-03 -7.98620917e-05 9.99992182e-01 7.10918115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541858063999996 meters 0.015526668211740882 Centerline is valid? [True, True] Translation: X:51.84, Y:2.47, Z:0.07 [[ 9.87354825e-01 -1.58463622e-01 -4.44178815e-03 5.18433443e+01] [ 1.58462411e-01 9.87364813e-01 -6.25522444e-04 2.46828163e+00] [ 4.48478788e-03 -8.62438562e-05 9.99989940e-01 7.01935231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601858064 meters 0.015069881740706665 Centerline is valid? [True, True] Translation: X:51.90, Y:2.48, Z:0.07 [[ 9.87594153e-01 -1.56921126e-01 -5.79209878e-03 5.19010071e+01] [ 1.56919031e-01 9.87611133e-01 -8.17191984e-04 2.48033033e+00] [ 5.84857593e-03 -1.01836505e-04 9.99982892e-01 6.95326016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66185806399999 meters 0.015208109533925457 Centerline is valid? [True, True] Translation: X:51.96, Y:2.49, Z:0.07 [[ 9.87931326e-01 -1.54766102e-01 -6.25684009e-03 5.19580817e+01] [ 1.54763609e-01 9.87951135e-01 -8.83467262e-04 2.49228376e+00] [ 6.31818305e-03 -9.55261729e-05 9.99980036e-01 6.83810198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721858063999996 meters 0.014401966532985365 Centerline is valid? [True, True] Translation: X:52.02, Y:2.50, Z:0.07 [[ 9.87995930e-01 -1.54380947e-01 -5.52854290e-03 5.20162995e+01] [ 1.54378988e-01 9.88011395e-01 -7.81805542e-04 2.50481373e+00] [ 5.58295927e-03 -8.10701670e-05 9.99984412e-01 6.92855852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781858064 meters 0.014527490770182672 Centerline is valid? [True, True] Translation: X:52.07, Y:2.52, Z:0.07 [[ 9.87899473e-01 -1.55042840e-01 -4.04343832e-03 5.20734189e+01] [ 1.55041794e-01 9.87907746e-01 -5.72864638e-04 2.51648316e+00] [ 4.08336260e-03 -6.09692571e-05 9.99991661e-01 6.98066467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84185806399999 meters 0.015148567106229015 Centerline is valid? [True, True] Translation: X:52.13, Y:2.52, Z:0.07 [[ 9.87442236e-01 -1.57958832e-01 -2.61498774e-03 5.21315072e+01] [ 1.57958403e-01 9.87445697e-01 -3.71089679e-04 2.52459347e+00] [ 2.64077529e-03 -4.66296666e-05 9.99996512e-01 7.23256767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901858063999995 meters 0.015631650442249057 Centerline is valid? [True, True] Translation: X:52.19, Y:2.53, Z:0.07 [[ 9.87172592e-01 -1.59643426e-01 -2.06164241e-03 5.21892852e+01] [ 1.59643162e-01 9.87174744e-01 -2.93036868e-04 2.53473559e+00] [ 2.08198273e-03 -3.98491493e-05 9.99997832e-01 7.23902303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961858064 meters 0.016017689941498527 Centerline is valid? [True, True] Translation: X:52.25, Y:2.55, Z:0.07 [[ 9.86760060e-01 -1.62179005e-01 -1.59845373e-03 5.22469089e+01] [ 1.62178849e-01 9.86761354e-01 -2.27553741e-04 2.54661996e+00] [ 1.61419680e-03 -3.46944424e-05 9.99998697e-01 7.12032110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02185806399999 meters 0.016862079239541257 Centerline is valid? [True, True] Translation: X:52.30, Y:2.56, Z:0.07 [[ 9.86507046e-01 -1.63702807e-01 -2.28873239e-03 5.23038890e+01] [ 1.63702490e-01 9.86509700e-01 -3.26258688e-04 2.55521918e+00] [ 2.31126616e-03 -5.28146972e-05 9.99997328e-01 7.09528367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081858063999995 meters 0.017643531491265137 Centerline is valid? [True, True] Translation: X:52.36, Y:2.56, Z:0.07 [[ 9.86013508e-01 -1.66639298e-01 -2.95059807e-03 5.23622210e+01] [ 1.66638783e-01 9.86017920e-01 -4.21225422e-04 2.56454063e+00] [ 2.97953528e-03 -7.63501152e-05 9.99995558e-01 7.06401630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141858064 meters 0.017690232695757546 Centerline is valid? [True, True] Translation: X:52.42, Y:2.58, Z:0.07 [[ 9.85624278e-01 -1.68905866e-01 -3.94845511e-03 5.24194283e+01] [ 1.68904960e-01 9.85632181e-01 -5.64243867e-04 2.57769417e+00] [ 3.98702853e-03 -1.10781199e-04 9.99992046e-01 6.97092997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20185806399999 meters 0.018124398766549976 Centerline is valid? [True, True] Translation: X:52.48, Y:2.59, Z:0.07 [[ 9.85322676e-01 -1.70646557e-01 -4.35617427e-03 5.24769678e+01] [ 1.70645467e-01 9.85332297e-01 -6.23478816e-04 2.58867744e+00] [ 4.39867372e-03 -1.29033579e-04 9.99990317e-01 6.85742710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261858063999995 meters 0.019734727845093593 Centerline is valid? [True, True] Translation: X:52.53, Y:2.60, Z:0.07 [[ 9.84916062e-01 -1.72989652e-01 -3.86406434e-03 5.25340108e+01] [ 1.72988810e-01 9.84923634e-01 -5.53505620e-04 2.59804820e+00] [ 3.90155904e-03 -1.23283317e-04 9.99992381e-01 6.80473366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321858064 meters 0.019208815409717857 Centerline is valid? [True, True] Translation: X:52.59, Y:2.61, Z:0.07 [[ 9.84724710e-01 -1.74103124e-01 -2.31239235e-03 5.25912181e+01] [ 1.74102825e-01 9.84727422e-01 -3.31648306e-04 2.61145674e+00] [ 2.33481716e-03 -7.60117581e-05 9.99997271e-01 6.82830111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38185806399999 meters 0.01981635349111259 Centerline is valid? [True, True] Translation: X:52.65, Y:2.62, Z:0.07 [[ 9.84741250e-01 -1.74018590e-01 -1.48344975e-03 5.26481805e+01] [ 1.74018466e-01 9.84742366e-01 -2.12953360e-04 2.62387435e+00] [ 1.49787367e-03 -4.84436926e-05 9.99998877e-01 6.85195050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441858063999994 meters 0.01979250405737956 Centerline is valid? [True, True] Translation: X:52.71, Y:2.64, Z:0.07 [[ 9.84917095e-01 -1.73022841e-01 -1.18861225e-03 5.27059240e+01] [ 1.73022760e-01 9.84917811e-01 -1.70769796e-04 2.63537287e+00] [ 1.20023245e-03 -3.74628806e-05 9.99999279e-01 6.92092178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501858064 meters 0.019254645715964757 Centerline is valid? [True, True] Translation: X:52.76, Y:2.65, Z:0.07 [[ 9.85588992e-01 -1.69156984e-01 -5.04201472e-04 5.27629606e+01] [ 1.69156969e-01 9.85589121e-01 -7.25100660e-05 2.65182732e+00] [ 5.09201069e-04 -1.38240697e-05 9.99999870e-01 6.84223795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56185806399999 meters 0.016824956046179708 Centerline is valid? [True, True] Translation: X:52.82, Y:2.67, Z:0.07 [[ 9.86310450e-01 -1.64895709e-01 -1.04963137e-03 5.28194246e+01] [ 1.64895642e-01 9.86311008e-01 -1.51054992e-04 2.67036516e+00] [ 1.06017130e-03 -2.40925222e-05 9.99999438e-01 6.73498323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621858063999994 meters 0.016458968306650862 Centerline is valid? [True, True] Translation: X:52.88, Y:2.68, Z:0.07 [[ 9.86566475e-01 -1.63360216e-01 -1.76741756e-04 5.28774573e+01] [ 1.63360214e-01 9.86566490e-01 -2.52743269e-05 2.68264242e+00] [ 1.78496313e-04 -3.93776747e-06 9.99999984e-01 6.78529194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681858064 meters 0.016411011254502176 Centerline is valid? [True, True] Translation: X:52.94, Y:2.69, Z:0.07 [[ 9.86668679e-01 -1.62735134e-01 1.48121206e-03 5.29352155e+01] [ 1.62734996e-01 9.86669790e-01 2.14201455e-04 2.69474380e+00] [-1.49632529e-03 2.96991717e-05 9.99998880e-01 6.93210522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74185806399999 meters 0.01614824566390778 Centerline is valid? [True, True] Translation: X:52.99, Y:2.71, Z:0.07 [[ 9.86602127e-01 -1.63124373e-01 2.58484556e-03 5.29920815e+01] [ 1.63123951e-01 9.86605512e-01 3.74416045e-04 2.70651921e+00] [-2.61129925e-03 5.22505538e-05 9.99996589e-01 6.99087917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801858063999994 meters 0.016589675057935988 Centerline is valid? [True, True] Translation: X:53.05, Y:2.72, Z:0.07 [[ 9.86783790e-01 -1.61990882e-01 4.08740766e-03 5.30492632e+01] [ 1.61989818e-01 9.86792252e-01 5.92108429e-04 2.71753942e+00] [-4.12933837e-03 7.78354246e-05 9.99991471e-01 7.07317517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861858063999996 meters 0.016566103228014887 Centerline is valid? [True, True] Translation: X:53.11, Y:2.73, Z:0.07 [[ 9.86924047e-01 -1.61146623e-01 3.56237228e-03 5.31069870e+01] [ 1.61145806e-01 9.86930475e-01 5.17024004e-04 2.72891100e+00] [-3.59913043e-03 6.37979301e-05 9.99993521e-01 7.01555482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92185806399999 meters 0.015496537409978839 Centerline is valid? [True, True] Translation: X:53.16, Y:2.74, Z:0.07 [[ 9.87254450e-01 -1.59108694e-01 3.61591536e-03 5.31645460e+01] [ 1.59107835e-01 9.87261070e-01 5.25676527e-04 2.74341245e+00] [-3.65349217e-03 5.63439753e-05 9.99993324e-01 6.85458745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981858063999994 meters 0.01475542607288257 Centerline is valid? [True, True] Translation: X:53.22, Y:2.76, Z:0.07 [[ 9.87554882e-01 -1.57231632e-01 3.68355609e-03 5.32221216e+01] [ 1.57230725e-01 9.87561751e-01 5.36459806e-04 2.75679439e+00] [-3.72208755e-03 4.93846935e-05 9.99993072e-01 6.72424168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041858063999996 meters 0.014543231042868669 Centerline is valid? [True, True] Translation: X:53.28, Y:2.77, Z:0.07 [[ 9.87798840e-01 -1.55673728e-01 4.37521272e-03 5.32796679e+01] [ 1.55672428e-01 9.87808528e-01 6.38261727e-04 2.76738627e+00] [-4.42123302e-03 5.06257926e-05 9.99990225e-01 6.67013176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101858064 meters 0.014483462279004745 Centerline is valid? [True, True] Translation: X:53.34, Y:2.78, Z:0.07 [[ 9.87979606e-01 -1.54525787e-01 4.25199249e-03 5.33372688e+01] [ 1.54524547e-01 9.87988755e-01 6.20530334e-04 2.77624594e+00] [-4.29680870e-03 4.39658987e-05 9.99990768e-01 6.67485291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16185806399999 meters 0.014495059462677214 Centerline is valid? [True, True] Translation: X:53.40, Y:2.78, Z:0.07 [[ 9.88180737e-01 -1.53235913e-01 4.19355959e-03 5.33960153e+01] [ 1.53234690e-01 9.88189634e-01 6.13199079e-04 2.78467041e+00] [-4.23799623e-03 3.66472860e-05 9.99991019e-01 6.61757788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221858063999996 meters 0.014413336325088975 Centerline is valid? [True, True] Translation: X:53.45, Y:2.79, Z:0.07 [[ 9.88425575e-01 -1.51640807e-01 4.46645134e-03 5.34547675e+01] [ 1.51639399e-01 9.88435665e-01 6.54114240e-04 2.79325790e+00] [-4.51399021e-03 3.07467545e-05 9.99989811e-01 6.50947412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281858064 meters 0.014290163020582584 Centerline is valid? [True, True] Translation: X:53.51, Y:2.80, Z:0.06 [[ 9.88615050e-01 -1.50384799e-01 4.96947047e-03 5.35122486e+01] [ 1.50383033e-01 9.88627539e-01 7.29253982e-04 2.80253226e+00] [-5.02262407e-03 2.63725811e-05 9.99987386e-01 6.47236869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34185806399999 meters 0.01427898582152813 Centerline is valid? [True, True] Translation: X:53.57, Y:2.81, Z:0.07 [[ 9.88856171e-01 -1.48778919e-01 5.32034108e-03 5.35693725e+01] [ 1.48776863e-01 9.88870483e-01 7.82262276e-04 2.81003536e+00] [-5.37751239e-03 1.79987782e-05 9.99985541e-01 6.52404201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401858063999995 meters 0.014333059591036649 Centerline is valid? [True, True] Translation: X:53.63, Y:2.82, Z:0.06 [[ 9.89158913e-01 -1.46750148e-01 5.38869482e-03 5.36269680e+01] [ 1.46748001e-01 9.89173591e-01 7.93848158e-04 2.81684198e+00] [-5.44685194e-03 5.53821259e-06 9.99985166e-01 6.48939374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461858064 meters 0.014201349494946456 Centerline is valid? [True, True] Translation: X:53.68, Y:2.82, Z:0.06 [[ 9.89296738e-01 -1.45832138e-01 4.99508308e-03 5.36848776e+01] [ 1.45830274e-01 9.89309349e-01 7.37353399e-04 2.82455771e+00] [-5.04921221e-03 -1.02698011e-06 9.99987253e-01 6.29908835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52185806399999 meters 0.014151294912683262 Centerline is valid? [True, True] Translation: X:53.74, Y:2.83, Z:0.06 [[ 9.89349074e-01 -1.45500440e-01 4.24639475e-03 5.37417519e+01] [ 1.45499088e-01 9.89358187e-01 6.27265457e-04 2.82880446e+00] [-4.29247281e-03 -2.73793360e-06 9.99990787e-01 6.23099119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581858063999995 meters 0.014241882469684662 Centerline is valid? [True, True] Translation: X:53.80, Y:2.83, Z:0.06 [[ 9.89313769e-01 -1.45750249e-01 3.88982083e-03 5.37998208e+01] [ 1.45749112e-01 9.89321416e-01 5.75844825e-04 2.83306507e+00] [-3.93221258e-03 -2.75328298e-06 9.99992269e-01 6.17799214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641858064 meters 0.01429833632569932 Centerline is valid? [True, True] Translation: X:53.86, Y:2.84, Z:0.06 [[ 9.89258903e-01 -1.46149355e-01 2.68104426e-03 5.38579263e+01] [ 1.46148816e-01 9.89262536e-01 3.97039660e-04 2.83827043e+00] [-2.71028374e-03 -9.43575364e-07 9.99996327e-01 6.00766230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70185806399999 meters 0.01424037715592375 Centerline is valid? [True, True] Translation: X:53.92, Y:2.84, Z:0.06 [[ 9.88770073e-01 -1.49443638e-01 5.85366187e-04 5.39162479e+01] [ 1.49443613e-01 9.88770246e-01 8.70914372e-05 2.83947284e+00] [-5.91807930e-04 1.36583127e-06 9.99999825e-01 5.81661919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761858063999995 meters 0.014607525742769766 Centerline is valid? [True, True] Translation: X:53.97, Y:2.84, Z:0.06 [[ 9.88276613e-01 -1.52673176e-01 4.87958262e-04 5.39744993e+01] [ 1.52673159e-01 9.88276733e-01 7.25108789e-05 2.84266419e+00] [-4.93308263e-04 2.83732356e-06 9.99999878e-01 5.73620588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821858064 meters 0.015255619235433776 Centerline is valid? [True, True] Translation: X:54.03, Y:2.85, Z:0.06 [[ 9.87438669e-01 -1.58001689e-01 5.84299800e-04 5.40335613e+01] [ 1.58001666e-01 9.87438842e-01 8.70935828e-05 2.84533538e+00] [-5.90721251e-04 6.32077011e-06 9.99999826e-01 5.66896292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88185806399999 meters 0.015834564269410045 Centerline is valid? [True, True] Translation: X:54.09, Y:2.85, Z:0.06 [[ 9.86679072e-01 -1.62678565e-01 -3.06227786e-04 5.40924657e+01] [ 1.62678558e-01 9.86679119e-01 -4.53945192e-05 2.84764418e+00] [ 3.09533278e-04 -5.02687271e-06 9.99999952e-01 5.61063823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941858063999994 meters 0.016641215479175582 Centerline is valid? [True, True] Translation: X:54.15, Y:2.85, Z:0.06 [[ 9.86173610e-01 -1.65711808e-01 -1.09874572e-03 5.41513810e+01] [ 1.65711728e-01 9.86174222e-01 -1.63710422e-04 2.85325547e+00] [ 1.11068346e-03 -2.06281539e-05 9.99999383e-01 5.50552534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001858064 meters 0.017144330929592406 Centerline is valid? [True, True] Translation: X:54.21, Y:2.86, Z:0.05 [[ 9.85694807e-01 -1.68536008e-01 -1.16652334e-03 5.42096806e+01] [ 1.68535920e-01 9.85695497e-01 -1.74112999e-04 2.85934968e+00] [ 1.17918111e-03 -2.49788046e-05 9.99999304e-01 5.40884527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06185806399999 meters 0.01775881635490307 Centerline is valid? [True, True] Translation: X:54.27, Y:2.86, Z:0.05 [[ 9.85594265e-01 -1.69119222e-01 -1.62304353e-03 5.42678604e+01] [ 1.69119052e-01 9.85595600e-01 -2.42653036e-04 2.86430310e+00] [ 1.64070185e-03 -3.53301410e-05 9.99998653e-01 5.41568387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121858063999994 meters 0.017316528639251018 Centerline is valid? [True, True] Translation: X:54.33, Y:2.87, Z:0.05 [[ 9.85808383e-01 -1.67864783e-01 -1.80202381e-03 5.43262994e+01] [ 1.67864570e-01 9.85810029e-01 -2.69769076e-04 2.87371690e+00] [ 1.82173787e-03 -3.65553351e-05 9.99998340e-01 5.39687094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181858064 meters 0.01684355540497375 Centerline is valid? [True, True] Translation: X:54.38, Y:2.88, Z:0.05 [[ 9.86277784e-01 -1.65088192e-01 -1.42186747e-03 5.43845055e+01] [ 1.65088056e-01 9.86278809e-01 -2.13162242e-04 2.88418699e+00] [ 1.43754832e-03 -2.44961524e-05 9.99998966e-01 5.38465387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24185806399999 meters 0.01581277868596621 Centerline is valid? [True, True] Translation: X:54.44, Y:2.90, Z:0.06 [[ 9.86886153e-01 -1.61417576e-01 -2.95366524e-04 5.44420259e+01] [ 1.61417570e-01 9.86886197e-01 -4.41821652e-05 2.89563547e+00] [ 2.98624924e-04 -4.07457964e-06 9.99999955e-01 5.50344103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301858063999994 meters 0.015623407626164357 Centerline is valid? [True, True] Translation: X:54.50, Y:2.90, Z:0.06 [[ 9.87169837e-01 -1.59672449e-01 6.49304099e-04 5.45004406e+01] [ 1.59672419e-01 9.87170051e-01 9.79814600e-05 2.90481725e+00] [-6.56618500e-04 6.95161439e-06 9.99999784e-01 5.58464738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361858063999996 meters 0.0154377171563135 Centerline is valid? [True, True] Translation: X:54.56, Y:2.91, Z:0.06 [[ 9.87223184e-01 -1.59343585e-01 8.43580588e-05 5.45574278e+01] [ 1.59343585e-01 9.87223187e-01 1.29789039e-05 2.91371885e+00] [-8.53483368e-05 6.28840623e-07 9.99999996e-01 5.58439566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42185806399999 meters 0.015443535472862802 Centerline is valid? [True, True] Translation: X:54.61, Y:2.92, Z:0.06 [[ 9.87178455e-01 -1.59620405e-01 -1.58441089e-04 5.46147562e+01] [ 1.59620403e-01 9.87178467e-01 -2.36969795e-05 2.92119985e+00] [ 1.60192153e-04 -1.89728294e-06 9.99999987e-01 5.53807507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481858063999994 meters 0.015605060863151572 Centerline is valid? [True, True] Translation: X:54.67, Y:2.93, Z:0.06 [[ 9.87062401e-01 -1.60335875e-01 -4.73736309e-04 5.46724235e+01] [ 1.60335860e-01 9.87062514e-01 -7.15737648e-05 2.92727778e+00] [ 4.79083195e-04 -5.30914631e-06 9.99999885e-01 5.53499456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541858063999996 meters 0.015801206149252862 Centerline is valid? [True, True] Translation: X:54.73, Y:2.93, Z:0.05 [[ 9.86848621e-01 -1.61642822e-01 -1.18192399e-03 5.47308045e+01] [ 1.61642724e-01 9.86849329e-01 -1.78842943e-04 2.93346460e+00] [ 1.19528957e-03 -1.45585017e-05 9.99999286e-01 5.38225910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60185806399999 meters 0.015931204602984524 Centerline is valid? [True, True] Translation: X:54.79, Y:2.94, Z:0.05 [[ 9.86835613e-01 -1.61711065e-01 -2.23718594e-03 5.47884108e+01] [ 1.61710712e-01 9.86838148e-01 -3.39307610e-04 2.93890383e+00] [ 2.26261022e-03 -2.69360969e-05 9.99997440e-01 5.38274753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66185806399999 meters 0.015945724009175138 Centerline is valid? [True, True] Translation: X:54.85, Y:2.95, Z:0.05 [[ 9.87010335e-01 -1.60649865e-01 -1.48963315e-03 5.48469217e+01] [ 1.60649707e-01 9.87011459e-01 -2.26240143e-04 2.94569218e+00] [ 1.50663043e-03 -1.60077680e-05 9.99998865e-01 5.41081440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721858063999996 meters 0.01559077870746032 Centerline is valid? [True, True] Translation: X:54.91, Y:2.95, Z:0.05 [[ 9.87202516e-01 -1.59468217e-01 -1.03959142e-03 5.49055600e+01] [ 1.59468139e-01 9.87203063e-01 -1.58080004e-04 2.95410911e+00] [ 1.05149657e-03 -9.72473075e-06 9.99999447e-01 5.46572298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781858064 meters 0.015559582781059362 Centerline is valid? [True, True] Translation: X:54.96, Y:2.96, Z:0.05 [[ 9.87494578e-01 -1.57645747e-01 -1.50901110e-03 5.49638622e+01] [ 1.57645580e-01 9.87495731e-01 -2.29941162e-04 2.96120388e+00] [ 1.52639126e-03 -1.08232783e-05 9.99998835e-01 5.37529812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84185806399999 meters 0.015519474065574652 Centerline is valid? [True, True] Translation: X:55.02, Y:2.97, Z:0.05 [[ 9.87883494e-01 -1.55182016e-01 -2.17831346e-03 5.50213135e+01] [ 1.55181660e-01 9.87885895e-01 -3.32358855e-04 2.96626948e+00] [ 2.20350126e-03 -9.70247200e-06 9.99997572e-01 5.38117741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901858063999995 meters 0.015507066249061603 Centerline is valid? [True, True] Translation: X:55.08, Y:2.97, Z:0.05 [[ 9.88054729e-01 -1.54080410e-01 -2.66064675e-03 5.50794263e+01] [ 1.54079874e-01 9.88058312e-01 -4.06550977e-04 2.97295572e+00] [ 2.69151568e-03 -8.25750082e-06 9.99996378e-01 5.37270496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961858064 meters 0.015510769704536485 Centerline is valid? [True, True] Translation: X:55.14, Y:2.98, Z:0.05 [[ 9.88122677e-01 -1.53648755e-01 -2.37391884e-03 5.51376542e+01] [ 1.53648326e-01 9.88125528e-01 -3.63218096e-04 2.97955505e+00] [ 2.40153782e-03 -5.84461810e-06 9.99997116e-01 5.42594797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02185806399999 meters 0.015529330576189179 Centerline is valid? [True, True] Translation: X:55.20, Y:2.98, Z:0.05 [[ 9.88043115e-01 -1.54156300e-01 -2.57629282e-03 5.51955452e+01] [ 1.54155794e-01 9.88046474e-01 -3.94844402e-04 2.98472526e+00] [ 2.60636479e-03 -7.02717231e-06 9.99996603e-01 5.46753134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081858063999995 meters 0.01572822851871345 Centerline is valid? [True, True] Translation: X:55.25, Y:2.99, Z:0.05 [[ 9.87609943e-01 -1.56900611e-01 -2.96636980e-03 5.52536450e+01] [ 1.56899952e-01 9.87614397e-01 -4.55103460e-04 2.98626963e+00] [ 3.00103553e-03 -1.59585766e-05 9.99995497e-01 5.37869636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141858064 meters 0.016057449549119144 Centerline is valid? [True, True] Translation: X:55.31, Y:2.99, Z:0.05 [[ 9.86996691e-01 -1.60702175e-01 -3.51331473e-03 5.53131490e+01] [ 1.60701272e-01 9.87002943e-01 -5.39765150e-04 2.98991187e+00] [ 3.55439341e-03 -3.18477287e-05 9.99993683e-01 5.30161559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20185806399999 meters 0.01638158101592845 Centerline is valid? [True, True] Translation: X:55.37, Y:3.00, Z:0.05 [[ 9.86672587e-01 -1.62679577e-01 -3.54426407e-03 5.53722748e+01] [ 1.62678668e-01 9.86678952e-01 -5.45390238e-04 2.99580770e+00] [ 3.58577461e-03 -3.84545597e-05 9.99993570e-01 5.37433684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261858063999995 meters 0.01653326777884048 Centerline is valid? [True, True] Translation: X:55.43, Y:3.00, Z:0.06 [[ 9.86458452e-01 -1.63997951e-01 -2.09609901e-03 5.54309547e+01] [ 1.63997635e-01 9.86460679e-01 -3.22976562e-04 3.00357193e+00] [ 2.12068675e-03 -2.51523208e-05 9.99997751e-01 5.57743413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321858064 meters 0.017017475335549082 Centerline is valid? [True, True] Translation: X:55.49, Y:3.01, Z:0.06 [[ 9.86276002e-01 -1.65088822e-01 -2.30817465e-03 5.54878127e+01] [ 1.65088441e-01 9.86278703e-01 -3.56013121e-04 3.01160977e+00] [ 2.33527729e-03 -2.99257568e-05 9.99997273e-01 5.50206340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38185806399999 meters 0.01673167865820233 Centerline is valid? [True, True] Translation: X:55.55, Y:3.02, Z:0.05 [[ 9.86152830e-01 -1.65797740e-01 -3.70196162e-03 5.55457201e+01] [ 1.65796762e-01 9.86159778e-01 -5.71801075e-04 3.02088197e+00] [ 3.74552897e-03 -4.98899998e-05 9.99992984e-01 5.40911106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441858063999994 meters 0.01664374848732743 Centerline is valid? [True, True] Translation: X:55.60, Y:3.03, Z:0.05 [[ 9.86304617e-01 -1.64848168e-01 -5.31826381e-03 5.56025485e+01] [ 1.64846127e-01 9.86318953e-01 -8.22984561e-04 3.03090917e+00] [ 5.38117189e-03 -6.49817185e-05 9.99985519e-01 5.29891753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501858064 meters 0.01606480370535408 Centerline is valid? [True, True] Translation: X:55.66, Y:3.04, Z:0.05 [[ 9.86804441e-01 -1.61793929e-01 -6.30235563e-03 5.56604104e+01] [ 1.61790990e-01 9.86824565e-01 -9.76881763e-04 3.04419383e+00] [ 6.37737289e-03 -5.56730917e-05 9.99979663e-01 5.19841105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56185806399999 meters 0.015753074741919785 Centerline is valid? [True, True] Translation: X:55.72, Y:3.06, Z:0.05 [[ 9.87214709e-01 -1.59293197e-01 -5.72666621e-03 5.57178372e+01] [ 1.59290720e-01 9.87231318e-01 -8.89028874e-04 3.05549928e+00] [ 5.79516048e-03 -3.45424020e-05 9.99983207e-01 5.21456166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621858063999994 meters 0.01555770062976717 Centerline is valid? [True, True] Translation: X:55.78, Y:3.07, Z:0.05 [[ 9.87817337e-01 -1.55495829e-01 -6.16087569e-03 5.57757676e+01] [ 1.55492879e-01 9.87836549e-01 -9.57988445e-04 3.06751959e+00] [ 6.23490139e-03 -1.16547018e-05 9.99980563e-01 5.23296352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681858064 meters 0.015383979848823962 Centerline is valid? [True, True] Translation: X:55.83, Y:3.08, Z:0.05 [[ 9.88029718e-01 -1.54138460e-01 -6.21378628e-03 5.58332825e+01] [ 1.54135420e-01 9.88049257e-01 -9.67992787e-04 3.07771231e+00] [ 6.28873184e-03 -1.35892118e-06 9.99980226e-01 5.29040897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74185806399999 meters 0.015324546155354902 Centerline is valid? [True, True] Translation: X:55.89, Y:3.09, Z:0.05 [[ 9.88181672e-01 -1.53168157e-01 -6.04146095e-03 5.58896136e+01] [ 1.53165260e-01 9.88200140e-01 -9.42040207e-04 3.08904661e+00] [ 6.11446312e-03 5.56493049e-06 9.99981306e-01 5.20995778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801858063999994 meters 0.015225953371607124 Centerline is valid? [True, True] Translation: X:55.95, Y:3.10, Z:0.05 [[ 9.88037600e-01 -1.54119926e-01 -5.36184085e-03 5.59470523e+01] [ 1.54117651e-01 9.88052149e-01 -8.37405016e-04 3.09744462e+00] [ 5.42683917e-03 1.03332450e-06 9.99985275e-01 5.24930636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861858063999996 meters 0.015089125696367391 Centerline is valid? [True, True] Translation: X:56.00, Y:3.11, Z:0.05 [[ 9.87754419e-01 -1.55906467e-01 -5.86357051e-03 5.60049476e+01] [ 1.55903768e-01 9.87771823e-01 -9.17455586e-04 3.10519295e+00] [ 5.93490699e-03 -7.93192625e-06 9.99982388e-01 5.24720811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92185806399999 meters 0.015330706022300945 Centerline is valid? [True, True] Translation: X:56.06, Y:3.11, Z:0.05 [[ 9.87004700e-01 -1.60540938e-01 -6.95188259e-03 5.60631926e+01] [ 1.60537253e-01 9.87029182e-01 -1.08856706e-03 3.10951111e+00] [ 7.03647056e-03 -4.16153301e-05 9.99975243e-01 5.17215860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981858063999994 meters 0.015853839636431978 Centerline is valid? [True, True] Translation: X:56.12, Y:3.11, Z:0.05 [[ 9.86284540e-01 -1.64859145e-01 -8.01671178e-03 5.61222255e+01] [ 1.64854372e-01 9.86317117e-01 -1.25712584e-03 3.11446506e+00] [ 8.11426874e-03 -8.17062085e-05 9.99967075e-01 5.10497873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041858063999996 meters 0.016453284220637684 Centerline is valid? [True, True] Translation: X:56.18, Y:3.12, Z:0.05 [[ 9.85701465e-01 -1.68276285e-01 -8.70141889e-03 5.61796974e+01] [ 1.68270787e-01 9.85739863e-01 -1.36538938e-03 3.12089415e+00] [ 8.80709812e-03 -1.18328294e-04 9.99961210e-01 4.97313676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10185806399999 meters 0.016720732400536564 Centerline is valid? [True, True] Translation: X:56.24, Y:3.13, Z:0.05 [[ 9.85543409e-01 -1.69201383e-01 -8.66491118e-03 5.62373674e+01] [ 1.69195960e-01 9.85581491e-01 -1.36038640e-03 3.12983246e+00] [ 8.77015535e-03 -1.25348118e-04 9.99961534e-01 4.90931386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16185806399999 meters 0.01670471511888319 Centerline is valid? [True, True] Translation: X:56.30, Y:3.14, Z:0.05 [[ 9.85129815e-01 -1.71564266e-01 -9.21684609e-03 5.62954180e+01] [ 1.71558214e-01 9.85172918e-01 -1.44914971e-03 3.13925846e+00] [ 9.32880947e-03 -1.53625066e-04 9.99956474e-01 4.96055189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221858063999996 meters 0.017137295789992138 Centerline is valid? [True, True] Translation: X:56.35, Y:3.15, Z:0.05 [[ 9.84861976e-01 -1.73144387e-01 -8.24070929e-03 5.63541126e+01] [ 1.73139588e-01 9.84896441e-01 -1.29763081e-03 3.14746473e+00] [ 8.34092274e-03 -1.48805766e-04 9.99965203e-01 5.02405176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281858064 meters 0.016903898746939372 Centerline is valid? [True, True] Translation: X:56.41, Y:3.16, Z:0.05 [[ 9.85057281e-01 -1.72082799e-01 -7.04725289e-03 5.64112490e+01] [ 1.72079256e-01 9.85082482e-01 -1.11065120e-03 3.15865105e+00] [ 7.13324933e-03 -1.18630976e-04 9.99974551e-01 5.22459946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34185806399999 meters 0.016293331228682775 Centerline is valid? [True, True] Translation: X:56.47, Y:3.17, Z:0.05 [[ 9.85524850e-01 -1.69396559e-01 -6.75104172e-03 5.64685427e+01] [ 1.69393234e-01 9.85547968e-01 -1.06544083e-03 3.17135254e+00] [ 6.83395746e-03 -9.35623821e-05 9.99976644e-01 5.23728119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401858063999995 meters 0.015426259603550064 Centerline is valid? [True, True] Translation: X:56.52, Y:3.19, Z:0.05 [[ 9.86193808e-01 -1.65493402e-01 -5.80580395e-03 5.65246126e+01] [ 1.65490871e-01 9.86210896e-01 -9.17030884e-04 3.18515946e+00] [ 5.87750968e-03 -5.64373737e-05 9.99982726e-01 5.33895718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461858064 meters 0.015016845241066223 Centerline is valid? [True, True] Translation: X:56.58, Y:3.20, Z:0.05 [[ 9.86290279e-01 -1.64930394e-01 -5.42687662e-03 5.65809671e+01] [ 1.64928166e-01 9.86305208e-01 -8.58568565e-04 3.19821786e+00] [ 5.49416072e-03 -4.82469781e-05 9.99984906e-01 5.43710077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52185806399999 meters 0.015156859964792543 Centerline is valid? [True, True] Translation: X:56.64, Y:3.21, Z:0.05 [[ 9.86062076e-01 -1.66317874e-01 -4.46629352e-03 5.66378305e+01] [ 1.66316377e-01 9.86072189e-01 -7.07111691e-04 3.20813468e+00] [ 4.52169314e-03 -4.55617336e-05 9.99989776e-01 5.42239308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581858063999995 meters 0.01564775045438104 Centerline is valid? [True, True] Translation: X:56.69, Y:3.22, Z:0.05 [[ 9.85647019e-01 -1.68770024e-01 -4.07833410e-03 5.66946605e+01] [ 1.68768795e-01 9.85655455e-01 -6.46032883e-04 3.21654512e+00] [ 4.12886324e-03 -5.15351465e-05 9.99991475e-01 5.41782281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641858064 meters 0.01595919057059912 Centerline is valid? [True, True] Translation: X:56.75, Y:3.23, Z:0.05 [[ 9.85339890e-01 -1.70553711e-01 -4.09064756e-03 5.67522747e+01] [ 1.70552489e-01 9.85348379e-01 -6.48334458e-04 3.22618660e+00] [ 4.14128879e-03 -5.88403196e-05 9.99991423e-01 5.42579334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70185806399999 meters 0.016329765440893686 Centerline is valid? [True, True] Translation: X:56.81, Y:3.24, Z:0.05 [[ 9.84919638e-01 -1.72934159e-01 -5.20425143e-03 5.68095787e+01] [ 1.72932212e-01 9.84933383e-01 -8.25302537e-04 3.23708244e+00] [ 5.26856397e-03 -8.71260342e-05 9.99986117e-01 5.25796677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761858063999995 meters 0.01627003921902773 Centerline is valid? [True, True] Translation: X:56.87, Y:3.25, Z:0.05 [[ 9.84774759e-01 -1.73746964e-01 -5.53772798e-03 5.68670965e+01] [ 1.73744765e-01 9.84790325e-01 -8.79417783e-04 3.24772649e+00] [ 5.60629711e-03 -9.61228091e-05 9.99984280e-01 5.18520690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821858064 meters 0.016477725262803555 Centerline is valid? [True, True] Translation: X:56.92, Y:3.26, Z:0.05 [[ 9.84708568e-01 -1.74112697e-01 -5.81426733e-03 5.69245234e+01] [ 1.74110270e-01 9.84725727e-01 -9.24940214e-04 3.25685976e+00] [ 5.88650246e-03 -1.01527102e-04 9.99982669e-01 5.15685081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88185806399999 meters 0.016382935428596007 Centerline is valid? [True, True] Translation: X:56.98, Y:3.27, Z:0.05 [[ 9.84932315e-01 -1.72798895e-01 -6.99126183e-03 5.69828537e+01] [ 1.72795341e-01 9.84957121e-01 -1.11383775e-03 3.26809817e+00] [ 7.07856305e-03 -1.11002678e-04 9.99974940e-01 5.11905641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941858063999994 meters 0.015777760374476334 Centerline is valid? [True, True] Translation: X:57.04, Y:3.28, Z:0.05 [[ 9.85478902e-01 -1.69675583e-01 -6.44436498e-03 5.70406982e+01] [ 1.69672487e-01 9.85499970e-01 -1.02814376e-03 3.28201302e+00] [ 6.52537238e-03 -8.02174472e-05 9.99978706e-01 5.14009309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001858064 meters 0.015250449694819989 Centerline is valid? [True, True] Translation: X:57.10, Y:3.29, Z:0.05 [[ 9.85859841e-01 -1.67497394e-01 -4.99975836e-03 5.70987330e+01] [ 1.67495496e-01 9.85872517e-01 -7.98859001e-04 3.29449871e+00] [ 5.06293116e-03 -4.98739995e-05 9.99987182e-01 5.25058252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06185806399999 meters 0.014976440307896998 Centerline is valid? [True, True] Translation: X:57.16, Y:3.31, Z:0.05 [[ 9.86425590e-01 -1.64114165e-01 -5.57634278e-03 5.71558331e+01] [ 1.64111745e-01 9.86441351e-01 -8.91845123e-04 3.30626082e+00] [ 5.64709952e-03 -3.54044932e-05 9.99984054e-01 5.13448055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121858063999994 meters 0.015566001724377347 Centerline is valid? [True, True] Translation: X:57.21, Y:3.32, Z:0.05 [[ 9.86675185e-01 -1.62591801e-01 -5.99877938e-03 5.72133126e+01] [ 1.62588963e-01 9.86693420e-01 -9.61009824e-04 3.31769217e+00] [ 6.07520846e-03 -2.71307736e-05 9.99981545e-01 5.03654079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181858064 meters 0.014670743820748157 Centerline is valid? [True, True] Translation: X:57.27, Y:3.33, Z:0.05 [[ 9.86785265e-01 -1.61969267e-01 -4.56029487e-03 5.72706665e+01] [ 1.61967615e-01 9.86795803e-01 -7.31827090e-04 3.32776773e+00] [ 4.61861334e-03 -1.64638946e-05 9.99989334e-01 5.21342411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24185806399999 meters 0.014639457976216295 Centerline is valid? [True, True] Translation: X:57.33, Y:3.34, Z:0.05 [[ 9.86736131e-01 -1.62261031e-01 -4.81310268e-03 5.73267864e+01] [ 1.62259190e-01 9.86747869e-01 -7.73154056e-04 3.33593276e+00] [ 4.87477159e-03 -1.80711028e-05 9.99988118e-01 5.26656486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301858063999994 meters 0.014628081600717647 Centerline is valid? [True, True] Translation: X:57.38, Y:3.35, Z:0.05 [[ 9.86609086e-01 -1.63021945e-01 -5.13389174e-03 5.73844465e+01] [ 1.63019853e-01 9.86622443e-01 -8.26003275e-04 3.34508132e+00] [ 5.19986947e-03 -2.19839420e-05 9.99986480e-01 5.22584615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361858063999996 meters 0.014588366009300614 Centerline is valid? [True, True] Translation: X:57.44, Y:3.35, Z:0.05 [[ 9.86216586e-01 -1.65414578e-01 -3.85520401e-03 5.74415950e+01] [ 1.65413412e-01 9.86224121e-01 -6.21337195e-04 3.35460732e+00] [ 3.90487341e-03 -2.49294037e-05 9.99992376e-01 5.34716250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42185806399999 meters 0.014965187104000756 Centerline is valid? [True, True] Translation: X:57.50, Y:3.36, Z:0.05 [[ 9.85803954e-01 -1.67843917e-01 -4.35710744e-03 5.74992425e+01] [ 1.67842450e-01 9.85813582e-01 -7.02829933e-04 3.36176787e+00] [ 4.41326142e-03 -3.84550588e-05 9.99990261e-01 5.34162626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481858063999994 meters 0.015241360184800464 Centerline is valid? [True, True] Translation: X:57.56, Y:3.37, Z:0.05 [[ 9.85280878e-01 -1.70847413e-01 -5.72303506e-03 5.75579900e+01] [ 1.70844925e-01 9.85297497e-01 -9.24480758e-04 3.36925896e+00] [ 5.79683726e-03 -6.68782814e-05 9.99983196e-01 5.30462990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541858063999996 meters 0.015448685611329553 Centerline is valid? [True, True] Translation: X:57.62, Y:3.38, Z:0.05 [[ 9.85152572e-01 -1.71567397e-01 -6.24808154e-03 5.76160559e+01] [ 1.71564436e-01 9.85172382e-01 -1.01085920e-03 3.38008330e+00] [ 6.32886786e-03 -7.60980399e-05 9.99979970e-01 5.21221502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60185806399999 meters 0.015117934365783152 Centerline is valid? [True, True] Translation: X:57.67, Y:3.39, Z:0.05 [[ 9.85431470e-01 -1.69871323e-01 -8.27955176e-03 5.76724878e+01] [ 1.69866043e-01 9.85466248e-01 -1.34194845e-03 3.39309643e+00] [ 8.38717737e-03 -8.40164575e-05 9.99964823e-01 5.02312487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66185806399999 meters 0.014858711415187107 Centerline is valid? [True, True] Translation: X:57.73, Y:3.40, Z:0.05 [[ 9.85583429e-01 -1.68913234e-01 -9.67597540e-03 5.77294178e+01] [ 1.68905949e-01 9.85630921e-01 -1.57116954e-03 3.40335990e+00] [ 9.80233187e-03 -8.58111474e-05 9.99951952e-01 5.02843603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721858063999996 meters 0.014723875847843373 Centerline is valid? [True, True] Translation: X:57.79, Y:3.41, Z:0.05 [[ 9.85863172e-01 -1.67298826e-01 -9.21460315e-03 5.77860813e+01] [ 1.67292139e-01 9.85906232e-01 -1.49725015e-03 3.41430850e+00] [ 9.33522287e-03 -6.54468894e-05 9.99956424e-01 5.08034000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781858064 meters 0.014400796885716046 Centerline is valid? [True, True] Translation: X:57.84, Y:3.43, Z:0.05 [[ 9.86340100e-01 -1.64562993e-01 -7.22693266e-03 5.78430053e+01] [ 1.64558800e-01 9.86366575e-01 -1.17518042e-03 3.42552543e+00] [ 7.32179602e-03 -3.01277921e-05 9.99973195e-01 5.30153641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84185806399999 meters 0.014295952084888656 Centerline is valid? [True, True] Translation: X:57.90, Y:3.44, Z:0.06 [[ 9.86537091e-01 -1.63431174e-01 -5.90088141e-03 5.79006081e+01] [ 1.63428350e-01 9.86554738e-01 -9.60887379e-04 3.43607535e+00] [ 5.97858146e-03 -1.64202716e-05 9.99982128e-01 5.51810608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901858063999995 meters 0.014266173885669146 Centerline is valid? [True, True] Translation: X:57.96, Y:3.45, Z:0.06 [[ 9.86681245e-01 -1.62594002e-01 -4.82812139e-03 5.79576171e+01] [ 1.62592099e-01 9.86693058e-01 -7.86719189e-04 3.44604353e+00] [ 4.89178968e-03 -8.77332294e-06 9.99988035e-01 5.66777240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961858064 meters 0.014314758573522109 Centerline is valid? [True, True] Translation: X:58.02, Y:3.46, Z:0.06 [[ 9.86579324e-01 -1.63206477e-01 -4.98829326e-03 5.80152375e+01] [ 1.63204447e-01 9.86591935e-01 -8.14034390e-04 3.45660716e+00] [ 5.05426559e-03 -1.10021462e-05 9.99987227e-01 5.58735432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02185806399999 meters 0.01439768330736622 Centerline is valid? [True, True] Translation: X:58.07, Y:3.46, Z:0.05 [[ 9.86268520e-01 -1.65020695e-01 -6.52511007e-03 5.80732035e+01] [ 1.65017250e-01 9.86290104e-01 -1.06648026e-03 3.46424974e+00] [ 6.61164280e-03 -2.49198178e-05 9.99978143e-01 5.46101299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081858063999995 meters 0.014671445082271839 Centerline is valid? [True, True] Translation: X:58.13, Y:3.47, Z:0.05 [[ 9.85821731e-01 -1.67619728e-01 -7.69029103e-03 5.81320529e+01] [ 1.67615009e-01 9.85851725e-01 -1.25877213e-03 3.47172616e+00] [ 7.79248172e-03 -4.80832814e-05 9.99969637e-01 5.37964285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141858064 meters 0.015081458765573449 Centerline is valid? [True, True] Translation: X:58.19, Y:3.48, Z:0.05 [[ 9.85220241e-01 -1.70973452e-01 -1.04477764e-02 5.81899058e+01] [ 1.70964917e-01 9.85275631e-01 -1.71123948e-03 3.48016953e+00] [ 1.05865161e-02 -1.00255462e-04 9.99943956e-01 5.19881001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20185806399999 meters 0.015278963248490256 Centerline is valid? [True, True] Translation: X:58.25, Y:3.49, Z:0.05 [[ 9.85056101e-01 -1.71940509e-01 -1.00468524e-02 5.82459874e+01] [ 1.71932649e-01 9.85107329e-01 -1.64737979e-03 3.48827787e+00] [ 1.01804792e-02 -1.04620432e-04 9.99948172e-01 5.22760769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261858063999995 meters 0.015345999512553546 Centerline is valid? [True, True] Translation: X:58.30, Y:3.50, Z:0.05 [[ 9.84986491e-01 -1.72405365e-01 -8.83192474e-03 5.83031774e+01] [ 1.72399289e-01 9.85026082e-01 -1.45047546e-03 3.49768102e+00] [ 8.94974597e-03 -9.39188121e-05 9.99959946e-01 5.33100290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321858064 meters 0.014773190516790047 Centerline is valid? [True, True] Translation: X:58.36, Y:3.51, Z:0.05 [[ 9.84942756e-01 -1.72626914e-01 -9.36565104e-03 5.83605981e+01] [ 1.72620065e-01 9.84987279e-01 -1.54085928e-03 3.50935421e+00] [ 9.49104091e-03 -9.90411103e-05 9.99954954e-01 5.39517770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38185806399999 meters 0.01468188441740583 Centerline is valid? [True, True] Translation: X:58.42, Y:3.52, Z:0.05 [[ 9.85159139e-01 -1.71399698e-01 -9.14407298e-03 5.84178194e+01] [ 1.71393107e-01 9.85201572e-01 -1.50539154e-03 3.51859635e+00] [ 9.26677873e-03 -8.41808491e-05 9.99957059e-01 5.44869100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441858063999994 meters 0.01451225297802517 Centerline is valid? [True, True] Translation: X:58.47, Y:3.53, Z:0.06 [[ 9.85228374e-01 -1.71027748e-01 -8.63483629e-03 5.84747859e+01] [ 1.71021837e-01 9.85266210e-01 -1.42385770e-03 3.52904108e+00] [ 8.75113160e-03 -7.39205618e-05 9.99961705e-01 5.52490191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501858064 meters 0.01433166467646842 Centerline is valid? [True, True] Translation: X:58.53, Y:3.54, Z:0.06 [[ 9.85463814e-01 -1.69624011e-01 -9.42154876e-03 5.85321226e+01] [ 1.69616883e-01 9.85508849e-01 -1.55631890e-03 3.54020700e+00] [ 9.54900872e-03 -6.43577792e-05 9.99954405e-01 5.56939506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56185806399999 meters 0.014347098718905887 Centerline is valid? [True, True] Translation: X:58.59, Y:3.55, Z:0.05 [[ 9.85568393e-01 -1.68987467e-01 -9.90855350e-03 5.85878303e+01] [ 1.68979537e-01 9.85618198e-01 -1.63814643e-03 3.55004321e+00] [ 1.00428769e-02 -5.98374427e-05 9.99949567e-01 5.43956006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621858063999994 meters 0.014023825047578738 Centerline is valid? [True, True] Translation: X:58.65, Y:3.56, Z:0.05 [[ 9.85907908e-01 -1.66961081e-01 -1.04687622e-02 5.86450773e+01] [ 1.66952084e-01 9.85963486e-01 -1.73367329e-03 3.56092232e+00] [ 1.06112732e-02 -3.85394568e-05 9.99943698e-01 5.47217880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681858064 meters 0.014036008351292085 Centerline is valid? [True, True] Translation: X:58.70, Y:3.57, Z:0.05 [[ 9.86174597e-01 -1.65402301e-01 -1.00868094e-02 5.87023278e+01] [ 1.65393838e-01 9.86226180e-01 -1.67329830e-03 3.57161328e+00] [ 1.02246429e-02 -1.81318408e-05 9.99947727e-01 5.43503162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74185806399999 meters 0.013884582691592985 Centerline is valid? [True, True] Translation: X:58.76, Y:3.58, Z:0.05 [[ 9.86173370e-01 -1.65410107e-01 -1.00787401e-02 5.87597332e+01] [ 1.65401627e-01 9.86224871e-01 -1.67490836e-03 3.58095985e+00] [ 1.02169510e-02 -1.52899996e-05 9.99947805e-01 5.49850919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801858063999994 meters 0.013823179590045783 Centerline is valid? [True, True] Translation: X:58.82, Y:3.59, Z:0.06 [[ 9.86304651e-01 -1.64647446e-01 -9.71362392e-03 5.88170618e+01] [ 1.64639505e-01 9.86352482e-01 -1.61703157e-03 3.58897651e+00] [ 9.84729718e-03 -4.36047765e-06 9.99951514e-01 5.53756479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861858063999996 meters 0.013833730180615272 Centerline is valid? [True, True] Translation: X:58.87, Y:3.60, Z:0.06 [[ 9.86315178e-01 -1.64585652e-01 -9.69191460e-03 5.88743428e+01] [ 1.64577717e-01 9.86362795e-01 -1.61620634e-03 3.59796869e+00] [ 9.82574835e-03 -9.84325158e-07 9.99951726e-01 5.54001966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92185806399999 meters 0.013921314244626708 Centerline is valid? [True, True] Translation: X:58.93, Y:3.61, Z:0.05 [[ 9.86019741e-01 -1.66324419e-01 -1.00627017e-02 5.89318463e+01] [ 1.66315925e-01 9.86071086e-01 -1.68094938e-03 3.60619616e+00] [ 1.02021221e-02 -1.61382668e-05 9.99947957e-01 5.46737126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981858063999994 meters 0.014062516663625159 Centerline is valid? [True, True] Translation: X:58.99, Y:3.61, Z:0.05 [[ 9.85505785e-01 -1.69319377e-01 -1.04544969e-02 5.89908313e+01] [ 1.69310350e-01 9.85561234e-01 -1.74906819e-03 3.61236057e+00] [ 1.05996980e-02 -4.63377030e-05 9.99943821e-01 5.45331038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041858063999996 meters 0.014389425698116388 Centerline is valid? [True, True] Translation: X:59.05, Y:3.62, Z:0.05 [[ 9.84717338e-01 -1.73891548e-01 -9.66923624e-03 5.90495894e+01] [ 1.73884022e-01 9.84764805e-01 -1.62008592e-03 3.61711880e+00] [ 9.80364279e-03 -8.59989966e-05 9.99951939e-01 5.49880280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10185806399999 meters 0.014962324469519452 Centerline is valid? [True, True] Translation: X:59.11, Y:3.62, Z:0.05 [[ 9.84155983e-01 -1.77044629e-01 -9.60210958e-03 5.91069694e+01] [ 1.77037347e-01 9.84202818e-01 -1.60981513e-03 3.62283192e+00] [ 9.73543243e-03 -1.15622818e-04 9.99952603e-01 5.42012239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16185806399999 meters 0.0152900926500267 Centerline is valid? [True, True] Translation: X:59.16, Y:3.63, Z:0.05 [[ 9.83960950e-01 -1.78150217e-01 -9.12953348e-03 5.91649320e+01] [ 1.78143661e-01 9.84003296e-01 -1.53292447e-03 3.62961638e+00] [ 9.25658186e-03 -1.18030695e-04 9.99957150e-01 5.44042443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221858063999996 meters 0.014627781398157453 Centerline is valid? [True, True] Translation: X:59.22, Y:3.64, Z:0.06 [[ 9.84017427e-01 -1.77833414e-01 -9.21844508e-03 5.92227685e+01] [ 1.77826691e-01 9.84060600e-01 -1.55053116e-03 3.63827726e+00] [ 9.34724484e-03 -1.13535902e-04 9.99956307e-01 5.53870690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281858064 meters 0.01413327386209729 Centerline is valid? [True, True] Translation: X:59.28, Y:3.65, Z:0.06 [[ 9.84534143e-01 -1.74927142e-01 -9.64452487e-03 5.92798682e+01] [ 1.74919633e-01 9.84581377e-01 -1.62324828e-03 3.64839041e+00] [ 9.77976976e-03 -8.88733975e-05 9.99952173e-01 5.50540990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34185806399999 meters 0.013892525375646336 Centerline is valid? [True, True] Translation: X:59.34, Y:3.66, Z:0.06 [[ 9.84832160e-01 -1.73267597e-01 -9.16275973e-03 5.93383890e+01] [ 1.73260728e-01 9.84874782e-01 -1.54432730e-03 3.65757138e+00] [ 9.29175287e-03 -6.66432322e-05 9.99956829e-01 5.58093999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401858063999995 meters 0.013613194882249177 Centerline is valid? [True, True] Translation: X:59.40, Y:3.67, Z:0.06 [[ 9.85200712e-01 -1.71192146e-01 -8.53268759e-03 5.93965100e+01] [ 1.71186092e-01 9.85237660e-01 -1.44028986e-03 3.66620560e+00] [ 8.65329147e-03 -4.17028539e-05 9.99962559e-01 5.67208299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461858064 meters 0.013526232467385218 Centerline is valid? [True, True] Translation: X:59.45, Y:3.68, Z:0.06 [[ 9.85364838e-01 -1.70256999e-01 -8.28794268e-03 5.94531524e+01] [ 1.70251240e-01 9.85399692e-01 -1.40065150e-03 3.67519130e+00] [ 8.40540689e-03 -3.08797857e-05 9.99964673e-01 5.62876473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52185806399999 meters 0.01335860054866453 Centerline is valid? [True, True] Translation: X:59.51, Y:3.69, Z:0.06 [[ 9.85579437e-01 -1.69097695e-01 -6.25647481e-03 5.95109311e+01] [ 1.69094380e-01 9.85599295e-01 -1.05884711e-03 3.68585243e+00] [ 6.34542576e-03 -1.43567950e-05 9.99979867e-01 5.84352500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581858063999995 meters 0.013237337577668162 Centerline is valid? [True, True] Translation: X:59.57, Y:3.69, Z:0.06 [[ 9.85701373e-01 -1.68436872e-01 -4.67159787e-03 5.95685515e+01] [ 1.68435011e-01 9.85712443e-01 -7.91889464e-04 3.69480680e+00] [ 4.73823553e-03 -6.29410468e-06 9.99988774e-01 5.93442665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641858064 meters 0.013277133295357343 Centerline is valid? [True, True] Translation: X:59.62, Y:3.70, Z:0.06 [[ 9.85673677e-01 -1.68602958e-01 -4.52157321e-03 5.96245330e+01] [ 1.68601213e-01 9.85684048e-01 -7.67155408e-04 3.70386110e+00] [ 4.58618725e-03 -6.17783431e-06 9.99989483e-01 5.95569332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70185806399999 meters 0.013344528430944323 Centerline is valid? [True, True] Translation: X:59.68, Y:3.71, Z:0.06 [[ 9.85330505e-01 -1.70595644e-01 -4.57409563e-03 5.96821786e+01] [ 1.70593874e-01 9.85341122e-01 -7.77230516e-04 3.71312700e+00] [ 4.63963666e-03 -1.44837596e-05 9.99989237e-01 5.90446531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761858063999995 meters 0.013738416251491229 Centerline is valid? [True, True] Translation: X:59.74, Y:3.72, Z:0.06 [[ 9.84650192e-01 -1.74445903e-01 -5.71195444e-03 5.97407632e+01] [ 1.74443199e-01 9.84666758e-01 -9.72081365e-04 3.72158912e+00] [ 5.79394727e-03 -3.92515047e-05 9.99983214e-01 5.68884960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821858064 meters 0.014281762120510426 Centerline is valid? [True, True] Translation: X:59.80, Y:3.73, Z:0.06 [[ 9.84032001e-01 -1.77871751e-01 -6.53156126e-03 5.97986943e+01] [ 1.77868284e-01 9.84053675e-01 -1.11254623e-03 3.72854656e+00] [ 6.62529741e-03 -6.69764995e-05 9.99978050e-01 5.57807968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88185806399999 meters 0.015284348444390831 Centerline is valid? [True, True] Translation: X:59.86, Y:3.73, Z:0.06 [[ 9.83079336e-01 -1.83058856e-01 -6.66886375e-03 5.98567491e+01] [ 1.83055357e-01 9.83101950e-01 -1.13654911e-03 3.73474046e+00] [ 6.76422833e-03 -1.03453291e-04 9.99977117e-01 5.58662812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941858063999994 meters 0.01604059860907964 Centerline is valid? [True, True] Translation: X:59.91, Y:3.74, Z:0.06 [[ 9.82794599e-01 -1.84587748e-01 -6.49144446e-03 5.99138834e+01] [ 1.84584463e-01 9.82816031e-01 -1.10686275e-03 3.74250063e+00] [ 6.58420898e-03 -1.10401055e-04 9.99978318e-01 5.63360802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001858064 meters 0.014993392855919456 Centerline is valid? [True, True] Translation: X:59.97, Y:3.76, Z:0.06 [[ 9.82867255e-01 -1.84220689e-01 -5.89047725e-03 5.99717074e+01] [ 1.84217969e-01 9.82884901e-01 -1.00572052e-03 3.75539212e+00] [ 5.97493567e-03 -9.66419899e-05 9.99982145e-01 5.68903010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06185806399999 meters 0.014923425823094425 Centerline is valid? [True, True] Translation: X:60.03, Y:3.77, Z:0.06 [[ 9.82884801e-01 -1.84108589e-01 -6.44167270e-03 6.00291686e+01] [ 1.84105322e-01 9.82905904e-01 -1.10165736e-03 3.76606074e+00] [ 6.53438271e-03 -1.03143947e-04 9.99978645e-01 5.59917740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121858063999994 meters 0.014606759494656995 Centerline is valid? [True, True] Translation: X:60.09, Y:3.78, Z:0.06 [[ 9.82880507e-01 -1.84097968e-01 -7.33804623e-03 6.00859671e+01] [ 1.84093712e-01 9.82907892e-01 -1.25711086e-03 3.77583921e+00] [ 7.44405511e-03 -1.15298414e-04 9.99972286e-01 5.61733284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181858064 meters 0.01487931894665761 Centerline is valid? [True, True] Translation: X:60.14, Y:3.79, Z:0.06 [[ 9.82680183e-01 -1.85162816e-01 -7.37493108e-03 6.01441690e+01] [ 1.85158533e-01 9.82707849e-01 -1.26530792e-03 3.78553897e+00] [ 7.48169063e-03 -1.22138393e-04 9.99972004e-01 5.59164058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24185806399999 meters 0.015065977682249583 Centerline is valid? [True, True] Translation: X:60.20, Y:3.80, Z:0.06 [[ 9.82320361e-01 -1.87038962e-01 -7.94576747e-03 6.02020727e+01] [ 1.87034035e-01 9.82352486e-01 -1.36527048e-03 3.79540792e+00] [ 8.06090319e-03 -1.44995956e-04 9.99967500e-01 5.57562081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301858063999994 meters 0.015129546903665343 Centerline is valid? [True, True] Translation: X:60.26, Y:3.81, Z:0.06 [[ 9.82054568e-01 -1.88400709e-01 -8.60228245e-03 6.02604600e+01] [ 1.88394967e-01 9.82092228e-01 -1.48029449e-03 3.80519438e+00] [ 8.72712328e-03 -1.66896752e-04 9.99961904e-01 5.58614362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361858063999996 meters 0.015272294212344245 Centerline is valid? [True, True] Translation: X:60.32, Y:3.82, Z:0.05 [[ 9.82067101e-01 -1.88319244e-01 -8.94829818e-03 6.03168517e+01] [ 1.88313017e-01 9.82107852e-01 -1.54108294e-03 3.81525801e+00] [ 9.07840948e-03 -1.71634172e-04 9.99958776e-01 5.48841032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42185806399999 meters 0.015225359402344854 Centerline is valid? [True, True] Translation: X:60.37, Y:3.83, Z:0.05 [[ 9.82520379e-01 -1.85959069e-01 -8.53986328e-03 6.03733011e+01] [ 1.85953301e-01 9.82557481e-01 -1.47152357e-03 3.82635563e+00] [ 8.66454971e-03 -1.42213880e-04 9.99962452e-01 5.39568679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481858063999994 meters 0.014369744978581848 Centerline is valid? [True, True] Translation: X:60.43, Y:3.84, Z:0.06 [[ 9.82833076e-01 -1.84324842e-01 -7.96856626e-03 6.04315303e+01] [ 1.84319751e-01 9.82865372e-01 -1.37495734e-03 3.83781218e+00] [ 8.08546663e-03 -1.17410598e-04 9.99967305e-01 5.55310431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541858063999996 meters 0.013722153655864254 Centerline is valid? [True, True] Translation: X:60.49, Y:3.85, Z:0.06 [[ 9.83549242e-01 -1.80441343e-01 -8.47405479e-03 6.04893356e+01] [ 1.80435423e-01 9.83585743e-01 -1.46435048e-03 3.85005276e+00] [ 8.59918884e-03 -8.87588550e-05 9.99963022e-01 5.53021865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60185806399999 meters 0.013337091936907334 Centerline is valid? [True, True] Translation: X:60.55, Y:3.86, Z:0.05 [[ 9.84036895e-01 -1.77638505e-01 -1.07680092e-02 6.05460649e+01] [ 1.77628743e-01 9.84095806e-01 -1.86392146e-03 3.86178170e+00] [ 1.09278569e-02 -7.85404432e-05 9.99940286e-01 5.27393654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66185806399999 meters 0.013379321338059531 Centerline is valid? [True, True] Translation: X:60.60, Y:3.87, Z:0.05 [[ 9.84129497e-01 -1.77099738e-01 -1.11720994e-02 6.06023396e+01] [ 1.77089177e-01 9.84192907e-01 -1.93542030e-03 3.87105848e+00] [ 1.13382634e-02 -7.37536833e-05 9.99935717e-01 5.18902067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721858063999996 meters 0.013411636373679195 Centerline is valid? [True, True] Translation: X:60.66, Y:3.88, Z:0.05 [[ 9.84084670e-01 -1.77358349e-01 -1.10172151e-02 6.06593285e+01] [ 1.77348072e-01 9.84146336e-01 -1.91064427e-03 3.87781125e+00] [ 1.11814205e-02 -7.36461220e-05 9.99937483e-01 5.24718066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781858064 meters 0.013257097880588885 Centerline is valid? [True, True] Translation: X:60.72, Y:3.89, Z:0.05 [[ 9.83972085e-01 -1.78022626e-01 -1.03383076e-02 6.07166730e+01] [ 1.78013584e-01 9.84026392e-01 -1.79576054e-03 3.88671378e+00] [ 1.04928536e-02 -7.33809545e-05 9.99944946e-01 5.31846592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84185806399999 meters 0.013513461130811243 Centerline is valid? [True, True] Translation: X:60.77, Y:3.89, Z:0.05 [[ 9.83695310e-01 -1.79559270e-01 -1.00997716e-02 6.07746166e+01] [ 1.79550710e-01 9.83747153e-01 -1.75537500e-03 3.89318211e+00] [ 1.02508154e-02 -8.66670107e-05 9.99947455e-01 5.30979404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901858063999995 meters 0.013627662952169614 Centerline is valid? [True, True] Translation: X:60.83, Y:3.90, Z:0.05 [[ 9.83390280e-01 -1.81256081e-01 -9.47576656e-03 6.08323568e+01] [ 1.81248601e-01 9.83435928e-01 -1.64943077e-03 3.90039687e+00] [ 9.61777863e-03 -9.54352486e-05 9.99953744e-01 5.48158883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961858064 meters 0.013722812664156874 Centerline is valid? [True, True] Translation: X:60.89, Y:3.91, Z:0.06 [[ 9.83161791e-01 -1.82518311e-01 -8.94195954e-03 6.08897171e+01] [ 1.82511679e-01 9.83202449e-01 -1.55904144e-03 3.90820950e+00] [ 9.07631013e-03 -9.92220802e-05 9.99958805e-01 5.54713600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021858064 meters 0.01359607458107517 Centerline is valid? [True, True] Translation: X:60.95, Y:3.92, Z:0.05 [[ 9.83170474e-01 -1.82397637e-01 -1.03402817e-02 6.09477290e+01] [ 1.82388734e-01 9.83224842e-01 -1.80554768e-03 3.91850796e+00] [ 1.04961495e-02 -1.10789721e-04 9.99944908e-01 5.49978291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081858064 meters 0.013633365799059202 Centerline is valid? [True, True] Translation: X:61.00, Y:3.93, Z:0.05 [[ 9.83138658e-01 -1.82574005e-01 -1.02523682e-02 6.10045798e+01] [ 1.82565231e-01 9.83192108e-01 -1.79313487e-03 3.92816637e+00] [ 1.04074273e-02 -1.08825753e-04 9.99945835e-01 5.47431345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141858064 meters 0.013866359005647757 Centerline is valid? [True, True] Translation: X:61.06, Y:3.94, Z:0.05 [[ 9.82849109e-01 -1.84110843e-01 -1.05274323e-02 6.10624802e+01] [ 1.84101652e-01 9.82905480e-01 -1.84392036e-03 3.93663845e+00] [ 1.06869566e-02 -1.25822194e-04 9.99942885e-01 5.49839590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201858064 meters 0.014407111673674741 Centerline is valid? [True, True] Translation: X:61.12, Y:3.95, Z:0.06 [[ 9.82477485e-01 -1.86143064e-01 -9.42081121e-03 6.11201405e+01] [ 1.86135789e-01 9.82522642e-01 -1.65104028e-03 3.94571463e+00] [ 9.56349002e-03 -1.31440226e-04 9.99954260e-01 5.59325482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.261858064 meters 0.015220348170789525 Centerline is valid? [True, True] Translation: X:61.18, Y:3.95, Z:0.06 [[ 9.81826880e-01 -1.89619874e-01 -7.76412084e-03 6.11783452e+01] [ 1.89615027e-01 9.81857569e-01 -1.36245362e-03 3.95447809e+00] [ 7.88160909e-03 -1.34500397e-04 9.99968931e-01 5.69559718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.321858064 meters 0.015164794403421973 Centerline is valid? [True, True] Translation: X:61.24, Y:3.97, Z:0.06 [[ 9.81448882e-01 -1.91606168e-01 -6.72077195e-03 6.12365119e+01] [ 1.91602571e-01 9.81471884e-01 -1.18102901e-03 3.96613028e+00] [ 6.82254116e-03 -1.28597587e-04 9.99976718e-01 5.78909163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381858064 meters 0.015969967370977833 Centerline is valid? [True, True] Translation: X:61.29, Y:3.98, Z:0.06 [[ 9.81118407e-01 -1.93303698e-01 -6.35237889e-03 6.12931274e+01] [ 1.93300516e-01 9.81138962e-01 -1.11698388e-03 3.97804239e+00] [ 6.44848355e-03 -1.32024669e-04 9.99979200e-01 5.66679804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441858064 meters 0.016131260283094365 Centerline is valid? [True, True] Translation: X:61.35, Y:3.99, Z:0.06 [[ 9.80765890e-01 -1.95080186e-01 -6.47998033e-03 6.13511745e+01] [ 1.95076904e-01 9.80787286e-01 -1.14090889e-03 3.98986611e+00] [ 6.57805104e-03 -1.45129977e-04 9.99978354e-01 5.63914654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501858064 meters 0.016380566867600393 Centerline is valid? [True, True] Translation: X:61.41, Y:4.00, Z:0.06 [[ 9.80347943e-01 -1.97149842e-01 -7.06041898e-03 6.14088495e+01] [ 1.97145987e-01 9.80373352e-01 -1.24490580e-03 4.00299911e+00] [ 7.16727960e-03 -1.71492428e-04 9.99974300e-01 5.62123547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561858064 meters 0.017106860438885665 Centerline is valid? [True, True] Translation: X:61.47, Y:4.02, Z:0.06 [[ 9.80480356e-01 -1.96460558e-01 -7.84355041e-03 6.14652468e+01] [ 1.96455770e-01 9.80511711e-01 -1.38384825e-03 4.01617575e+00] [ 7.96256463e-03 -1.84074706e-04 9.99968281e-01 5.53255836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62185806400001 meters 0.015772327130192675 Centerline is valid? [True, True] Translation: X:61.52, Y:4.03, Z:0.06 [[ 9.80762425e-01 -1.95063049e-01 -7.44802718e-03 6.15226578e+01] [ 1.95058678e-01 9.80790692e-01 -1.31581042e-03 4.03176282e+00] [ 7.56162172e-03 -1.62304923e-04 9.99971397e-01 5.56512923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.681858064 meters 0.015491722954633197 Centerline is valid? [True, True] Translation: X:61.58, Y:4.05, Z:0.06 [[ 9.81089315e-01 -1.93457643e-01 -6.15603110e-03 6.15795600e+01] [ 1.93454616e-01 9.81108621e-01 -1.08907763e-03 4.04607034e+00] [ 6.25042557e-03 -1.22430201e-04 9.99980458e-01 5.65711316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741858064 meters 0.015222864688291636 Centerline is valid? [True, True] Translation: X:61.64, Y:4.06, Z:0.06 [[ 9.81692271e-01 -1.90400384e-01 -5.28943682e-03 6.16356040e+01] [ 1.90398102e-01 9.81706517e-01 -9.36345298e-04 4.06071621e+00] [ 5.37095511e-03 -8.78957876e-05 9.99985572e-01 5.68274979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801858064 meters 0.014275250393129841 Centerline is valid? [True, True] Translation: X:61.69, Y:4.08, Z:0.06 [[ 9.82046364e-01 -1.88564536e-01 -5.32487514e-03 6.16932428e+01] [ 1.88562190e-01 9.82060797e-01 -9.43770916e-04 4.07594581e+00] [ 5.40731285e-03 -7.72433202e-05 9.99985377e-01 5.71960436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861858064 meters 0.014201550814297265 Centerline is valid? [True, True] Translation: X:61.75, Y:4.09, Z:0.06 [[ 9.82349143e-01 -1.86978940e-01 -5.38862519e-03 6.17493854e+01] [ 1.86976510e-01 9.82363920e-01 -9.55690509e-04 4.08912812e+00] [ 5.47228496e-03 -6.87245770e-05 9.99985025e-01 5.76664956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921858064 meters 0.014270263216247704 Centerline is valid? [True, True] Translation: X:61.81, Y:4.10, Z:0.06 [[ 9.82343586e-01 -1.87020398e-01 -4.94476003e-03 6.18058122e+01] [ 1.87018346e-01 9.82356029e-01 -8.78214624e-04 4.10130450e+00] [ 5.02175887e-03 -6.20523403e-05 9.99987389e-01 5.83626628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98185806400001 meters 0.01456005129634838 Centerline is valid? [True, True] Translation: X:61.86, Y:4.12, Z:0.06 [[ 9.82247901e-01 -1.87534836e-01 -4.44362919e-03 6.18621031e+01] [ 1.87533182e-01 9.82257951e-01 -7.89748403e-04 4.11512885e+00] [ 4.51289544e-03 -5.75992087e-05 9.99989815e-01 5.78868973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.041858064 meters 0.015022156059941684 Centerline is valid? [True, True] Translation: X:61.92, Y:4.13, Z:0.06 [[ 9.81776901e-01 -1.89985060e-01 -4.44899298e-03 6.19193714e+01] [ 1.89983423e-01 9.81786979e-01 -7.91660164e-04 4.12785737e+00] [ 4.51836698e-03 -6.80012531e-05 9.99989790e-01 5.79732383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101858064 meters 0.015103904800306212 Centerline is valid? [True, True] Translation: X:61.98, Y:4.14, Z:0.06 [[ 9.81261637e-01 -1.92613100e-01 -5.07874488e-03 6.19766178e+01] [ 1.92610998e-01 9.81274776e-01 -9.04341807e-04 4.13892410e+00] [ 5.15783232e-03 -9.08261987e-05 9.99986694e-01 5.81949291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161858064 meters 0.0164320831037169 Centerline is valid? [True, True] Translation: X:62.04, Y:4.15, Z:0.06 [[ 9.80370916e-01 -1.97075660e-01 -5.83531863e-03 6.20350007e+01] [ 1.97072963e-01 9.80388274e-01 -1.03932727e-03 4.15033534e+00] [ 5.92570407e-03 -1.31057307e-04 9.99982434e-01 5.75571972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221858064 meters 0.017608497046637056 Centerline is valid? [True, True] Translation: X:62.09, Y:4.16, Z:0.06 [[ 9.79401350e-01 -2.01832154e-01 -6.06449115e-03 6.20931110e+01] [ 2.01829330e-01 9.79420111e-01 -1.08045711e-03 4.16220414e+00] [ 6.15775558e-03 -1.65791031e-04 9.99981027e-01 5.71865227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281858064 meters 0.018118852898715978 Centerline is valid? [True, True] Translation: X:62.15, Y:4.17, Z:0.06 [[ 9.78912610e-01 -2.04194589e-01 -5.88830026e-03 6.21506079e+01] [ 2.04191962e-01 9.78930304e-01 -1.05037800e-03 4.17478805e+00] [ 5.97871706e-03 -1.74115314e-04 9.99982112e-01 5.74492751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34185806400001 meters 0.017662819941738343 Centerline is valid? [True, True] Translation: X:62.21, Y:4.19, Z:0.06 [[ 9.78641614e-01 -2.05495442e-01 -5.67569927e-03 6.22074894e+01] [ 2.05493015e-01 9.78658057e-01 -1.01390262e-03 4.19219305e+00] [ 5.76292119e-03 -1.74069261e-04 9.99983379e-01 5.83380725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.401858064 meters 0.017765013216007382 Centerline is valid? [True, True] Translation: X:62.26, Y:4.21, Z:0.06 [[ 9.78838667e-01 -2.04548742e-01 -5.88866111e-03 6.22639726e+01] [ 2.04546103e-01 9.78856364e-01 -1.05345041e-03 4.21022387e+00] [ 5.97963536e-03 -1.73344686e-04 9.99982107e-01 5.77455411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.461858064 meters 0.017154911780390154 Centerline is valid? [True, True] Translation: X:62.32, Y:4.23, Z:0.06 [[ 9.79511689e-01 -2.01311558e-01 -5.52336876e-03 6.23207519e+01] [ 2.01309181e-01 9.79527251e-01 -9.88639691e-04 4.22761317e+00] [ 5.60931481e-03 -1.43520710e-04 9.99984257e-01 5.94449032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521858064 meters 0.016770033106581796 Centerline is valid? [True, True] Translation: X:62.38, Y:4.24, Z:0.06 [[ 9.80072461e-01 -1.98564106e-01 -5.50155034e-03 6.23775141e+01] [ 1.98561698e-01 9.80087894e-01 -9.85948123e-04 4.24481635e+00] [ 5.58777679e-03 -1.26096576e-04 9.99984380e-01 5.93968848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581858064 meters 0.015852060719985038 Centerline is valid? [True, True] Translation: X:62.44, Y:4.26, Z:0.06 [[ 9.80262133e-01 -1.97619401e-01 -5.72042200e-03 6.24350930e+01] [ 1.97616774e-01 9.80278816e-01 -1.02655461e-03 4.26040433e+00] [ 5.81047561e-03 -1.24158731e-04 9.99983111e-01 5.94530092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641858064 meters 0.015587850225261718 Centerline is valid? [True, True] Translation: X:62.49, Y:4.28, Z:0.06 [[ 9.81022249e-01 -1.93810546e-01 -5.72877061e-03 6.24902781e+01] [ 1.93807842e-01 9.81038971e-01 -1.02869648e-03 4.27929863e+00] [ 5.81951945e-03 -1.01106536e-04 9.99983061e-01 5.79553296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701858064 meters 0.014905256137511461 Centerline is valid? [True, True] Translation: X:62.55, Y:4.30, Z:0.06 [[ 9.81401386e-01 -1.91905730e-01 -4.84876330e-03 6.25470721e+01] [ 1.91903765e-01 9.81413361e-01 -8.71756255e-04 4.29583728e+00] [ 4.92593611e-03 -7.49531335e-05 9.99987865e-01 5.98837573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.761858064 meters 0.01438868835253338 Centerline is valid? [True, True] Translation: X:62.60, Y:4.31, Z:0.06 [[ 9.81763896e-01 -1.90056708e-01 -4.25433125e-03 6.26032411e+01] [ 1.90055173e-01 9.81773113e-01 -7.65959398e-04 4.31406269e+00] [ 4.32236375e-03 -5.65663783e-05 9.99990657e-01 6.02614077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.821858064 meters 0.014217767671266436 Centerline is valid? [True, True] Translation: X:62.66, Y:4.33, Z:0.06 [[ 9.82127304e-01 -1.88185779e-01 -3.47454215e-03 6.26591318e+01] [ 1.88184741e-01 9.82133449e-01 -6.25985687e-04 4.32767189e+00] [ 3.53026567e-03 -3.90581816e-05 9.99993768e-01 6.03582295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881858064 meters 0.014116395858090013 Centerline is valid? [True, True] Translation: X:62.72, Y:4.34, Z:0.06 [[ 9.82571364e-01 -1.85845928e-01 -3.84772175e-03 6.27167380e+01] [ 1.85844635e-01 9.82578898e-01 -6.94007069e-04 4.34267095e+00] [ 3.90966859e-03 -3.31669741e-05 9.99992357e-01 6.02137305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941858064 meters 0.013959544458353172 Centerline is valid? [True, True] Translation: X:62.77, Y:4.36, Z:0.06 [[ 9.82536731e-01 -1.86007450e-01 -4.77504414e-03 6.27732089e+01] [ 1.86005454e-01 9.82548333e-01 -8.62658594e-04 4.35501053e+00] [ 4.85217259e-03 -4.05904996e-05 9.99988227e-01 5.88523575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001858064 meters 0.014085774381494491 Centerline is valid? [True, True] Translation: X:62.83, Y:4.37, Z:0.06 [[ 9.82280010e-01 -1.87365714e-01 -4.48003994e-03 6.28308973e+01] [ 1.87363966e-01 9.82290226e-01 -8.10532978e-04 4.36623288e+00] [ 4.55256553e-03 -4.32277092e-05 9.99989636e-01 5.88604651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061858064 meters 0.014509691281004378 Centerline is valid? [True, True] Translation: X:62.89, Y:4.37, Z:0.06 [[ 9.81774433e-01 -1.89964092e-01 -5.71017047e-03 6.28878139e+01] [ 1.89961290e-01 9.81791036e-01 -1.03402865e-03 4.37456060e+00] [ 5.80262249e-03 -6.95284579e-05 9.99983162e-01 5.89932014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12185806400001 meters 0.014571014652449511 Centerline is valid? [True, True] Translation: X:62.95, Y:4.38, Z:0.06 [[ 9.81482721e-01 -1.91445489e-01 -6.34763502e-03 6.29454871e+01] [ 1.91442054e-01 9.81503244e-01 -1.15010248e-03 4.38378467e+00] [ 6.45040629e-03 -8.63985746e-05 9.99979192e-01 5.91578335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.181858064 meters 0.014754062674238655 Centerline is valid? [True, True] Translation: X:63.00, Y:4.39, Z:0.06 [[ 9.81612530e-01 -1.90778747e-01 -6.34910229e-03 6.30028685e+01] [ 1.90775293e-01 9.81633059e-01 -1.15094878e-03 4.39375205e+00] [ 6.45206527e-03 -8.14660990e-05 9.99979182e-01 5.88668406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241858064 meters 0.014707040589398207 Centerline is valid? [True, True] Translation: X:63.06, Y:4.41, Z:0.06 [[ 9.81849667e-01 -1.89533987e-01 -6.93534156e-03 6.30605784e+01] [ 1.89529823e-01 9.81874158e-01 -1.25883636e-03 4.40532247e+00] [ 7.04822492e-03 -7.84659957e-05 9.99975158e-01 5.75989339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301858064 meters 0.0145882500444382 Centerline is valid? [True, True] Translation: X:63.12, Y:4.41, Z:0.06 [[ 9.81750787e-01 -1.89993895e-01 -8.22873654e-03 6.31185235e+01] [ 1.89988031e-01 9.81785267e-01 -1.49577877e-03 4.41383916e+00] [ 8.36304114e-03 -9.48794670e-05 9.99965025e-01 5.70139493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361858064 meters 0.01559888242400587 Centerline is valid? [True, True] Translation: X:63.18, Y:4.42, Z:0.06 [[ 9.81177181e-01 -1.92986548e-01 -6.89427944e-03 6.31767191e+01] [ 1.92982500e-01 9.81201397e-01 -1.25394693e-03 4.41725028e+00] [ 7.00667151e-03 -1.00131165e-04 9.99975448e-01 5.87540520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421858064 meters 0.015585955452576102 Centerline is valid? [True, True] Translation: X:63.24, Y:4.42, Z:0.06 [[ 9.80673808e-01 -1.95545018e-01 -6.40532376e-03 6.32351181e+01] [ 1.95541569e-01 9.80694720e-01 -1.16650922e-03 4.42455278e+00] [ 6.50977226e-03 -1.08542022e-04 9.99978805e-01 6.12492539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48185806400001 meters 0.01576208005094397 Centerline is valid? [True, True] Translation: X:63.29, Y:4.43, Z:0.06 [[ 9.80585217e-01 -1.95971930e-01 -6.90185077e-03 6.32929807e+01] [ 1.95967922e-01 9.80609499e-01 -1.25892271e-03 4.43276729e+00] [ 7.01473393e-03 -1.18060352e-04 9.99975389e-01 6.05205937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.541858064 meters 0.01583511118294447 Centerline is valid? [True, True] Translation: X:63.35, Y:4.44, Z:0.06 [[ 9.80773579e-01 -1.95033089e-01 -6.72911653e-03 6.33511002e+01] [ 1.95029251e-01 9.80796657e-01 -1.22817984e-03 4.43906481e+00] [ 6.83943071e-03 -1.07808219e-04 9.99976605e-01 6.10155670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601858064 meters 0.015617980817311708 Centerline is valid? [True, True] Translation: X:63.41, Y:4.45, Z:0.06 [[ 9.80770798e-01 -1.95017028e-01 -7.54982286e-03 6.34080287e+01] [ 1.95012182e-01 9.80799849e-01 -1.37997720e-03 4.44833560e+00] [ 7.67398418e-03 -1.18866090e-04 9.99970547e-01 6.01520310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661858064 meters 0.01521541166221145 Centerline is valid? [True, True] Translation: X:63.47, Y:4.46, Z:0.06 [[ 9.80844141e-01 -1.94660447e-01 -7.21674135e-03 6.34665194e+01] [ 1.94655996e-01 9.80870684e-01 -1.32098358e-03 4.45546492e+00] [ 7.33583327e-03 -1.09102971e-04 9.99973086e-01 6.13217692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721858064 meters 0.015367083833247478 Centerline is valid? [True, True] Translation: X:63.52, Y:4.46, Z:0.06 [[ 9.81302410e-01 -1.92285051e-01 -8.48759382e-03 6.35243146e+01] [ 1.92278796e-01 9.81339110e-01 -1.55456346e-03 4.46126046e+00] [ 8.62812708e-03 -1.06487454e-04 9.99962771e-01 6.06945523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781858064 meters 0.014582555339478833 Centerline is valid? [True, True] Translation: X:63.58, Y:4.47, Z:0.06 [[ 9.81855637e-01 -1.89429231e-01 -8.72209849e-03 6.35820774e+01] [ 1.89422495e-01 9.81894373e-01 -1.59961257e-03 4.47183094e+00] [ 8.86719281e-03 -8.15730429e-05 9.99960682e-01 6.18794837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84185806400001 meters 0.014347724955864312 Centerline is valid? [True, True] Translation: X:63.64, Y:4.48, Z:0.06 [[ 9.83036440e-01 -1.83213441e-01 -8.49660001e-03 6.36400718e+01] [ 1.83206796e-01 9.83073158e-01 -1.56046487e-03 4.48223217e+00] [ 8.63867755e-03 -2.26410352e-05 9.99962686e-01 6.40844233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.901858064 meters 0.014291829324922416 Centerline is valid? [True, True] Translation: X:63.70, Y:4.49, Z:0.06 [[ 9.83678645e-01 -1.79728391e-01 -8.60405855e-03 6.36973865e+01] [ 1.79721422e-01 9.83716273e-01 -1.58272058e-03 4.49131712e+00] [ 8.74841223e-03 1.05547974e-05 9.99961732e-01 6.49587528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.961858064 meters 0.014678192040370127 Centerline is valid? [True, True] Translation: X:63.76, Y:4.50, Z:0.06 [[ 9.84376441e-01 -1.75759969e-01 -1.05572571e-02 6.37550351e+01] [ 1.75749231e-01 9.84433050e-01 -1.94364392e-03 4.49911798e+00] [ 1.07345276e-02 5.78474699e-05 9.99942382e-01 6.44897713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021858064 meters 0.01485122068257853 Centerline is valid? [True, True] Translation: X:63.81, Y:4.51, Z:0.07 [[ 9.84691096e-01 -1.73976744e-01 -1.07488799e-02 6.38134973e+01] [ 1.73965478e-01 9.84749758e-01 -1.98154118e-03 4.50654082e+00] [ 1.09296990e-02 8.12719212e-05 9.99940266e-01 6.58219378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081858064 meters 0.01492055911057263 Centerline is valid? [True, True] Translation: X:63.87, Y:4.51, Z:0.07 [[ 9.84711332e-01 -1.73809406e-01 -1.15707590e-02 6.38725762e+01] [ 1.73796305e-01 9.84779306e-01 -2.13600583e-03 4.51048530e+00] [ 1.17659019e-02 9.23939933e-05 9.99930775e-01 6.69847274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141858064 meters 0.01493940377785362 Centerline is valid? [True, True] Translation: X:63.93, Y:4.52, Z:0.07 [[ 9.84574043e-01 -1.74496792e-01 -1.28383477e-02 6.39308860e+01] [ 1.74480704e-01 9.84657738e-01 -2.37132498e-03 4.51621696e+00] [ 1.30551670e-02 9.47010646e-05 9.99914773e-01 6.62575714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201858064 meters 0.014982278906120545 Centerline is valid? [True, True] Translation: X:63.99, Y:4.52, Z:0.06 [[ 9.84206520e-01 -1.76293766e-01 -1.60634274e-02 6.39895749e+01] [ 1.76268795e-01 9.84337595e-01 -2.96846051e-03 4.51935064e+00] [ 1.63351565e-02 9.00971975e-05 9.99866568e-01 6.47782464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.261858064 meters 0.015145054327239563 Centerline is valid? [True, True] Translation: X:64.05, Y:4.52, Z:0.07 [[ 9.83861875e-01 -1.78069477e-01 -1.75234605e-02 6.40490348e+01] [ 1.78039969e-01 9.84017915e-01 -3.24239723e-03 4.52128247e+00] [ 1.78207710e-02 7.01946541e-05 9.99841195e-01 6.58842930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.321858064 meters 0.01509989579985931 Centerline is valid? [True, True] Translation: X:64.11, Y:4.53, Z:0.07 [[ 9.83577368e-01 -1.79644600e-01 -1.74177698e-02 6.41069408e+01] [ 1.79615609e-01 9.83731577e-01 -3.22758118e-03 4.52639658e+00] [ 1.77142277e-02 4.60724536e-05 9.99843090e-01 6.66449932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381858064 meters 0.014997012655359817 Centerline is valid? [True, True] Translation: X:64.17, Y:4.53, Z:0.07 [[ 9.82992983e-01 -1.82851475e-01 -1.70332890e-02 6.41672467e+01] [ 1.82824166e-01 9.83140548e-01 -3.16011423e-03 4.52698160e+00] [ 1.73239486e-02 -7.72673755e-06 9.99849929e-01 6.82910529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441858064 meters 0.01506633339176501 Centerline is valid? [True, True] Translation: X:64.23, Y:4.53, Z:0.07 [[ 9.82757722e-01 -1.84119560e-01 -1.69483703e-02 6.42252984e+01] [ 1.84092633e-01 9.82903854e-01 -3.14884913e-03 4.53447584e+00] [ 1.72383832e-02 -2.55143300e-05 9.99851408e-01 6.84264068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501858064 meters 0.014870880344524643 Centerline is valid? [True, True] Translation: X:64.28, Y:4.54, Z:0.07 [[ 9.82090383e-01 -1.87642694e-01 -1.69911243e-02 6.42847809e+01] [ 1.87616086e-01 9.82237350e-01 -3.16101323e-03 4.53643249e+00] [ 1.72824579e-02 -8.34075340e-05 9.99850644e-01 7.03215598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561858064 meters 0.01473552869057216 Centerline is valid? [True, True] Translation: X:64.34, Y:4.54, Z:0.07 [[ 9.81925106e-01 -1.88447194e-01 -1.76278694e-02 6.43429735e+01] [ 1.88418603e-01 9.82083319e-01 -3.28398648e-03 4.54356594e+00] [ 1.79308945e-02 -9.67897511e-05 9.99839224e-01 7.05710544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62185806400001 meters 0.01481525241494618 Centerline is valid? [True, True] Translation: X:64.40, Y:4.55, Z:0.07 [[ 9.81828645e-01 -1.89001233e-01 -1.70600861e-02 6.44006333e+01] [ 1.88974451e-01 9.81976845e-01 -3.18317671e-03 4.55200747e+00] [ 1.73542339e-02 -9.85863384e-05 9.99849399e-01 6.86612834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.681858064 meters 0.014711852798903679 Centerline is valid? [True, True] Translation: X:64.46, Y:4.56, Z:0.07 [[ 9.81737881e-01 -1.89615463e-01 -1.53853671e-02 6.44593308e+01] [ 1.89593699e-01 9.81858425e-01 -2.87441101e-03 4.56114199e+00] [ 1.56512851e-02 -9.50504906e-05 9.99877507e-01 6.93952206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741858064 meters 0.014776541358787544 Centerline is valid? [True, True] Translation: X:64.52, Y:4.57, Z:0.07 [[ 9.81814828e-01 -1.89265900e-01 -1.47669446e-02 6.45164416e+01] [ 1.89245779e-01 9.81925869e-01 -2.76096925e-03 4.57163310e+00] [ 1.50226022e-02 -8.38213864e-05 9.99887151e-01 6.91324199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801858064 meters 0.014686164921983326 Centerline is valid? [True, True] Translation: X:64.57, Y:4.59, Z:0.07 [[ 9.82036109e-01 -1.88140941e-01 -1.44245491e-02 6.45739251e+01] [ 1.88121569e-01 9.82142038e-01 -2.70051724e-03 4.58524409e+00] [ 1.46750339e-02 -6.15633665e-05 9.99892314e-01 6.80445447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861858064 meters 0.01451748835757738 Centerline is valid? [True, True] Translation: X:64.63, Y:4.60, Z:0.07 [[ 9.82256542e-01 -1.87128141e-01 -1.24557044e-02 6.46312685e+01] [ 1.87113575e-01 9.82335512e-01 -2.33502706e-03 4.59981162e+00] [ 1.26726300e-02 -3.70357748e-05 9.99919698e-01 6.72019069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921858064 meters 0.014492202919182606 Centerline is valid? [True, True] Translation: X:64.69, Y:4.61, Z:0.07 [[ 9.82030347e-01 -1.88422695e-01 -1.06435867e-02 6.46891638e+01] [ 1.88412107e-01 9.82088024e-01 -1.99794298e-03 4.61182973e+00] [ 1.08293968e-02 -4.33399457e-05 9.99941359e-01 6.71168622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98185806400001 meters 0.014764353551155207 Centerline is valid? [True, True] Translation: X:64.75, Y:4.62, Z:0.07 [[ 9.81165774e-01 -1.92975737e-01 -8.60745067e-03 6.47477544e+01] [ 1.92968970e-01 9.81203526e-01 -1.61782239e-03 4.62150705e+00] [ 8.75786142e-03 -7.36189288e-05 9.99961646e-01 6.64921072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.041858064 meters 0.014984241176337544 Centerline is valid? [True, True] Translation: X:64.81, Y:4.63, Z:0.07 [[ 9.80462079e-01 -1.96563748e-01 -7.53685748e-03 6.48063086e+01] [ 1.96558650e-01 9.80491043e-01 -1.41847635e-03 4.63132150e+00] [ 7.66864227e-03 -9.06722616e-05 9.99970591e-01 6.62974177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101858064 meters 0.015666998585916452 Centerline is valid? [True, True] Translation: X:64.86, Y:4.64, Z:0.06 [[ 9.79377184e-01 -2.01865884e-01 -8.39617737e-03 6.48639918e+01] [ 2.01859734e-01 9.79413163e-01 -1.58239033e-03 4.64184677e+00] [ 8.54275726e-03 -1.45093151e-04 9.99963499e-01 6.39877210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161858064 meters 0.016278909795175312 Centerline is valid? [True, True] Translation: X:64.92, Y:4.65, Z:0.06 [[ 9.78868723e-01 -2.04355954e-01 -7.39374299e-03 6.49211237e+01] [ 2.04351250e-01 9.78896635e-01 -1.39425171e-03 4.65310777e+00] [ 7.52263378e-03 -1.46131237e-04 9.99971694e-01 6.25416897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221858064 meters 0.015817230153872663 Centerline is valid? [True, True] Translation: X:64.98, Y:4.67, Z:0.06 [[ 9.79002218e-01 -2.03737026e-01 -6.77355794e-03 6.49780714e+01] [ 2.03733052e-01 9.79025642e-01 -1.27889191e-03 4.66722222e+00] [ 6.89204455e-03 -1.27959610e-04 9.99976241e-01 6.21034548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281858064 meters 0.015486125196403737 Centerline is valid? [True, True] Translation: X:65.04, Y:4.68, Z:0.06 [[ 9.79347146e-01 -2.02114966e-01 -5.35809296e-03 6.50353334e+01] [ 2.02112448e-01 9.79361799e-01 -1.01295750e-03 4.68042953e+00] [ 5.45224542e-03 -9.09002468e-05 9.99985132e-01 6.26349761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34185806400001 meters 0.015412163191288327 Centerline is valid? [True, True] Translation: X:65.09, Y:4.69, Z:0.06 [[ 9.79393732e-01 -2.01908892e-01 -4.55167757e-03 6.50926503e+01] [ 2.01907068e-01 9.79404306e-01 -8.61621942e-04 4.69206464e+00] [ 4.63190174e-03 -7.51487419e-05 9.99989270e-01 6.27056251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.401858064 meters 0.015032498782701836 Centerline is valid? [True, True] Translation: X:65.15, Y:4.71, Z:0.06 [[ 9.79692603e-01 -2.00467551e-01 -3.89420844e-03 6.51505374e+01] [ 2.00466200e-01 9.79700341e-01 -7.38063233e-04 4.70588135e+00] [ 3.96311507e-03 -5.75820784e-05 9.99992145e-01 6.35492529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.461858064 meters 0.014845150351066629 Centerline is valid? [True, True] Translation: X:65.21, Y:4.72, Z:0.06 [[ 9.79898161e-01 -1.99434388e-01 -5.05162021e-03 6.52073806e+01] [ 1.99432095e-01 9.79911180e-01 -9.58731035e-04 4.71978543e+00] [ 5.14134306e-03 -6.79964266e-05 9.99986781e-01 6.01240037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521858064 meters 0.01486610027610442 Centerline is valid? [True, True] Translation: X:65.26, Y:4.73, Z:0.06 [[ 9.79764100e-01 -2.00096451e-01 -4.87022651e-03 6.52642163e+01] [ 2.00094322e-01 9.79776202e-01 -9.25641007e-04 4.73115413e+00] [ 4.95694951e-03 -6.75948415e-05 9.99987712e-01 5.94483879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581858064 meters 0.014528418703071063 Centerline is valid? [True, True] Translation: X:65.32, Y:4.74, Z:0.06 [[ 9.79502073e-01 -2.01379821e-01 -4.67505382e-03 6.53218085e+01] [ 2.01377867e-01 9.79513228e-01 -8.89756636e-04 4.74251013e+00] [ 4.75845609e-03 -6.99338981e-05 9.99988676e-01 5.98694690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641858064 meters 0.014651549395857767 Centerline is valid? [True, True] Translation: X:65.38, Y:4.75, Z:0.06 [[ 9.79426333e-01 -2.01771575e-01 -3.50571639e-03 6.53789283e+01] [ 2.01770475e-01 9.79432606e-01 -6.68145055e-04 4.75349500e+00] [ 3.56842562e-03 -5.29512024e-05 9.99993632e-01 6.03355638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701858064 meters 0.014711392252443525 Centerline is valid? [True, True] Translation: X:65.44, Y:4.76, Z:0.06 [[ 9.79390614e-01 -2.01952016e-01 -3.06736145e-03 6.54359200e+01] [ 2.01951173e-01 9.79395416e-01 -5.85456797e-04 4.76445657e+00] [ 3.12239393e-03 -4.60663510e-05 9.99995124e-01 5.99658243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.761858064 meters 0.014496881593407625 Centerline is valid? [True, True] Translation: X:65.49, Y:4.78, Z:0.06 [[ 9.79396345e-01 -2.01918577e-01 -3.41865657e-03 6.54928281e+01] [ 2.01917526e-01 9.79402310e-01 -6.53532183e-04 4.77580721e+00] [ 3.48020043e-03 -5.02196452e-05 9.99993943e-01 5.92265886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.821858064 meters 0.014631231275633318 Centerline is valid? [True, True] Translation: X:65.55, Y:4.79, Z:0.06 [[ 9.79474528e-01 -2.01557588e-01 -2.04648841e-03 6.55494286e+01] [ 2.01557210e-01 9.79476665e-01 -3.91476255e-04 4.78718742e+00] [ 2.08339265e-03 -2.90434728e-05 9.99997829e-01 5.98446392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881858064 meters 0.014553690438782081 Centerline is valid? [True, True] Translation: X:65.61, Y:4.80, Z:0.06 [[ 9.79788928e-01 -2.00033728e-01 -4.04867039e-04 6.56056829e+01] [ 2.00033713e-01 9.79789012e-01 -7.74237663e-05 4.79926067e+00] [ 4.12171641e-04 -5.12810808e-06 9.99999915e-01 6.12675714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941858064 meters 0.014163736619295623 Centerline is valid? [True, True] Translation: X:65.66, Y:4.81, Z:0.06 [[ 9.80470254e-01 -1.96667398e-01 -1.27573467e-04 6.56631732e+01] [ 1.96667396e-01 9.80470262e-01 -2.42415689e-05 4.81338150e+00] [ 1.29849516e-04 -1.32140431e-06 9.99999992e-01 6.08480039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001858064 meters 0.013692550074507598 Centerline is valid? [True, True] Translation: X:65.72, Y:4.83, Z:0.06 [[ 9.81362628e-01 -1.92164969e-01 1.27130405e-04 6.57205476e+01] [ 1.92164967e-01 9.81362637e-01 2.46065549e-05 4.82918202e+00] [-1.29489547e-04 2.82056678e-07 9.99999992e-01 6.07120093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061858064 meters 0.013559754166890642 Centerline is valid? [True, True] Translation: X:65.78, Y:4.84, Z:0.06 [[ 9.81890403e-01 -1.89449340e-01 -4.28421400e-04 6.57773691e+01] [ 1.89449322e-01 9.81890497e-01 -8.20919977e-05 4.84332875e+00] [ 4.36215176e-04 -5.58799096e-07 9.99999905e-01 5.99801419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12185806400001 meters 0.013640250739569893 Centerline is valid? [True, True] Translation: X:65.83, Y:4.86, Z:0.06 [[ 9.82512048e-01 -1.86198495e-01 -4.42333448e-04 6.58337266e+01] [ 1.86198476e-01 9.82512148e-01 -8.48961058e-05 4.85613252e+00] [ 4.50405513e-04 1.04963322e-06 9.99999899e-01 6.10904206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.181858064 meters 0.01357407066812632 Centerline is valid? [True, True] Translation: X:65.89, Y:4.87, Z:0.06 [[ 9.82484128e-01 -1.86346024e-01 -3.12302462e-04 6.58910110e+01] [ 1.86346015e-01 9.82484178e-01 -5.99594981e-05 4.86783842e+00] [ 3.18005442e-04 7.12936052e-07 9.99999949e-01 6.14120672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241858064 meters 0.013461700332275586 Centerline is valid? [True, True] Translation: X:65.95, Y:4.88, Z:0.06 [[ 9.81797837e-01 -1.89928261e-01 -5.13506378e-04 6.59481189e+01] [ 1.89928236e-01 9.81797971e-01 -9.89005459e-05 4.87635435e+00] [ 5.22943529e-04 -4.29018407e-07 9.99999863e-01 6.07591120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301858064 meters 0.0135237657253296 Centerline is valid? [True, True] Translation: X:66.01, Y:4.89, Z:0.06 [[ 9.81169163e-01 -1.93149510e-01 -5.83529944e-04 6.60052053e+01] [ 1.93149477e-01 9.81169336e-01 -1.12593486e-04 4.88505578e+00] [ 5.94289064e-04 -2.23524671e-06 9.99999823e-01 6.09510242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361858064 meters 0.013812700246066786 Centerline is valid? [True, True] Translation: X:66.06, Y:4.89, Z:0.06 [[ 9.80450860e-01 -1.96763314e-01 -5.56426427e-04 6.60624335e+01] [ 1.96763285e-01 9.80451018e-01 -1.07572548e-04 4.89461044e+00] [ 5.66715187e-04 -4.01469419e-06 9.99999839e-01 6.13678916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421858064 meters 0.013911650262269277 Centerline is valid? [True, True] Translation: X:66.12, Y:4.91, Z:0.06 [[ 9.80087411e-01 -1.98566280e-01 -3.16423377e-04 6.61198568e+01] [ 1.98566271e-01 9.80087462e-01 -6.10783787e-05 4.90612492e+00] [ 3.22250691e-04 -2.96886000e-06 9.99999948e-01 6.11595394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48185806400001 meters 0.014505933391776908 Centerline is valid? [True, True] Translation: X:66.18, Y:4.92, Z:0.06 [[ 9.79141242e-01 -2.03180774e-01 -2.83860973e-05 6.61774322e+01] [ 2.03180774e-01 9.79141243e-01 -5.42368017e-06 4.91603256e+00] [ 2.88959862e-05 -4.56960273e-07 1.00000000e+00 6.08617938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.541858064 meters 0.015257194640030466 Centerline is valid? [True, True] Translation: X:66.24, Y:4.93, Z:0.06 [[ 9.78094170e-01 -2.08161792e-01 -6.81107047e-04 6.62351697e+01] [ 2.08161751e-01 9.78094407e-01 -1.31982953e-04 4.92580368e+00] [ 6.93660801e-04 -1.26886788e-05 9.99999759e-01 6.08252532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601858064 meters 0.01622492442852751 Centerline is valid? [True, True] Translation: X:66.29, Y:4.94, Z:0.06 [[ 9.77677387e-01 -2.10110186e-01 -7.97832011e-04 6.62916877e+01] [ 2.10110129e-01 9.77677713e-01 -1.54732993e-04 4.93695181e+00] [ 8.12533553e-04 -1.63536385e-05 9.99999670e-01 6.04882024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661858064 meters 0.01602522753777931 Centerline is valid? [True, True] Translation: X:66.35, Y:4.95, Z:0.06 [[ 9.77538235e-01 -2.10754369e-01 -1.26265311e-03 6.63479383e+01] [ 2.10754228e-01 9.77539050e-01 -2.45183253e-04 4.95166984e+00] [ 1.28596616e-03 -2.64334768e-05 9.99999173e-01 6.01951573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721858064 meters 0.016026367716516388 Centerline is valid? [True, True] Translation: X:66.40, Y:4.97, Z:0.06 [[ 9.77439383e-01 -2.11213813e-01 -9.88558952e-04 6.64045170e+01] [ 2.11213727e-01 9.77439883e-01 -1.92193069e-04 4.96567572e+00] [ 1.00685078e-03 -2.09401456e-05 9.99999493e-01 6.05857713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781858064 meters 0.015766631935267103 Centerline is valid? [True, True] Translation: X:66.46, Y:4.98, Z:0.06 [[ 9.77663206e-01 -2.10175144e-01 -1.03135949e-03 6.64621648e+01] [ 2.10175049e-01 9.77663750e-01 -2.00800038e-04 4.98034468e+00] [ 1.05052596e-03 -2.04512232e-05 9.99999448e-01 6.04004727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84185806400001 meters 0.015637987446060212 Centerline is valid? [True, True] Translation: X:66.52, Y:5.00, Z:0.06 [[ 9.78137149e-01 -2.07958096e-01 -1.07180722e-03 6.65176787e+01] [ 2.07957992e-01 9.78137736e-01 -2.08818243e-04 4.99630247e+00] [ 1.09180053e-03 -1.86379957e-05 9.99999404e-01 5.94494886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.901858064 meters 0.015118296681672163 Centerline is valid? [True, True] Translation: X:66.57, Y:5.01, Z:0.06 [[ 9.78730518e-01 -2.05149272e-01 -5.91121968e-04 6.65743618e+01] [ 2.05149240e-01 9.78730696e-01 -1.15143710e-04 5.01368779e+00] [ 6.02170864e-04 -8.57355959e-06 9.99999819e-01 6.06839811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.961858064 meters 0.014939518243180105 Centerline is valid? [True, True] Translation: X:66.63, Y:5.03, Z:0.06 [[ 9.79108085e-01 -2.03337961e-01 -1.01596112e-03 6.66315998e+01] [ 2.03337865e-01 9.79108612e-01 -1.98304886e-04 5.03033432e+00] [ 1.03505919e-03 -1.24214467e-05 9.99999464e-01 5.98705502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021858064 meters 0.014863110784676782 Centerline is valid? [True, True] Translation: X:66.69, Y:5.05, Z:0.06 [[ 9.79386035e-01 -2.01983953e-01 -2.34023211e-03 6.66883884e+01] [ 2.01983436e-01 9.79388831e-01 -4.57608472e-04 5.04618377e+00] [ 2.38442676e-03 -2.45127756e-05 9.99997157e-01 5.82281563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081858064 meters 0.014782904772317697 Centerline is valid? [True, True] Translation: X:66.74, Y:5.06, Z:0.06 [[ 9.79405252e-01 -2.01877178e-01 -3.31018771e-03 6.67449185e+01] [ 2.01876140e-01 9.79410845e-01 -6.48284123e-04 5.06102913e+00] [ 3.37290752e-03 -3.33150449e-05 9.99994311e-01 5.83353106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141858064 meters 0.014746782640499674 Centerline is valid? [True, True] Translation: X:66.80, Y:5.08, Z:0.06 [[ 9.79353826e-01 -2.02125227e-01 -3.38771016e-03 6.68013858e+01] [ 2.02124138e-01 9.79359684e-01 -6.64455063e-04 5.07509700e+00] [ 3.45208988e-03 -3.40013877e-05 9.99994041e-01 5.85248568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201858064 meters 0.015003813050123764 Centerline is valid? [True, True] Translation: X:66.86, Y:5.09, Z:0.06 [[ 9.79254620e-01 -2.02603256e-01 -3.50860545e-03 6.68570874e+01] [ 2.02602088e-01 9.79260905e-01 -6.88942404e-04 5.09010687e+00] [ 3.57542213e-03 -3.62007604e-05 9.99993608e-01 5.78501614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.261858064 meters 0.015174245436550288 Centerline is valid? [True, True] Translation: X:66.91, Y:5.10, Z:0.06 [[ 9.79163059e-01 -2.03038601e-01 -3.87691627e-03 6.69136218e+01] [ 2.03037174e-01 9.79170733e-01 -7.62303127e-04 5.10254240e+00] [ 3.95093991e-03 -4.07390607e-05 9.99992194e-01 5.78916185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.321858064 meters 0.015292736154687228 Centerline is valid? [True, True] Translation: X:66.97, Y:5.12, Z:0.06 [[ 9.78903735e-01 -2.04267693e-01 -4.71035301e-03 6.69710261e+01] [ 2.04265594e-01 9.78915066e-01 -9.27444814e-04 5.11707122e+00] [ 4.80048254e-03 -5.42838652e-05 9.99988476e-01 5.75773819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381858064 meters 0.015454923051624032 Centerline is valid? [True, True] Translation: X:67.03, Y:5.13, Z:0.06 [[ 9.78862708e-01 -2.04431557e-01 -5.96137457e-03 6.70273355e+01] [ 2.04428189e-01 9.78880858e-01 -1.17551143e-03 5.13191839e+00] [ 6.07578708e-03 -6.80087066e-05 9.99981540e-01 5.63033231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441858064 meters 0.015429363055319641 Centerline is valid? [True, True] Translation: X:67.08, Y:5.15, Z:0.06 [[ 9.78964681e-01 -2.03911597e-01 -6.94362869e-03 6.70838684e+01] [ 2.03906999e-01 9.78989303e-01 -1.37125118e-03 5.14568255e+00] [ 7.07735223e-03 -7.34480148e-05 9.99974953e-01 5.68750807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501858064 meters 0.015577192027900734 Centerline is valid? [True, True] Translation: X:67.14, Y:5.16, Z:0.06 [[ 9.78965718e-01 -2.03885672e-01 -7.53364445e-03 6.71392521e+01] [ 2.03880251e-01 9.78994702e-01 -1.48886976e-03 5.15792136e+00] [ 7.67895722e-03 -7.84088732e-05 9.99970513e-01 5.65327636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561858064 meters 0.015607442283729062 Centerline is valid? [True, True] Translation: X:67.20, Y:5.17, Z:0.06 [[ 9.78821022e-01 -2.04587446e-01 -7.30647911e-03 6.71961556e+01] [ 2.04582352e-01 9.78848288e-01 -1.44589929e-03 5.17113192e+00] [ 7.44774741e-03 -7.95000679e-05 9.99972262e-01 5.62226799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.621858064 meters 0.015986057102497845 Centerline is valid? [True, True] Translation: X:67.25, Y:5.18, Z:0.06 [[ 9.78545202e-01 -2.05900888e-01 -7.35607452e-03 6.72531424e+01] [ 2.05895756e-01 9.78572847e-01 -1.45651931e-03 5.18072402e+00] [ 7.49835341e-03 -8.93145378e-05 9.99971883e-01 5.60493825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.681858064 meters 0.016524648684907262 Centerline is valid? [True, True] Translation: X:67.31, Y:5.19, Z:0.06 [[ 9.78202458e-01 -2.07539562e-01 -6.87609448e-03 6.73098150e+01] [ 2.07535112e-01 9.78226621e-01 -1.36244672e-03 5.18978281e+00] [ 7.00914026e-03 -9.42823009e-05 9.99975431e-01 5.61519963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741858064 meters 0.01569115640763702 Centerline is valid? [True, True] Translation: X:67.37, Y:5.20, Z:0.06 [[ 9.78521263e-01 -2.06044404e-01 -6.46845522e-03 6.73671183e+01] [ 2.06040422e-01 9.78542640e-01 -1.28320944e-03 5.20423514e+00] [ 6.59405737e-03 -7.71155202e-05 9.99978256e-01 5.76474220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801858064 meters 0.015455122325799674 Centerline is valid? [True, True] Translation: X:67.43, Y:5.22, Z:0.06 [[ 9.78994232e-01 -2.03782205e-01 -6.56562895e-03 6.74250479e+01] [ 2.03778041e-01 9.79016246e-01 -1.30412606e-03 5.21603527e+00] [ 6.69361509e-03 -6.11991119e-05 9.99977596e-01 5.72777654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861858064 meters 0.015070525766075281 Centerline is valid? [True, True] Translation: X:67.48, Y:5.23, Z:0.06 [[ 9.79916223e-01 -1.99287526e-01 -6.97702196e-03 6.74829622e+01] [ 1.99282697e-01 9.79941060e-01 -1.38762577e-03 5.22819280e+00] [ 7.11360680e-03 -3.06427521e-05 9.99974698e-01 5.81412304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921858064 meters 0.01503091830745391 Centerline is valid? [True, True] Translation: X:67.54, Y:5.24, Z:0.06 [[ 9.80813970e-01 -1.94802043e-01 -7.49131248e-03 6.75394628e+01] [ 1.94796329e-01 9.80842579e-01 -1.49209970e-03 5.24201413e+00] [ 7.63846232e-03 4.19206217e-06 9.99970827e-01 5.69968045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98185806400001 meters 0.015037444951881312 Centerline is valid? [True, True] Translation: X:67.60, Y:5.25, Z:0.06 [[ 9.81059091e-01 -1.93584693e-01 -6.93016456e-03 6.75967298e+01] [ 1.93579758e-01 9.81083567e-01 -1.38233032e-03 5.25250321e+00] [ 7.06666856e-03 1.46081421e-05 9.99975031e-01 5.71426887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.041858064 meters 0.0151597249755355 Centerline is valid? [True, True] Translation: X:67.65, Y:5.26, Z:0.06 [[ 9.81169826e-01 -1.93018688e-01 -7.03976041e-03 6.76535209e+01] [ 1.93013574e-01 9.81195080e-01 -1.40521595e-03 5.26128462e+00] [ 7.17861122e-03 1.99861754e-05 9.99974233e-01 5.62828219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101858064 meters 0.015227979583162072 Centerline is valid? [True, True] Translation: X:67.71, Y:5.27, Z:0.06 [[ 9.81238422e-01 -1.92645366e-01 -7.67605854e-03 6.77113082e+01] [ 1.92639257e-01 9.81268446e-01 -1.53435896e-03 5.27022389e+00] [ 7.82786118e-03 2.68617455e-05 9.99969361e-01 5.58295691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161858064 meters 0.01512140612044698 Centerline is valid? [True, True] Translation: X:67.77, Y:5.28, Z:0.06 [[ 9.81143805e-01 -1.93132708e-01 -7.52268507e-03 6.77691257e+01] [ 1.93126838e-01 9.81172643e-01 -1.50595983e-03 5.27956094e+00] [ 7.67190289e-03 2.47307706e-05 9.99970570e-01 5.63923141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221858064 meters 0.015189949207030463 Centerline is valid? [True, True] Translation: X:67.83, Y:5.29, Z:0.05 [[ 9.80584957e-01 -1.95896209e-01 -8.82143473e-03 6.78272144e+01] [ 1.95888225e-01 9.80624635e-01 -1.76862264e-03 5.28508268e+00] [ 8.99698268e-03 6.26956734e-06 9.99959526e-01 5.47956509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281858064 meters 0.015211528042466895 Centerline is valid? [True, True] Translation: X:67.88, Y:5.29, Z:0.05 [[ 9.80289719e-01 -1.97353705e-01 -9.14236248e-03 6.78843342e+01] [ 1.97345168e-01 9.80332349e-01 -1.83565971e-03 5.29435774e+00] [ 9.32482793e-03 -4.72271641e-06 9.99956523e-01 5.38047759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34185806400001 meters 0.015540504174417803 Centerline is valid? [True, True] Translation: X:67.94, Y:5.30, Z:0.05 [[ 9.79372943e-01 -2.01821497e-01 -9.83472620e-03 6.79436428e+01] [ 2.01811817e-01 9.79422320e-01 -1.97727223e-03 5.29919076e+00] [ 1.00314064e-02 -4.82770469e-05 9.99949683e-01 5.14340963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.401858064 meters 0.01603406639930478 Centerline is valid? [True, True] Translation: X:68.00, Y:5.30, Z:0.05 [[ 9.78613163e-01 -2.05502748e-01 -9.21401891e-03 6.80020842e+01] [ 2.05494405e-01 9.78656535e-01 -1.85344614e-03 5.30270395e+00] [ 9.39824810e-03 -7.96225496e-05 9.99955832e-01 5.27342311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.461858064 meters 0.01631749462157098 Centerline is valid? [True, True] Translation: X:68.06, Y:5.31, Z:0.05 [[ 9.78131387e-01 -2.07778679e-01 -9.32793059e-03 6.80606544e+01] [ 2.07770211e-01 9.78175859e-01 -1.87859239e-03 5.31043769e+00] [ 9.51468796e-03 -1.00555929e-04 9.99954729e-01 5.28678060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521858064 meters 0.017037611818935063 Centerline is valid? [True, True] Translation: X:68.12, Y:5.31, Z:0.05 [[ 9.77195340e-01 -2.12115090e-01 -9.82117249e-03 6.81188100e+01] [ 2.12105911e-01 9.77244681e-01 -1.97895612e-03 5.31439469e+00] [ 1.00174550e-02 -1.49302036e-04 9.99949813e-01 5.15856735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581858064 meters 0.017978066988901385 Centerline is valid? [True, True] Translation: X:68.18, Y:5.32, Z:0.05 [[ 9.76286566e-01 -2.16289067e-01 -9.14226064e-03 6.81777083e+01] [ 2.16281276e-01 9.76329354e-01 -1.84438415e-03 5.32100702e+00] [ 9.32477756e-03 -1.76652326e-04 9.99956508e-01 5.17199468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641858064 meters 0.01744093041627203 Centerline is valid? [True, True] Translation: X:68.24, Y:5.33, Z:0.05 [[ 9.76273475e-01 -2.16378689e-01 -8.38836630e-03 6.82350431e+01] [ 2.16372111e-01 9.76309499e-01 -1.69471329e-03 5.32822325e+00] [ 8.55634154e-03 -1.60504894e-04 9.99963381e-01 5.22454522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701858064 meters 0.01749346684611327 Centerline is valid? [True, True] Translation: X:68.29, Y:5.34, Z:0.05 [[ 9.76460147e-01 -2.15532382e-01 -8.44828814e-03 6.82924779e+01] [ 2.15525670e-01 9.76496681e-01 -1.70775888e-03 5.33668828e+00] [ 8.61780268e-03 -1.53264482e-04 9.99962854e-01 5.21659803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.761858064 meters 0.017269179702135845 Centerline is valid? [True, True] Translation: X:68.35, Y:5.35, Z:0.05 [[ 9.76956237e-01 -2.13318045e-01 -7.20571501e-03 6.83493572e+01] [ 2.13313098e-01 9.76982804e-01 -1.45721271e-03 5.34539769e+00] [ 7.35070942e-03 -1.13440352e-04 9.99972977e-01 5.34177560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.821858064 meters 0.01681080736121863 Centerline is valid? [True, True] Translation: X:68.41, Y:5.36, Z:0.05 [[ 9.77467953e-01 -2.10997810e-01 -6.02700512e-03 6.84069388e+01] [ 2.10994297e-01 9.77486531e-01 -1.22018339e-03 5.35736127e+00] [ 6.14877235e-03 -7.89735504e-05 9.99981093e-01 5.40598723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881858064 meters 0.01624580738240683 Centerline is valid? [True, True] Translation: X:68.46, Y:5.37, Z:0.05 [[ 9.78097128e-01 -2.08043085e-01 -6.63947886e-03 6.84645936e+01] [ 2.08038741e-01 9.78119661e-01 -1.34590603e-03 5.36965166e+00] [ 6.77421125e-03 -6.48420036e-05 9.99977053e-01 5.35700364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941858064 meters 0.016109787934214262 Centerline is valid? [True, True] Translation: X:68.52, Y:5.38, Z:0.05 [[ 9.78570446e-01 -2.05799459e-01 -6.81646199e-03 6.85227307e+01] [ 2.05794814e-01 9.78594186e-01 -1.38352572e-03 5.38037794e+00] [ 6.95527891e-03 -4.89151436e-05 9.99975811e-01 5.27834741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001858064 meters 0.016084429405150702 Centerline is valid? [True, True] Translation: X:68.58, Y:5.39, Z:0.05 [[ 9.78651591e-01 -2.05480375e-01 -4.34500378e-03 6.85803352e+01] [ 2.05478480e-01 9.78661236e-01 -8.82917863e-04 5.39242404e+00] [ 4.43370906e-03 -2.87357993e-05 9.99990171e-01 5.37797140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061858064 meters 0.0160088729373356 Centerline is valid? [True, True] Translation: X:68.64, Y:5.40, Z:0.06 [[ 9.78618443e-01 -2.05646850e-01 -3.91364359e-03 6.86374090e+01] [ 2.05645310e-01 9.78626268e-01 -7.96342919e-04 5.40200636e+00] [ 3.99375984e-03 -2.55065826e-05 9.99992025e-01 5.60139185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.121858064 meters 0.016070770112165043 Centerline is valid? [True, True] Translation: X:68.69, Y:5.41, Z:0.06 [[ 9.78551145e-01 -2.05937506e-01 -5.23459424e-03 6.86948984e+01] [ 2.05934746e-01 9.78565145e-01 -1.06671039e-03 5.41313310e+00] [ 5.34206715e-03 -3.41541678e-05 9.99985730e-01 5.54107116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.181858064 meters 0.015959394466353465 Centerline is valid? [True, True] Translation: X:68.75, Y:5.43, Z:0.05 [[ 9.78546211e-01 -2.05947924e-01 -5.72418471e-03 6.87515265e+01] [ 2.05944615e-01 9.78562952e-01 -1.16814195e-03 5.42594952e+00] [ 5.84205150e-03 -3.57841398e-05 9.99982934e-01 5.43186057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241858064 meters 0.016042738539190953 Centerline is valid? [True, True] Translation: X:68.81, Y:5.44, Z:0.05 [[ 9.77923850e-01 -2.08868800e-01 -6.22643657e-03 6.88091077e+01] [ 2.08864932e-01 9.77943670e-01 -1.27230699e-03 5.43693722e+00] [ 6.35484946e-03 -5.62649070e-05 9.99979806e-01 5.37255065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301858064 meters 0.017408836842343848 Centerline is valid? [True, True] Translation: X:68.87, Y:5.44, Z:0.06 [[ 9.76412808e-01 -2.15841416e-01 -5.52371715e-03 6.88666205e+01] [ 2.15838479e-01 9.76428428e-01 -1.12942158e-03 5.44235600e+00] [ 5.63729041e-03 -8.94490139e-05 9.99984106e-01 5.51003310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361858064 meters 0.01767731355108715 Centerline is valid? [True, True] Translation: X:68.93, Y:5.45, Z:0.06 [[ 9.75261475e-01 -2.21018247e-01 -3.99879025e-03 6.89251552e+01] [ 2.21016751e-01 9.75269669e-01 -8.17805051e-04 5.45324529e+00] [ 4.08064868e-03 -8.62258706e-05 9.99991670e-01 5.81308771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421858064 meters 0.01794929748168759 Centerline is valid? [True, True] Translation: X:68.98, Y:5.47, Z:0.06 [[ 9.74894857e-01 -2.22650156e-01 -2.63173063e-03 6.89824682e+01] [ 2.22649512e-01 9.74898407e-01 -5.38698377e-04 5.46568517e+00] [ 2.68561127e-03 -6.07792629e-05 9.99996392e-01 6.00589262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48185806400001 meters 0.017744624042068627 Centerline is valid? [True, True] Translation: X:69.04, Y:5.48, Z:0.06 [[ 9.75080794e-01 -2.21822651e-01 -3.48663986e-03 6.90389163e+01] [ 2.21821513e-01 9.75087025e-01 -7.14651213e-04 5.48212214e+00] [ 3.55830311e-03 -7.65690559e-05 9.99993666e-01 5.94501570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.541858064 meters 0.016941649488846366 Centerline is valid? [True, True] Translation: X:69.10, Y:5.50, Z:0.06 [[ 9.75964304e-01 -2.17889706e-01 -4.21343303e-03 6.90952407e+01] [ 2.17888005e-01 9.75973396e-01 -8.64126600e-04 5.50175152e+00] [ 4.30048284e-03 -7.46998017e-05 9.99990750e-01 5.87616716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601858064 meters 0.01634227549271309 Centerline is valid? [True, True] Translation: X:69.15, Y:5.52, Z:0.06 [[ 9.76631245e-01 -2.14871560e-01 -4.65021178e-03 6.91522815e+01] [ 2.14869449e-01 9.76642313e-01 -9.54688573e-04 5.51967943e+00] [ 4.74672901e-03 -6.68097550e-05 9.99988732e-01 5.87704304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661858064 meters 0.015788052791987327 Centerline is valid? [True, True] Translation: X:69.21, Y:5.54, Z:0.06 [[ 9.77568721e-01 -2.10547543e-01 -5.39707440e-03 6.92083651e+01] [ 2.10544626e-01 9.77583618e-01 -1.10942752e-03 5.53738255e+00] [ 5.50967876e-03 -5.17833741e-05 9.99984820e-01 5.92147708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721858064 meters 0.015540222397005485 Centerline is valid? [True, True] Translation: X:69.26, Y:5.55, Z:0.06 [[ 9.78333066e-01 -2.06912419e-01 -7.18773105e-03 6.92646453e+01] [ 2.06907133e-01 9.78359468e-01 -1.47945818e-03 5.55403098e+00] [ 7.33830299e-03 -3.97899697e-05 9.99973074e-01 5.76281855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781858064 meters 0.015328875971021217 Centerline is valid? [True, True] Translation: X:69.32, Y:5.57, Z:0.06 [[ 9.78739612e-01 -2.05000068e-01 -6.61385880e-03 6.93219433e+01] [ 2.04995538e-01 9.78761959e-01 -1.36302958e-03 5.56827075e+00] [ 6.75281455e-03 -2.17604980e-05 9.99977199e-01 5.83155956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84185806400001 meters 0.015289401420133372 Centerline is valid? [True, True] Translation: X:69.38, Y:5.59, Z:0.06 [[ 9.79205153e-01 -2.02807317e-01 -5.14400223e-03 6.93786687e+01] [ 2.02804540e-01 9.79218664e-01 -1.06137342e-03 5.58517114e+00] [ 5.25235729e-03 -3.92467756e-06 9.99986206e-01 5.97884284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.901858064 meters 0.015294658510496783 Centerline is valid? [True, True] Translation: X:69.44, Y:5.60, Z:0.06 [[ 9.79060617e-01 -2.03497057e-01 -5.40891677e-03 6.94355691e+01] [ 2.03493989e-01 9.79075558e-01 -1.11759339e-03 5.59733213e+00] [ 5.52316516e-03 -6.49037388e-06 9.99984747e-01 6.05472445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.961858064 meters 0.015477855737856165 Centerline is valid? [True, True] Translation: X:69.49, Y:5.61, Z:0.06 [[ 9.78491190e-01 -2.06212798e-01 -5.59225037e-03 6.94924239e+01] [ 2.06209553e-01 9.78507170e-01 -1.15714179e-03 5.61024393e+00] [ 5.71067453e-03 -2.09224039e-05 9.99983694e-01 6.03854234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021858064 meters 0.015579155216442115 Centerline is valid? [True, True] Translation: X:69.55, Y:5.62, Z:0.06 [[ 9.77869423e-01 -2.09116029e-01 -6.47131804e-03 6.95493547e+01] [ 2.09111742e-01 9.77890835e-01 -1.33984280e-03 5.62128892e+00] [ 6.60842520e-03 -4.30372808e-05 9.99978163e-01 5.96505914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081858064 meters 0.016000221284327806 Centerline is valid? [True, True] Translation: X:69.61, Y:5.63, Z:0.06 [[ 9.77000100e-01 -2.13097447e-01 -7.76421057e-03 6.96076851e+01] [ 2.13091386e-01 9.77030947e-01 -1.60939089e-03 5.63219007e+00] [ 7.92883109e-03 -8.21113275e-05 9.99968563e-01 5.93278671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141858064 meters 0.016468918228865936 Centerline is valid? [True, True] Translation: X:69.66, Y:5.64, Z:0.06 [[ 9.76683431e-01 -2.14520881e-01 -8.38256437e-03 6.96643490e+01] [ 2.14513860e-01 9.76719398e-01 -1.73847683e-03 5.64441843e+00] [ 8.56035280e-03 -1.00234723e-04 9.99963354e-01 5.85743940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201858064 meters 0.016298029011583743 Centerline is valid? [True, True] Translation: X:69.72, Y:5.66, Z:0.06 [[ 9.76569383e-01 -2.14988128e-01 -9.60960314e-03 6.97210277e+01] [ 2.14978901e-01 9.76616655e-01 -1.99529720e-03 5.65907847e+00] [ 9.81386369e-03 -1.17315763e-04 9.99951836e-01 5.81191236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.261858064 meters 0.016291096076739498 Centerline is valid? [True, True] Translation: X:69.78, Y:5.67, Z:0.06 [[ 9.76660704e-01 -2.14555636e-01 -9.98740365e-03 6.97771820e+01] [ 2.14545617e-01 9.76711762e-01 -2.07664367e-03 5.67276091e+00] [ 1.02003702e-02 -1.14577406e-04 9.99947968e-01 5.72210424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.321858064 meters 0.016540435086073904 Centerline is valid? [True, True] Translation: X:69.83, Y:5.69, Z:0.06 [[ 9.76986789e-01 -2.13043410e-01 -1.04555780e-02 6.98339854e+01] [ 2.13032314e-01 9.77042730e-01 -2.17668635e-03 5.68773035e+00] [ 1.06792751e-02 -1.00782157e-04 9.99942970e-01 5.69559845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381858064 meters 0.016581011590682457 Centerline is valid? [True, True] Translation: X:69.89, Y:5.70, Z:0.06 [[ 9.76997816e-01 -2.12987506e-01 -1.05635778e-02 6.98902744e+01] [ 2.12976143e-01 9.77054918e-01 -2.20223981e-03 5.70208697e+00] [ 1.07902452e-02 -9.82065780e-05 9.99941779e-01 5.81148273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441858064 meters 0.016294350269117755 Centerline is valid? [True, True] Translation: X:69.95, Y:5.72, Z:0.06 [[ 9.77070719e-01 -2.12660369e-01 -1.04104171e-02 6.99467246e+01] [ 2.12649281e-01 9.77126174e-01 -2.17343372e-03 5.71560494e+00] [ 1.06344942e-02 -9.01692507e-05 9.99943448e-01 5.92555901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501858064 meters 0.01601443485699144 Centerline is valid? [True, True] Translation: X:70.00, Y:5.73, Z:0.06 [[ 9.77863159e-01 -2.08939453e-01 -1.13113695e-02 7.00030234e+01] [ 2.08926080e-01 9.77928577e-01 -2.36452129e-03 5.73258669e+00] [ 1.15557533e-02 -5.10618316e-05 9.99933229e-01 5.80829619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561858064 meters 0.015943462812482368 Centerline is valid? [True, True] Translation: X:70.06, Y:5.75, Z:0.06 [[ 9.78909481e-01 -2.03972865e-01 -1.14585399e-02 7.00586560e+01] [ 2.03958761e-01 9.78976542e-01 -2.39866860e-03 5.74941471e+00] [ 1.17069051e-02 1.10098330e-05 9.99931472e-01 5.85534423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.621858064 meters 0.015958911318167276 Centerline is valid? [True, True] Translation: X:70.12, Y:5.76, Z:0.06 [[ 9.79649966e-01 -2.00365949e-01 -1.18080706e-02 7.01156929e+01] [ 2.00350672e-01 9.79721125e-01 -2.47494043e-03 5.76310421e+00] [ 1.20645100e-02 5.88204266e-05 9.99927219e-01 5.90889785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.681858064 meters 0.015984756108018788 Centerline is valid? [True, True] Translation: X:70.17, Y:5.78, Z:0.06 [[ 9.79910887e-01 -1.99028856e-01 -1.27345281e-02 7.01732135e+01] [ 1.99010932e-01 9.79993626e-01 -2.67241085e-03 5.77771048e+00] [ 1.30116432e-02 8.44141834e-05 9.99915341e-01 5.80850884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741858064 meters 0.0159252528452677 Centerline is valid? [True, True] Translation: X:70.23, Y:5.79, Z:0.06 [[ 9.79607293e-01 -2.00508980e-01 -1.28724929e-02 7.02307070e+01] [ 2.00490743e-01 9.79691862e-01 -2.70513684e-03 5.78802835e+00] [ 1.31534808e-02 6.91561036e-05 9.99913487e-01 5.77467571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801858064 meters 0.015772663176170407 Centerline is valid? [True, True] Translation: X:70.29, Y:5.80, Z:0.06 [[ 9.78893702e-01 -2.04003586e-01 -1.22334338e-02 7.02887048e+01] [ 2.03987371e-01 9.78970141e-01 -2.57211065e-03 5.79528690e+00] [ 1.25008862e-02 2.23569099e-05 9.99921861e-01 5.82147441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861858064 meters 0.016350499643057424 Centerline is valid? [True, True] Translation: X:70.35, Y:5.80, Z:0.06 [[ 9.78308477e-01 -2.06819771e-01 -1.17518797e-02 7.03464147e+01] [ 2.06804972e-01 9.78379059e-01 -2.47409495e-03 5.80427972e+00] [ 1.20094847e-02 -9.91909220e-06 9.99927883e-01 5.78819981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921858064 meters 0.015843266126558196 Centerline is valid? [True, True] Translation: X:70.40, Y:5.81, Z:0.06 [[ 9.77692613e-01 -2.09775582e-01 -1.05527345e-02 7.04041740e+01] [ 2.09763788e-01 9.77749561e-01 -2.22472959e-03 5.81332087e+00] [ 1.07846255e-02 -3.84798827e-05 9.99941843e-01 5.91697218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98185806400001 meters 0.015909140628201555 Centerline is valid? [True, True] Translation: X:70.46, Y:5.82, Z:0.06 [[ 9.77369931e-01 -2.11282397e-01 -1.03810425e-02 7.04611384e+01] [ 2.11271046e-01 9.77425059e-01 -2.19069120e-03 5.82214855e+00] [ 1.06095456e-02 -5.20979966e-05 9.99943716e-01 5.93633581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.041858064 meters 0.01611309468803765 Centerline is valid? [True, True] Translation: X:70.52, Y:5.83, Z:0.06 [[ 9.77169282e-01 -2.12179708e-01 -1.09529056e-02 7.05190602e+01] [ 2.12167097e-01 9.77230662e-01 -2.31411602e-03 5.83145657e+00] [ 1.11945236e-02 -6.25630987e-05 9.99937337e-01 5.85070543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101858064 meters 0.016107663615579287 Centerline is valid? [True, True] Translation: X:70.58, Y:5.84, Z:0.06 [[ 9.77124946e-01 -2.12389045e-01 -1.08504958e-02 7.05766186e+01] [ 2.12376647e-01 9.77185187e-01 -2.29563076e-03 5.84089717e+00] [ 1.10905106e-02 -6.12738413e-05 9.99938497e-01 5.82110395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161858064 meters 0.016208333824916512 Centerline is valid? [True, True] Translation: X:70.63, Y:5.85, Z:0.06 [[ 9.77078473e-01 -2.12650915e-01 -9.86128345e-03 7.06341553e+01] [ 2.12640660e-01 9.77128234e-01 -2.08919662e-03 5.85072383e+00] [ 1.00800081e-02 -5.56007726e-05 9.99949194e-01 5.92982610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221858064 meters 0.01622351316371054 Centerline is valid? [True, True] Translation: X:70.69, Y:5.86, Z:0.06 [[ 9.76881410e-01 -2.13629337e-01 -8.07574282e-03 7.06918207e+01] [ 2.13622483e-01 9.76914788e-01 -1.71209272e-03 5.85938663e+00] [ 8.25506582e-03 -5.26486843e-05 9.99965925e-01 6.00020451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281858064 meters 0.016356316276149762 Centerline is valid? [True, True] Translation: X:70.75, Y:5.87, Z:0.06 [[ 9.76585308e-01 -2.15011516e-01 -7.15435153e-03 7.07487781e+01] [ 2.15006160e-01 9.76611512e-01 -1.51863091e-03 5.86911511e+00] [ 7.31354520e-03 -5.51570112e-05 9.99973254e-01 6.02295407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34185806400001 meters 0.016328824919489303 Centerline is valid? [True, True] Translation: X:70.81, Y:5.88, Z:0.06 [[ 9.76359851e-01 -2.16058767e-01 -6.32854530e-03 7.08060081e+01] [ 2.16054586e-01 9.76380359e-01 -1.34518129e-03 5.87819952e+00] [ 6.46970555e-03 -5.39302289e-05 9.99979070e-01 6.27355088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.401858064 meters 0.01652952290639693 Centerline is valid? [True, True] Translation: X:70.86, Y:5.89, Z:0.06 [[ 9.76382455e-01 -2.15992810e-01 -4.94033619e-03 7.08622862e+01] [ 2.15990259e-01 9.76394953e-01 -1.05067737e-03 5.88955380e+00] [ 5.05065808e-03 -4.12015454e-05 9.99987244e-01 6.21732957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.461858064 meters 0.016713023240646767 Centerline is valid? [True, True] Translation: X:70.92, Y:5.90, Z:0.06 [[ 9.76658354e-01 -2.14728719e-01 -5.48062874e-03 7.09190135e+01] [ 2.14725551e-01 9.76673730e-01 -1.16701895e-03 5.90077935e+00] [ 5.60337860e-03 -3.70522221e-05 9.99984300e-01 6.03406026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521858064 meters 0.016703384096470906 Centerline is valid? [True, True] Translation: X:70.98, Y:5.91, Z:0.06 [[ 9.77058736e-01 -2.12854410e-01 -7.01618132e-03 7.09766135e+01] [ 2.12849155e-01 9.77083926e-01 -1.49611533e-03 5.91034107e+00] [ 7.17385273e-03 -3.15957043e-05 9.99974267e-01 5.93399800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581858064 meters 0.01669444438579211 Centerline is valid? [True, True] Translation: X:71.03, Y:5.92, Z:0.06 [[ 9.77276050e-01 -2.11836699e-01 -7.53223485e-03 7.10332780e+01] [ 2.11830594e-01 9.77305077e-01 -1.60839466e-03 5.92250660e+00] [ 7.70200837e-03 -2.37121990e-05 9.99970339e-01 5.85048904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641858064 meters 0.016902927965855775 Centerline is valid? [True, True] Translation: X:71.09, Y:5.93, Z:0.06 [[ 9.77801574e-01 -2.09465543e-01 -5.31686131e-03 7.10904882e+01] [ 2.09462459e-01 9.77816029e-01 -1.13664900e-03 5.93480012e+00] [ 5.43700102e-03 -2.26566353e-06 9.99985219e-01 5.86126236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701858064 meters 0.01694400294950328 Centerline is valid? [True, True] Translation: X:71.15, Y:5.95, Z:0.06 [[ 9.78000328e-01 -2.08532126e-01 -5.45079227e-03 7.11474777e+01] [ 2.08528862e-01 9.78015517e-01 -1.16683021e-03 5.94558669e+00] [ 5.57428100e-03 4.51282024e-06 9.99984464e-01 5.87810669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.761858064 meters 0.017105544930353545 Centerline is valid? [True, True] Translation: X:71.20, Y:5.96, Z:0.06 [[ 9.77973035e-01 -2.08637882e-01 -6.24310888e-03 7.12049637e+01] [ 2.08633597e-01 9.77992962e-01 -1.33719572e-03 5.95528352e+00] [ 6.38470623e-03 5.21909565e-06 9.99979618e-01 5.79498326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.821858064 meters 0.016851742140323422 Centerline is valid? [True, True] Translation: X:71.26, Y:5.97, Z:0.06 [[ 9.77670281e-01 -2.10056427e-01 -6.09256467e-03 7.12620220e+01] [ 2.10052364e-01 9.77689264e-01 -1.30651256e-03 5.96547493e+00] [ 6.23107643e-03 -2.41911562e-06 9.99980587e-01 5.78628390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881858064 meters 0.016816212818692847 Centerline is valid? [True, True] Translation: X:71.32, Y:5.97, Z:0.06 [[ 9.77542573e-01 -2.10634226e-01 -6.61365765e-03 7.13195286e+01] [ 2.10629446e-01 9.77564946e-01 -1.41902194e-03 5.97435245e+00] [ 6.76417447e-03 -5.87669117e-06 9.99977123e-01 5.79980459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941858064 meters 0.016796479005497945 Centerline is valid? [True, True] Translation: X:71.38, Y:5.98, Z:0.06 [[ 9.77514122e-01 -2.10766846e-01 -6.59384319e-03 7.13766348e+01] [ 2.10762086e-01 9.77536361e-01 -1.41649286e-03 5.98448865e+00] [ 6.74427121e-03 -5.09037524e-06 9.99977257e-01 5.92026293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001858064 meters 0.01685155942429734 Centerline is valid? [True, True] Translation: X:71.43, Y:5.99, Z:0.06 [[ 9.77433455e-01 -2.11119448e-01 -7.24015673e-03 7.14342755e+01] [ 2.11113704e-01 9.77460270e-01 -1.55745088e-03 5.99357764e+00] [ 7.40577372e-03 -6.19170695e-06 9.99972577e-01 5.88063376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061858064 meters 0.01681680030593794 Centerline is valid? [True, True] Translation: X:71.49, Y:6.00, Z:0.06 [[ 9.77037554e-01 -2.12936253e-01 -7.46799791e-03 7.14914365e+01] [ 2.12930178e-01 9.77066094e-01 -1.60861060e-03 6.00380345e+00] [ 7.63925906e-03 -1.84891516e-05 9.99970820e-01 5.84866252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.121858064 meters 0.01690697334381356 Centerline is valid? [True, True] Translation: X:71.55, Y:6.01, Z:0.06 [[ 9.76671702e-01 -2.14596117e-01 -7.80344463e-03 7.15487152e+01] [ 2.14589518e-01 9.76702875e-01 -1.68319222e-03 6.01317693e+00] [ 7.98285332e-03 -3.06112045e-05 9.99968136e-01 5.97908295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.181858064 meters 0.01700219244742614 Centerline is valid? [True, True] Translation: X:71.61, Y:6.02, Z:0.06 [[ 9.76407899e-01 -2.15803634e-01 -7.51040934e-03 7.16051845e+01] [ 2.15797544e-01 9.76436783e-01 -1.62156488e-03 6.02226275e+00] [ 7.68337952e-03 -3.74191360e-05 9.99970482e-01 6.01468612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241858064 meters 0.017017864384340813 Centerline is valid? [True, True] Translation: X:71.66, Y:6.03, Z:0.06 [[ 9.76386843e-01 -2.15928463e-01 -6.60540781e-03 7.16619449e+01] [ 2.15923744e-01 9.76409186e-01 -1.42798960e-03 6.03397508e+00] [ 6.75792446e-03 -3.19941268e-05 9.99977164e-01 6.06614940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301858064 meters 0.017072879915653687 Centerline is valid? [True, True] Translation: X:71.72, Y:6.05, Z:0.06 [[ 9.76525209e-01 -2.15304287e-01 -6.52540575e-03 7.17191238e+01] [ 2.15299654e-01 9.76547010e-01 -1.41259970e-03 6.04666465e+00] [ 6.67650425e-03 -2.54783856e-05 9.99977712e-01 6.08032213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361858064 meters 0.017155441710608163 Centerline is valid? [True, True] Translation: X:71.78, Y:6.06, Z:0.06 [[ 9.77107413e-01 -2.12596168e-01 -7.99827838e-03 7.17760043e+01] [ 2.12589110e-01 9.77140148e-01 -1.73238910e-03 6.05891690e+00] [ 8.18373821e-03 -7.61664424e-06 9.99966513e-01 5.97364806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421858064 meters 0.017222639895265582 Centerline is valid? [True, True] Translation: X:71.83, Y:6.07, Z:0.06 [[ 9.77595769e-01 -2.10327060e-01 -8.30906336e-03 7.18319964e+01] [ 2.10319341e-01 9.77631080e-01 -1.80191523e-03 6.07252213e+00] [ 8.50219012e-03 1.39879725e-05 9.99963856e-01 5.94337959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48185806400001 meters 0.017498007690568557 Centerline is valid? [True, True] Translation: X:71.89, Y:6.09, Z:0.06 [[ 9.78043498e-01 -2.08227016e-01 -8.51035925e-03 7.18896999e+01] [ 2.08218820e-01 9.78080523e-01 -1.84777747e-03 6.08631300e+00] [ 8.70857381e-03 3.51897788e-05 9.99962079e-01 6.00416627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.541858064 meters 0.01747163550600152 Centerline is valid? [True, True] Translation: X:71.95, Y:6.10, Z:0.06 [[ 9.77926619e-01 -2.08776685e-01 -8.47490227e-03 7.19467723e+01] [ 2.08768557e-01 9.77963340e-01 -1.84253337e-03 6.09710121e+00] [ 8.67282174e-03 3.25693143e-05 9.99962390e-01 6.13034267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601858064 meters 0.017387931253459415 Centerline is valid? [True, True] Translation: X:72.00, Y:6.11, Z:0.06 [[ 9.77376838e-01 -2.11408806e-01 -6.39003658e-03 7.20048861e+01] [ 2.11404231e-01 9.77397727e-01 -1.39084433e-03 6.10740929e+00] [ 6.53964397e-03 8.49825991e-06 9.99978616e-01 6.38321258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661858064 meters 0.017349046238673005 Centerline is valid? [True, True] Translation: X:72.06, Y:6.12, Z:0.06 [[ 9.76428395e-01 -2.15755655e-01 -6.08983584e-03 7.20620554e+01] [ 2.15751574e-01 9.76447386e-01 -1.32719581e-03 6.11788138e+00] [ 6.23275429e-03 -1.79799889e-05 9.99980576e-01 6.40400695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721858064 meters 0.01738246938470915 Centerline is valid? [True, True] Translation: X:72.12, Y:6.13, Z:0.06 [[ 9.76031375e-01 -2.17550557e-01 -5.87449904e-03 7.21193805e+01] [ 2.17546781e-01 9.76049053e-01 -1.28199494e-03 6.13000085e+00] [ 6.01269794e-03 -2.67110787e-05 9.99981923e-01 6.46847299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781858064 meters 0.017444994987610134 Centerline is valid? [True, True] Translation: X:72.18, Y:6.14, Z:0.07 [[ 9.75486110e-01 -2.19973117e-01 -6.21904330e-03 7.21768907e+01] [ 2.19968924e-01 9.75505933e-01 -1.35885518e-03 6.14129218e+00] [ 6.36562525e-03 -4.24519104e-05 9.99979738e-01 6.57979149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84185806400001 meters 0.017403366358879197 Centerline is valid? [True, True] Translation: X:72.23, Y:6.16, Z:0.06 [[ 9.75486893e-01 -2.19896055e-01 -8.42893887e-03 7.22336953e+01] [ 2.19888330e-01 9.75523307e-01 -1.84396839e-03 6.15624624e+00] [ 8.62810769e-03 -5.46582930e-05 9.99962776e-01 6.36270664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.901858064 meters 0.017503210852566564 Centerline is valid? [True, True] Translation: X:72.29, Y:6.17, Z:0.06 [[ 9.75647658e-01 -2.19039633e-01 -1.15449770e-02 7.22902374e+01] [ 2.19025045e-01 9.75715960e-01 -2.52868098e-03 6.17191402e+00] [ 1.18184996e-02 -6.15374288e-05 9.99930157e-01 6.11824107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.961858064 meters 0.017481064917276246 Centerline is valid? [True, True] Translation: X:72.35, Y:6.19, Z:0.06 [[ 9.75805049e-01 -2.18284467e-01 -1.25059089e-02 7.23470015e+01] [ 2.18267241e-01 9.75885182e-01 -2.74280889e-03 6.18587971e+00] [ 1.28030437e-02 -5.31834565e-05 9.99918036e-01 6.15916002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021858064 meters 0.017589544459665454 Centerline is valid? [True, True] Translation: X:72.40, Y:6.20, Z:0.06 [[ 9.75883527e-01 -2.17938323e-01 -1.24188864e-02 7.24035347e+01] [ 2.17921262e-01 9.75962543e-01 -2.72734281e-03 6.20036926e+00] [ 1.27147605e-02 -4.47704729e-05 9.99919163e-01 6.31377263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081858064 meters 0.01754096277618122 Centerline is valid? [True, True] Translation: X:72.46, Y:6.22, Z:0.06 [[ 9.75812842e-01 -2.18284286e-01 -1.18856205e-02 7.24592405e+01] [ 2.18268643e-01 9.75885223e-01 -2.61364971e-03 6.21577560e+00] [ 1.21695201e-02 -4.38253128e-05 9.99925948e-01 6.35456813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141858064 meters 0.017518750581697533 Centerline is valid? [True, True] Translation: X:72.52, Y:6.23, Z:0.06 [[ 9.75604602e-01 -2.19208202e-01 -1.19760426e-02 7.25154110e+01] [ 2.19192346e-01 9.75678103e-01 -2.63697824e-03 6.23176629e+00] [ 1.22628097e-02 -5.24087667e-05 9.99924808e-01 6.34090544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201858064 meters 0.017464920640388907 Centerline is valid? [True, True] Translation: X:72.57, Y:6.25, Z:0.07 [[ 9.75338959e-01 -2.20390480e-01 -1.19143171e-02 7.25720588e+01] [ 2.20374834e-01 9.75411724e-01 -2.62685350e-03 6.24580688e+00] [ 1.22002981e-02 -6.35430899e-05 9.99925572e-01 6.52116080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.261858064 meters 0.01758297204509689 Centerline is valid? [True, True] Translation: X:72.63, Y:6.26, Z:0.07 [[ 9.75035112e-01 -2.21778561e-01 -1.09908762e-02 7.26280489e+01] [ 2.21765299e-01 9.75097054e-01 -2.42641046e-03 6.26216022e+00] [ 1.12552968e-02 -7.15595471e-05 9.99936655e-01 6.67758070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.321858064 meters 0.01757995503341148 Centerline is valid? [True, True] Translation: X:72.68, Y:6.28, Z:0.07 [[ 9.74865408e-01 -2.22549108e-01 -1.04561771e-02 7.26839642e+01] [ 2.22537117e-01 9.74921478e-01 -2.31133909e-03 6.27714611e+00] [ 1.07083380e-02 -7.36429748e-05 9.99942661e-01 6.71547512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381858064 meters 0.017588164914282067 Centerline is valid? [True, True] Translation: X:72.74, Y:6.29, Z:0.07 [[ 9.74569806e-01 -2.23847316e-01 -1.02991548e-02 7.27405150e+01] [ 2.23835724e-01 9.74624221e-01 -2.27961918e-03 6.29168084e+00] [ 1.05480923e-02 -8.36707377e-05 9.99944364e-01 6.85442951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441858064 meters 0.01763827710305752 Centerline is valid? [True, True] Translation: X:72.80, Y:6.31, Z:0.07 [[ 9.74157271e-01 -2.25688224e-01 -9.07943754e-03 7.27962656e+01] [ 2.25679270e-01 9.74199578e-01 -2.01231030e-03 6.30667016e+00] [ 9.29933896e-03 -8.87341259e-05 9.99956756e-01 6.98034789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501858064 meters 0.017529823063549305 Centerline is valid? [True, True] Translation: X:72.85, Y:6.32, Z:0.07 [[ 9.74333435e-01 -2.24932936e-01 -8.91811298e-03 7.28524754e+01] [ 2.24924241e-01 9.74374245e-01 -1.97919570e-03 6.32286736e+00] [ 9.13476590e-03 -7.75032512e-05 9.99958274e-01 6.91555044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561858064 meters 0.017395310906777314 Centerline is valid? [True, True] Translation: X:72.91, Y:6.34, Z:0.07 [[ 9.74708542e-01 -2.23296930e-01 -9.04100376e-03 7.29094421e+01] [ 2.23287901e-01 9.74750469e-01 -2.00886556e-03 6.33795717e+00] [ 9.26129617e-03 -6.06883394e-05 9.99957111e-01 6.99079590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.621858064 meters 0.01734178956423353 Centerline is valid? [True, True] Translation: X:72.97, Y:6.36, Z:0.07 [[ 9.75077683e-01 -2.21699681e-01 -8.53016586e-03 7.29664280e+01] [ 2.21691566e-01 9.75114993e-01 -1.89740887e-03 6.35526607e+00] [ 8.73854756e-03 -4.09447815e-05 9.99961817e-01 6.94337851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.681858064 meters 0.017353956267182034 Centerline is valid? [True, True] Translation: X:73.02, Y:6.37, Z:0.07 [[ 9.75379942e-01 -2.20277178e-01 -1.05798535e-02 7.30223387e+01] [ 2.20264597e-01 9.75437319e-01 -2.35446503e-03 6.37179721e+00] [ 1.08386189e-02 -3.38692162e-05 9.99941260e-01 6.65845163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741858064 meters 0.017266920952016873 Centerline is valid? [True, True] Translation: X:73.08, Y:6.39, Z:0.07 [[ 9.75466760e-01 -2.19871009e-01 -1.10154139e-02 7.30789198e+01] [ 2.19857310e-01 9.75528953e-01 -2.45448247e-03 6.38715916e+00] [ 1.12855248e-02 -2.75532082e-05 9.99936316e-01 6.67359899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801858064 meters 0.017168189969956456 Centerline is valid? [True, True] Translation: X:73.14, Y:6.40, Z:0.07 [[ 9.75408062e-01 -2.20202906e-01 -9.47589825e-03 7.31353940e+01] [ 2.20192761e-01 9.75454089e-01 -2.11387708e-03 6.40243388e+00] [ 9.70878557e-03 -2.46314536e-05 9.99952868e-01 6.80597601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861858064 meters 0.017118432532981308 Centerline is valid? [True, True] Translation: X:73.19, Y:6.42, Z:0.07 [[ 9.75173695e-01 -2.21284362e-01 -8.33642269e-03 7.31921771e+01] [ 2.21276542e-01 9.75209326e-01 -1.86055137e-03 6.41570224e+00] [ 8.54146808e-03 -3.02940316e-05 9.99963521e-01 6.89526077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921858064 meters 0.01720211821302619 Centerline is valid? [True, True] Translation: X:73.25, Y:6.43, Z:0.07 [[ 9.74933126e-01 -2.22354871e-01 -7.98186870e-03 7.32478965e+01] [ 2.22347731e-01 9.74965799e-01 -1.78237652e-03 6.43010850e+00] [ 8.17836910e-03 -3.70524780e-05 9.99966556e-01 6.83100953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98185806400001 meters 0.017256427287282435 Centerline is valid? [True, True] Translation: X:73.30, Y:6.45, Z:0.07 [[ 9.74997792e-01 -2.22085558e-01 -7.57042609e-03 7.33037852e+01] [ 2.22079111e-01 9.75027181e-01 -1.69254222e-03 6.44538189e+00] [ 7.75726040e-03 -3.10085729e-05 9.99969912e-01 6.88454406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.041858064 meters 0.01712714205818373 Centerline is valid? [True, True] Translation: X:73.36, Y:6.46, Z:0.07 [[ 9.75056050e-01 -2.21853466e-01 -6.83665886e-03 7.33600732e+01] [ 2.21848188e-01 9.75080017e-01 -1.53048138e-03 6.45979274e+00] [ 7.00583203e-03 -2.43952509e-05 9.99975459e-01 6.99387886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101858064 meters 0.016973042367865853 Centerline is valid? [True, True] Translation: X:73.42, Y:6.47, Z:0.07 [[ 9.74990694e-01 -2.22143091e-01 -6.75234972e-03 7.34160968e+01] [ 2.22137936e-01 9.75014075e-01 -1.51360197e-03 6.47477170e+00] [ 6.91987224e-03 -2.42051914e-05 9.99976057e-01 6.96667074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161858064 meters 0.016987564267655682 Centerline is valid? [True, True] Translation: X:73.47, Y:6.49, Z:0.07 [[ 9.74878089e-01 -2.22630261e-01 -6.96272153e-03 7.34723519e+01] [ 2.22624777e-01 9.74902952e-01 -1.56280581e-03 6.48865553e+00] [ 7.13590564e-03 -2.65291865e-05 9.99974539e-01 6.88470812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221858064 meters 0.01683139943801161 Centerline is valid? [True, True] Translation: X:73.53, Y:6.50, Z:0.07 [[ 9.75064752e-01 -2.21806569e-01 -7.11166652e-03 7.35280761e+01] [ 2.21800816e-01 9.75090686e-01 -1.59772468e-03 6.50295780e+00] [ 7.28890562e-03 -1.94884222e-05 9.99973435e-01 6.80485709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281858064 meters 0.016853613987592914 Centerline is valid? [True, True] Translation: X:73.58, Y:6.52, Z:0.07 [[ 9.75337249e-01 -2.20611567e-01 -6.91287035e-03 7.35844856e+01] [ 2.20606086e-01 9.75361747e-01 -1.55500488e-03 6.51714457e+00] [ 7.08560136e-03 -8.36708698e-06 9.99974897e-01 6.84431595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34185806400001 meters 0.016758192891287063 Centerline is valid? [True, True] Translation: X:73.64, Y:6.53, Z:0.07 [[ 9.75965750e-01 -2.17799860e-01 -7.35366575e-03 7.36405508e+01] [ 2.17793562e-01 9.75993453e-01 -1.65632990e-03 6.53241740e+00] [ 7.53787805e-03 1.49401975e-05 9.99971590e-01 6.79148693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.401858064 meters 0.016705004968006698 Centerline is valid? [True, True] Translation: X:73.70, Y:6.55, Z:0.07 [[ 9.76351724e-01 -2.16058674e-01 -7.48067200e-03 7.36971635e+01] [ 2.16052089e-01 9.76380381e-01 -1.68710369e-03 6.54545371e+00] [ 7.66849476e-03 3.09917847e-05 9.99970596e-01 6.73405945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.461858064 meters 0.016663635994995398 Centerline is valid? [True, True] Translation: X:73.75, Y:6.56, Z:0.07 [[ 9.76368314e-01 -2.15984190e-01 -7.46630481e-03 7.37545746e+01] [ 2.15977612e-01 9.76396860e-01 -1.68604612e-03 6.55681477e+00] [ 7.65423588e-03 3.36473285e-05 9.99970705e-01 6.75695020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521858064 meters 0.01658133877704576 Centerline is valid? [True, True] Translation: X:73.81, Y:6.57, Z:0.07 [[ 9.76329958e-01 -2.16120850e-01 -8.46110289e-03 7.38120444e+01] [ 2.16112399e-01 9.76366620e-01 -1.91165811e-03 6.56549826e+00] [ 8.67428761e-03 3.78598414e-05 9.99962377e-01 6.64366423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581858064 meters 0.016408330003469408 Centerline is valid? [True, True] Translation: X:73.87, Y:6.57, Z:0.07 [[ 9.76161326e-01 -2.16893734e-01 -8.13469118e-03 7.38697571e+01] [ 2.16885931e-01 9.76195220e-01 -1.84005813e-03 6.57493059e+00] [ 8.34014373e-03 3.18935139e-05 9.99965220e-01 6.64312784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641858064 meters 0.016323381039055722 Centerline is valid? [True, True] Translation: X:73.93, Y:6.58, Z:0.07 [[ 9.76122102e-01 -2.17106328e-01 -7.10517694e-03 7.39270816e+01] [ 2.17100365e-01 9.76147961e-01 -1.60926544e-03 6.58266520e+00] [ 7.28508569e-03 2.83030531e-05 9.99973463e-01 6.82309917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701858064 meters 0.016371985354126276 Centerline is valid? [True, True] Translation: X:73.98, Y:6.59, Z:0.07 [[ 9.76044195e-01 -2.17464105e-01 -6.86232707e-03 7.39838179e+01] [ 2.17458545e-01 9.76068318e-01 -1.55528010e-03 6.58979995e+00] [ 7.03631764e-03 2.57504551e-05 9.99975244e-01 6.84005934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.761858064 meters 0.01626212478542572 Centerline is valid? [True, True] Translation: X:74.04, Y:6.60, Z:0.07 [[ 9.75828074e-01 -2.18436377e-01 -6.71706464e-03 7.40411279e+01] [ 2.18431060e-01 9.75851192e-01 -1.52421605e-03 6.59801064e+00] [ 6.88779976e-03 2.01572654e-05 9.99976279e-01 6.90258266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.821858064 meters 0.016355034188380385 Centerline is valid? [True, True] Translation: X:74.10, Y:6.61, Z:0.07 [[ 9.75488177e-01 -2.19927838e-01 -7.38670080e-03 7.40986984e+01] [ 2.19921434e-01 9.75516143e-01 -1.67839964e-03 6.60583921e+00] [ 7.57497268e-03 1.27651765e-05 9.99971309e-01 6.88277204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881858064 meters 0.016261709182477862 Centerline is valid? [True, True] Translation: X:74.16, Y:6.61, Z:0.07 [[ 9.75256744e-01 -2.20906540e-01 -8.63624599e-03 7.41574593e+01] [ 2.20897803e-01 9.75294981e-01 -1.96463407e-03 6.61110702e+00] [ 8.85688788e-03 8.29485756e-06 9.99960777e-01 6.85548915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941858064 meters 0.0162890804501027 Centerline is valid? [True, True] Translation: X:74.22, Y:6.62, Z:0.07 [[ 9.75608117e-01 -2.19296935e-01 -9.88213865e-03 7.42160485e+01] [ 2.19285387e-01 9.75658164e-01 -2.25062885e-03 6.61920038e+00] [ 1.01351453e-02 2.87231741e-05 9.99948638e-01 6.71382208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001858064 meters 0.016396395185160558 Centerline is valid? [True, True] Translation: X:74.27, Y:6.63, Z:0.07 [[ 9.76041388e-01 -2.17293263e-01 -1.12625891e-02 7.42740601e+01] [ 2.17278097e-01 9.76106364e-01 -2.56792123e-03 6.62933670e+00] [ 1.15514769e-02 5.92834739e-05 9.99933278e-01 6.63569488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061858064 meters 0.016375174237517436 Centerline is valid? [True, True] Translation: X:74.33, Y:6.64, Z:0.07 [[ 9.76408010e-01 -2.15555857e-01 -1.27699312e-02 7.43325484e+01] [ 2.15536186e-01 9.76491507e-01 -2.91349264e-03 6.63565711e+00] [ 1.30977498e-02 9.23752809e-05 9.99914217e-01 6.63592182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.121858064 meters 0.016404154355971128 Centerline is valid? [True, True] Translation: X:74.39, Y:6.64, Z:0.07 [[ 9.76481654e-01 -2.15274697e-01 -1.18483823e-02 7.43902469e+01] [ 2.15257729e-01 9.76553530e-01 -2.70434669e-03 6.64476454e+00] [ 1.21527570e-02 9.02890691e-05 9.99926148e-01 6.64995911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.181858064 meters 0.016240896382509147 Centerline is valid? [True, True] Translation: X:74.45, Y:6.65, Z:0.07 [[ 9.76414984e-01 -2.15640816e-01 -1.06215488e-02 7.44492496e+01] [ 2.15627173e-01 9.76472750e-01 -2.42688909e-03 6.65112577e+00] [ 1.08949893e-02 7.93563400e-05 9.99940645e-01 6.85493288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241858064 meters 0.016055249095960275 Centerline is valid? [True, True] Translation: X:74.51, Y:6.66, Z:0.07 [[ 9.76215060e-01 -2.16599623e-01 -9.42123173e-03 7.45081147e+01] [ 2.16588912e-01 9.76260518e-01 -2.15501329e-03 6.65904959e+00] [ 9.66435163e-03 6.32220994e-05 9.99953297e-01 7.01120964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301858064 meters 0.01600740086791085 Centerline is valid? [True, True] Translation: X:74.56, Y:6.67, Z:0.07 [[ 9.76202056e-01 -2.16704116e-01 -8.29886982e-03 7.45649607e+01] [ 2.16695788e-01 9.76237329e-01 -1.90066900e-03 6.67015144e+00] [ 8.51354930e-03 5.71068472e-05 9.99963757e-01 7.09468083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361858064 meters 0.016345083860800694 Centerline is valid? [True, True] Translation: X:74.62, Y:6.69, Z:0.07 [[ 9.76813519e-01 -2.13903835e-01 -8.97207381e-03 7.46203457e+01] [ 2.13893971e-01 9.76854719e-01 -2.05621957e-03 6.68605852e+00] [ 9.20424589e-03 8.94705788e-05 9.99957636e-01 6.97142994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421858064 meters 0.016768632329903742 Centerline is valid? [True, True] Translation: X:74.68, Y:6.70, Z:0.07 [[ 9.77003733e-01 -2.13001176e-01 -9.70587887e-03 7.46760441e+01] [ 2.12989575e-01 9.77051937e-01 -2.22567857e-03 6.70025976e+00] [ 9.95721991e-03 1.07245258e-04 9.99950420e-01 6.77606736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48185806400001 meters 0.016115119749361702 Centerline is valid? [True, True] Translation: X:74.73, Y:6.71, Z:0.07 [[ 9.76714651e-01 -2.14303110e-01 -1.01324655e-02 7.47326534e+01] [ 2.14290507e-01 9.76767202e-01 -2.32632707e-03 6.71215733e+00] [ 1.03955991e-02 1.00866577e-04 9.99945959e-01 6.79700233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.541858064 meters 0.015594044126994678 Centerline is valid? [True, True] Translation: X:74.79, Y:6.72, Z:0.07 [[ 9.75814154e-01 -2.18323691e-01 -1.10228123e-02 7.47899599e+01] [ 2.18309000e-01 9.75876407e-01 -2.53357918e-03 6.72402152e+00] [ 1.13100428e-02 6.59232896e-05 9.99936037e-01 6.67425251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601858064 meters 0.015292202951087288 Centerline is valid? [True, True] Translation: X:74.85, Y:6.74, Z:0.07 [[ 9.75005069e-01 -2.21902314e-01 -1.11570220e-02 7.48476853e+01] [ 2.21887465e-01 9.75068901e-01 -2.56723563e-03 6.73532543e+00] [ 1.14485407e-02 2.74644239e-05 9.99934463e-01 6.64565638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661858064 meters 0.015246742537899587 Centerline is valid? [True, True] Translation: X:74.90, Y:6.75, Z:0.07 [[ 9.73828211e-01 -2.26998108e-01 -1.14225126e-02 7.49049640e+01] [ 2.26982855e-01 9.73895199e-01 -2.63161395e-03 6.74514735e+00] [ 1.17217016e-02 -2.99746155e-05 9.99931298e-01 6.68888532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721858064 meters 0.015275020075739928 Centerline is valid? [True, True] Translation: X:74.96, Y:6.76, Z:0.07 [[ 9.73137381e-01 -2.29953749e-01 -1.11763340e-02 7.49623614e+01] [ 2.29939308e-01 9.73201556e-01 -2.57781050e-03 6.75731618e+00] [ 1.14696028e-02 -6.13147490e-05 9.99934220e-01 6.75671151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781858064 meters 0.015328884796509585 Centerline is valid? [True, True] Translation: X:75.02, Y:6.77, Z:0.07 [[ 9.72862570e-01 -2.31125865e-01 -1.09203486e-02 7.50189215e+01] [ 2.31112116e-01 9.72923856e-01 -2.52192982e-03 6.76985160e+00] [ 1.12075509e-02 -7.03337566e-05 9.99937191e-01 6.81435639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84185806400001 meters 0.015290406307689937 Centerline is valid? [True, True] Translation: X:75.08, Y:6.78, Z:0.07 [[ 9.72638397e-01 -2.32068127e-01 -1.09056276e-02 7.50754073e+01] [ 2.32054439e-01 9.72699531e-01 -2.52175035e-03 6.78367232e+00] [ 1.11931167e-02 -7.79480748e-05 9.99937352e-01 6.85280313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.901858064 meters 0.015327071482770207 Centerline is valid? [True, True] Translation: X:75.13, Y:6.80, Z:0.07 [[ 9.72609229e-01 -2.32211662e-01 -1.04418109e-02 7.51310774e+01] [ 2.32199106e-01 9.72665276e-01 -2.41595827e-03 6.79675041e+00] [ 1.07174006e-02 -7.47958492e-05 9.99942564e-01 6.88255173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.961858064 meters 0.015264431451542299 Centerline is valid? [True, True] Translation: X:75.19, Y:6.81, Z:0.07 [[ 9.72656597e-01 -2.32063388e-01 -9.25891836e-03 7.51878984e+01] [ 2.32053487e-01 9.72700663e-01 -2.14453980e-03 6.81101055e+00] [ 9.50382520e-03 -6.26635023e-05 9.99954836e-01 7.02988568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021858064 meters 0.015411743444679068 Centerline is valid? [True, True] Translation: X:75.24, Y:6.82, Z:0.07 [[ 9.72587767e-01 -2.32386352e-01 -8.34382095e-03 7.52447405e+01] [ 2.32378303e-01 9.72623555e-01 -1.93498715e-03 6.82414185e+00] [ 8.56506140e-03 -5.69781218e-05 9.99963318e-01 7.14433071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081858064 meters 0.01535936904265496 Centerline is valid? [True, True] Translation: X:75.30, Y:6.84, Z:0.07 [[ 9.73017097e-01 -2.30597837e-01 -7.89722870e-03 7.53010561e+01] [ 2.30590558e-01 9.73049144e-01 -1.83260713e-03 6.83953276e+00] [ 8.10698687e-03 -3.78682956e-05 9.99967137e-01 7.14504855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141858064 meters 0.01532709015881467 Centerline is valid? [True, True] Translation: X:75.36, Y:6.85, Z:0.07 [[ 9.73458176e-01 -2.28690699e-01 -8.92993107e-03 7.53572979e+01] [ 2.28681288e-01 9.73499134e-01 -2.07478001e-03 6.85370670e+00] [ 9.16776306e-03 -2.23965786e-05 9.99957975e-01 7.19382142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201858064 meters 0.015595689035991392 Centerline is valid? [True, True] Translation: X:75.41, Y:6.87, Z:0.07 [[ 9.74118189e-01 -2.25759406e-01 -1.12447733e-02 7.54143445e+01] [ 2.25744254e-01 9.74183089e-01 -2.61558479e-03 6.86933027e+00] [ 1.15449608e-02 9.44576926e-06 9.99933355e-01 7.03966414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.261858064 meters 0.016050640766247883 Centerline is valid? [True, True] Translation: X:75.47, Y:6.88, Z:0.07 [[ 9.74236003e-01 -2.25149244e-01 -1.31159382e-02 7.54715200e+01] [ 2.25128529e-01 9.74324288e-01 -3.05421143e-03 6.88365827e+00] [ 1.34668306e-02 2.27508565e-05 9.99909318e-01 6.84188739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.321858064 meters 0.016291292335057404 Centerline is valid? [True, True] Translation: X:75.53, Y:6.90, Z:0.07 [[ 9.73821266e-01 -2.26843430e-01 -1.46356047e-02 7.55293685e+01] [ 2.26817770e-01 9.73931239e-01 -3.41187396e-03 6.89584620e+00] [ 1.50280338e-02 2.94019966e-06 9.99887073e-01 6.85952602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381858064 meters 0.0167125621932452 Centerline is valid? [True, True] Translation: X:75.59, Y:6.90, Z:0.07 [[ 9.72980225e-01 -2.30470971e-01 -1.38785570e-02 7.55856147e+01] [ 2.30448239e-01 9.73079200e-01 -3.23722358e-03 6.90453309e+00] [ 1.42510212e-02 -4.85344932e-05 9.99898448e-01 7.15609075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441858064 meters 0.01660720029914555 Centerline is valid? [True, True] Translation: X:75.64, Y:6.92, Z:0.07 [[ 9.72317177e-01 -2.33267788e-01 -1.36178956e-02 7.56431023e+01] [ 2.33246130e-01 9.72412532e-01 -3.17979135e-03 6.91604595e+00] [ 1.39839552e-02 -8.45556891e-05 9.99902216e-01 7.40430255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501858064 meters 0.016946255956926174 Centerline is valid? [True, True] Translation: X:75.70, Y:6.93, Z:0.08 [[ 9.71692544e-01 -2.35856351e-01 -1.36155094e-02 7.57003277e+01] [ 2.35834906e-01 9.71787923e-01 -3.18269576e-03 6.92823879e+00] [ 1.39820466e-02 -1.18410640e-04 9.99902239e-01 7.54537432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561858064 meters 0.01727569803745835 Centerline is valid? [True, True] Translation: X:75.76, Y:6.94, Z:0.08 [[ 9.71547829e-01 -2.36385948e-01 -1.47139214e-02 7.57569366e+01] [ 2.36360941e-01 9.71659233e-01 -3.44092420e-03 6.94102273e+00] [ 1.51103037e-02 -1.34773874e-04 9.99885824e-01 7.52611971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.621858064 meters 0.016904975458656397 Centerline is valid? [True, True] Translation: X:75.81, Y:6.96, Z:0.07 [[ 9.71574691e-01 -2.36304307e-01 -1.42440869e-02 7.58130924e+01] [ 2.36280845e-01 9.71679092e-01 -3.33229759e-03 6.95675911e+00] [ 1.46281177e-02 -1.28028877e-04 9.99892995e-01 7.49607042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.681858064 meters 0.016473108444200364 Centerline is valid? [True, True] Translation: X:75.87, Y:6.97, Z:0.07 [[ 9.71774487e-01 -2.35516740e-01 -1.36459335e-02 7.58693426e+01] [ 2.35495085e-01 9.71870286e-01 -3.19559542e-03 6.97301726e+00] [ 1.40146935e-02 -1.08152158e-04 9.99901784e-01 7.46027592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741858064 meters 0.01603909122583822 Centerline is valid? [True, True] Translation: X:75.93, Y:6.99, Z:0.07 [[ 9.72264257e-01 -2.33561948e-01 -1.22894628e-02 7.59258263e+01] [ 2.33544189e-01 9.72341921e-01 -2.88094221e-03 6.99103622e+00] [ 1.26224383e-02 -6.90954802e-05 9.99920331e-01 7.41412251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801858064 meters 0.015871712182609084 Centerline is valid? [True, True] Translation: X:75.98, Y:7.01, Z:0.07 [[ 9.72595275e-01 -2.32233184e-01 -1.12329896e-02 7.59812536e+01] [ 2.32218247e-01 9.72660139e-01 -2.63436824e-03 7.00798207e+00] [ 1.15376690e-02 -4.63310535e-05 9.99933438e-01 7.33064285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861858064 meters 0.01574212591480625 Centerline is valid? [True, True] Translation: X:76.04, Y:7.03, Z:0.07 [[ 9.73006383e-01 -2.30577438e-01 -9.62410613e-03 7.60368684e+01] [ 2.30566371e-01 9.73053978e-01 -2.25921362e-03 7.02714921e+00] [ 9.88569844e-03 -2.07659486e-05 9.99951135e-01 7.25761423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921858064 meters 0.01555734056606472 Centerline is valid? [True, True] Translation: X:76.09, Y:7.04, Z:0.07 [[ 9.73170305e-01 -2.29950316e-01 -7.89997633e-03 7.60929325e+01] [ 2.29942832e-01 9.73202370e-01 -1.85524054e-03 7.04234702e+00] [ 8.11488883e-03 -1.10779267e-05 9.99967074e-01 7.31796508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98185806400001 meters 0.015163308853466125 Centerline is valid? [True, True] Translation: X:76.15, Y:7.06, Z:0.07 [[ 9.72968369e-01 -2.30847547e-01 -6.47788587e-03 7.61486617e+01] [ 2.30842523e-01 9.72989933e-01 -1.52301690e-03 7.05929109e+00] [ 6.65450245e-03 -1.35242536e-05 9.99977858e-01 7.48537714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.041858064 meters 0.014965149713401722 Centerline is valid? [True, True] Translation: X:76.20, Y:7.08, Z:0.07 [[ 9.72634924e-01 -2.32299455e-01 -4.27401114e-03 7.62043609e+01] [ 2.32297277e-01 9.72644315e-01 -1.00604865e-03 7.07631190e+00] [ 4.39079719e-03 -1.43230962e-05 9.99990360e-01 7.44346685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101858064 meters 0.014988038166903207 Centerline is valid? [True, True] Translation: X:76.26, Y:7.09, Z:0.07 [[ 9.72447493e-01 -2.33093166e-01 -3.66725224e-03 7.62594370e+01] [ 2.33091565e-01 9.72454408e-01 -8.64006834e-04 7.08993769e+00] [ 3.76762969e-03 -1.46042826e-05 9.99992902e-01 7.36592117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161858064 meters 0.01490038445266825 Centerline is valid? [True, True] Translation: X:76.32, Y:7.11, Z:0.07 [[ 9.72343439e-01 -2.33530534e-01 -3.42443666e-03 7.63155236e+01] [ 2.33529138e-01 9.72349469e-01 -8.07718484e-04 7.10734145e+00] [ 3.51837610e-03 -1.43259729e-05 9.99993810e-01 7.43709228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221858064 meters 0.01470756821116754 Centerline is valid? [True, True] Translation: X:76.37, Y:7.12, Z:0.07 [[ 9.72179581e-01 -2.34223987e-01 -2.44682999e-03 7.63711032e+01] [ 2.34223274e-01 9.72182660e-01 -5.77789280e-04 7.12419722e+00] [ 2.51409780e-03 -1.13895920e-05 9.99996840e-01 7.38288721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281858064 meters 0.014927448892697473 Centerline is valid? [True, True] Translation: X:76.43, Y:7.14, Z:0.07 [[ 9.71358037e-01 -2.37609461e-01 -2.30396451e-03 7.64286157e+01] [ 2.37608838e-01 9.71360769e-01 -5.44672695e-04 7.13879828e+00] [ 2.36740012e-03 -1.83701296e-05 9.99997198e-01 7.36327656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34185806400001 meters 0.015941565389111963 Centerline is valid? [True, True] Translation: X:76.49, Y:7.15, Z:0.07 [[ 9.69811861e-01 -2.43845650e-01 -2.06242207e-03 7.64865023e+01] [ 2.43845163e-01 9.69814053e-01 -4.88082229e-04 7.15118287e+00] [ 2.11918264e-03 -2.95637128e-05 9.99997754e-01 7.22978453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.401858064 meters 0.016608296544509803 Centerline is valid? [True, True] Translation: X:76.54, Y:7.16, Z:0.07 [[ 9.68870466e-01 -2.47560848e-01 -1.90947701e-03 7.65432733e+01] [ 2.47560437e-01 9.68872347e-01 -4.52187563e-04 7.16446963e+00] [ 1.96198341e-03 -3.45997873e-05 9.99998075e-01 7.15687448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.461858064 meters 0.017716133431737825 Centerline is valid? [True, True] Translation: X:76.60, Y:7.18, Z:0.07 [[ 9.67814291e-01 -2.51652315e-01 -2.57105501e-03 7.66006938e+01] [ 2.51651584e-01 9.67817704e-01 -6.09403845e-04 7.17805221e+00] [ 2.64167044e-03 -5.72203155e-05 9.99996509e-01 7.03328751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521858064 meters 0.017391606046896584 Centerline is valid? [True, True] Translation: X:76.66, Y:7.19, Z:0.07 [[ 9.67450631e-01 -2.53046914e-01 -2.55654605e-03 7.66577200e+01] [ 2.53046194e-01 9.67454007e-01 -6.06630500e-04 7.19426514e+00] [ 2.62684670e-03 -6.00391874e-05 9.99996548e-01 6.97503719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581858064 meters 0.01787221484809816 Centerline is valid? [True, True] Translation: X:76.71, Y:7.21, Z:0.07 [[ 9.67321020e-01 -2.53546842e-01 -2.01062227e-03 7.67131930e+01] [ 2.53546397e-01 9.67323109e-01 -4.77428418e-04 7.21017063e+00] [ 2.06597185e-03 -4.79594886e-05 9.99997865e-01 7.03924339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641858064 meters 0.017293951544329833 Centerline is valid? [True, True] Translation: X:76.77, Y:7.23, Z:0.07 [[ 9.67565193e-01 -2.52619499e-01 -9.92861893e-04 7.67693814e+01] [ 2.52619390e-01 9.67565702e-01 -2.35855072e-04 7.22861912e+00] [ 1.02024070e-03 -2.26110077e-05 9.99999479e-01 7.10186779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701858064 meters 0.016903036998902672 Centerline is valid? [True, True] Translation: X:76.83, Y:7.25, Z:0.07 [[ 9.68043231e-01 -2.50774337e-01 -2.12937631e-03 7.68260762e+01] [ 2.50773829e-01 9.68045572e-01 -5.06645884e-04 7.24535862e+00] [ 2.18838710e-03 -4.35367318e-05 9.99997605e-01 7.01555782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.761858064 meters 0.016255071992367556 Centerline is valid? [True, True] Translation: X:76.88, Y:7.26, Z:0.07 [[ 9.68685872e-01 -2.48279987e-01 -2.17478117e-03 7.68820074e+01] [ 2.48279449e-01 9.68688313e-01 -5.18025393e-04 7.26380629e+00] [ 2.23530044e-03 -3.81495916e-05 9.99997501e-01 6.94953879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.821858064 meters 0.015887171282340934 Centerline is valid? [True, True] Translation: X:76.94, Y:7.28, Z:0.07 [[ 9.69583480e-01 -2.44750537e-01 -2.24708397e-03 7.69370261e+01] [ 2.44749953e-01 9.69586084e-01 -5.35668516e-04 7.28189329e+00] [ 2.30984651e-03 -3.05983529e-05 9.99997332e-01 6.88541313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881858064 meters 0.015336902418640651 Centerline is valid? [True, True] Translation: X:76.99, Y:7.30, Z:0.07 [[ 9.70594945e-01 -2.40707116e-01 -2.35325889e-03 7.69933483e+01] [ 2.40706462e-01 9.70597797e-01 -5.61494489e-04 7.30044578e+00] [ 2.41922362e-03 -2.14609088e-05 9.99997073e-01 6.92236332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941858064 meters 0.01486719115256674 Centerline is valid? [True, True] Translation: X:77.05, Y:7.32, Z:0.07 [[ 9.71913484e-01 -2.35324971e-01 -2.51735941e-03 7.70486324e+01] [ 2.35324203e-01 9.71916744e-01 -6.01329658e-04 7.32132965e+00] [ 2.58817164e-03 -7.95519247e-06 9.99996651e-01 6.94010365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001858064 meters 0.014661367315572667 Centerline is valid? [True, True] Translation: X:77.10, Y:7.34, Z:0.07 [[ 9.72869135e-01 -2.31320711e-01 -4.04665770e-03 7.71039778e+01] [ 2.31318685e-01 9.72877551e-01 -9.67976853e-04 7.34006187e+00] [ 4.16081553e-03 5.64726424e-06 9.99991344e-01 6.80208576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061858064 meters 0.014587236016224293 Centerline is valid? [True, True] Translation: X:77.16, Y:7.35, Z:0.07 [[ 9.73141719e-01 -2.30178096e-01 -3.63852274e-03 7.71593568e+01] [ 2.30176448e-01 9.73148521e-01 -8.70948339e-04 7.35476637e+00] [ 3.74129626e-03 1.00539224e-05 9.99993001e-01 6.87279340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.121858064 meters 0.014511974962836323 Centerline is valid? [True, True] Translation: X:77.22, Y:7.37, Z:0.07 [[ 9.72884422e-01 -2.31272258e-01 -3.00748402e-03 7.72159324e+01] [ 2.31271135e-01 9.72889070e-01 -7.20639496e-04 7.36907835e+00] [ 3.09261226e-03 5.55469642e-06 9.99995218e-01 6.98988864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.181858064 meters 0.014542016977422719 Centerline is valid? [True, True] Translation: X:77.27, Y:7.38, Z:0.07 [[ 9.72773915e-01 -2.31727358e-01 -3.65254391e-03 7.72717236e+01] [ 2.31725703e-01 9.72780773e-01 -8.75876719e-04 7.38240326e+00] [ 3.75608908e-03 5.64172282e-06 9.99992946e-01 7.00981893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241858064 meters 0.014492838762349526 Centerline is valid? [True, True] Translation: X:77.33, Y:7.40, Z:0.07 [[ 9.72805387e-01 -2.31593249e-01 -3.77452434e-03 7.73279926e+01] [ 2.31591476e-01 9.72812709e-01 -9.06104446e-04 7.39765306e+00] [ 3.88175293e-03 7.31562087e-06 9.99992466e-01 6.99108446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301858064 meters 0.014509526248004116 Centerline is valid? [True, True] Translation: X:77.38, Y:7.41, Z:0.07 [[ 9.72848165e-01 -2.31409897e-01 -3.98836794e-03 7.73838442e+01] [ 2.31407911e-01 9.72856341e-01 -9.58654789e-04 7.41193668e+00] [ 4.10195124e-03 9.68565918e-06 9.99991587e-01 7.01168485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361858064 meters 0.014454350744928523 Centerline is valid? [True, True] Translation: X:77.44, Y:7.43, Z:0.07 [[ 9.72960523e-01 -2.30888762e-01 -6.18070824e-03 7.74406903e+01] [ 2.30883972e-01 9.72980154e-01 -1.48741973e-03 7.42617181e+00] [ 6.35713496e-03 2.01742104e-05 9.99979793e-01 6.93601621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421858064 meters 0.014470549297333974 Centerline is valid? [True, True] Translation: X:77.50, Y:7.44, Z:0.07 [[ 9.73085972e-01 -2.30319166e-01 -7.53477142e-03 7.74976973e+01] [ 2.30312014e-01 9.73115143e-01 -1.81531672e-03 7.44112804e+00] [ 7.75030239e-03 3.11108512e-05 9.99969965e-01 6.83526986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48185806400001 meters 0.01431668403008906 Centerline is valid? [True, True] Translation: X:77.55, Y:7.46, Z:0.07 [[ 9.73062696e-01 -2.30404526e-01 -7.92112397e-03 7.75540030e+01] [ 2.30396606e-01 9.73094935e-01 -1.91074061e-03 7.45505199e+00] [ 8.14824890e-03 3.42703296e-05 9.99966802e-01 6.82831484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.541858064 meters 0.014195865198625458 Centerline is valid? [True, True] Translation: X:77.61, Y:7.47, Z:0.07 [[ 9.72477344e-01 -2.32883145e-01 -7.29768729e-03 7.76118050e+01] [ 2.32876477e-01 9.72504725e-01 -1.76232483e-03 7.46629570e+00] [ 7.50745112e-03 1.43612608e-05 9.99971819e-01 7.01046495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601858064 meters 0.01419770427863159 Centerline is valid? [True, True] Translation: X:77.67, Y:7.48, Z:0.07 [[ 9.71697884e-01 -2.36129530e-01 -6.78733075e-03 7.76685714e+01] [ 2.36123834e-01 9.71721588e-01 -1.64007614e-03 7.47570860e+00] [ 6.98266623e-03 -8.99204296e-06 9.99975621e-01 7.15847836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661858064 meters 0.014206687182535687 Centerline is valid? [True, True] Translation: X:77.73, Y:7.49, Z:0.07 [[ 9.71286616e-01 -2.37854595e-01 -5.24418047e-03 7.77255106e+01] [ 2.37851213e-01 9.71300773e-01 -1.26858552e-03 7.48771121e+00] [ 5.39541544e-03 -1.51745437e-05 9.99985445e-01 7.28839149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721858064 meters 0.0141232969554111 Centerline is valid? [True, True] Translation: X:77.78, Y:7.50, Z:0.07 [[ 9.71291603e-01 -2.37852835e-01 -4.31862751e-03 7.77820614e+01] [ 2.37850535e-01 9.71301204e-01 -1.04592413e-03 7.50129799e+00] [ 4.44346412e-03 -1.12905389e-05 9.99990128e-01 7.39758245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781858064 meters 0.014035807388667004 Centerline is valid? [True, True] Translation: X:77.84, Y:7.52, Z:0.07 [[ 9.71653857e-01 -2.36368630e-01 -4.31892200e-03 7.78387842e+01] [ 2.36366310e-01 9.71663455e-01 -1.04727640e-03 7.51592164e+00] [ 4.44408197e-03 -3.25750033e-06 9.99990125e-01 7.39430521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84185806400001 meters 0.014008481611123157 Centerline is valid? [True, True] Translation: X:77.90, Y:7.53, Z:0.07 [[ 9.71990351e-01 -2.34980922e-01 -4.32710930e-03 7.78953898e+01] [ 2.34978573e-01 9.71999983e-01 -1.05053997e-03 7.53023950e+00] [ 4.45280701e-03 4.33674162e-06 9.99990086e-01 7.41333662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.901858064 meters 0.013910636823805105 Centerline is valid? [True, True] Translation: X:77.95, Y:7.54, Z:0.07 [[ 9.71967494e-01 -2.35080363e-01 -4.05127959e-03 7.79512097e+01] [ 2.35078301e-01 9.71975937e-01 -9.84751799e-04 7.54458831e+00] [ 4.16924209e-03 4.77881648e-06 9.99991309e-01 7.41662698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.961858064 meters 0.0138227741474812 Centerline is valid? [True, True] Translation: X:78.01, Y:7.56, Z:0.07 [[ 9.71806370e-01 -2.35727020e-01 -5.01513849e-03 7.80079834e+01] [ 2.35723860e-01 9.71819310e-01 -1.22058464e-03 7.55639444e+00] [ 5.16153320e-03 3.98412629e-06 9.99986679e-01 7.40139100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021858064 meters 0.013810854271135098 Centerline is valid? [True, True] Translation: X:78.06, Y:7.57, Z:0.07 [[ 9.71481530e-01 -2.37065190e-01 -4.87156145e-03 7.80643332e+01] [ 2.37062218e-01 9.71493745e-01 -1.18707567e-03 7.56918917e+00] [ 5.01410579e-03 -1.64107102e-06 9.99987429e-01 7.35084597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081858064 meters 0.013790392182886009 Centerline is valid? [True, True] Translation: X:78.12, Y:7.58, Z:0.07 [[ 9.71099140e-01 -2.38641371e-01 -4.09339457e-03 7.81215177e+01] [ 2.38639281e-01 9.71107768e-01 -9.98627975e-04 7.58131314e+00] [ 4.21344121e-03 -7.07797014e-06 9.99991123e-01 7.36830158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141858064 meters 0.013687763916083878 Centerline is valid? [True, True] Translation: X:78.18, Y:7.59, Z:0.07 [[ 9.70988532e-01 -2.39098376e-01 -3.63828449e-03 7.81782622e+01] [ 2.39096724e-01 9.70995348e-01 -8.88636811e-04 7.59439498e+00] [ 3.74522893e-03 -7.04575020e-06 9.99992987e-01 7.45525147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201858064 meters 0.013657290532640464 Centerline is valid? [True, True] Translation: X:78.24, Y:7.61, Z:0.08 [[ 9.70830498e-01 -2.39749418e-01 -2.89159040e-03 7.82351988e+01] [ 2.39748375e-01 9.70834804e-01 -7.07043644e-04 7.60620141e+00] [ 2.97676990e-03 -6.83456743e-06 9.99995569e-01 7.56021611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.261858064 meters 0.013887224429089766 Centerline is valid? [True, True] Translation: X:78.29, Y:7.62, Z:0.07 [[ 9.70635605e-01 -2.40527134e-01 -3.63605628e-03 7.82915939e+01] [ 2.40525489e-01 9.70642415e-01 -8.89629408e-04 7.61783482e+00] [ 3.74329046e-03 -1.10582356e-05 9.99992994e-01 7.42720295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.321858064 meters 0.013896321983263887 Centerline is valid? [True, True] Translation: X:78.35, Y:7.63, Z:0.07 [[ 9.70514840e-01 -2.40989772e-01 -4.98750721e-03 7.83484206e+01] [ 2.40986676e-01 9.70527655e-01 -1.22158851e-03 7.63072988e+00] [ 5.13490401e-03 -1.63530072e-05 9.99986816e-01 7.33359862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381858064 meters 0.013888468771595709 Centerline is valid? [True, True] Translation: X:78.41, Y:7.64, Z:0.07 [[ 9.70331429e-01 -2.41709642e-01 -5.77645919e-03 7.84056051e+01] [ 2.41705492e-01 9.70348622e-01 -1.41652366e-03 7.64294424e+00] [ 5.94756665e-03 -2.17044804e-05 9.99982313e-01 7.22469096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441858064 meters 0.01388892459974921 Centerline is valid? [True, True] Translation: X:78.46, Y:7.66, Z:0.07 [[ 9.70253532e-01 -2.42010826e-01 -6.23249004e-03 7.84619893e+01] [ 2.42005990e-01 9.70273549e-01 -1.53014138e-03 7.65528562e+00] [ 6.41753101e-03 -2.36748408e-05 9.99979407e-01 7.22910728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501858064 meters 0.01375125616144923 Centerline is valid? [True, True] Translation: X:78.52, Y:7.67, Z:0.07 [[ 9.70650577e-01 -2.40387638e-01 -7.15829200e-03 7.85185992e+01] [ 2.40381198e-01 9.70676972e-01 -1.75958534e-03 7.66894328e+00] [ 7.37137177e-03 -1.27762820e-05 9.99972831e-01 7.28732785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561858064 meters 0.013777907337955468 Centerline is valid? [True, True] Translation: X:78.57, Y:7.68, Z:0.07 [[ 9.71295402e-01 -2.37762620e-01 -7.36065176e-03 7.85740900e+01] [ 2.37755724e-01 9.71323291e-01 -1.81088796e-03 7.68357954e+00] [ 7.58013396e-03 8.87006206e-06 9.99971270e-01 7.21979197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.621858064 meters 0.01389304423925983 Centerline is valid? [True, True] Translation: X:78.63, Y:7.70, Z:0.07 [[ 9.71576357e-01 -2.36583390e-01 -8.22685251e-03 7.86312025e+01] [ 2.36574715e-01 9.71611187e-01 -2.02612895e-03 7.69715874e+00] [ 8.47265039e-03 2.22737004e-05 9.99964106e-01 7.19349885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.681858064 meters 0.014019986071635751 Centerline is valid? [True, True] Translation: X:78.69, Y:7.71, Z:0.07 [[ 9.71622989e-01 -2.36368297e-01 -8.87664954e-03 7.86878246e+01] [ 2.36358165e-01 9.71663536e-01 -2.18880280e-03 7.71039516e+00] [ 9.14248027e-03 2.86225274e-05 9.99958206e-01 7.19110956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741858064 meters 0.014143948682955095 Centerline is valid? [True, True] Translation: X:78.74, Y:7.72, Z:0.07 [[ 9.71886272e-01 -2.35314482e-01 -8.01054039e-03 7.87448817e+01] [ 2.35306174e-01 9.71919283e-01 -1.97762251e-03 7.72351089e+00] [ 8.25096189e-03 3.70945586e-05 9.99965960e-01 7.30278386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801858064 meters 0.014153129480536748 Centerline is valid? [True, True] Translation: X:78.80, Y:7.74, Z:0.07 [[ 9.71978765e-01 -2.34933890e-01 -7.95918233e-03 7.88014061e+01] [ 2.34925656e-01 9.72011351e-01 -1.96731998e-03 7.73676469e+00] [ 8.19860570e-03 4.23771153e-05 9.99966390e-01 7.29926175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861858064 meters 0.014416890674010214 Centerline is valid? [True, True] Translation: X:78.86, Y:7.75, Z:0.07 [[ 9.72228607e-01 -2.33868418e-01 -8.78059133e-03 7.88574777e+01] [ 2.33858343e-01 9.72268255e-01 -2.17150374e-03 7.74906475e+00] [ 9.04493635e-03 5.77835138e-05 9.99959092e-01 7.14916548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921858064 meters 0.014559454676157402 Centerline is valid? [True, True] Translation: X:78.92, Y:7.76, Z:0.07 [[ 9.72338811e-01 -2.33363417e-01 -9.93740217e-03 7.89151265e+01] [ 2.33350461e-01 9.72389588e-01 -2.46008842e-03 7.76100786e+00] [ 1.02371210e-02 7.31420736e-05 9.99947597e-01 7.06606371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98185806400001 meters 0.014768858049325826 Centerline is valid? [True, True] Translation: X:78.97, Y:7.77, Z:0.07 [[ 9.72313657e-01 -2.33440698e-01 -1.05637665e-02 7.89722980e+01] [ 2.33426050e-01 9.72371037e-01 -2.61628367e-03 7.77108978e+00] [ 1.08826477e-02 7.79900519e-05 9.99940779e-01 7.05665184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.041858064 meters 0.01458308184182522 Centerline is valid? [True, True] Translation: X:79.03, Y:7.78, Z:0.07 [[ 9.72111736e-01 -2.34300392e-01 -1.01044053e-02 7.90294046e+01] [ 2.34287006e-01 9.72164246e-01 -2.50538063e-03 7.78214147e+00] [ 1.04101533e-02 6.81790302e-05 9.99945811e-01 7.17262581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101858064 meters 0.01484964783498133 Centerline is valid? [True, True] Translation: X:79.09, Y:7.79, Z:0.07 [[ 9.71837415e-01 -2.35400937e-01 -1.08829422e-02 7.90859632e+01] [ 2.35385461e-01 9.71898346e-01 -2.69999214e-03 7.79277767e+00] [ 1.12126942e-02 6.22670180e-05 9.99937134e-01 7.04072604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161858064 meters 0.014901031137805195 Centerline is valid? [True, True] Translation: X:79.14, Y:7.80, Z:0.07 [[ 9.71413564e-01 -2.37124213e-01 -1.13046461e-02 7.91434905e+01] [ 2.37107595e-01 9.71479339e-01 -2.80768041e-03 7.80294955e+00] [ 1.16479991e-02 4.70013987e-05 9.99932159e-01 6.98954273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221858064 meters 0.014794864916478398 Centerline is valid? [True, True] Translation: X:79.20, Y:7.81, Z:0.07 [[ 9.70649357e-01 -2.40258009e-01 -1.07663811e-02 7.92017593e+01] [ 2.40243097e-01 9.70709065e-01 -2.67679664e-03 7.81167402e+00] [ 1.10941456e-02 1.16821967e-05 9.99938458e-01 7.13085659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281858064 meters 0.015026692755564756 Centerline is valid? [True, True] Translation: X:79.26, Y:7.82, Z:0.07 [[ 9.70174420e-01 -2.42192092e-01 -1.02266910e-02 7.92588455e+01] [ 2.42178714e-01 9.70228319e-01 -2.54560345e-03 7.82184261e+00] [ 1.05387503e-02 -7.00753121e-06 9.99944466e-01 7.27521253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34185806400001 meters 0.015213085814439668 Centerline is valid? [True, True] Translation: X:79.32, Y:7.83, Z:0.07 [[ 9.69534161e-01 -2.44738543e-01 -1.03226071e-02 7.93158860e+01] [ 2.44725024e-01 9.69589111e-01 -2.57254902e-03 7.83149274e+00] [ 1.06382893e-02 -3.20261080e-05 9.99943411e-01 7.29809643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.401858064 meters 0.015504820275890768 Centerline is valid? [True, True] Translation: X:79.37, Y:7.84, Z:0.07 [[ 9.69299031e-01 -2.45672975e-01 -1.02067937e-02 7.93730563e+01] [ 2.45659778e-01 9.69352767e-01 -2.54669154e-03 7.84334840e+00] [ 1.05196370e-02 -3.88930434e-05 9.99944666e-01 7.24180347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.461858064 meters 0.015604347550554681 Centerline is valid? [True, True] Translation: X:79.43, Y:7.85, Z:0.07 [[ 9.68971879e-01 -2.46964099e-01 -1.01109863e-02 7.94301707e+01] [ 2.46951187e-01 9.69024629e-01 -2.52582989e-03 7.85378162e+00] [ 1.04215841e-02 -4.94619403e-05 9.99945693e-01 7.40855134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521858064 meters 0.015760969280253116 Centerline is valid? [True, True] Translation: X:79.49, Y:7.87, Z:0.07 [[ 9.69140226e-01 -2.46334146e-01 -9.31188094e-03 7.94870385e+01] [ 2.46323156e-01 9.69184960e-01 -2.32722398e-03 7.86566719e+00] [ 9.59820969e-03 -3.83255299e-05 9.99953935e-01 7.47538722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581858064 meters 0.015557240604763477 Centerline is valid? [True, True] Translation: X:79.54, Y:7.88, Z:0.08 [[ 9.69531781e-01 -2.44813157e-01 -8.63966497e-03 7.95438550e+01] [ 2.44803616e-01 9.69570275e-01 -2.16136925e-03 7.88074887e+00] [ 8.90589397e-03 -1.95050496e-05 9.99960342e-01 7.66111122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641858064 meters 0.015609577432712681 Centerline is valid? [True, True] Translation: X:79.60, Y:7.90, Z:0.08 [[ 9.70352494e-01 -2.41553827e-01 -8.23327810e-03 7.95989878e+01] [ 2.41545031e-01 9.70387422e-01 -2.06143240e-03 7.89564051e+00] [ 8.48741639e-03 1.16086565e-05 9.99963981e-01 7.64279308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701858064 meters 0.015584955605475338 Centerline is valid? [True, True] Translation: X:79.66, Y:7.91, Z:0.08 [[ 9.70777036e-01 -2.39843454e-01 -8.18928877e-03 7.96550465e+01] [ 2.39834671e-01 9.70811576e-01 -2.05277594e-03 7.90997103e+00] [ 8.44260121e-03 2.87123620e-05 9.99964360e-01 7.70068311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.761858064 meters 0.01570595360590636 Centerline is valid? [True, True] Translation: X:79.71, Y:7.92, Z:0.08 [[ 9.71293246e-01 -2.37708922e-01 -9.15966273e-03 7.97119139e+01] [ 2.37697816e-01 9.71336433e-01 -2.29847377e-03 7.92480283e+00] [ 9.44348185e-03 5.52602270e-05 9.99955408e-01 7.68136604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.821858064 meters 0.015828096424162944 Centerline is valid? [True, True] Translation: X:79.77, Y:7.94, Z:0.08 [[ 9.71407554e-01 -2.37235860e-01 -9.30111516e-03 7.97683587e+01] [ 2.37224377e-01 9.71452080e-01 -2.33497583e-03 7.93882370e+00] [ 9.58952766e-03 6.17619089e-05 9.99954018e-01 7.62784366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881858064 meters 0.015613239320641422 Centerline is valid? [True, True] Translation: X:79.83, Y:7.95, Z:0.08 [[ 9.71114560e-01 -2.38422000e-01 -9.56352692e-03 7.98257077e+01] [ 2.38409891e-01 9.71161648e-01 -2.40349837e-03 7.95089507e+00] [ 9.86077745e-03 5.40328478e-05 9.99951380e-01 7.63974707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941858064 meters 0.015415847409083635 Centerline is valid? [True, True] Translation: X:79.88, Y:7.96, Z:0.08 [[ 9.70630515e-01 -2.40347815e-01 -1.04561577e-02 7.98830038e+01] [ 2.40333418e-01 9.70686832e-01 -2.63096850e-03 7.96170834e+00] [ 1.07820021e-02 4.07341834e-05 9.99941872e-01 7.70189077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001858064 meters 0.015381231433613692 Centerline is valid? [True, True] Translation: X:79.94, Y:7.97, Z:0.08 [[ 9.70266403e-01 -2.41785935e-01 -1.10755977e-02 7.99398130e+01] [ 2.41769838e-01 9.70329615e-01 -2.79009858e-03 7.97366650e+00] [ 1.14215870e-02 2.93934567e-05 9.99934771e-01 7.63917374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061858064 meters 0.015259034157788775 Centerline is valid? [True, True] Translation: X:80.00, Y:7.99, Z:0.08 [[ 9.69847110e-01 -2.43436850e-01 -1.16225619e-02 7.99964764e+01] [ 2.43419201e-01 9.69916749e-01 -2.93139280e-03 7.98515616e+00] [ 1.19865265e-02 1.38481078e-05 9.99928159e-01 7.69863892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.121858064 meters 0.01533787839109093 Centerline is valid? [True, True] Translation: X:80.05, Y:7.99, Z:0.08 [[ 9.68719465e-01 -2.47901194e-01 -1.12958273e-02 8.00537822e+01] [ 2.47884787e-01 9.68785320e-01 -2.85235283e-03 7.99470300e+00] [ 1.16503334e-02 -3.69340348e-05 9.99932132e-01 7.82731929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.181858064 meters 0.015535753144808017 Centerline is valid? [True, True] Translation: X:80.11, Y:8.00, Z:0.08 [[ 9.67295520e-01 -2.53391900e-01 -1.14857710e-02 8.01126060e+01] [ 2.53375286e-01 9.67363703e-01 -2.90339158e-03 8.00396390e+00] [ 1.18466138e-02 -1.01772832e-04 9.99929821e-01 7.91137264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241858064 meters 0.015917175853158452 Centerline is valid? [True, True] Translation: X:80.17, Y:8.02, Z:0.08 [[ 9.66353055e-01 -2.56957101e-01 -1.16112859e-02 8.01706269e+01] [ 2.56940342e-01 9.66422800e-01 -2.93816005e-03 8.01537075e+00] [ 1.19763925e-02 -1.44107841e-04 9.99928270e-01 7.86460967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301858064 meters 0.016516163456548865 Centerline is valid? [True, True] Translation: X:80.23, Y:8.03, Z:0.08 [[ 9.65403347e-01 -2.60504593e-01 -1.15643891e-02 8.02288784e+01] [ 2.60488188e-01 9.65472591e-01 -2.92927232e-03 8.02693461e+00] [ 1.19281896e-02 -1.84457457e-04 9.99928840e-01 7.89965170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361858064 meters 0.016857540366683795 Centerline is valid? [True, True] Translation: X:80.29, Y:8.04, Z:0.08 [[ 9.65031603e-01 -2.61870327e-01 -1.17446151e-02 8.02858626e+01] [ 2.61853472e-01 9.65103047e-01 -2.97792129e-03 8.04070230e+00] [ 1.21145931e-02 -2.01580094e-04 9.99926595e-01 7.87490239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421858064 meters 0.016712128370329107 Centerline is valid? [True, True] Translation: X:80.34, Y:8.06, Z:0.08 [[ 9.65105385e-01 -2.61548322e-01 -1.28090341e-02 8.03424861e+01] [ 2.61528195e-01 9.65190360e-01 -3.25154262e-03 8.05579414e+00] [ 1.32135918e-02 -2.11842281e-04 9.99912674e-01 7.81775010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.481858064 meters 0.016374593869920594 Centerline is valid? [True, True] Translation: X:80.40, Y:8.07, Z:0.08 [[ 9.65607100e-01 -2.59686705e-01 -1.28741094e-02 8.03989027e+01] [ 2.59666164e-01 9.65692902e-01 -3.27135386e-03 8.07279298e+00] [ 1.32819632e-02 -1.84128096e-04 9.99911774e-01 7.78441142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.541858064 meters 0.01619641172757272 Centerline is valid? [True, True] Translation: X:80.45, Y:8.09, Z:0.08 [[ 9.66005226e-01 -2.58216842e-01 -1.25684793e-02 8.04540933e+01] [ 2.58197124e-01 9.66086972e-01 -3.19494494e-03 8.08961592e+00] [ 1.29672327e-02 -1.58811701e-04 9.99915909e-01 7.78448141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601858064 meters 0.016026484114283934 Centerline is valid? [True, True] Translation: X:80.51, Y:8.10, Z:0.08 [[ 9.66191443e-01 -2.57542046e-01 -1.20909104e-02 8.05106473e+01] [ 2.57523710e-01 9.66267082e-01 -3.07640156e-03 8.10497229e+00] [ 1.24753515e-02 -1.41303241e-04 9.99922170e-01 7.81436332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661858064 meters 0.015536634528121077 Centerline is valid? [True, True] Translation: X:80.57, Y:8.12, Z:0.08 [[ 9.66542808e-01 -2.56277876e-01 -1.08005084e-02 8.05670784e+01] [ 2.56263136e-01 9.66603144e-01 -2.75080379e-03 8.12342204e+00] [ 1.11447756e-02 -1.09002542e-04 9.99937889e-01 7.97539235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721858064 meters 0.015298130018925979 Centerline is valid? [True, True] Translation: X:80.62, Y:8.14, Z:0.08 [[ 9.66757472e-01 -2.55513277e-01 -9.64135015e-03 8.06234797e+01] [ 2.55501468e-01 9.66805543e-01 -2.45805541e-03 8.14009361e+00] [ 9.94937656e-03 -8.70356843e-05 9.99950500e-01 8.07028196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781858064 meters 0.015092784589875879 Centerline is valid? [True, True] Translation: X:80.68, Y:8.16, Z:0.08 [[ 9.67149227e-01 -2.54065228e-01 -8.55758979e-03 8.06789847e+01] [ 2.54055849e-01 9.67187084e-01 -2.18395131e-03 8.15922399e+00] [ 8.83165641e-03 -6.18989123e-05 9.99960998e-01 8.05242016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84185806400001 meters 0.015215729430026049 Centerline is valid? [True, True] Translation: X:80.73, Y:8.18, Z:0.08 [[ 9.67450894e-01 -2.52926407e-01 -8.18538835e-03 8.07342239e+01] [ 2.52917778e-01 9.67485519e-01 -2.08983972e-03 8.17537525e+00] [ 8.44782035e-03 -4.84129272e-05 9.99964315e-01 8.01437823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.901858064 meters 0.014706076143353572 Centerline is valid? [True, True] Translation: X:80.79, Y:8.19, Z:0.08 [[ 9.67900285e-01 -2.51217948e-01 -7.65380515e-03 8.07906151e+01] [ 2.51210335e-01 9.67930546e-01 -1.95596984e-03 8.19343747e+00] [ 7.89972652e-03 -2.95311905e-05 9.99968796e-01 8.21669110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.961858064 meters 0.014630212810400124 Centerline is valid? [True, True] Translation: X:80.85, Y:8.21, Z:0.08 [[ 9.68256246e-01 -2.49830660e-01 -8.03012129e-03 8.08459279e+01] [ 2.49822213e-01 9.68289544e-01 -2.05449736e-03 8.21063703e+00] [ 8.28875891e-03 -1.68227691e-05 9.99965648e-01 8.16282801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021858064 meters 0.014574509470536592 Centerline is valid? [True, True] Translation: X:80.90, Y:8.23, Z:0.08 [[ 9.68855852e-01 -2.47475433e-01 -8.61672699e-03 8.09006642e+01] [ 2.47465591e-01 9.68894169e-01 -2.20714888e-03 8.23013498e+00] [ 8.89491166e-03 6.06567474e-06 9.99960439e-01 8.07139068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081858064 meters 0.014449357702168552 Centerline is valid? [True, True] Translation: X:80.96, Y:8.25, Z:0.08 [[ 9.69127652e-01 -2.46437992e-01 -7.74023108e-03 8.09567412e+01] [ 2.46429998e-01 9.69158561e-01 -1.98496629e-03 8.24696080e+00] [ 7.99068232e-03 1.62605927e-05 9.99968074e-01 8.26963522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141858064 meters 0.01441309949642908 Centerline is valid? [True, True] Translation: X:81.01, Y:8.26, Z:0.08 [[ 9.69089590e-01 -2.46610619e-01 -6.96915571e-03 8.10128026e+01] [ 2.46604128e-01 9.69114649e-01 -1.78932863e-03 8.26192932e+00] [ 7.19517833e-03 1.53971784e-05 9.99974114e-01 8.35120763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201858064 meters 0.014434055597990882 Centerline is valid? [True, True] Translation: X:81.07, Y:8.28, Z:0.08 [[ 9.69003554e-01 -2.46975408e-01 -5.93810776e-03 8.10688895e+01] [ 2.46970691e-01 9.69021748e-01 -1.52638096e-03 8.27722178e+00] [ 6.13113412e-03 1.25300003e-05 9.99981204e-01 8.43819804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.261858064 meters 0.014439100414725903 Centerline is valid? [True, True] Translation: X:81.12, Y:8.29, Z:0.08 [[ 9.68995407e-01 -2.47010188e-01 -5.81960458e-03 8.11236529e+01] [ 2.47005653e-01 9.69012883e-01 -1.49682465e-03 8.29227638e+00] [ 6.00900275e-03 1.29409823e-05 9.99981946e-01 8.39496356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.321858064 meters 0.0146562182181966 Centerline is valid? [True, True] Translation: X:81.18, Y:8.31, Z:0.08 [[ 9.69357447e-01 -2.45556900e-01 -6.92454146e-03 8.11802735e+01] [ 2.45550430e-01 9.69382179e-01 -1.78274218e-03 8.30750624e+00] [ 7.15029173e-03 2.77902790e-05 9.99974436e-01 8.27489274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381858064 meters 0.014824000786344153 Centerline is valid? [True, True] Translation: X:81.24, Y:8.32, Z:0.08 [[ 9.69700807e-01 -2.44191768e-01 -7.12220858e-03 8.12369379e+01] [ 2.44184873e-01 9.69726961e-01 -1.83551336e-03 8.32324493e+00] [ 7.35481493e-03 4.07631896e-05 9.99972952e-01 8.27788593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441858064 meters 0.01475416472934987 Centerline is valid? [True, True] Translation: X:81.29, Y:8.34, Z:0.08 [[ 9.69678714e-01 -2.44280526e-01 -7.08634219e-03 8.12932462e+01] [ 2.44273687e-01 9.69704606e-01 -1.82840052e-03 8.33750640e+00] [ 7.31830130e-03 4.19541297e-05 9.99973220e-01 8.34318747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501858064 meters 0.014670999598942653 Centerline is valid? [True, True] Translation: X:81.35, Y:8.35, Z:0.09 [[ 9.69305230e-01 -2.45783590e-01 -6.14796042e-03 8.13511540e+01] [ 2.45778462e-01 9.69324727e-01 -1.58791629e-03 8.34959408e+00] [ 6.34965382e-03 2.81393046e-05 9.99979840e-01 8.51573602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561858064 meters 0.014733521516649122 Centerline is valid? [True, True] Translation: X:81.41, Y:8.36, Z:0.09 [[ 9.68826787e-01 -2.47676837e-01 -5.55349803e-03 8.14082429e+01] [ 2.47672675e-01 9.68842703e-01 -1.43598711e-03 8.36273227e+00] [ 5.73612680e-03 1.57730662e-05 9.99983548e-01 8.56759881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.621858064 meters 0.014866405569238563 Centerline is valid? [True, True] Translation: X:81.46, Y:8.37, Z:0.08 [[ 9.68298355e-01 -2.49711793e-01 -6.50513853e-03 8.14641444e+01] [ 2.49706121e-01 9.68320205e-01 -1.68307738e-03 8.37468311e+00] [ 6.71934135e-03 5.34815150e-06 9.99977425e-01 8.48474730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.681858064 meters 0.014918896128840453 Centerline is valid? [True, True] Translation: X:81.52, Y:8.39, Z:0.08 [[ 9.67849952e-01 -2.51422552e-01 -7.29186183e-03 8.15208409e+01] [ 2.51415458e-01 9.67877420e-01 -1.88863918e-03 8.38725810e+00] [ 7.53247490e-03 -5.36744397e-06 9.99971630e-01 8.38876906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741858064 meters 0.015025853521565635 Centerline is valid? [True, True] Translation: X:81.58, Y:8.40, Z:0.08 [[ 9.67302459e-01 -2.53468840e-01 -8.91629966e-03 8.15783244e+01] [ 2.53458298e-01 9.67343552e-01 -2.31179020e-03 8.39990620e+00] [ 9.21109176e-03 -2.37097951e-05 9.99957577e-01 8.31373421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801858064 meters 0.01515237275366758 Centerline is valid? [True, True] Translation: X:81.64, Y:8.41, Z:0.08 [[ 9.67100125e-01 -2.54201796e-01 -9.93958506e-03 8.16351568e+01] [ 2.54188707e-01 9.67151201e-01 -2.57975287e-03 8.41411714e+00] [ 1.02688594e-02 -3.16509501e-05 9.99947273e-01 8.28479823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861858064 meters 0.015203438656365472 Centerline is valid? [True, True] Translation: X:81.69, Y:8.43, Z:0.08 [[ 9.67493625e-01 -2.52681003e-01 -1.04113308e-02 8.16907847e+01] [ 2.52666521e-01 9.67549643e-01 -2.70527861e-03 8.43063967e+00] [ 1.07570519e-02 -1.32549166e-05 9.99942141e-01 8.31995582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921858064 meters 0.015228423440616918 Centerline is valid? [True, True] Translation: X:81.75, Y:8.45, Z:0.08 [[ 9.67671483e-01 -2.52021861e-01 -9.84291071e-03 8.17467944e+01] [ 2.52008854e-01 9.67721541e-01 -2.56046670e-03 8.44730585e+00] [ 1.01704903e-02 -2.81003068e-06 9.99948279e-01 8.35179365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.981858064 meters 0.015357552332259279 Centerline is valid? [True, True] Translation: X:81.80, Y:8.46, Z:0.09 [[ 9.67741448e-01 -2.51809110e-01 -8.28625946e-03 8.18033098e+01] [ 2.51799866e-01 9.67776923e-01 -2.15764357e-03 8.46403905e+00] [ 8.56256499e-03 1.56209396e-06 9.99963341e-01 8.56640213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.041858064 meters 0.015464400781683093 Centerline is valid? [True, True] Translation: X:81.86, Y:8.48, Z:0.09 [[ 9.67691316e-01 -2.52023028e-01 -7.60988605e-03 8.18597278e+01] [ 2.52015220e-01 9.67721238e-01 -1.98370440e-03 8.47978184e+00] [ 7.86418753e-03 1.80641222e-06 9.99969077e-01 8.65259068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101858064 meters 0.01569605311030776 Centerline is valid? [True, True] Translation: X:81.91, Y:8.50, Z:0.08 [[ 9.68386383e-01 -2.49319454e-01 -8.22338721e-03 8.19146119e+01] [ 2.49310232e-01 9.68421297e-01 -2.14455838e-03 8.49901970e+00] [ 8.49838344e-03 2.65865592e-05 9.99963888e-01 8.46565707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161858064 meters 0.016029230717835838 Centerline is valid? [True, True] Translation: X:81.97, Y:8.52, Z:0.09 [[ 9.68826133e-01 -2.47576985e-01 -9.03110176e-03 8.19705409e+01] [ 2.47565766e-01 9.68868223e-01 -2.35738348e-03 8.51696934e+00] [ 9.33358141e-03 4.81030922e-05 9.99956440e-01 8.51864798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221858064 meters 0.01603089405374608 Centerline is valid? [True, True] Translation: X:82.03, Y:8.53, Z:0.08 [[ 9.68836916e-01 -2.47476789e-01 -1.05009196e-02 8.20265487e+01] [ 2.47461603e-01 9.68893821e-01 -2.74219019e-03 8.53350001e+00] [ 1.08529046e-02 5.81606873e-05 9.99941104e-01 8.37617467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281858064 meters 0.016064790747697875 Centerline is valid? [True, True] Translation: X:82.08, Y:8.55, Z:0.09 [[ 9.67988762e-01 -2.50849592e-01 -8.49935464e-03 8.20830766e+01] [ 2.50839767e-01 9.68026075e-01 -2.22026333e-03 8.54556183e+00] [ 8.78454906e-03 1.72138151e-05 9.99961415e-01 8.61703121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34185806400001 meters 0.016020243882519603 Centerline is valid? [True, True] Translation: X:82.14, Y:8.56, Z:0.09 [[ 9.66912302e-01 -2.54992379e-01 -7.71274355e-03 8.21398300e+01] [ 2.54984403e-01 9.66943063e-01 -2.01685843e-03 8.55828356e+00] [ 7.97206740e-03 -1.65040847e-05 9.99968222e-01 8.76362764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.401858064 meters 0.01691451051450421 Centerline is valid? [True, True] Translation: X:82.20, Y:8.57, Z:0.09 [[ 9.65367805e-01 -2.60760913e-01 -8.29137290e-03 8.21977380e+01] [ 2.60751889e-01 9.65403409e-01 -2.17039845e-03 8.56898419e+00] [ 8.57047474e-03 -6.67583576e-05 9.99963271e-01 8.79451026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.461858064 meters 0.017399558904938505 Centerline is valid? [True, True] Translation: X:82.26, Y:8.58, Z:0.09 [[ 9.64390923e-01 -2.64297817e-01 -9.83924758e-03 8.22555105e+01] [ 2.64285266e-01 9.64441108e-01 -2.57821442e-03 8.58093936e+00] [ 1.01707913e-02 -1.13961584e-04 9.99948270e-01 8.79621892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521858064 meters 0.01784317950889154 Centerline is valid? [True, True] Translation: X:82.31, Y:8.59, Z:0.09 [[ 9.63976880e-01 -2.65733216e-01 -1.15945375e-02 8.23126583e+01] [ 2.65715854e-01 9.64046594e-01 -3.04124366e-03 8.59488106e+00] [ 1.19858339e-02 -1.49163864e-04 9.99928156e-01 8.72527767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581858064 meters 0.018059157806658944 Centerline is valid? [True, True] Translation: X:82.37, Y:8.61, Z:0.09 [[ 9.63868570e-01 -2.66021489e-01 -1.37821347e-02 8.23693869e+01] [ 2.65996934e-01 9.63967082e-01 -3.61873345e-03 8.61034080e+00] [ 1.42481850e-02 -1.78022143e-04 9.99898474e-01 8.78857164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641858064 meters 0.018752010094989367 Centerline is valid? [True, True] Translation: X:82.43, Y:8.63, Z:0.09 [[ 9.64409311e-01 -2.63844004e-01 -1.73499878e-02 8.24255789e+01] [ 2.63804704e-01 9.64565347e-01 -4.55734851e-03 8.62541241e+00] [ 1.79376260e-02 -1.81859053e-04 9.99839091e-01 8.78727329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701858064 meters 0.01828651281288371 Centerline is valid? [True, True] Translation: X:82.48, Y:8.64, Z:0.09 [[ 9.64683824e-01 -2.62697772e-01 -1.93649375e-02 8.24823333e+01] [ 2.62648483e-01 9.64878153e-01 -5.09157789e-03 8.64194282e+00] [ 2.00223513e-02 -1.74408634e-04 9.99799517e-01 9.01211860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.761858064 meters 0.018337663750954573 Centerline is valid? [True, True] Translation: X:82.54, Y:8.66, Z:0.09 [[ 9.65114780e-01 -2.60964384e-01 -2.12379582e-02 8.25377957e+01] [ 2.60904632e-01 9.65348418e-01 -5.58617932e-03 8.65866792e+00] [ 2.19598232e-02 -1.49777433e-04 9.99758843e-01 9.23567830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.821858064 meters 0.018481273827904068 Centerline is valid? [True, True] Translation: X:82.59, Y:8.67, Z:0.09 [[ 9.65281218e-01 -2.60271637e-01 -2.21550389e-02 8.25936404e+01] [ 2.60206384e-01 9.65535424e-01 -5.82940800e-03 8.67375181e+00] [ 2.29087044e-02 -1.37864497e-04 9.99737552e-01 9.39168964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881858064 meters 0.01800238906196242 Centerline is valid? [True, True] Translation: X:82.65, Y:8.69, Z:0.10 [[ 9.65224171e-01 -2.60439189e-01 -2.26655794e-02 8.26501482e+01] [ 2.60370803e-01 9.65490243e-01 -5.96953970e-03 8.68964961e+00] [ 2.34380979e-02 -1.39511126e-04 9.99725280e-01 9.91301593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941858064 meters 0.018024144517418402 Centerline is valid? [True, True] Translation: X:82.71, Y:8.71, Z:0.10 [[ 9.65179648e-01 -2.60531840e-01 -2.34820552e-02 8.27070869e+01] [ 2.60458317e-01 9.65465245e-01 -6.19072677e-03 8.70535344e+00] [ 2.42839897e-02 -1.40933091e-04 9.99705091e-01 9.98130162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001858064 meters 0.017965618500431824 Centerline is valid? [True, True] Translation: X:82.76, Y:8.72, Z:0.10 [[ 9.65820935e-01 -2.58111796e-01 -2.38374191e-02 8.27614023e+01] [ 2.58035214e-01 9.66115052e-01 -6.28759537e-03 8.72320309e+00] [ 2.46525920e-02 -7.82023146e-05 9.99696076e-01 1.00368400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061858064 meters 0.01770983936204999 Centerline is valid? [True, True] Translation: X:82.82, Y:8.74, Z:0.10 [[ 9.66630026e-01 -2.55112045e-01 -2.33288774e-02 8.28176063e+01] [ 2.55037680e-01 9.66911498e-01 -6.15935024e-03 8.74182073e+00] [ 2.41282842e-02 4.07012573e-06 9.99708871e-01 1.01077458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.121858064 meters 0.01774576067013424 Centerline is valid? [True, True] Translation: X:82.87, Y:8.76, Z:0.10 [[ 9.67903324e-01 -2.50399591e-01 -2.15220698e-02 8.28727336e+01] [ 2.50335010e-01 9.68142567e-01 -5.68787907e-03 8.76382875e+00] [ 2.22606745e-02 1.17589519e-04 9.99752194e-01 1.00348620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.181858064 meters 0.017948548018587536 Centerline is valid? [True, True] Translation: X:82.93, Y:8.78, Z:0.10 [[ 9.68282472e-01 -2.49091138e-01 -1.95616801e-02 8.29280401e+01] [ 2.49037481e-01 9.68480039e-01 -5.17169044e-03 8.78176139e+00] [ 2.02333190e-02 1.36065664e-04 9.99795276e-01 9.95269838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241858064 meters 0.017944591582921214 Centerline is valid? [True, True] Translation: X:82.98, Y:8.80, Z:0.10 [[ 9.68104596e-01 -2.49955551e-01 -1.71963344e-02 8.29847732e+01] [ 2.49914147e-01 9.68257306e-01 -4.55063328e-03 8.79711608e+00] [ 1.77879325e-02 1.07881749e-04 9.99841776e-01 1.00858895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301858064 meters 0.01790247375714771 Centerline is valid? [True, True] Translation: X:83.04, Y:8.81, Z:0.10 [[ 9.67568388e-01 -2.52115214e-01 -1.57903230e-02 8.30414191e+01] [ 2.52080526e-01 9.67697222e-01 -4.18261110e-03 8.81367400e+00] [ 1.63347516e-02 6.65293432e-05 9.99866577e-01 1.00784371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361858064 meters 0.017863754513758826 Centerline is valid? [True, True] Translation: X:83.10, Y:8.83, Z:0.10 [[ 9.67130380e-01 -2.53871961e-01 -1.44172286e-02 8.30978329e+01] [ 2.53843182e-01 9.67237833e-01 -3.82267197e-03 8.82990079e+00] [ 1.49153582e-02 3.73070122e-05 9.99888759e-01 1.00402475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421858064 meters 0.01778414153862983 Centerline is valid? [True, True] Translation: X:83.15, Y:8.85, Z:0.10 [[ 9.66380011e-01 -2.56785157e-01 -1.30789029e-02 8.31547955e+01] [ 2.56761697e-01 9.66468511e-01 -3.47101430e-03 8.84678259e+00] [ 1.35316528e-02 -3.84246008e-06 9.99908443e-01 9.91810268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.481858064 meters 0.017828641658429314 Centerline is valid? [True, True] Translation: X:83.21, Y:8.86, Z:0.10 [[ 9.65661276e-01 -2.59461101e-01 -1.33505537e-02 8.32103770e+01] [ 2.59436857e-01 9.65753558e-01 -3.54707764e-03 8.86208667e+00] [ 1.38136734e-02 -3.83501577e-05 9.99904586e-01 9.82335686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.541858064 meters 0.018211379789211186 Centerline is valid? [True, True] Translation: X:83.27, Y:8.88, Z:0.10 [[ 9.64164187e-01 -2.64979080e-01 -1.31722700e-02 8.32655241e+01] [ 2.64955971e-01 9.64254154e-01 -3.50132377e-03 8.87794255e+00] [ 1.36291936e-02 -1.14220599e-04 9.99907112e-01 9.66879998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601858064 meters 0.018657605489778153 Centerline is valid? [True, True] Translation: X:83.32, Y:8.89, Z:0.10 [[ 9.62544406e-01 -2.70865533e-01 -1.18376435e-02 8.33223885e+01] [ 2.70847277e-01 9.62617179e-01 -3.14957918e-03 8.89463725e+00] [ 1.22482315e-02 -1.74583697e-04 9.99924972e-01 9.63608998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661858064 meters 0.019944226251712653 Centerline is valid? [True, True] Translation: X:83.38, Y:8.91, Z:0.10 [[ 9.59855671e-01 -2.80344918e-01 -9.15519486e-03 8.33796957e+01] [ 2.80334422e-01 9.59899305e-01 -2.43652453e-03 8.90952407e+00] [ 9.47113245e-03 -2.27804375e-04 9.99955122e-01 9.68624674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721858064 meters 0.0213949469928886 Centerline is valid? [True, True] Translation: X:83.44, Y:8.92, Z:0.10 [[ 9.58280718e-01 -2.85723766e-01 -7.74568655e-03 8.34365639e+01] [ 2.85716424e-01 9.58311992e-01 -2.06196587e-03 8.92315115e+00] [ 8.01193696e-03 -2.37127725e-04 9.99967876e-01 9.70792766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781858064 meters 0.02226655312940185 Centerline is valid? [True, True] Translation: X:83.49, Y:8.94, Z:0.10 [[ 9.56963712e-01 -2.90167622e-01 -4.81713479e-03 8.34934550e+01] [ 2.90164838e-01 9.56975821e-01 -1.28255000e-03 8.94229563e+00] [ 4.98203600e-03 -1.70409326e-04 9.99987575e-01 9.69672586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84185806400001 meters 0.022423071052507414 Centerline is valid? [True, True] Translation: X:83.55, Y:8.96, Z:0.10 [[ 9.57588475e-01 -2.88120043e-01 -3.33971419e-03 8.35476454e+01] [ 2.88118691e-01 9.57594292e-01 -8.89443263e-04 8.96349666e+00] [ 3.45435767e-03 -1.10513462e-04 9.99994028e-01 9.52223749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.901858064 meters 0.021536156040495136 Centerline is valid? [True, True] Translation: X:83.60, Y:8.99, Z:0.09 [[ 9.58616816e-01 -2.84673947e-01 -3.81361637e-03 8.36028983e+01] [ 2.84672154e-01 9.58624396e-01 -1.01644780e-03 8.98624859e+00] [ 3.94518189e-03 -1.11246434e-04 9.99992212e-01 9.31533886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.961858064 meters 0.019701435942902776 Centerline is valid? [True, True] Translation: X:83.66, Y:9.01, Z:0.09 [[ 9.60508159e-01 -2.78246282e-01 -1.75584373e-03 8.36576267e+01] [ 2.78245891e-01 9.60509763e-01 -4.68195022e-04 9.01417893e+00] [ 1.81677857e-03 -3.88511655e-05 9.99998349e-01 9.27324134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021858064 meters 0.01880799282404631 Centerline is valid? [True, True] Translation: X:83.71, Y:9.04, Z:0.09 [[ 9.61585158e-01 -2.74505968e-01 -6.76797616e-04 8.37129752e+01] [ 2.74505909e-01 9.61585396e-01 -1.80470608e-04 9.03671702e+00] [ 7.00338962e-04 -1.22470873e-05 9.99999755e-01 9.26686145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081858064 meters 0.018066647101219333 Centerline is valid? [True, True] Translation: X:83.77, Y:9.06, Z:0.09 [[ 9.62219084e-01 -2.72276017e-01 4.52960258e-04 8.37684207e+01] [ 2.72275990e-01 9.62219191e-01 1.21250797e-04 9.05882213e+00] [-4.68860737e-04 6.66037178e-06 9.99999890e-01 9.23727100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141858064 meters 0.017786256539804538 Centerline is valid? [True, True] Translation: X:83.82, Y:9.08, Z:0.09 [[ 9.63028250e-01 -2.69387724e-01 2.61627292e-03 8.38224993e+01] [ 2.69386818e-01 9.63031803e-01 6.99396274e-04 9.07998956e+00] [-2.70796280e-03 3.12510661e-05 9.99996333e-01 9.18325384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201858064 meters 0.017470536618483877 Centerline is valid? [True, True] Translation: X:83.88, Y:9.10, Z:0.09 [[ 9.63360521e-01 -2.68186073e-01 3.56891907e-03 8.38777810e+01] [ 2.68184375e-01 9.63367131e-01 9.55017098e-04 9.10119130e+00] [-3.69430161e-03 3.71025624e-05 9.99993175e-01 8.97097120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.261858064 meters 0.01739065379094347 Centerline is valid? [True, True] Translation: X:83.93, Y:9.12, Z:0.09 [[ 9.63409629e-01 -2.67984472e-01 5.11957870e-03 8.39335337e+01] [ 2.67980968e-01 9.63423230e-01 1.37128867e-03 9.11882445e+00] [-5.29980512e-03 5.08369464e-05 9.99985955e-01 8.94464491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.321858064 meters 0.016925150408695654 Centerline is valid? [True, True] Translation: X:83.99, Y:9.14, Z:0.09 [[ 9.63512609e-01 -2.67575061e-01 6.85853918e-03 8.39880429e+01] [ 2.67568749e-01 9.63537017e-01 1.83895178e-03 9.13794021e+00] [-7.10051402e-03 6.32775235e-05 9.99974789e-01 8.88290332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381858064 meters 0.016698639330739375 Centerline is valid? [True, True] Translation: X:84.04, Y:9.15, Z:0.09 [[ 9.63428371e-01 -2.67856648e-01 7.65445418e-03 8.40431819e+01] [ 2.67848777e-01 9.63458775e-01 2.05458948e-03 9.15469459e+00] [-7.92508650e-03 7.07863990e-05 9.99968594e-01 8.80318252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441858064 meters 0.0167130902367578 Centerline is valid? [True, True] Translation: X:84.10, Y:9.17, Z:0.09 [[ 9.63269300e-01 -2.68425371e-01 7.75084208e-03 8.40986110e+01] [ 2.68417308e-01 9.63300480e-01 2.08192338e-03 9.17020129e+00] [-8.02523095e-03 7.50072865e-05 9.99967795e-01 8.77509675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501858064 meters 0.016577152820439558 Centerline is valid? [True, True] Translation: X:84.15, Y:9.19, Z:0.09 [[ 9.62835234e-01 -2.69979945e-01 7.69038062e-03 8.41546425e+01] [ 2.69972052e-01 9.62865942e-01 2.06630331e-03 9.18664249e+00] [-7.96266603e-03 8.66782090e-05 9.99968294e-01 8.57344304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561858064 meters 0.016590499684863178 Centerline is valid? [True, True] Translation: X:84.21, Y:9.20, Z:0.09 [[ 9.62331189e-01 -2.71761918e-01 8.00888075e-03 8.42111464e+01] [ 2.71753400e-01 9.62364510e-01 2.15414442e-03 9.20202713e+00] [-8.29287701e-03 1.03440212e-04 9.99965608e-01 8.51570128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.621858064 meters 0.016684769542264034 Centerline is valid? [True, True] Translation: X:84.27, Y:9.22, Z:0.09 [[ 9.61882710e-01 -2.73370145e-01 7.10045227e-03 8.42680570e+01] [ 2.73363480e-01 9.61908911e-01 1.91173615e-03 9.21628829e+00] [-7.35259990e-03 1.02138396e-04 9.99972964e-01 8.52088600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.681858064 meters 0.01660243603054805 Centerline is valid? [True, True] Translation: X:84.32, Y:9.23, Z:0.09 [[ 9.61906483e-01 -2.73304660e-01 6.36251955e-03 8.43244827e+01] [ 2.73299293e-01 9.61927521e-01 1.71503904e-03 9.23169987e+00] [-6.58901081e-03 8.91649219e-05 9.99978288e-01 8.51052789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741858064 meters 0.016551117127463943 Centerline is valid? [True, True] Translation: X:84.38, Y:9.25, Z:0.09 [[ 9.62335672e-01 -2.71778376e-01 6.82420836e-03 8.43801129e+01] [ 2.71772158e-01 9.62359864e-01 1.84028506e-03 9.24764262e+00] [-7.06749391e-03 8.36578731e-05 9.99975021e-01 8.60063908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801858064 meters 0.01597476509746523 Centerline is valid? [True, True] Translation: X:84.44, Y:9.27, Z:0.09 [[ 9.63360524e-01 -2.68151858e-01 5.57503597e-03 8.44366006e+01] [ 2.68147639e-01 9.63376655e-01 1.50491211e-03 9.26618692e+00] [-5.77440449e-03 4.51598130e-05 9.99983327e-01 8.63654375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861858064 meters 0.015871182060499558 Centerline is valid? [True, True] Translation: X:84.49, Y:9.28, Z:0.09 [[ 9.63992946e-01 -2.65884021e-01 4.82565167e-03 8.44917534e+01] [ 2.65880829e-01 9.64005024e-01 1.30297598e-03 9.28212050e+00] [-4.99839295e-03 2.69886101e-05 9.99987508e-01 8.62419588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921858064 meters 0.015695586756119304 Centerline is valid? [True, True] Translation: X:84.55, Y:9.30, Z:0.09 [[ 9.64424390e-01 -2.64332799e-01 3.71041147e-03 8.45485514e+01] [ 2.64330896e-01 9.64431528e-01 1.00297526e-03 9.29841117e+00] [-3.84355706e-03 1.34825809e-05 9.99992613e-01 8.50157698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.981858064 meters 0.015583870983328084 Centerline is valid? [True, True] Translation: X:84.60, Y:9.31, Z:0.08 [[ 9.64814946e-01 -2.62919989e-01 2.28021880e-03 8.46041787e+01] [ 2.62919266e-01 9.64817640e-01 6.16525829e-04 9.31432549e+00] [-2.36209228e-03 4.68011785e-06 9.99997210e-01 8.41312680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.041858064 meters 0.01578966108995022 Centerline is valid? [True, True] Translation: X:84.66, Y:9.33, Z:0.08 [[ 9.65892023e-01 -2.58944102e-01 7.42380265e-04 8.46592595e+01] [ 2.58944024e-01 9.65892309e-01 2.00898831e-04 9.33038550e+00] [-7.69080955e-04 -1.81164495e-06 9.99999704e-01 8.31985863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101858064 meters 0.015900414522140156 Centerline is valid? [True, True] Translation: X:84.72, Y:9.35, Z:0.08 [[ 9.66589288e-01 -2.56330148e-01 5.93738366e-05 8.47160091e+01] [ 2.56330148e-01 9.66589290e-01 1.62926339e-05 9.34664226e+00] [-6.15664078e-05 -5.28981033e-07 9.99999998e-01 8.25661119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161858064 meters 0.016166360356496975 Centerline is valid? [True, True] Translation: X:84.77, Y:9.36, Z:0.08 [[ 9.67158522e-01 -2.54173702e-01 -3.49169468e-04 8.47718167e+01] [ 2.54173684e-01 9.67158585e-01 -9.44868609e-05 9.36124022e+00] [ 3.61718324e-04 2.63408274e-06 9.99999935e-01 8.22936898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221858064 meters 0.016092609259808665 Centerline is valid? [True, True] Translation: X:84.83, Y:9.37, Z:0.08 [[ 9.66883326e-01 -2.55218710e-01 -2.10364793e-04 8.48286404e+01] [ 2.55218703e-01 9.66883349e-01 -5.67902325e-05 9.37400740e+00] [ 2.17892145e-04 1.22049920e-06 9.99999976e-01 8.27146773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281858064 meters 0.015697325981092882 Centerline is valid? [True, True] Translation: X:84.89, Y:9.38, Z:0.08 [[ 9.65986635e-01 -2.58590969e-01 7.28762853e-04 8.48866762e+01] [ 2.58590893e-01 9.65986910e-01 1.97984208e-04 9.38323117e+00] [-7.55172305e-04 -2.79866133e-06 9.99999715e-01 8.41743978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34185806400001 meters 0.01570307624744107 Centerline is valid? [True, True] Translation: X:84.94, Y:9.40, Z:0.08 [[ 9.65302607e-01 -2.61133829e-01 6.33346715e-06 8.49435616e+01] [ 2.61133829e-01 9.65302607e-01 1.79567201e-06 9.39561779e+00] [-6.58262304e-06 -7.94843470e-08 1.00000000e+00 8.34316452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.401858064 meters 0.01570904059505267 Centerline is valid? [True, True] Translation: X:85.00, Y:9.40, Z:0.08 [[ 9.64379454e-01 -2.64522120e-01 -5.62854333e-04 8.50010923e+01] [ 2.64522076e-01 9.64379618e-01 -1.52715939e-04 9.40455521e+00] [ 5.83201990e-04 -1.61128290e-06 9.99999830e-01 8.24941916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.461858064 meters 0.015795689147578854 Centerline is valid? [True, True] Translation: X:85.06, Y:9.42, Z:0.08 [[ 9.63735209e-01 -2.66857429e-01 -1.24848562e-03 8.50583229e+01] [ 2.66857213e-01 9.63736018e-01 -3.39397200e-04 9.41598253e+00] [ 1.29378123e-03 -6.07836230e-06 9.99999163e-01 8.24942103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521858064 meters 0.016128547700762774 Centerline is valid? [True, True] Translation: X:85.12, Y:9.43, Z:0.08 [[ 9.62976724e-01 -2.69567257e-01 -3.05321956e-03 8.51155714e+01] [ 2.69565978e-01 9.62981564e-01 -8.30803653e-04 9.42511331e+00] [ 3.16415161e-03 -2.29995355e-05 9.99994994e-01 8.12961856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581858064 meters 0.0161126362762342 Centerline is valid? [True, True] Translation: X:85.17, Y:9.44, Z:0.08 [[ 9.62442917e-01 -2.71436737e-01 -5.07242873e-03 8.51727899e+01] [ 2.71433225e-01 9.62456283e-01 -1.38145902e-03 9.43761044e+00] [ 5.25696962e-03 -4.72502429e-05 9.99986181e-01 8.01304795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641858064 meters 0.016410414723945187 Centerline is valid? [True, True] Translation: X:85.23, Y:9.45, Z:0.08 [[ 9.61749338e-01 -2.73860953e-01 -6.19597465e-03 8.52319414e+01] [ 2.73855754e-01 9.61769293e-01 -1.68907450e-03 9.44597482e+00] [ 6.42166971e-03 -7.23370261e-05 9.99979378e-01 8.03142204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701858064 meters 0.016579886313489188 Centerline is valid? [True, True] Translation: X:85.29, Y:9.46, Z:0.08 [[ 9.61327995e-01 -2.75338007e-01 -6.12105185e-03 8.52898569e+01] [ 2.75332952e-01 9.61347479e-01 -1.67018728e-03 9.45674665e+00] [ 6.34432380e-03 -7.97294890e-05 9.99979871e-01 8.14619254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.761858064 meters 0.01632516166554998 Centerline is valid? [True, True] Translation: X:85.35, Y:9.47, Z:0.08 [[ 9.60662839e-01 -2.77668182e-01 -5.22408822e-03 8.53485961e+01] [ 2.77664527e-01 9.60677040e-01 -1.42677960e-03 9.46668485e+00] [ 5.41483290e-03 -7.98898407e-05 9.99985336e-01 8.35156071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.821858064 meters 0.016791574200941288 Centerline is valid? [True, True] Translation: X:85.41, Y:9.48, Z:0.09 [[ 9.60518624e-01 -2.78189555e-01 -3.81383322e-03 8.54054684e+01] [ 2.78187608e-01 9.60526193e-01 -1.04238430e-03 9.47676014e+00] [ 3.95326713e-03 -5.97316106e-05 9.99992184e-01 8.51181296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881858064 meters 0.015896851909146928 Centerline is valid? [True, True] Translation: X:85.46, Y:9.49, Z:0.09 [[ 9.61078559e-01 -2.76263107e-01 -2.58811198e-03 8.54623876e+01] [ 2.76262202e-01 9.61082044e-01 -7.07949304e-04 9.49035364e+00] [ 2.68296822e-03 -3.46026170e-05 9.99996400e-01 8.68066636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941858064 meters 0.01544775767877965 Centerline is valid? [True, True] Translation: X:85.52, Y:9.50, Z:0.09 [[ 9.62415227e-01 -2.71543085e-01 -4.61352544e-03 8.55187658e+01] [ 2.71540152e-01 9.62426284e-01 -1.26271839e-03 9.50341926e+00] [ 4.78306059e-03 -3.74979896e-05 9.99988560e-01 8.52480670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001858064 meters 0.015191169567316578 Centerline is valid? [True, True] Translation: X:85.58, Y:9.52, Z:0.08 [[ 9.63168621e-01 -2.68848678e-01 -5.15706494e-03 8.55760131e+01] [ 2.68844968e-01 9.63182427e-01 -1.41268254e-03 9.51789766e+00] [ 5.34699216e-03 -2.57994608e-05 9.99985704e-01 8.44839481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061858064 meters 0.014997584075161373 Centerline is valid? [True, True] Translation: X:85.63, Y:9.53, Z:0.08 [[ 9.63792004e-01 -2.66577594e-01 -6.43105860e-03 8.56323643e+01] [ 2.66571760e-01 9.63813460e-01 -1.76361506e-03 9.53062330e+00] [ 6.66848110e-03 -1.45805184e-05 9.99977765e-01 8.29923249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.121858064 meters 0.015014745786631999 Centerline is valid? [True, True] Translation: X:85.69, Y:9.54, Z:0.08 [[ 9.63819484e-01 -2.66464510e-01 -6.97624668e-03 8.56894898e+01] [ 2.66457626e-01 9.63844731e-01 -1.91528900e-03 9.54285518e+00] [ 7.23437515e-03 -1.28812796e-05 9.99973831e-01 8.32841060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.181858064 meters 0.014959766645309187 Centerline is valid? [True, True] Translation: X:85.75, Y:9.55, Z:0.08 [[ 9.63855666e-01 -2.66353094e-01 -6.18740307e-03 8.57460004e+01] [ 2.66347668e-01 9.63875526e-01 -1.70005649e-03 9.55380349e+00] [ 6.41670169e-03 -9.39130252e-06 9.99979413e-01 8.44538317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241858064 meters 0.014996486865380259 Centerline is valid? [True, True] Translation: X:85.80, Y:9.57, Z:0.09 [[ 9.64186030e-01 -2.65167313e-01 -5.62098738e-03 8.58023028e+01] [ 2.65162806e-01 9.64202414e-01 -1.54605943e-03 9.56695829e+00] [ 5.82973402e-03 2.12115131e-07 9.99983007e-01 8.53730587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301858064 meters 0.01508709851358763 Centerline is valid? [True, True] Translation: X:85.86, Y:9.58, Z:0.09 [[ 9.64276253e-01 -2.64846828e-01 -5.24084275e-03 8.58577233e+01] [ 2.64842901e-01 9.64290494e-01 -1.44232353e-03 9.58119057e+00] [ 5.43568966e-03 2.79832851e-06 9.99985227e-01 8.54915060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361858064 meters 0.014941058220459725 Centerline is valid? [True, True] Translation: X:85.91, Y:9.59, Z:0.09 [[ 9.64242844e-01 -2.64984305e-01 -4.36524058e-03 8.59146238e+01] [ 2.64981576e-01 9.64252725e-01 -1.20251343e-03 9.59377807e+00] [ 4.52784231e-03 2.80663502e-06 9.99989749e-01 8.67270306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421858064 meters 0.01501900517680233 Centerline is valid? [True, True] Translation: X:85.97, Y:9.61, Z:0.09 [[ 9.64058742e-01 -2.65653268e-01 -4.36856692e-03 8.59715894e+01] [ 2.65650536e-01 9.64068639e-01 -1.20476383e-03 9.60694989e+00] [ 4.53164781e-03 9.50958972e-07 9.99989732e-01 8.64582264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.481858064 meters 0.015069664005867464 Centerline is valid? [True, True] Translation: X:86.03, Y:9.62, Z:0.09 [[ 9.64307151e-01 -2.64732839e-01 -5.31434049e-03 8.60274734e+01] [ 2.64728778e-01 9.64321795e-01 -1.46632114e-03 9.62065070e+00] [ 5.51291772e-03 7.12510131e-06 9.99984804e-01 8.58179838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.541858064 meters 0.015229929751812114 Centerline is valid? [True, True] Translation: X:86.08, Y:9.63, Z:0.08 [[ 9.64592530e-01 -2.63649561e-01 -7.08230650e-03 8.60848345e+01] [ 2.63642307e-01 9.64618530e-01 -1.95586613e-03 9.63433374e+00] [ 7.34738733e-03 1.94182384e-05 9.99973007e-01 8.47623281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601858064 meters 0.015054549699877896 Centerline is valid? [True, True] Translation: X:86.14, Y:9.65, Z:0.08 [[ 9.64344970e-01 -2.64554149e-01 -7.06270623e-03 8.61411567e+01] [ 2.64546944e-01 9.64370832e-01 -1.95250449e-03 9.64833371e+00] [ 7.32761105e-03 1.44705365e-05 9.99973153e-01 8.47057299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661858064 meters 0.01507454444442692 Centerline is valid? [True, True] Translation: X:86.20, Y:9.66, Z:0.09 [[ 9.63666952e-01 -2.67037881e-01 -6.06435521e-03 8.61977993e+01] [ 2.67032607e-01 9.63686033e-01 -1.67827050e-03 9.66015370e+00] [ 6.29229621e-03 -2.08676649e-06 9.99980203e-01 8.63402014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721858064 meters 0.01506996796411388 Centerline is valid? [True, True] Translation: X:86.25, Y:9.67, Z:0.09 [[ 9.62959858e-01 -2.69586708e-01 -5.59624119e-03 8.62548869e+01] [ 2.69582251e-01 9.62976119e-01 -1.55040613e-03 9.67345537e+00] [ 5.80701550e-03 -1.56684297e-05 9.99983139e-01 8.70412647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781858064 meters 0.015348714202824385 Centerline is valid? [True, True] Translation: X:86.31, Y:9.68, Z:0.09 [[ 9.61831247e-01 -2.73587363e-01 -5.53237018e-03 8.63124832e+01] [ 2.73583064e-01 9.61847157e-01 -1.53420133e-03 9.68469608e+00] [ 5.74103263e-03 -3.79200044e-05 9.99983519e-01 8.78612551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84185806400001 meters 0.015574222471274142 Centerline is valid? [True, True] Translation: X:86.37, Y:9.70, Z:0.09 [[ 9.60921681e-01 -2.76757589e-01 -5.89572436e-03 8.63697313e+01] [ 2.76752756e-01 9.60939766e-01 -1.63652880e-03 9.69771487e+00] [ 6.11835775e-03 -5.90819601e-05 9.99981281e-01 8.82974470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.901858064 meters 0.015986133138748897 Centerline is valid? [True, True] Translation: X:86.43, Y:9.71, Z:0.09 [[ 9.60099885e-01 -2.79581872e-01 -6.49527791e-03 8.64275008e+01] [ 2.79576059e-01 9.60121852e-01 -1.80468459e-03 9.71099796e+00] [ 6.74081535e-03 -8.32467333e-05 9.99977277e-01 8.78025217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.961858064 meters 0.01614519811899492 Centerline is valid? [True, True] Translation: X:86.48, Y:9.73, Z:0.09 [[ 9.59960989e-01 -2.80022212e-01 -7.90321104e-03 8.64841201e+01] [ 2.80013605e-01 9.59993516e-01 -2.19798509e-03 9.72633567e+00] [ 8.20251599e-03 -1.03026671e-04 9.99966353e-01 8.65595912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021858064 meters 0.01601179276197906 Centerline is valid? [True, True] Translation: X:86.54, Y:9.74, Z:0.09 [[ 9.59618780e-01 -2.81198163e-01 -7.70646235e-03 8.65408087e+01] [ 2.81190000e-01 9.59649718e-01 -2.14531580e-03 9.74226674e+00] [ 7.99876328e-03 -1.08294814e-04 9.99968004e-01 8.71673386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081858064 meters 0.01626487425951042 Centerline is valid? [True, True] Translation: X:86.60, Y:9.76, Z:0.09 [[ 9.59352367e-01 -2.82120716e-01 -7.13704358e-03 8.65971916e+01] [ 2.82113725e-01 9.59378909e-01 -1.98890889e-03 9.75757652e+00] [ 7.40824148e-03 -1.05393502e-04 9.99972553e-01 8.85872993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141858064 meters 0.016230026135122165 Centerline is valid? [True, True] Translation: X:86.65, Y:9.77, Z:0.09 [[ 9.59490300e-01 -2.81680747e-01 -5.85849060e-03 8.66541841e+01] [ 2.81676019e-01 9.59508181e-01 -1.63412859e-03 9.77406113e+00] [ 6.08157223e-03 -8.22657807e-05 9.99981504e-01 9.01783598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201858064 meters 0.015859984063949586 Centerline is valid? [True, True] Translation: X:86.71, Y:9.79, Z:0.09 [[ 9.60118141e-01 -2.79548593e-01 -5.07345627e-03 8.67101962e+01] [ 2.79545011e-01 9.60131543e-01 -1.41646041e-03 9.79374162e+00] [ 5.26715491e-03 -5.82900537e-05 9.99986127e-01 8.97688272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.261858064 meters 0.015471685923858319 Centerline is valid? [True, True] Translation: X:86.77, Y:9.81, Z:0.09 [[ 9.60746928e-01 -2.77380874e-01 -5.01914537e-03 8.67659581e+01] [ 2.77377332e-01 9.60760037e-01 -1.40263388e-03 9.81226284e+00] [ 5.21125811e-03 -4.46209610e-05 9.99986420e-01 8.97601952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.321858064 meters 0.015237389131272941 Centerline is valid? [True, True] Translation: X:86.82, Y:9.83, Z:0.09 [[ 9.62039495e-01 -2.72858767e-01 -5.30119954e-03 8.68210211e+01] [ 2.72854742e-01 9.62054101e-01 -1.48211191e-03 9.83107742e+00] [ 5.50444799e-03 -2.06072440e-05 9.99984850e-01 8.89787267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381858064 meters 0.0152382432815918 Centerline is valid? [True, True] Translation: X:86.88, Y:9.85, Z:0.09 [[ 9.62936573e-01 -2.69669287e-01 -5.62418536e-03 8.68765635e+01] [ 2.69664694e-01 9.62952998e-01 -1.57397672e-03 9.84922110e+00] [ 5.84027933e-03 -1.00447701e-06 9.99982945e-01 8.93696560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441858064 meters 0.015210276882854513 Centerline is valid? [True, True] Translation: X:86.93, Y:9.87, Z:0.09 [[ 9.64174288e-01 -2.65191732e-01 -6.42547986e-03 8.69321614e+01] [ 2.65185625e-01 9.64195698e-01 -1.80002816e-03 9.86940781e+00] [ 6.67277262e-03 3.15959796e-05 9.99977736e-01 8.80235173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501858064 meters 0.015398676129380054 Centerline is valid? [True, True] Translation: X:86.99, Y:9.89, Z:0.09 [[ 9.64608438e-01 -2.63596506e-01 -6.88795821e-03 8.69875190e+01] [ 2.63589442e-01 9.64633029e-01 -1.93039960e-03 9.88661520e+00] [ 7.15319858e-03 4.64866852e-05 9.99974414e-01 8.66915144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561858064 meters 0.015273798351394984 Centerline is valid? [True, True] Translation: X:87.05, Y:9.90, Z:0.09 [[ 9.64723094e-01 -2.63156102e-01 -7.63007690e-03 8.70450639e+01] [ 2.63147404e-01 9.64753265e-01 -2.14034049e-03 9.90025519e+00] [ 7.92438526e-03 5.70009696e-05 9.99968600e-01 8.73815499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.621858064 meters 0.01524148993754519 Centerline is valid? [True, True] Translation: X:87.10, Y:9.91, Z:0.09 [[ 9.64703413e-01 -2.63244561e-01 -7.04461747e-03 8.71003670e+01] [ 2.63237141e-01 9.64729132e-01 -1.97716408e-03 9.91460150e+00] [ 7.31662539e-03 5.29719704e-05 9.99973232e-01 8.75640855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.681858064 meters 0.015288114665842786 Centerline is valid? [True, True] Translation: X:87.16, Y:9.93, Z:0.09 [[ 9.64843323e-01 -2.62738212e-01 -6.78191899e-03 8.71565432e+01] [ 2.62731309e-01 9.64867156e-01 -1.90536381e-03 9.92934764e+00] [ 7.04426277e-03 5.65551014e-05 9.99975187e-01 8.77692137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741858064 meters 0.01527599864543972 Centerline is valid? [True, True] Translation: X:87.21, Y:9.94, Z:0.09 [[ 9.64666373e-01 -2.63386539e-01 -6.80582326e-03 8.72125139e+01] [ 2.63379589e-01 9.64690380e-01 -1.91415237e-03 9.94315064e+00] [ 7.06967419e-03 5.40034932e-05 9.99975008e-01 8.76334772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801858064 meters 0.014962250043172 Centerline is valid? [True, True] Translation: X:87.27, Y:9.96, Z:0.09 [[ 9.64053118e-01 -2.65634233e-01 -6.32772223e-03 8.72687067e+01] [ 2.65628268e-01 9.64073884e-01 -1.78043412e-03 9.95542984e+00] [ 6.57333600e-03 3.56111717e-05 9.99978395e-01 8.84012443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861858064 meters 0.014723778062656921 Centerline is valid? [True, True] Translation: X:87.33, Y:9.97, Z:0.09 [[ 9.63140663e-01 -2.68931363e-01 -5.99875213e-03 8.73262624e+01] [ 2.68926058e-01 9.63159344e-01 -1.68926816e-03 9.96678206e+00] [ 6.23205136e-03 1.37820886e-05 9.99980580e-01 8.88585606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921858064 meters 0.01482879004983283 Centerline is valid? [True, True] Translation: X:87.38, Y:9.98, Z:0.09 [[ 9.62497096e-01 -2.71223308e-01 -6.10394988e-03 8.73833259e+01] [ 2.71217849e-01 9.62516450e-01 -1.72067845e-03 9.97913548e+00] [ 6.34184027e-03 6.47851768e-07 9.99979890e-01 8.90163755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.981858064 meters 0.014978566432818599 Centerline is valid? [True, True] Translation: X:87.44, Y:9.99, Z:0.09 [[ 9.61685931e-01 -2.74067753e-01 -6.85839842e-03 8.74400136e+01] [ 2.74060929e-01 9.61710386e-01 -1.93418462e-03 9.99147809e+00] [ 7.12589062e-03 -1.95409059e-05 9.99974610e-01 8.76811214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.041858064 meters 0.015123211206601801 Centerline is valid? [True, True] Translation: X:87.50, Y:10.01, Z:0.09 [[ 9.61206927e-01 -2.75716618e-01 -7.84786299e-03 8.74961980e+01] [ 2.75707732e-01 9.61238964e-01 -2.21394784e-03 1.00055327e+01] [ 8.15409390e-03 -3.56545021e-05 9.99966754e-01 8.61371033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101858064 meters 0.015192921067031222 Centerline is valid? [True, True] Translation: X:87.55, Y:10.02, Z:0.09 [[ 9.60444638e-01 -2.78363146e-01 -7.74956982e-03 8.75532150e+01] [ 2.78354552e-01 9.60475901e-01 -2.18804441e-03 1.00187538e+01] [ 8.05234598e-03 -5.56325147e-05 9.99967578e-01 8.67589803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161858064 meters 0.015527759696764867 Centerline is valid? [True, True] Translation: X:87.61, Y:10.03, Z:0.09 [[ 9.59914462e-01 -2.80176500e-01 -8.08425433e-03 8.76098261e+01] [ 2.80167202e-01 9.59948500e-01 -2.28372997e-03 1.00320273e+01] [ 8.40031529e-03 -7.27574914e-05 9.99964714e-01 8.65544901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221858064 meters 0.015580382427947704 Centerline is valid? [True, True] Translation: X:87.67, Y:10.05, Z:0.09 [[ 9.59757791e-01 -2.80690393e-01 -8.82531781e-03 8.76665748e+01] [ 2.80679314e-01 9.59798363e-01 -2.49516741e-03 1.00479296e+01] [ 9.17089511e-03 -8.23277913e-05 9.99957943e-01 8.62050297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281858064 meters 0.015435555973531693 Centerline is valid? [True, True] Translation: X:87.72, Y:10.06, Z:0.09 [[ 9.59610988e-01 -2.81178314e-01 -9.24700679e-03 8.77224902e+01] [ 2.81166148e-01 9.59655536e-01 -2.61709230e-03 1.00645662e+01] [ 9.60981086e-03 -8.85547550e-05 9.99953821e-01 8.66676486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34185806400001 meters 0.01556683772872299 Centerline is valid? [True, True] Translation: X:87.78, Y:10.08, Z:0.09 [[ 9.59517810e-01 -2.81529740e-01 -8.15957914e-03 8.77785185e+01] [ 2.81520260e-01 9.59552500e-01 -2.31168166e-03 1.00804848e+01] [ 8.48035169e-03 -7.89871188e-05 9.99964038e-01 8.74618196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.401858064 meters 0.01552771912755462 Centerline is valid? [True, True] Translation: X:87.83, Y:10.10, Z:0.09 [[ 9.59366533e-01 -2.82059133e-01 -7.64856958e-03 8.78337405e+01] [ 2.82050803e-01 9.59397019e-01 -2.16918058e-03 1.00968884e+01] [ 7.94985204e-03 -7.62459358e-05 9.99968397e-01 8.78495080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.461858064 meters 0.015663435584501784 Centerline is valid? [True, True] Translation: X:87.89, Y:10.11, Z:0.09 [[ 9.59066503e-01 -2.83092288e-01 -7.08515203e-03 8.78896074e+01] [ 2.83085153e-01 9.59092670e-01 -2.01147741e-03 1.01123438e+01] [ 7.36475112e-03 -7.65607394e-05 9.99972877e-01 8.82459438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521858064 meters 0.015565861234637811 Centerline is valid? [True, True] Translation: X:87.95, Y:10.13, Z:0.09 [[ 9.58622614e-01 -2.84584181e-01 -7.38430418e-03 8.79462707e+01] [ 2.84576458e-01 9.58651050e-01 -2.09842782e-03 1.01287618e+01] [ 7.67615032e-03 -8.97987659e-05 9.99970534e-01 8.90606375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581858064 meters 0.015481701279971444 Centerline is valid? [True, True] Translation: X:88.00, Y:10.15, Z:0.09 [[ 9.58265863e-01 -2.85774556e-01 -7.70967434e-03 8.80028207e+01] [ 2.85766160e-01 9.58296871e-01 -2.19299365e-03 1.01459267e+01] [ 8.01485858e-03 -1.01693070e-04 9.99967875e-01 8.84970831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641858064 meters 0.015835278546773125 Centerline is valid? [True, True] Translation: X:88.06, Y:10.16, Z:0.09 [[ 9.57644328e-01 -2.87871304e-01 -6.88868462e-03 8.80589690e+01] [ 2.87864647e-01 9.57669098e-01 -1.96053351e-03 1.01611450e+01] [ 7.16146173e-03 -1.05514974e-04 9.99974351e-01 8.86056994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701858064 meters 0.016866296021997237 Centerline is valid? [True, True] Translation: X:88.12, Y:10.18, Z:0.09 [[ 9.57058882e-01 -2.89810975e-01 -6.92059282e-03 8.81158107e+01] [ 2.89804295e-01 9.57083896e-01 -1.97134081e-03 1.01766270e+01] [ 7.19490414e-03 -1.18928289e-04 9.99974109e-01 8.79835910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.761858064 meters 0.01636771318340529 Centerline is valid? [True, True] Translation: X:88.17, Y:10.19, Z:0.09 [[ 9.56838266e-01 -2.90504151e-01 -8.23844440e-03 8.81722296e+01] [ 2.90494690e-01 9.56873721e-01 -2.34896572e-03 1.01938079e+01] [ 8.56553524e-03 -1.45644072e-04 9.99963305e-01 8.80623302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.821858064 meters 0.016461491663299247 Centerline is valid? [True, True] Translation: X:88.23, Y:10.21, Z:0.09 [[ 9.57059255e-01 -2.89716740e-01 -1.00892383e-02 8.82263565e+01] [ 2.89702493e-01 9.57112419e-01 -2.87815149e-03 1.02105680e+01] [ 1.04903839e-02 -1.68315965e-04 9.99944960e-01 8.61916144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881858064 meters 0.016501020169215355 Centerline is valid? [True, True] Translation: X:88.28, Y:10.23, Z:0.09 [[ 9.57850014e-01 -2.87051603e-01 -1.11681445e-02 8.82814736e+01] [ 2.87033951e-01 9.57915108e-01 -3.18700067e-03 1.02287640e+01] [ 1.16129680e-02 -1.52968009e-04 9.99932556e-01 8.52977634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941858064 meters 0.015932882066530287 Centerline is valid? [True, True] Translation: X:88.34, Y:10.25, Z:0.09 [[ 9.58559865e-01 -2.84726812e-01 -9.67616403e-03 8.83376281e+01] [ 2.84713420e-01 9.58608696e-01 -2.76355256e-03 1.02475941e+01] [ 1.00625125e-02 -1.05903192e-04 9.99949366e-01 8.66543726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001858064 meters 0.016925766240423516 Centerline is valid? [True, True] Translation: X:88.39, Y:10.27, Z:0.09 [[ 9.58936750e-01 -2.83473702e-01 -9.10882906e-03 8.83934867e+01] [ 2.83461755e-01 9.58980007e-01 -2.60393697e-03 1.02651123e+01] [ 9.47333261e-03 -8.49938104e-05 9.99955123e-01 8.86599003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061858064 meters 0.015207089701414187 Centerline is valid? [True, True] Translation: X:88.45, Y:10.28, Z:0.09 [[ 9.60055247e-01 -2.79700476e-01 -7.84640892e-03 8.84491127e+01] [ 2.79691475e-01 9.60087310e-01 -2.24421760e-03 1.02824764e+01] [ 8.16094636e-03 -4.00008016e-05 9.99966698e-01 9.08690153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.121858064 meters 0.01516467968472595 Centerline is valid? [True, True] Translation: X:88.50, Y:10.30, Z:0.09 [[ 9.60511816e-01 -2.78115569e-01 -8.29349893e-03 8.85045333e+01] [ 2.78105434e-01 9.60547620e-01 -2.37443196e-03 1.03007918e+01] [ 8.62666715e-03 -2.57971673e-05 9.99962789e-01 9.07492306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.181858064 meters 0.015278848755234385 Centerline is valid? [True, True] Translation: X:88.56, Y:10.32, Z:0.09 [[ 9.60943972e-01 -2.76598684e-01 -8.93597062e-03 8.85593449e+01] [ 2.76586827e-01 9.60985519e-01 -2.56110015e-03 1.03193037e+01] [ 9.29573530e-03 -1.04980097e-05 9.99956794e-01 8.97703927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241858064 meters 0.015420375089388568 Centerline is valid? [True, True] Translation: X:88.62, Y:10.33, Z:0.09 [[ 9.60633321e-01 -2.77670888e-01 -9.08298734e-03 8.86157853e+01] [ 2.77658660e-01 9.60676261e-01 -2.60596739e-03 1.03337134e+01] [ 9.44941159e-03 -1.85909870e-05 9.99955353e-01 9.04371890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301858064 meters 0.015772915596690775 Centerline is valid? [True, True] Translation: X:88.67, Y:10.35, Z:0.09 [[ 9.59963971e-01 -2.79959963e-01 -9.57047978e-03 8.86728854e+01] [ 2.79946475e-01 9.60011676e-01 -2.74836866e-03 1.03477558e+01] [ 9.95720552e-03 -4.08871869e-05 9.99950425e-01 9.06966873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361858064 meters 0.018221824619001795 Centerline is valid? [True, True] Translation: X:88.73, Y:10.36, Z:0.09 [[ 9.59018800e-01 -2.83168154e-01 -9.93672123e-03 8.87299908e+01] [ 2.83153758e-01 9.59070274e-01 -2.85623256e-03 1.03624396e+01] [ 1.03388081e-02 -7.44392377e-05 9.99946550e-01 9.00535907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421858064 meters 0.01626984712876441 Centerline is valid? [True, True] Translation: X:88.79, Y:10.38, Z:0.09 [[ 9.58476789e-01 -2.85027069e-01 -9.04514893e-03 8.87860555e+01] [ 2.85015198e-01 9.58519464e-01 -2.60270701e-03 1.03761195e+01] [ 9.41179325e-03 -8.33706505e-05 9.99955705e-01 9.15493082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.481858064 meters 0.016691332517336798 Centerline is valid? [True, True] Translation: X:88.84, Y:10.39, Z:0.09 [[ 9.58076440e-01 -2.86378256e-01 -8.77666348e-03 8.88420100e+01] [ 2.86367127e-01 9.58116635e-01 -2.52645804e-03 1.03909175e+01] [ 9.13258992e-03 -9.28079795e-05 9.99958293e-01 9.18834929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.541858064 meters 0.01692128423076357 Centerline is valid? [True, True] Translation: X:88.90, Y:10.41, Z:0.09 [[ 9.57750569e-01 -2.87483969e-01 -8.17398689e-03 8.88980182e+01] [ 2.87474337e-01 9.57785445e-01 -2.35527005e-03 1.04062995e+01] [ 8.50602805e-03 -9.40502291e-05 9.99963819e-01 9.31394154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601858064 meters 0.01686559008819285 Centerline is valid? [True, True] Translation: X:88.95, Y:10.42, Z:0.09 [[ 9.57665197e-01 -2.87756475e-01 -8.57797215e-03 8.89537156e+01] [ 2.87745854e-01 9.57703608e-01 -2.47429115e-03 1.04225426e+01] [ 8.92714818e-03 -9.87333955e-05 9.99960147e-01 9.32686293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661858064 meters 0.01695521350204554 Centerline is valid? [True, True] Translation: X:89.01, Y:10.44, Z:0.09 [[ 9.57800273e-01 -2.87272358e-01 -9.65549899e-03 8.90090597e+01] [ 2.87258847e-01 9.57848935e-01 -2.78803949e-03 1.04390178e+01] [ 1.00494361e-02 -1.03242526e-04 9.99949498e-01 9.28097666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721858064 meters 0.016710350089173747 Centerline is valid? [True, True] Translation: X:89.06, Y:10.46, Z:0.09 [[ 9.57788880e-01 -2.87292300e-01 -1.01782304e-02 8.90645101e+01] [ 2.87277253e-01 9.57842953e-01 -2.94217410e-03 1.04578382e+01] [ 1.05944103e-02 -1.05992452e-04 9.99943872e-01 9.32618403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781858064 meters 0.01715195100118182 Centerline is valid? [True, True] Translation: X:89.12, Y:10.47, Z:0.09 [[ 9.57320892e-01 -2.88841873e-01 -1.03480898e-02 8.91203485e+01] [ 2.88826398e-01 9.57376810e-01 -2.99245514e-03 1.04724892e+01] [ 1.07713676e-02 -1.24061683e-04 9.99941979e-01 9.31049835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84185806400001 meters 0.017880361926920954 Centerline is valid? [True, True] Translation: X:89.18, Y:10.49, Z:0.09 [[ 9.56656140e-01 -2.91042299e-01 -1.01690518e-02 8.91763381e+01] [ 2.91027469e-01 9.56710175e-01 -2.94162106e-03 1.04876551e+01] [ 1.05849714e-02 -1.45353546e-04 9.99943967e-01 9.30743231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.901858064 meters 0.017529151241284468 Centerline is valid? [True, True] Translation: X:89.23, Y:10.51, Z:0.09 [[ 9.56276949e-01 -2.92298728e-01 -9.79032646e-03 8.92318496e+01] [ 2.92285039e-01 9.56327052e-01 -2.83299540e-03 1.05057661e+01] [ 1.01908350e-02 -1.52437753e-04 9.99948060e-01 9.46831089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.961858064 meters 0.01792083720508955 Centerline is valid? [True, True] Translation: X:89.29, Y:10.52, Z:0.09 [[ 9.55687649e-01 -2.94229583e-01 -9.49049205e-03 8.92879498e+01] [ 2.94216791e-01 9.55734757e-01 -2.74861854e-03 1.05234183e+01] [ 9.87911799e-03 -1.65441322e-04 9.99951187e-01 9.48259511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021858064 meters 0.018170395119877433 Centerline is valid? [True, True] Translation: X:89.34, Y:10.54, Z:0.09 [[ 9.55295074e-01 -2.95493667e-01 -9.73730070e-03 8.93446805e+01] [ 2.95480240e-01 9.55344681e-01 -2.82268066e-03 1.05407333e+01] [ 1.01365627e-02 -1.80687024e-04 9.99948607e-01 9.41334276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081858064 meters 0.018689574859570283 Centerline is valid? [True, True] Translation: X:89.40, Y:10.56, Z:0.10 [[ 9.54842278e-01 -2.97013771e-01 -7.68398802e-03 8.94004557e+01] [ 2.97005453e-01 9.54873183e-01 -2.22826915e-03 1.05571960e+01] [ 7.99906072e-03 -1.54540748e-04 9.99967995e-01 9.56327360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141858064 meters 0.01884832668307911 Centerline is valid? [True, True] Translation: X:89.46, Y:10.57, Z:0.10 [[ 9.54692842e-01 -2.97500509e-01 -7.41782641e-03 8.94562700e+01] [ 2.97492756e-01 9.54721648e-01 -2.15309271e-03 1.05736264e+01] [ 7.72250563e-03 -1.51207422e-04 9.99970170e-01 9.62015463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201858064 meters 0.020139212167598005 Centerline is valid? [True, True] Translation: X:89.51, Y:10.59, Z:0.09 [[ 9.54824551e-01 -2.97086790e-01 -7.03678307e-03 8.95107230e+01] [ 2.97079796e-01 9.54850470e-01 -2.04328352e-03 1.05919703e+01] [ 7.32610816e-03 -1.39508811e-04 9.99973154e-01 9.47609521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.261858064 meters 0.01783444549325497 Centerline is valid? [True, True] Translation: X:89.57, Y:10.61, Z:0.09 [[ 9.55529471e-01 -2.94814383e-01 -6.92160498e-03 8.95656727e+01] [ 2.94807545e-01 9.55554533e-01 -2.01150826e-03 1.06132771e+01] [ 7.20699258e-03 -1.18485950e-04 9.99974022e-01 9.49443740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.321858064 meters 0.016822059814622786 Centerline is valid? [True, True] Translation: X:89.62, Y:10.64, Z:0.10 [[ 9.57053001e-01 -2.89848829e-01 -6.09992922e-03 8.96205133e+01] [ 2.89843413e-01 9.57072438e-01 -1.77331497e-03 1.06353642e+01] [ 6.35206739e-03 -7.08678836e-05 9.99979823e-01 9.58761500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381858064 meters 0.016542621600213175 Centerline is valid? [True, True] Translation: X:89.68, Y:10.65, Z:0.10 [[ 9.57969365e-01 -2.86815342e-01 -5.62636793e-03 8.96765272e+01] [ 2.86810674e-01 9.57985886e-01 -1.63699232e-03 1.06544750e+01] [ 5.85949558e-03 -4.55138829e-05 9.99982832e-01 9.62933659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441858064 meters 0.016204900218316883 Centerline is valid? [True, True] Translation: X:89.73, Y:10.67, Z:0.09 [[ 9.58822774e-01 -2.83942173e-01 -5.97749306e-03 8.97315282e+01] [ 2.83936843e-01 9.58841406e-01 -1.73987508e-03 1.06737437e+01] [ 6.22549176e-03 -2.89986618e-05 9.99980621e-01 9.45755446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501858064 meters 0.01620886824769861 Centerline is valid? [True, True] Translation: X:89.79, Y:10.69, Z:0.10 [[ 9.58753857e-01 -2.84197151e-01 -4.79808293e-03 8.97874048e+01] [ 2.84193714e-01 9.58765862e-01 -1.39782042e-03 1.06904578e+01] [ 4.99749469e-03 -2.34192923e-05 9.99987512e-01 9.54132262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561858064 meters 0.016370672441370422 Centerline is valid? [True, True] Translation: X:89.84, Y:10.71, Z:0.10 [[ 9.58429919e-01 -2.85296756e-01 -4.22515811e-03 8.98436637e+01] [ 2.85294096e-01 9.58439232e-01 -1.23214433e-03 1.07065057e+01] [ 4.40108407e-03 -2.44886760e-05 9.99990315e-01 9.54477471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.621858064 meters 0.01646594802006282 Centerline is valid? [True, True] Translation: X:89.90, Y:10.72, Z:0.10 [[ 9.57742222e-01 -2.87609308e-01 -3.27447044e-03 8.98993521e+01] [ 2.87607722e-01 9.57747819e-01 -9.55321612e-04 1.07208833e+01] [ 3.41087631e-03 -2.68111419e-05 9.99994183e-01 9.56690111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.681858064 meters 0.016474771999681836 Centerline is valid? [True, True] Translation: X:89.96, Y:10.74, Z:0.10 [[ 9.57171574e-01 -2.89510162e-01 -2.53842625e-03 8.99560526e+01] [ 2.89509215e-01 9.57174940e-01 -7.41076055e-04 1.07364091e+01] [ 2.64426704e-03 -2.55608571e-05 9.99996504e-01 9.55441100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741858064 meters 0.016694614735659356 Centerline is valid? [True, True] Translation: X:90.01, Y:10.75, Z:0.10 [[ 9.55994395e-01 -2.93382950e-01 -1.07808888e-03 9.00122945e+01] [ 2.93382781e-01 9.55995002e-01 -3.14854208e-04 1.07521596e+01] [ 1.12302044e-03 -1.52938572e-05 9.99999369e-01 9.51979204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801858064 meters 0.01694935545243425 Centerline is valid? [True, True] Translation: X:90.07, Y:10.77, Z:0.09 [[ 9.55415944e-01 -2.95260172e-01 -1.34351813e-03 9.00692802e+01] [ 2.95259911e-01 9.55416888e-01 -3.92605848e-04 1.07680191e+01] [ 1.39954078e-03 -2.15851576e-05 9.99999020e-01 9.40761104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861858064 meters 0.01728616998728465 Centerline is valid? [True, True] Translation: X:90.13, Y:10.78, Z:0.09 [[ 9.54661519e-01 -2.97690338e-01 -1.35853249e-03 9.01260939e+01] [ 2.97690074e-01 9.54662486e-01 -3.97355107e-04 1.07849832e+01] [ 1.41522878e-03 -2.50820070e-05 9.99998998e-01 9.21123838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921858064 meters 0.017663436125371083 Centerline is valid? [True, True] Translation: X:90.18, Y:10.80, Z:0.09 [[ 9.53607392e-01 -3.01049488e-01 -1.46514852e-03 9.01821557e+01] [ 3.01049185e-01 9.53608517e-01 -4.28948346e-04 1.08022956e+01] [ 1.52631279e-03 -3.20334534e-05 9.99998835e-01 9.03312144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.981858064 meters 0.017995577841598512 Centerline is valid? [True, True] Translation: X:90.24, Y:10.82, Z:0.09 [[ 9.52971196e-01 -3.03058355e-01 -1.23794497e-03 9.02389581e+01] [ 3.03058140e-01 9.52972000e-01 -3.62729274e-04 1.08183403e+01] [ 1.28965503e-03 -2.94987485e-05 9.99999168e-01 8.93743981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.041858064 meters 0.01875778340671411 Centerline is valid? [True, True] Translation: X:90.29, Y:10.83, Z:0.09 [[ 9.52337858e-01 -3.05045112e-01 -2.89668310e-04 9.02943718e+01] [ 3.05045101e-01 9.52337902e-01 -8.48381456e-05 1.08331079e+01] [ 3.01741572e-04 -7.56732101e-06 9.99999954e-01 9.02390569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101858064 meters 0.018453194171094926 Centerline is valid? [True, True] Translation: X:90.35, Y:10.85, Z:0.09 [[ 9.52398055e-01 -3.04855028e-01 1.16462429e-03 9.03498215e+01] [ 3.04854837e-01 9.52398767e-01 3.42259487e-04 1.08510875e+01] [-1.21352626e-03 2.90740784e-05 9.99999263e-01 9.16832388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161858064 meters 0.01767933157074794 Centerline is valid? [True, True] Translation: X:90.41, Y:10.87, Z:0.09 [[ 9.53242472e-01 -3.02186493e-01 3.48038843e-03 9.04056608e+01] [ 3.02184771e-01 9.53248822e-01 1.02312779e-03 1.08717862e+01] [-3.62685157e-03 7.64315120e-05 9.99993420e-01 9.25134139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221858064 meters 0.016678529153035415 Centerline is valid? [True, True] Translation: X:90.46, Y:10.89, Z:0.09 [[ 9.54851750e-01 -2.97059261e-01 3.73254897e-03 9.04607368e+01] [ 2.97057240e-01 9.54859043e-01 1.09738060e-03 1.08940479e+01] [-3.89004521e-03 6.09449100e-05 9.99992432e-01 9.15785455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281858064 meters 0.01632694316853464 Centerline is valid? [True, True] Translation: X:90.52, Y:10.91, Z:0.09 [[ 9.55823060e-01 -2.93927799e-01 2.95407273e-03 9.05154009e+01] [ 2.93926517e-01 9.55827624e-01 8.68810829e-04 1.09129697e+01] [-3.07895197e-03 3.78508848e-05 9.99995259e-01 9.14721265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34185806400001 meters 0.015672804172152527 Centerline is valid? [True, True] Translation: X:90.57, Y:10.93, Z:0.09 [[ 9.56863247e-01 -2.90529986e-01 2.24811006e-03 9.05708488e+01] [ 2.90529233e-01 9.56865888e-01 6.61936715e-04 1.09323848e+01] [-2.34345229e-03 1.97587759e-05 9.99997254e-01 9.02627314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.401858064 meters 0.015450329895502596 Centerline is valid? [True, True] Translation: X:90.63, Y:10.95, Z:0.09 [[ 9.57781961e-01 -2.87495500e-01 2.28344948e-04 9.06266646e+01] [ 2.87495493e-01 9.57781988e-01 6.74877472e-05 1.09503911e+01] [-2.38107102e-04 1.00959651e-06 9.99999972e-01 8.85416112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.461858064 meters 0.015286162611573182 Centerline is valid? [True, True] Translation: X:90.68, Y:10.97, Z:0.09 [[ 9.58343672e-01 -2.85614604e-01 -1.30518583e-03 9.06819700e+01] [ 2.85614345e-01 9.58344561e-01 -3.84656735e-04 1.09677020e+01] [ 1.36068132e-03 -4.14644634e-06 9.99999074e-01 8.70812924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521858064 meters 0.015040245931981371 Centerline is valid? [True, True] Translation: X:90.74, Y:10.98, Z:0.09 [[ 9.58727359e-01 -2.84323691e-01 -1.37453455e-03 9.07367808e+01] [ 2.84323402e-01 9.58728344e-01 -4.05433891e-04 1.09831710e+01] [ 1.43307970e-03 -2.11177751e-06 9.99998973e-01 8.70687686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581858064 meters 0.015010276003242359 Centerline is valid? [True, True] Translation: X:90.79, Y:11.00, Z:0.09 [[ 9.58694439e-01 -2.84431992e-01 -1.84800854e-03 9.07922303e+01] [ 2.84431469e-01 9.58696220e-01 -5.45441219e-04 1.09963564e+01] [ 1.92681974e-03 -2.72032087e-06 9.99998144e-01 8.87136612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641858064 meters 0.014903199058351524 Centerline is valid? [True, True] Translation: X:90.85, Y:11.01, Z:0.09 [[ 9.58750960e-01 -2.84238397e-01 -2.26501187e-03 9.08481282e+01] [ 2.84237609e-01 9.58753636e-01 -6.69140930e-04 1.10108586e+01] [ 2.36178391e-03 -2.26204923e-06 9.99997211e-01 8.81816146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701858064 meters 0.014761753274139457 Centerline is valid? [True, True] Translation: X:90.90, Y:11.03, Z:0.09 [[ 9.58911090e-01 -2.83699234e-01 -2.06521487e-03 9.09039998e+01] [ 2.83698577e-01 9.58913314e-01 -6.10704175e-04 1.10270586e+01] [ 2.15361834e-03 -2.87513822e-07 9.99997681e-01 8.77995723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.761858064 meters 0.014686677994021954 Centerline is valid? [True, True] Translation: X:90.96, Y:11.04, Z:0.09 [[ 9.59228298e-01 -2.82609281e-01 -3.61492849e-03 9.09606343e+01] [ 2.82607254e-01 9.59235109e-01 -1.07024693e-03 1.10417781e+01] [ 3.77002804e-03 5.00612150e-06 9.99992893e-01 8.66184378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.821858064 meters 0.014604500179090374 Centerline is valid? [True, True] Translation: X:91.02, Y:11.06, Z:0.09 [[ 9.59406953e-01 -2.82000283e-01 -3.76017397e-03 9.10175773e+01] [ 2.81998081e-01 9.59414322e-01 -1.11439440e-03 1.10557497e+01] [ 3.92182429e-03 8.79589254e-06 9.99992310e-01 8.54071372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881858064 meters 0.014541567839419055 Centerline is valid? [True, True] Translation: X:91.07, Y:11.07, Z:0.08 [[ 9.59230186e-01 -2.82606385e-01 -3.32898628e-03 9.10740199e+01] [ 2.82604659e-01 9.59235962e-01 -9.87522377e-04 1.10714626e+01] [ 3.47236348e-03 6.47424060e-06 9.99993971e-01 8.44539226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941858064 meters 0.014524093116004411 Centerline is valid? [True, True] Translation: X:91.13, Y:11.08, Z:0.08 [[ 9.58250254e-01 -2.85913723e-01 -3.12954504e-03 9.11309716e+01] [ 2.85912213e-01 9.58255364e-01 -9.29251107e-04 1.10830423e+01] [ 3.26458897e-03 -4.32003896e-06 9.99994671e-01 8.30635032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001858064 meters 0.014672406513514386 Centerline is valid? [True, True] Translation: X:91.19, Y:11.09, Z:0.08 [[ 9.56920807e-01 -2.90341323e-01 -2.11775148e-03 9.11897253e+01] [ 2.90340641e-01 9.56923151e-01 -6.29320437e-04 1.10936422e+01] [ 2.20924315e-03 -1.26595021e-05 9.99997560e-01 8.34284999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061858064 meters 0.014865971920175983 Centerline is valid? [True, True] Translation: X:91.25, Y:11.11, Z:0.08 [[ 9.56156792e-01 -2.92850691e-01 -1.63139169e-03 9.12468129e+01] [ 2.92850289e-01 9.56158184e-01 -4.85174512e-04 1.11082917e+01] [ 1.70195220e-03 -1.38506214e-05 9.99998552e-01 8.39044115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.121858064 meters 0.015382080583861212 Centerline is valid? [True, True] Translation: X:91.31, Y:11.12, Z:0.09 [[ 9.54342265e-01 -2.98713651e-01 9.97932442e-04 9.13050492e+01] [ 2.98713504e-01 9.54342787e-01 2.97415879e-04 1.11197330e+01] [-1.04121181e-03 1.42593529e-05 9.99999458e-01 8.50452076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.181858064 meters 0.01610331388816526 Centerline is valid? [True, True] Translation: X:91.36, Y:11.13, Z:0.09 [[ 9.53413655e-01 -3.01653465e-01 2.75490768e-03 9.13619029e+01] [ 3.01652352e-01 9.53417634e-01 8.20940616e-04 1.11307656e+01] [-2.87421715e-03 4.83283890e-05 9.99995868e-01 8.61623647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241858064 meters 0.015898285968727225 Centerline is valid? [True, True] Translation: X:91.42, Y:11.15, Z:0.09 [[ 9.53372402e-01 -3.01774993e-01 3.59399873e-03 9.14179016e+01] [ 3.01773095e-01 9.53379174e-01 1.07217430e-03 1.11458835e+01] [-3.74999893e-03 6.23907300e-05 9.99992967e-01 8.63819020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301858064 meters 0.015296327803041975 Centerline is valid? [True, True] Translation: X:91.47, Y:11.16, Z:0.08 [[ 9.54321356e-01 -2.98759739e-01 3.65621095e-03 9.14742308e+01] [ 2.98757748e-01 9.54328359e-01 1.09167934e-03 1.11639667e+01] [-3.81537563e-03 5.05084429e-05 9.99992720e-01 8.42501075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361858064 meters 0.015200191950619552 Centerline is valid? [True, True] Translation: X:91.53, Y:11.18, Z:0.08 [[ 9.54976519e-01 -2.96660540e-01 3.51730771e-03 9.15297597e+01] [ 2.96658684e-01 9.54982996e-01 1.05040081e-03 1.11801928e+01] [-3.67058152e-03 4.03317615e-05 9.99993263e-01 8.37806125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421858064 meters 0.01503282547918016 Centerline is valid? [True, True] Translation: X:91.59, Y:11.20, Z:0.08 [[ 9.55414976e-01 -2.95231945e-01 4.50804971e-03 9.15861662e+01] [ 2.95228873e-01 9.55425610e-01 1.34757839e-03 1.11970280e+01] [-4.70495433e-03 4.34098619e-05 9.99988931e-01 8.39098463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.481858064 meters 0.014948699347977736 Centerline is valid? [True, True] Translation: X:91.64, Y:11.21, Z:0.08 [[ 9.54992286e-01 -2.96597982e-01 4.40122244e-03 9.16431998e+01] [ 2.96595063e-01 9.55002426e-01 1.31684180e-03 1.12127007e+01] [-4.59375073e-03 4.78070863e-05 9.99989448e-01 8.28028583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.541858064 meters 0.015400366590413318 Centerline is valid? [True, True] Translation: X:91.70, Y:11.23, Z:0.08 [[ 9.54296892e-01 -2.98812534e-01 5.33969569e-03 9.16997148e+01] [ 2.98808270e-01 9.54311828e-01 1.59794865e-03 1.12275987e+01] [-5.57322184e-03 7.06278034e-05 9.99984467e-01 8.30223292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601858064 meters 0.015984632060919837 Centerline is valid? [True, True] Translation: X:91.76, Y:11.24, Z:0.08 [[ 9.53061607e-01 -3.02722971e-01 5.69007668e-03 9.17570914e+01] [ 3.02718188e-01 9.53078587e-01 1.70447269e-03 1.12423798e+01] [-5.93907328e-03 9.80222254e-05 9.99982359e-01 8.19203801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661858064 meters 0.016552942732127575 Centerline is valid? [True, True] Translation: X:91.81, Y:11.26, Z:0.08 [[ 9.52302937e-01 -3.05118268e-01 4.68591708e-03 9.18141137e+01] [ 3.05115047e-01 9.52314462e-01 1.40496496e-03 1.12579055e+01] [-4.89114708e-03 9.17915524e-05 9.99988034e-01 8.15297389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721858064 meters 0.016951568862763028 Centerline is valid? [True, True] Translation: X:91.87, Y:11.27, Z:0.08 [[ 9.51683339e-01 -3.07056151e-01 3.91698425e-03 9.18706533e+01] [ 3.07053912e-01 9.51691396e-01 1.17549681e-03 1.12748826e+01] [-4.08870373e-03 8.40246039e-05 9.99991638e-01 8.07826194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781858064 meters 0.017432257789654532 Centerline is valid? [True, True] Translation: X:91.93, Y:11.29, Z:0.08 [[ 9.51422176e-01 -3.07876749e-01 2.78405714e-03 9.19258022e+01] [ 3.07875621e-01 9.51426247e-01 8.35683469e-04 1.12918992e+01] [-2.90611254e-03 6.20555355e-05 9.99995775e-01 7.90797211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84185806400001 meters 0.017287365006012273 Centerline is valid? [True, True] Translation: X:91.98, Y:11.31, Z:0.08 [[ 9.51237449e-01 -3.08455212e-01 1.64261107e-03 9.19812067e+01] [ 3.08454819e-01 9.51238866e-01 4.93762403e-04 1.13104502e+01] [-1.71481908e-03 3.69860115e-05 9.99998529e-01 7.76219632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.901858064 meters 0.017924595503108987 Centerline is valid? [True, True] Translation: X:92.04, Y:11.33, Z:0.08 [[ 9.50708565e-01 -3.10078843e-01 2.08243480e-03 9.20375512e+01] [ 3.10078214e-01 9.50710844e-01 6.26414853e-04 1.13268171e+01] [-2.17403134e-03 5.01796990e-05 9.99997636e-01 7.85478828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.961858064 meters 0.01855158951728579 Centerline is valid? [True, True] Translation: X:92.09, Y:11.34, Z:0.08 [[ 9.50437629e-01 -3.10908959e-01 1.98311813e-03 9.20932970e+01] [ 3.10908390e-01 9.50439697e-01 5.96590776e-04 1.13434120e+01] [-2.07031961e-03 4.95457408e-05 9.99997856e-01 7.88134531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021858064 meters 0.018646740702983913 Centerline is valid? [True, True] Translation: X:92.15, Y:11.36, Z:0.08 [[ 9.49858043e-01 -3.12674930e-01 2.02152522e-03 9.21492276e+01] [ 3.12674342e-01 9.49860193e-01 6.08809116e-04 1.13624603e+01] [-2.11052568e-03 5.37968326e-05 9.99997771e-01 7.86199123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081858064 meters 0.017552826623840324 Centerline is valid? [True, True] Translation: X:92.20, Y:11.38, Z:0.08 [[ 9.49622495e-01 -3.13387065e-01 2.38014388e-03 9.22042528e+01] [ 3.13386250e-01 9.49625475e-01 7.17438337e-04 1.13842465e+01] [-2.48508115e-03 6.46087812e-05 9.99996910e-01 7.83191308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141858064 meters 0.018368785490332808 Centerline is valid? [True, True] Translation: X:92.26, Y:11.40, Z:0.08 [[ 9.49642854e-01 -3.13332142e-01 1.19106247e-03 9.22599497e+01] [ 3.13331938e-01 9.49643600e-01 3.59098265e-04 1.14016258e+01] [-1.24360188e-03 3.21828099e-05 9.99999226e-01 7.75988792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201858064 meters 0.018762513672459808 Centerline is valid? [True, True] Translation: X:92.31, Y:11.42, Z:0.08 [[ 9.49827486e-01 -3.12774206e-01 2.07786328e-04 9.23147250e+01] [ 3.12774200e-01 9.49827508e-01 6.27754090e-05 1.14193922e+01] [-2.16995699e-04 5.36439368e-06 9.99999976e-01 7.69180097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.261858064 meters 0.017555449489271225 Centerline is valid? [True, True] Translation: X:92.37, Y:11.44, Z:0.08 [[ 9.50280923e-01 -3.11391874e-01 -1.12577338e-03 9.23695494e+01] [ 3.11391690e-01 9.50281590e-01 -3.39571745e-04 1.14426212e+01] [ 1.17554160e-03 -2.78679242e-05 9.99999309e-01 7.50141773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.321858064 meters 0.01741024769602185 Centerline is valid? [True, True] Translation: X:92.42, Y:11.46, Z:0.08 [[ 9.50572623e-01 -3.10497287e-01 -1.76711252e-03 9.24249388e+01] [ 3.10496831e-01 9.50574265e-01 -5.33617797e-04 1.14621214e+01] [ 1.84545857e-03 -4.14403705e-05 9.99998296e-01 7.51675573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381858064 meters 0.017487423079297605 Centerline is valid? [True, True] Translation: X:92.48, Y:11.48, Z:0.08 [[ 9.50821011e-01 -3.09739917e-01 -7.67039656e-04 9.24798782e+01] [ 3.09739831e-01 9.50821321e-01 -2.31714155e-04 1.14817004e+01] [ 8.01088782e-04 -1.72640456e-05 9.99999679e-01 7.58826170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441858064 meters 0.016945595663131 Centerline is valid? [True, True] Translation: X:92.53, Y:11.50, Z:0.08 [[ 9.50633812e-01 -3.10314820e-01 2.59267439e-04 9.25349100e+01] [ 3.10314810e-01 9.50633848e-01 7.86832450e-05 1.15013176e+01] [-2.70884980e-04 5.65557292e-06 9.99999963e-01 7.69303474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501858064 meters 0.017009258638231516 Centerline is valid? [True, True] Translation: X:92.59, Y:11.52, Z:0.08 [[ 9.50400473e-01 -3.11027387e-01 9.51370866e-04 9.25906652e+01] [ 3.11027254e-01 9.50400949e-01 2.88266814e-04 1.15198285e+01] [-9.93842648e-04 2.19333516e-05 9.99999506e-01 7.78347532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561858064 meters 0.016907002720995615 Centerline is valid? [True, True] Translation: X:92.65, Y:11.54, Z:0.08 [[ 9.50228427e-01 -3.11554062e-01 4.58454371e-05 9.26454001e+01] [ 3.11554062e-01 9.50228429e-01 1.41537706e-05 1.15388913e+01] [-4.79733024e-05 8.34017001e-07 9.99999999e-01 7.68480974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.621858064 meters 0.017092220560298424 Centerline is valid? [True, True] Translation: X:92.70, Y:11.56, Z:0.08 [[ 9.50389927e-01 -3.11059835e-01 -8.74457686e-04 9.27002440e+01] [ 3.11059723e-01 9.50390330e-01 -2.65033276e-04 1.15567397e+01] [ 9.13517335e-04 -2.01236096e-05 9.99999583e-01 7.60617219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.681858064 meters 0.016932361621949044 Centerline is valid? [True, True] Translation: X:92.76, Y:11.58, Z:0.08 [[ 9.50536442e-01 -3.10605564e-01 -2.15782591e-03 9.27557489e+01] [ 3.10604878e-01 9.50538890e-01 -6.54551261e-04 1.15768392e+01] [ 2.25440471e-03 -4.80564280e-05 9.99997458e-01 7.53389277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741858064 meters 0.01674529921707538 Centerline is valid? [True, True] Translation: X:92.81, Y:11.60, Z:0.08 [[ 9.50195065e-01 -3.11644113e-01 -2.69913672e-03 9.28119005e+01] [ 3.11643042e-01 9.50198896e-01 -8.19541588e-04 1.15957221e+01] [ 2.82012205e-03 -6.24428066e-05 9.99996021e-01 7.56304902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801858064 meters 0.018416306089996618 Centerline is valid? [True, True] Translation: X:92.87, Y:11.61, Z:0.08 [[ 9.49005146e-01 -3.15254525e-01 -1.95361141e-03 9.28681671e+01] [ 3.15253971e-01 9.49007156e-01 -5.93434359e-04 1.16104842e+01] [ 2.04107407e-03 -5.27114929e-05 9.99997916e-01 7.55032570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861858064 meters 0.02032623011954791 Centerline is valid? [True, True] Translation: X:92.92, Y:11.63, Z:0.08 [[ 9.48131292e-01 -3.17874520e-01 -1.68591639e-03 9.29232400e+01] [ 3.17874111e-01 9.48132790e-01 -5.12272280e-04 1.16266077e+01] [ 1.76131092e-03 -5.02077955e-05 9.99998448e-01 7.52394926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921858064 meters 0.01915622295715316 Centerline is valid? [True, True] Translation: X:92.98, Y:11.65, Z:0.07 [[ 9.48074521e-01 -3.18041685e-01 -2.04678258e-03 9.29776387e+01] [ 3.18041081e-01 9.48076729e-01 -6.22401156e-04 1.16472247e+01] [ 2.13845645e-03 -6.08782675e-05 9.99997712e-01 7.45860510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.981858064 meters 0.018759133899611657 Centerline is valid? [True, True] Translation: X:93.03, Y:11.67, Z:0.07 [[ 9.48208155e-01 -3.17642176e-01 -2.17758386e-03 9.30335121e+01] [ 3.17641491e-01 9.48210654e-01 -6.62801053e-04 1.16656227e+01] [ 2.27534178e-03 -6.32176186e-05 9.99997409e-01 7.47728555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.041858064 meters 0.018230628467644186 Centerline is valid? [True, True] Translation: X:93.09, Y:11.69, Z:0.07 [[ 9.49138765e-01 -3.14844814e-01 -2.88926212e-03 9.30886695e+01] [ 3.14843594e-01 9.49143160e-01 -8.79865821e-04 1.16859805e+01] [ 3.01934457e-03 -7.45509093e-05 9.99995439e-01 7.43785366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101858064 meters 0.017136121103747737 Centerline is valid? [True, True] Translation: X:93.14, Y:11.71, Z:0.07 [[ 9.50958170e-01 -3.09290281e-01 -4.25230437e-03 9.31440587e+01] [ 3.09287580e-01 9.50967673e-01 -1.29517719e-03 1.17082988e+01] [ 4.44438971e-03 -8.35255946e-05 9.99990120e-01 7.25557150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161858064 meters 0.015917273152045212 Centerline is valid? [True, True] Translation: X:93.20, Y:11.73, Z:0.07 [[ 9.52228427e-01 -3.05351503e-01 -4.63486979e-03 9.31996148e+01] [ 3.05348243e-01 9.52239705e-01 -1.41268340e-03 1.17299095e+01] [ 4.84487204e-03 -7.00520524e-05 9.99988261e-01 7.24681643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221858064 meters 0.015722503424147074 Centerline is valid? [True, True] Translation: X:93.25, Y:11.75, Z:0.07 [[ 9.53537687e-01 -3.01238956e-01 -4.57941455e-03 9.32541079e+01] [ 3.01235723e-01 9.53548682e-01 -1.39633895e-03 1.17487170e+01] [ 4.78732640e-03 -4.80214400e-05 9.99988540e-01 7.28552418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281858064 meters 0.015431361182292769 Centerline is valid? [True, True] Translation: X:93.31, Y:11.77, Z:0.07 [[ 9.54127213e-01 -2.99386332e-01 -3.01429532e-03 9.33106009e+01] [ 2.99384920e-01 9.54131974e-01 -9.19709696e-04 1.17667115e+01] [ 3.15138406e-03 -2.49145152e-05 9.99995034e-01 7.47629875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34185806400001 meters 0.015214789301159656 Centerline is valid? [True, True] Translation: X:93.37, Y:11.78, Z:0.08 [[ 9.54252701e-01 -2.98992768e-01 -2.25989750e-03 9.33661385e+01] [ 2.98991972e-01 9.54255377e-01 -6.90112496e-04 1.17833608e+01] [ 2.36285798e-03 -1.71494948e-05 9.99997208e-01 7.56125880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.401858064 meters 0.015313081546181488 Centerline is valid? [True, True] Translation: X:93.42, Y:11.80, Z:0.08 [[ 9.54049651e-01 -2.99639792e-01 -2.29321041e-03 9.34220322e+01] [ 2.99638972e-01 9.54052407e-01 -7.00966668e-04 1.17990341e+01] [ 2.39788041e-03 -1.83782040e-05 9.99997125e-01 7.53262471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.461858064 meters 0.015461850192659865 Centerline is valid? [True, True] Translation: X:93.48, Y:11.81, Z:0.07 [[ 9.53730216e-01 -3.00650016e-01 -2.87103345e-03 9.34778068e+01] [ 3.00648734e-01 9.53734537e-01 -8.78500670e-04 1.18142486e+01] [ 3.00232500e-03 -2.53199386e-05 9.99995493e-01 7.45538940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521858064 meters 0.015819406818836198 Centerline is valid? [True, True] Translation: X:93.53, Y:11.83, Z:0.07 [[ 9.52878493e-01 -3.03316498e-01 -4.65612701e-03 9.35348417e+01] [ 3.03313154e-01 9.52889867e-01 -1.42547069e-03 1.18273901e+01] [ 4.86914502e-03 -5.39642074e-05 9.99988144e-01 7.39412680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581858064 meters 0.015803003345233255 Centerline is valid? [True, True] Translation: X:93.59, Y:11.84, Z:0.07 [[ 9.52068707e-01 -3.05831812e-01 -5.66394178e-03 9.35918787e+01] [ 3.05826899e-01 9.52085551e-01 -1.73541992e-03 1.18422578e+01] [ 5.92330375e-03 -7.99467528e-05 9.99982454e-01 7.38136660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641858064 meters 0.018233108001762675 Centerline is valid? [True, True] Translation: X:93.65, Y:11.85, Z:0.07 [[ 9.50409363e-01 -3.10949362e-01 -5.70405838e-03 9.36509299e+01] [ 3.10944468e-01 9.50426474e-01 -1.74821739e-03 1.18505708e+01] [ 5.96489518e-03 -1.12123222e-04 9.99982204e-01 7.38661500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701858064 meters 0.01720298256172486 Centerline is valid? [True, True] Translation: X:93.71, Y:11.87, Z:0.08 [[ 9.48966166e-01 -3.15347318e-01 -4.39148030e-03 9.37077592e+01] [ 3.15344463e-01 9.48976321e-01 -1.34625369e-03 1.18675327e+01] [ 4.59194831e-03 -1.07279799e-04 9.99989451e-01 7.60551249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.761858064 meters 0.018000429025758297 Centerline is valid? [True, True] Translation: X:93.76, Y:11.88, Z:0.08 [[ 9.48361993e-01 -3.17160424e-01 -4.33535365e-03 9.37647386e+01] [ 3.17157659e-01 9.48371895e-01 -1.32945166e-03 1.18803629e+01] [ 4.53317702e-03 -1.14189187e-04 9.99989719e-01 7.64900003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.821858064 meters 0.01798513721881623 Centerline is valid? [True, True] Translation: X:93.82, Y:11.90, Z:0.08 [[ 9.48316393e-01 -3.17286644e-01 -5.02046109e-03 9.38209266e+01] [ 3.17282929e-01 9.48329673e-01 -1.54092428e-03 1.18956572e+01] [ 5.24996692e-03 -1.31622842e-04 9.99986210e-01 7.62102307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881858064 meters 0.017604019162299287 Centerline is valid? [True, True] Translation: X:93.88, Y:11.91, Z:0.08 [[ 9.48837678e-01 -3.15710111e-01 -5.84700035e-03 9.38775145e+01] [ 3.15705034e-01 9.48855682e-01 -1.79616332e-03 1.19135899e+01] [ 6.11502643e-03 -1.41660007e-04 9.99981293e-01 7.59006606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941858064 meters 0.016513120313170038 Centerline is valid? [True, True] Translation: X:93.93, Y:11.93, Z:0.08 [[ 9.50540245e-01 -3.10547076e-01 -5.81001362e-03 9.39327161e+01] [ 3.10541962e-01 9.50557995e-01 -1.78539059e-03 1.19334697e+01] [ 6.07720272e-03 -1.07167421e-04 9.99981528e-01 7.57818863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001858064 meters 0.016040936603019973 Centerline is valid? [True, True] Translation: X:93.99, Y:11.95, Z:0.08 [[ 9.51650757e-01 -3.07128204e-01 -5.75362689e-03 9.39875742e+01] [ 3.07123123e-01 9.51668146e-01 -1.76859522e-03 1.19515813e+01] [ 6.01872890e-03 -8.39868731e-05 9.99981884e-01 7.54655793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061858064 meters 0.015488505185069551 Centerline is valid? [True, True] Translation: X:94.04, Y:11.97, Z:0.08 [[ 9.52721887e-01 -3.03800868e-01 -5.10286941e-03 9.40436008e+01] [ 3.03796817e-01 9.52735551e-01 -1.56975898e-03 1.19700286e+01] [ 5.33857924e-03 -5.46917456e-05 9.99985748e-01 7.63363813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.121858064 meters 0.015231446400142071 Centerline is valid? [True, True] Translation: X:94.10, Y:11.99, Z:0.08 [[ 9.53428255e-01 -3.01601662e-01 -3.31657832e-03 9.40984869e+01] [ 3.01599936e-01 9.53434023e-01 -1.02074018e-03 1.19876536e+01] [ 3.46999554e-03 -2.70772811e-05 9.99993979e-01 7.81769224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.181858064 meters 0.015054402907099515 Centerline is valid? [True, True] Translation: X:94.15, Y:12.01, Z:0.08 [[ 9.53749252e-01 -3.00585815e-01 -3.24543307e-03 9.41535581e+01] [ 3.00584153e-01 9.53754773e-01 -9.99691802e-04 1.20059018e+01] [ 3.39584046e-03 -2.20704445e-05 9.99994234e-01 7.79542579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241858064 meters 0.015168138171189992 Centerline is valid? [True, True] Translation: X:94.21, Y:12.02, Z:0.08 [[ 9.53946278e-01 -2.99943606e-01 -4.50905938e-03 9.42085993e+01] [ 2.99940385e-01 9.53956934e-01 -1.39039220e-03 1.20228948e+01] [ 4.71848772e-03 -2.60895406e-05 9.99988868e-01 7.53016322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301858064 meters 0.015258076291133394 Centerline is valid? [True, True] Translation: X:94.27, Y:12.04, Z:0.07 [[ 9.53531892e-01 -3.01245945e-01 -5.27357627e-03 9.42655690e+01] [ 3.01241550e-01 9.53546475e-01 -1.62761629e-03 1.20389763e+01] [ 5.51891287e-03 -3.66362451e-05 9.99984770e-01 7.48280213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361858064 meters 0.015726000396522437 Centerline is valid? [True, True] Translation: X:94.32, Y:12.05, Z:0.07 [[ 9.52324394e-01 -3.05006205e-01 -7.03304871e-03 9.43233020e+01] [ 3.04998476e-01 9.52350361e-01 -2.17258419e-03 1.20530949e+01] [ 7.36057813e-03 -7.60642168e-05 9.99972908e-01 7.28530669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421858064 meters 0.016731997393673943 Centerline is valid? [True, True] Translation: X:94.38, Y:12.07, Z:0.07 [[ 9.50743835e-01 -3.09869277e-01 -8.19699908e-03 9.43794961e+01] [ 3.09858950e-01 9.50779161e-01 -2.53321439e-03 1.20652501e+01] [ 8.57850122e-03 -1.31475562e-04 9.99963195e-01 7.17743838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.481858064 meters 0.01810176932026789 Centerline is valid? [True, True] Translation: X:94.44, Y:12.08, Z:0.07 [[ 9.49216660e-01 -3.14518333e-01 -8.12093234e-03 9.44380063e+01] [ 3.14508355e-01 9.49251383e-01 -2.51116141e-03 1.20789987e+01] [ 8.49861256e-03 -1.70464818e-04 9.99963872e-01 7.23961820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.541858064 meters 0.01833782593013196 Centerline is valid? [True, True] Translation: X:94.50, Y:12.09, Z:0.07 [[ 9.46988652e-01 -3.21162435e-01 -8.19658274e-03 9.44955681e+01] [ 3.21152514e-01 9.47024095e-01 -2.53497618e-03 1.20946994e+01] [ 8.57650047e-03 -2.31759480e-04 9.99963194e-01 7.42111389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601858064 meters 0.019232067983248363 Centerline is valid? [True, True] Translation: X:94.55, Y:12.11, Z:0.08 [[ 9.45969669e-01 -3.24162691e-01 -7.74173497e-03 9.45528644e+01] [ 3.24153926e-01 9.46001316e-01 -2.39619966e-03 1.21098100e+01] [ 8.10045001e-03 -2.42781586e-04 9.99967161e-01 7.51539549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661858064 meters 0.01981350117989723 Centerline is valid? [True, True] Translation: X:94.61, Y:12.13, Z:0.08 [[ 9.45564658e-01 -3.25372215e-01 -6.35608959e-03 9.46094082e+01] [ 3.25366323e-01 9.45585998e-01 -1.96897712e-03 1.21275504e+01] [ 6.65087976e-03 -2.06262322e-04 9.99977861e-01 7.57883824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721858064 meters 0.019978160788528643 Centerline is valid? [True, True] Translation: X:94.66, Y:12.15, Z:0.07 [[ 9.45999881e-01 -3.24081548e-01 -7.44148971e-03 9.46639946e+01] [ 3.24073425e-01 9.46029121e-01 -2.30608818e-03 1.21454086e+01] [ 7.78722660e-03 -2.30029914e-04 9.99969653e-01 7.47045919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781858064 meters 0.018194202042605197 Centerline is valid? [True, True] Translation: X:94.72, Y:12.17, Z:0.07 [[ 9.47327707e-01 -3.20162971e-01 -8.11711281e-03 9.47191421e+01] [ 3.20153146e-01 9.47362458e-01 -2.51737364e-03 1.21681065e+01] [ 8.49581776e-03 -2.13941401e-04 9.99963887e-01 7.37411870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84185806400001 meters 0.017804362194919317 Centerline is valid? [True, True] Translation: X:94.77, Y:12.19, Z:0.07 [[ 9.48223140e-01 -3.17509523e-01 -7.78327181e-03 9.47745329e+01] [ 3.17500383e-01 9.48255066e-01 -2.41590181e-03 1.21872609e+01] [ 8.14759876e-03 -1.80377775e-04 9.99966791e-01 7.44022481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.901858064 meters 0.017188173423513375 Centerline is valid? [True, True] Translation: X:94.83, Y:12.21, Z:0.07 [[ 9.49014437e-01 -3.15147821e-01 -7.31088856e-03 9.48301321e+01] [ 3.15139672e-01 9.49042585e-01 -2.27123074e-03 1.22077121e+01] [ 7.65411800e-03 -1.48520256e-04 9.99970696e-01 7.48382039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.961858064 meters 0.01686322267304348 Centerline is valid? [True, True] Translation: X:94.89, Y:12.23, Z:0.08 [[ 9.49583183e-01 -3.13441282e-01 -6.80741338e-03 9.48859598e+01] [ 3.13434160e-01 9.49607576e-01 -2.11661749e-03 1.22265682e+01] [ 7.12780661e-03 -1.23771512e-04 9.99974589e-01 7.51876435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021858064 meters 0.016510817229745393 Centerline is valid? [True, True] Translation: X:94.94, Y:12.24, Z:0.08 [[ 9.49732542e-01 -3.13013471e-01 -5.53768296e-03 9.49416864e+01] [ 3.13008743e-01 9.49748681e-01 -1.72326381e-03 1.22449756e+01] [ 5.79881187e-03 -9.67034594e-05 9.99983182e-01 7.65085191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081858064 meters 0.01724305069872721 Centerline is valid? [True, True] Translation: X:95.00, Y:12.26, Z:0.08 [[ 9.49361867e-01 -3.14142955e-01 -5.12343597e-03 9.49974838e+01] [ 3.14138920e-01 9.49375687e-01 -1.59496412e-03 1.22606342e+01] [ 5.36511229e-03 -9.52725285e-05 9.99985603e-01 7.62959197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141858064 meters 0.016985990972858845 Centerline is valid? [True, True] Translation: X:95.05, Y:12.28, Z:0.08 [[ 9.49263157e-01 -3.14440064e-01 -5.18701757e-03 9.50528042e+01] [ 3.14435926e-01 9.49277323e-01 -1.61616126e-03 1.22795960e+01] [ 5.43210400e-03 -9.68223379e-05 9.99985241e-01 7.54113679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201858064 meters 0.016826457851519216 Centerline is valid? [True, True] Translation: X:95.11, Y:12.30, Z:0.07 [[ 9.49218105e-01 -3.14563195e-01 -5.91484981e-03 9.51082911e+01] [ 3.14557805e-01 9.49236527e-01 -1.84478603e-03 1.22975455e+01] [ 6.19489328e-03 -1.09457876e-04 9.99980805e-01 7.47570930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.261858064 meters 0.01698190433651085 Centerline is valid? [True, True] Translation: X:95.16, Y:12.31, Z:0.07 [[ 9.49091949e-01 -3.14934306e-01 -6.39188364e-03 9.51635269e+01] [ 3.14928006e-01 9.49113465e-01 -1.99553334e-03 1.23139344e+01] [ 6.69508473e-03 -1.19038537e-04 9.99977581e-01 7.45529398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.321858064 meters 0.016606838391351447 Centerline is valid? [True, True] Translation: X:95.22, Y:12.33, Z:0.07 [[ 9.49102842e-01 -3.14855410e-01 -8.35859054e-03 9.52186751e+01] [ 3.14844613e-01 9.49139635e-01 -2.61193436e-03 1.23336441e+01] [ 8.75585124e-03 -1.52662878e-04 9.99961655e-01 7.26311069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381858064 meters 0.016765827026960802 Centerline is valid? [True, True] Translation: X:95.28, Y:12.35, Z:0.07 [[ 9.49005716e-01 -3.15103068e-01 -9.90993441e-03 9.52752355e+01] [ 3.15087877e-01 9.49057440e-01 -3.09943689e-03 1.23508547e+01] [ 1.03817390e-02 -1.81116866e-04 9.99946092e-01 7.16087927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441858064 meters 0.01666985562853498 Centerline is valid? [True, True] Translation: X:95.33, Y:12.37, Z:0.07 [[ 9.48514615e-01 -3.16578530e-01 -9.90250129e-03 9.53321073e+01] [ 3.16563413e-01 9.48566285e-01 -3.09982747e-03 1.23671029e+01] [ 1.03745177e-02 -1.94537945e-04 9.99946164e-01 7.25700266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501858064 meters 0.017898197702465618 Centerline is valid? [True, True] Translation: X:95.39, Y:12.38, Z:0.07 [[ 9.47989240e-01 -3.18183721e-01 -8.69020651e-03 9.53879270e+01] [ 3.18172138e-01 9.48029053e-01 -2.72129394e-03 1.23814568e+01] [ 9.10443968e-03 -1.85224202e-04 9.99958537e-01 7.18558465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561858064 meters 0.01702503221539101 Centerline is valid? [True, True] Translation: X:95.44, Y:12.40, Z:0.07 [[ 9.47359513e-01 -3.20072581e-01 -7.96845511e-03 9.54435860e+01] [ 3.20062892e-01 9.47393006e-01 -2.49732606e-03 1.24001516e+01] [ 8.34858424e-03 -1.84541187e-04 9.99965133e-01 7.28656210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.621858064 meters 0.017508631797290366 Centerline is valid? [True, True] Translation: X:95.50, Y:12.42, Z:0.07 [[ 9.46992290e-01 -3.21167059e-01 -7.57122351e-03 9.54995706e+01] [ 3.21158337e-01 9.47022538e-01 -2.37402761e-03 1.24156235e+01] [ 7.93257876e-03 -1.83375704e-04 9.99968520e-01 7.26372011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.681858064 meters 0.01803265177532886 Centerline is valid? [True, True] Translation: X:95.55, Y:12.43, Z:0.07 [[ 9.46812844e-01 -3.21722437e-01 -6.33332620e-03 9.55547186e+01] [ 3.21716341e-01 9.46834013e-01 -1.98670664e-03 1.24319861e+01] [ 6.63577677e-03 -1.56495165e-04 9.99977971e-01 7.23991943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741858064 meters 0.017993013052434927 Centerline is valid? [True, True] Translation: X:95.61, Y:12.45, Z:0.07 [[ 9.46775274e-01 -3.21827486e-01 -6.60680756e-03 9.56103477e+01] [ 3.21820842e-01 9.46798312e-01 -2.07436001e-03 1.24492526e+01] [ 6.92290031e-03 -1.62255606e-04 9.99976023e-01 7.17375385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801858064 meters 0.018063545163608873 Centerline is valid? [True, True] Translation: X:95.67, Y:12.47, Z:0.07 [[ 9.46672852e-01 -3.22114956e-01 -7.24334301e-03 9.56662319e+01] [ 3.22106961e-01 9.46700546e-01 -2.27642889e-03 1.24660444e+01] [ 7.59054858e-03 -1.78097775e-04 9.99971176e-01 7.01010776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861858064 meters 0.018352535145084847 Centerline is valid? [True, True] Translation: X:95.72, Y:12.48, Z:0.07 [[ 9.46456306e-01 -3.22747501e-01 -7.38320440e-03 9.57230977e+01] [ 3.22739199e-01 9.46485085e-01 -2.32235181e-03 1.24829804e+01] [ 7.73762609e-03 -1.84844958e-04 9.99970047e-01 6.93114681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921858064 meters 0.018914553798105575 Centerline is valid? [True, True] Translation: X:95.78, Y:12.50, Z:0.07 [[ 9.46079350e-01 -3.23856680e-01 -7.12139522e-03 9.57793561e+01] [ 3.23848973e-01 9.46106134e-01 -2.24183483e-03 1.25002333e+01] [ 7.46362888e-03 -1.85302894e-04 9.99972130e-01 6.87125807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.981858064 meters 0.017927153052971878 Centerline is valid? [True, True] Translation: X:95.83, Y:12.52, Z:0.07 [[ 9.45676307e-01 -3.25084970e-01 -4.01053745e-03 9.58346496e+01] [ 3.25082533e-01 9.45684805e-01 -1.26351313e-03 1.25209440e+01] [ 4.20345346e-03 -1.08881244e-04 9.99991160e-01 7.13570259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.041858064 meters 0.017971990364369406 Centerline is valid? [True, True] Translation: X:95.89, Y:12.54, Z:0.07 [[ 9.45503633e-01 -3.25604195e-01 -2.18808470e-03 9.58895971e+01] [ 3.25603469e-01 9.45506163e-01 -6.89895860e-04 1.25398867e+01] [ 2.29348055e-03 -6.01489261e-05 9.99997368e-01 7.17745219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101858064 meters 0.01787533037945148 Centerline is valid? [True, True] Translation: X:95.94, Y:12.56, Z:0.07 [[ 9.45528144e-01 -3.25533389e-01 -2.13123669e-03 9.59442815e+01] [ 3.25532699e-01 9.45530544e-01 -6.72626106e-04 1.25585984e+01] [ 2.23411164e-03 -5.78003182e-05 9.99997503e-01 7.14714494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161858064 meters 0.018214833593652544 Centerline is valid? [True, True] Translation: X:96.00, Y:12.58, Z:0.07 [[ 9.45541568e-01 -3.25496705e-01 -1.74289034e-03 9.59997986e+01] [ 3.25496243e-01 9.45543173e-01 -5.50552616e-04 1.25770576e+01] [ 1.82718113e-03 -4.67338736e-05 9.99998330e-01 7.15491732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221858064 meters 0.018402587278726967 Centerline is valid? [True, True] Translation: X:96.05, Y:12.60, Z:0.07 [[ 9.46025820e-01 -3.24084798e-01 -2.04722855e-03 9.60547982e+01] [ 3.24084156e-01 9.46028034e-01 -6.47306760e-04 1.25968441e+01] [ 2.14651788e-03 -5.11054271e-05 9.99997695e-01 7.06772931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281858064 meters 0.017128662630687776 Centerline is valid? [True, True] Translation: X:96.11, Y:12.62, Z:0.07 [[ 9.46337424e-01 -3.23172981e-01 -2.16913258e-03 9.61097674e+01] [ 3.23172256e-01 9.46339908e-01 -6.86447839e-04 1.26193416e+01] [ 2.27457812e-03 -5.13921910e-05 9.99997412e-01 7.20069812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.341858064 meters 0.018639021442769375 Centerline is valid? [True, True] Translation: X:96.16, Y:12.64, Z:0.07 [[ 9.45952279e-01 -3.24299584e-01 -2.01651283e-03 9.61648736e+01] [ 3.24298959e-01 9.45954427e-01 -6.38473148e-04 1.26356293e+01] [ 2.11458582e-03 -4.99878845e-05 9.99997763e-01 7.21487418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.401858064 meters 0.018651566735611406 Centerline is valid? [True, True] Translation: X:96.22, Y:12.66, Z:0.07 [[ 9.44789583e-01 -3.27675056e-01 -1.30422532e-03 9.62206137e+01] [ 3.27674798e-01 9.44790483e-01 -4.13125160e-04 1.26557554e+01] [ 1.36759048e-03 -3.70454218e-05 9.99999064e-01 7.33934121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.461858064 meters 0.01938093209691433 Centerline is valid? [True, True] Translation: X:96.28, Y:12.67, Z:0.08 [[ 9.43383718e-01 -3.31703330e-01 2.49372847e-04 9.62770269e+01] [ 3.31703321e-01 9.43383750e-01 7.90953895e-05 1.26744203e+01] [-2.61490496e-04 8.10049887e-06 9.99999966e-01 7.54890184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521858064 meters 0.019094845842426253 Centerline is valid? [True, True] Translation: X:96.33, Y:12.70, Z:0.08 [[ 9.42696488e-01 -3.33651410e-01 2.62507089e-04 9.63320431e+01] [ 3.33651400e-01 9.42696524e-01 8.35125698e-05 1.26958137e+01] [-2.75328607e-04 8.85885157e-06 9.99999962e-01 7.53729798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581858064 meters 0.01962297273837753 Centerline is valid? [True, True] Translation: X:96.39, Y:12.72, Z:0.08 [[ 9.42400892e-01 -3.34484903e-01 6.38491378e-04 9.63870181e+01] [ 3.34484842e-01 9.42401108e-01 2.02968711e-04 1.27168232e+01] [-6.69604952e-04 2.22877933e-05 9.99999776e-01 7.50476238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641858064 meters 0.01937331455031443 Centerline is valid? [True, True] Translation: X:96.44, Y:12.74, Z:0.07 [[ 9.42755920e-01 -3.33483465e-01 2.29978584e-04 9.64414948e+01] [ 3.33483458e-01 9.42755948e-01 7.33130575e-05 1.27388411e+01] [-2.41262370e-04 7.57773435e-06 9.99999971e-01 7.39758394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701858064 meters 0.018468286389163105 Centerline is valid? [True, True] Translation: X:96.50, Y:12.77, Z:0.07 [[ 9.44333290e-01 -3.28980756e-01 -2.50973267e-03 9.64962320e+01] [ 3.28979797e-01 9.44336623e-01 -7.97723819e-04 1.27654044e+01] [ 2.63246826e-03 -7.23341849e-05 9.99996532e-01 7.19441602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.761858064 meters 0.01792947470271202 Centerline is valid? [True, True] Translation: X:96.55, Y:12.79, Z:0.07 [[ 9.44880543e-01 -3.27406162e-01 -2.44242286e-03 9.65517303e+01] [ 3.27405247e-01 9.44883697e-01 -7.76790720e-04 1.27866907e+01] [ 2.56213161e-03 -6.56876228e-05 9.99996716e-01 7.17837484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.821858064 meters 0.017089824044530518 Centerline is valid? [True, True] Translation: X:96.60, Y:12.81, Z:0.07 [[ 9.46736594e-01 -3.21998706e-01 -2.57967771e-03 9.66048974e+01] [ 3.21997664e-01 9.46740107e-01 -8.20763193e-04 1.28126298e+01] [ 2.70656904e-03 -5.36036483e-05 9.99996336e-01 7.23920871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881858064 meters 0.016925925169201602 Centerline is valid? [True, True] Translation: X:96.66, Y:12.83, Z:0.07 [[ 9.47441938e-01 -3.19918595e-01 -2.42211649e-03 9.66588769e+01] [ 3.19917669e-01 9.47445033e-01 -7.70826317e-04 1.28344569e+01] [ 2.54142391e-03 -4.45646832e-05 9.99996770e-01 7.27454597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941858064 meters 0.016545643206727013 Centerline is valid? [True, True] Translation: X:96.71, Y:12.86, Z:0.07 [[ 9.47151730e-01 -3.20774668e-01 -2.68573977e-03 9.67130109e+01] [ 3.20773532e-01 9.47155536e-01 -8.55315908e-04 1.28592279e+01] [ 2.81817697e-03 -5.14002904e-05 9.99996028e-01 7.26679123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001858064 meters 0.01752807267347996 Centerline is valid? [True, True] Translation: X:96.77, Y:12.88, Z:0.07 [[ 9.45991798e-01 -3.24180189e-01 -2.59295228e-03 9.67679490e+01] [ 3.24179141e-01 9.45995350e-01 -8.26239643e-04 1.28795606e+01] [ 2.72077132e-03 -5.89651177e-05 9.99996297e-01 7.23979119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061858064 meters 0.018095946359861864 Centerline is valid? [True, True] Translation: X:96.82, Y:12.90, Z:0.07 [[ 9.45266872e-01 -3.26281917e-01 -3.26373135e-03 9.68232857e+01] [ 3.26280267e-01 9.45272502e-01 -1.04078648e-03 1.28986535e+01] [ 3.42470531e-03 -8.10701550e-05 9.99994132e-01 7.25800370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.121858064 meters 0.018939457654406012 Centerline is valid? [True, True] Translation: X:96.88, Y:12.92, Z:0.07 [[ 9.44710995e-01 -3.27879636e-01 -4.01002336e-03 9.68770760e+01] [ 3.27877157e-01 9.44719500e-01 -1.27934700e-03 1.29197483e+01] [ 4.20781909e-03 -1.06181882e-04 9.99991141e-01 7.13180406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.181858064 meters 0.019175395965911533 Centerline is valid? [True, True] Translation: X:96.93, Y:12.94, Z:0.07 [[ 9.44681668e-01 -3.27958342e-01 -4.45772680e-03 9.69314775e+01] [ 3.27955275e-01 9.44692178e-01 -1.42334959e-03 1.29392869e+01] [ 4.67797901e-03 -1.17322753e-04 9.99989051e-01 7.09431184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241858064 meters 0.01979369134926537 Centerline is valid? [True, True] Translation: X:96.99, Y:12.96, Z:0.07 [[ 9.44563095e-01 -3.28287843e-01 -5.25851707e-03 9.69857025e+01] [ 3.28283575e-01 9.44577722e-01 -1.67973850e-03 1.29592797e+01] [ 5.51851580e-03 -1.39665783e-04 9.99984763e-01 6.97164736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301858064 meters 0.020409047438145485 Centerline is valid? [True, True] Translation: X:97.04, Y:12.98, Z:0.07 [[ 9.44244351e-01 -3.29201512e-01 -5.38248154e-03 9.70414526e+01] [ 3.29197048e-01 9.44259680e-01 -1.72056671e-03 1.29773015e+01] [ 5.64887345e-03 -1.47261642e-04 9.99984034e-01 6.98613828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361858064 meters 0.018145867101508728 Centerline is valid? [True, True] Translation: X:97.09, Y:13.00, Z:0.07 [[ 9.44057261e-01 -3.29731337e-01 -5.75607677e-03 9.70947960e+01] [ 3.29726233e-01 9.44074796e-01 -1.84159015e-03 1.30030697e+01] [ 6.04139698e-03 -1.59362959e-04 9.99981738e-01 7.01304953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421858064 meters 0.02135124718495754 Centerline is valid? [True, True] Translation: X:97.15, Y:13.02, Z:0.07 [[ 9.44112126e-01 -3.29565394e-01 -6.24064857e-03 9.71507940e+01] [ 3.29559381e-01 9.44132736e-01 -1.99803891e-03 1.30163270e+01] [ 6.55048509e-03 -1.70291518e-04 9.99978531e-01 6.86214327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.481858064 meters 0.019225120107775023 Centerline is valid? [True, True] Translation: X:97.20, Y:13.04, Z:0.07 [[ 9.43975993e-01 -3.29982076e-01 -4.59936758e-03 9.72045848e+01] [ 3.29978809e-01 9.43987189e-01 -1.47384076e-03 1.30401716e+01] [ 4.82808511e-03 -1.26423542e-04 9.99988337e-01 7.08654549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.541858064 meters 0.018568736059048296 Centerline is valid? [True, True] Translation: X:97.26, Y:13.06, Z:0.07 [[ 9.44075865e-01 -3.29709356e-01 -3.53565651e-03 9.72594522e+01] [ 3.29707420e-01 9.44082481e-01 -1.13391901e-03 1.30629131e+01] [ 3.71181508e-03 -9.52266107e-05 9.99993107e-01 7.16740229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601858064 meters 0.018161813890297772 Centerline is valid? [True, True] Translation: X:97.31, Y:13.08, Z:0.07 [[ 9.44860270e-01 -3.27451618e-01 -3.80896362e-03 9.73140544e+01] [ 3.27449348e-01 9.44867943e-01 -1.22263543e-03 1.30844115e+01] [ 3.99932157e-03 -9.20230106e-05 9.99991998e-01 7.08870614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661858064 meters 0.01800904714553309 Centerline is valid? [True, True] Translation: X:97.37, Y:13.10, Z:0.07 [[ 9.45397758e-01 -3.25887323e-01 -4.53120670e-03 9.73693096e+01] [ 3.25884087e-01 9.45408611e-01 -1.45574427e-03 1.31037449e+01] [ 4.75825044e-03 -1.00390788e-04 9.99988674e-01 6.96395589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721858064 meters 0.017977669802862813 Centerline is valid? [True, True] Translation: X:97.42, Y:13.12, Z:0.07 [[ 9.45948190e-01 -3.24268264e-01 -5.66704764e-03 9.74236787e+01] [ 3.24263169e-01 9.45965158e-01 -1.82139973e-03 1.31227069e+01] [ 5.95145175e-03 -1.14665053e-04 9.99982283e-01 6.88226932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781858064 meters 0.017869228515437756 Centerline is valid? [True, True] Translation: X:97.48, Y:13.14, Z:0.07 [[ 9.46094542e-01 -3.23835365e-01 -5.98121063e-03 9.74795744e+01] [ 3.23829671e-01 9.46113441e-01 -1.92383535e-03 1.31417952e+01] [ 6.28190969e-03 -1.16763350e-04 9.99980262e-01 6.82391631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.841858064 meters 0.017649672611179865 Centerline is valid? [True, True] Translation: X:97.54, Y:13.16, Z:0.07 [[ 9.46117265e-01 -3.23795792e-01 -4.29028835e-03 9.75356146e+01] [ 3.23792857e-01 9.46126989e-01 -1.38106202e-03 1.31605037e+01] [ 4.50633967e-03 -8.25181045e-05 9.99989843e-01 6.98987433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.901858064 meters 0.018168846226210855 Centerline is valid? [True, True] Translation: X:97.59, Y:13.18, Z:0.07 [[ 9.45224532e-01 -3.26410619e-01 -2.58689453e-03 9.75920352e+01] [ 3.26409561e-01 9.45228070e-01 -8.33347369e-04 1.31766757e+01] [ 2.71721875e-03 -5.66867291e-05 9.99996307e-01 7.07110223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.961858064 meters 0.01873605486416794 Centerline is valid? [True, True] Translation: X:97.65, Y:13.19, Z:0.07 [[ 9.44000243e-01 -3.29941906e-01 -1.37128050e-03 9.76487678e+01] [ 3.29941611e-01 9.44001238e-01 -4.42014667e-04 1.31920418e+01] [ 1.44032965e-03 -3.51805455e-05 9.99998962e-01 7.16490588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021858064 meters 0.020547665570499262 Centerline is valid? [True, True] Translation: X:97.71, Y:13.21, Z:0.07 [[ 9.42013337e-01 -3.35574488e-01 -7.97632545e-04 9.77064661e+01] [ 3.35574391e-01 9.42013674e-01 -2.57236180e-04 1.32072286e+01] [ 8.37702664e-04 -2.53451433e-05 9.99999649e-01 7.14745018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081858064 meters 0.020158524358740167 Centerline is valid? [True, True] Translation: X:97.76, Y:13.23, Z:0.07 [[ 9.41839844e-01 -3.36059725e-01 -1.25265179e-03 9.77618084e+01] [ 3.36059485e-01 9.41840676e-01 -4.04159574e-04 1.32265105e+01] [ 1.31562017e-03 -4.03119253e-05 9.99999134e-01 7.11890630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141858064 meters 0.01960589576353192 Centerline is valid? [True, True] Translation: X:97.82, Y:13.25, Z:0.07 [[ 9.43515175e-01 -3.31322545e-01 -2.11778508e-03 9.78173439e+01] [ 3.31321844e-01 9.43517550e-01 -6.83718782e-04 1.32477537e+01] [ 2.22469884e-03 -5.65694130e-05 9.99997524e-01 6.95129760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201858064 meters 0.017679954501354834 Centerline is valid? [True, True] Translation: X:97.87, Y:13.27, Z:0.07 [[ 9.47067573e-01 -3.21011299e-01 -3.84158069e-03 9.78725347e+01] [ 3.21008907e-01 9.47075363e-01 -1.24037581e-03 1.32725077e+01] [ 4.03644108e-03 -5.84619094e-05 9.99991852e-01 6.75813161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.261858064 meters 0.01667751425569815 Centerline is valid? [True, True] Translation: X:97.93, Y:13.30, Z:0.07 [[ 9.50477671e-01 -3.10734948e-01 -5.99902147e-03 9.79262729e+01] [ 3.10728909e-01 9.50496603e-01 -1.93740886e-03 1.32977641e+01] [ 6.30407017e-03 -2.26055345e-05 9.99980129e-01 6.58129899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.321858064 meters 0.016641177739577784 Centerline is valid? [True, True] Translation: X:97.98, Y:13.32, Z:0.07 [[ 9.51899413e-01 -3.06347133e-01 -6.24037091e-03 9.79809951e+01] [ 3.06340493e-01 9.51919867e-01 -2.01712001e-03 1.33158207e+01] [ 6.55827199e-03 8.41705623e-06 9.99978494e-01 6.53383466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381858064 meters 0.01666279671330741 Centerline is valid? [True, True] Translation: X:98.04, Y:13.33, Z:0.07 [[ 9.52305628e-01 -3.05128670e-01 -3.23825899e-03 9.80380530e+01] [ 3.05126871e-01 9.52311133e-01 -1.04762692e-03 1.33284313e+01] [ 3.40349110e-03 9.58117511e-06 9.99994208e-01 6.87651502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441858064 meters 0.016608698770729867 Centerline is valid? [True, True] Translation: X:98.09, Y:13.34, Z:0.07 [[ 9.51791998e-01 -3.06740461e-01 -1.51101884e-03 9.80946950e+01] [ 3.06740070e-01 9.51793197e-01 -4.89177212e-04 1.33421109e+01] [ 1.58822789e-03 2.10493205e-06 9.99998739e-01 7.05487731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501858064 meters 0.016480779065660475 Centerline is valid? [True, True] Translation: X:98.15, Y:13.35, Z:0.07 [[ 9.51290845e-01 -3.08293447e-01 -9.37747506e-04 9.81520499e+01] [ 3.08293297e-01 9.51291307e-01 -3.03783504e-04 1.33537800e+01] [ 9.85725514e-04 -1.14804435e-07 9.99999514e-01 7.08343129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561858064 meters 0.01638799631865943 Centerline is valid? [True, True] Translation: X:98.21, Y:13.37, Z:0.07 [[ 9.50714206e-01 -3.10067913e-01 -6.23390043e-04 9.82089827e+01] [ 3.10067847e-01 9.50714410e-01 -2.02054666e-04 1.33665814e+01] [ 6.55316565e-04 -1.19696719e-06 9.99999785e-01 7.09741825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.621858064 meters 0.01647352227285134 Centerline is valid? [True, True] Translation: X:98.27, Y:13.38, Z:0.07 [[ 9.49353190e-01 -3.14204156e-01 -2.06597148e-03 9.82678468e+01] [ 3.14203441e-01 9.49355438e-01 -6.70838200e-04 1.33767981e+01] [ 2.17212141e-03 -1.22729604e-05 9.99997641e-01 6.94204311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.681858064 meters 0.016620447861856683 Centerline is valid? [True, True] Translation: X:98.33, Y:13.39, Z:0.07 [[ 9.48409423e-01 -3.17031509e-01 -3.25403297e-03 9.83252063e+01] [ 3.17029748e-01 9.48415005e-01 -1.05720643e-03 1.33892600e+01] [ 3.42134144e-03 -2.89607116e-05 9.99994147e-01 6.86145413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741858064 meters 0.01695272463048216 Centerline is valid? [True, True] Translation: X:98.38, Y:13.40, Z:0.07 [[ 9.47498939e-01 -3.19733470e-01 -4.03343765e-03 9.83823355e+01] [ 3.19730787e-01 9.47507523e-01 -1.31083556e-03 1.34005328e+01] [ 4.24083052e-03 -4.75988856e-05 9.99991007e-01 6.84400253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801858064 meters 0.017412611987335368 Centerline is valid? [True, True] Translation: X:98.44, Y:13.41, Z:0.07 [[ 9.46599400e-01 -3.22386532e-01 -4.06207338e-03 9.84403299e+01] [ 3.22383830e-01 9.46608114e-01 -1.32108300e-03 1.34115847e+01] [ 4.27109098e-03 -5.90104039e-05 9.99990877e-01 6.86202093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861858064 meters 0.01800986565796001 Centerline is valid? [True, True] Translation: X:98.50, Y:13.42, Z:0.07 [[ 9.45422517e-01 -3.25811175e-01 -4.83143477e-03 9.84994131e+01] [ 3.25807391e-01 9.45434858e-01 -1.57262567e-03 1.34212004e+01] [ 5.08018586e-03 -8.73214364e-05 9.99987092e-01 6.80930461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921858064 meters 0.018034720292991697 Centerline is valid? [True, True] Translation: X:98.56, Y:13.43, Z:0.07 [[ 9.44932260e-01 -3.27245433e-01 -3.66745007e-03 9.85574392e+01] [ 3.27243260e-01 9.44939375e-01 -1.19468554e-03 1.34344901e+01] [ 3.85647336e-03 -7.12514040e-05 9.99992561e-01 6.93382400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.981858064 meters 0.017844312170255318 Centerline is valid? [True, True] Translation: X:98.61, Y:13.45, Z:0.07 [[ 9.44786725e-01 -3.27675825e-01 -2.56845090e-03 9.86135776e+01] [ 3.27674759e-01 9.44790215e-01 -8.37385606e-04 1.34492944e+01] [ 2.70103829e-03 -5.04657250e-05 9.99996351e-01 7.05328371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.041858064 meters 0.01768409168944059 Centerline is valid? [True, True] Translation: X:98.67, Y:13.46, Z:0.07 [[ 9.45419541e-01 -3.25847045e-01 -2.36549497e-03 9.86698043e+01] [ 3.25846134e-01 9.45422499e-01 -7.71603310e-04 1.34636270e+01] [ 2.48781682e-03 -4.12985434e-05 9.99996905e-01 7.17610328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101858064 meters 0.017398679901822374 Centerline is valid? [True, True] Translation: X:98.73, Y:13.48, Z:0.07 [[ 9.46031652e-01 -3.24065267e-01 -2.41155676e-03 9.87261087e+01] [ 3.24064313e-01 9.46034725e-01 -7.87132322e-04 1.34813107e+01] [ 2.53649868e-03 -3.68473930e-05 9.99996782e-01 7.18191583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161858064 meters 0.01701894781417827 Centerline is valid? [True, True] Translation: X:98.78, Y:13.50, Z:0.07 [[ 9.46726994e-01 -3.22032001e-01 -1.84089231e-03 9.87822130e+01] [ 3.22031440e-01 9.46728784e-01 -6.01311666e-04 1.34986375e+01] [ 1.93646734e-03 -2.35472154e-05 9.99998125e-01 7.25130131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221858064 meters 0.017134957041789536 Centerline is valid? [True, True] Translation: X:98.84, Y:13.51, Z:0.07 [[ 9.46705578e-01 -3.22096847e-01 -1.47325166e-03 9.88381076e+01] [ 3.22096487e-01 9.46706724e-01 -4.81605087e-04 1.35135572e+01] [ 1.54986073e-03 -1.85909624e-05 9.99998799e-01 7.29632169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281858064 meters 0.01740342907748583 Centerline is valid? [True, True] Translation: X:98.89, Y:13.53, Z:0.07 [[ 9.46218374e-01 -3.23527451e-01 -8.82132564e-04 9.88944974e+01] [ 3.23527322e-01 9.46218785e-01 -2.88536833e-04 1.35296505e+01] [ 9.28039989e-04 -1.23751342e-05 9.99999569e-01 7.29668616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.341858064 meters 0.017641406470692192 Centerline is valid? [True, True] Translation: X:98.95, Y:13.54, Z:0.07 [[ 9.45648201e-01 -3.25190406e-01 -8.24724177e-04 9.89512097e+01] [ 3.25190294e-01 9.45648560e-01 -2.69967538e-04 1.35446445e+01] [ 8.67690084e-04 -1.28979807e-05 9.99999623e-01 7.36369032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.401858064 meters 0.01786419470422569 Centerline is valid? [True, True] Translation: X:99.01, Y:13.56, Z:0.07 [[ 9.45244864e-01 -3.26361887e-01 -2.57675904e-04 9.90083416e+01] [ 3.26361876e-01 9.45244899e-01 -8.42645642e-05 1.35595671e+01] [ 2.71067576e-04 -4.44494521e-06 9.99999963e-01 7.44954969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.461858064 meters 0.01758116460193567 Centerline is valid? [True, True] Translation: X:99.06, Y:13.58, Z:0.07 [[ 9.45610019e-01 -3.25302070e-01 -5.04350483e-04 9.90643198e+01] [ 3.25302029e-01 9.45610154e-01 -1.65279888e-04 1.35775355e+01] [ 5.30684827e-04 -7.77591734e-06 9.99999859e-01 7.49832229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521858064 meters 0.017393511909275402 Centerline is valid? [True, True] Translation: X:99.12, Y:13.60, Z:0.07 [[ 9.46518614e-01 -3.22632278e-01 -3.30542673e-03 9.91204267e+01] [ 3.22630455e-01 9.46524385e-01 -1.08536606e-03 1.35964970e+01] [ 3.47884113e-03 -3.91121462e-05 9.99993948e-01 7.21856244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581858064 meters 0.01716949445323011 Centerline is valid? [True, True] Translation: X:99.18, Y:13.61, Z:0.07 [[ 9.47068518e-01 -3.20992763e-01 -4.98688302e-03 9.91768330e+01] [ 3.20988583e-01 9.47081646e-01 -1.63894719e-03 1.36143027e+01] [ 5.24907557e-03 -4.85372234e-05 9.99986222e-01 7.09242656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641858064 meters 0.017175370305612232 Centerline is valid? [True, True] Translation: X:99.23, Y:13.63, Z:0.07 [[ 9.47154078e-01 -3.20724728e-01 -5.89932381e-03 9.92320925e+01] [ 3.20718861e-01 9.47172448e-01 -1.94063621e-03 1.36312449e+01] [ 6.21008700e-03 -5.39429119e-05 9.99980716e-01 7.08477682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701858064 meters 0.017352931453080686 Centerline is valid? [True, True] Translation: X:99.29, Y:13.65, Z:0.07 [[ 9.47166292e-01 -3.20683409e-01 -6.17786268e-03 9.92876972e+01] [ 3.20676968e-01 9.47186438e-01 -2.03323189e-03 1.36462769e+01] [ 6.50361148e-03 -5.52895558e-05 9.99978850e-01 7.12548065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.761858064 meters 0.017060073015990378 Centerline is valid? [True, True] Translation: X:99.34, Y:13.66, Z:0.07 [[ 9.47098190e-01 -3.20888545e-01 -5.96322104e-03 9.93429116e+01] [ 3.20882537e-01 9.47116962e-01 -1.96429196e-03 1.36640752e+01] [ 6.27818658e-03 -5.31161401e-05 9.99980291e-01 7.25843420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.821858064 meters 0.017000749058084498 Centerline is valid? [True, True] Translation: X:99.40, Y:13.68, Z:0.07 [[ 9.47070539e-01 -3.20994951e-01 -4.43116170e-03 9.93983053e+01] [ 3.20991628e-01 9.47080905e-01 -1.46094713e-03 1.36813114e+01] [ 4.66562528e-03 -3.87458258e-05 9.99989115e-01 7.41481527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881858064 meters 0.016958950798314942 Centerline is valid? [True, True] Translation: X:99.45, Y:13.70, Z:0.07 [[ 9.47007502e-01 -3.21183518e-01 -4.23552237e-03 9.94533604e+01] [ 3.21180478e-01 9.47016973e-01 -1.39777158e-03 1.36984930e+01] [ 4.46005276e-03 -3.66669313e-05 9.99990053e-01 7.48941806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941858064 meters 0.017116072871642758 Centerline is valid? [True, True] Translation: X:99.51, Y:13.71, Z:0.08 [[ 9.47360089e-01 -3.20114762e-01 -5.94985463e-03 9.95086888e+01] [ 3.20108736e-01 9.47378772e-01 -1.96458606e-03 1.37141254e+01] [ 6.26565897e-03 -4.34300246e-05 9.99980370e-01 7.51296038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001858064 meters 0.017070606713234206 Centerline is valid? [True, True] Translation: X:99.56, Y:13.73, Z:0.07 [[ 9.47614990e-01 -3.19293617e-01 -8.79868106e-03 9.95649950e+01] [ 3.19280383e-01 9.47655836e-01 -2.90755532e-03 1.37322718e+01] [ 9.26648531e-03 -5.40032493e-05 9.99957064e-01 7.32498735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061858064 meters 0.016909910899808707 Centerline is valid? [True, True] Translation: X:99.62, Y:13.75, Z:0.07 [[ 9.47842952e-01 -3.18586597e-01 -9.81424609e-03 9.96200499e+01] [ 3.18570062e-01 9.47893759e-01 -3.24621669e-03 1.37512597e+01] [ 1.03370637e-02 -4.96213711e-05 9.99946570e-01 7.23005934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.121858064 meters 0.016939728155184134 Centerline is valid? [True, True] Translation: X:99.68, Y:13.77, Z:0.07 [[ 9.47847163e-01 -3.18586533e-01 -9.40092398e-03 9.96756835e+01] [ 3.18571333e-01 9.47893780e-01 -3.11241158e-03 1.37670198e+01] [ 9.90264978e-03 -4.47743928e-05 9.99950967e-01 7.34723119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.181858064 meters 0.01693290896522088 Centerline is valid? [True, True] Translation: X:99.73, Y:13.79, Z:0.08 [[ 9.47698563e-01 -3.19074501e-01 -7.67435883e-03 9.97317327e+01] [ 3.19064371e-01 9.47729635e-01 -2.54283363e-03 1.37850099e+01] [ 8.08457067e-03 -3.87746935e-05 9.99967319e-01 7.51682559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241858064 meters 0.01687909404472787 Centerline is valid? [True, True] Translation: X:99.79, Y:13.80, Z:0.08 [[ 9.47852991e-01 -3.18640721e-01 -6.54212854e-03 9.97876865e+01] [ 3.18633337e-01 9.47875567e-01 -2.16939752e-03 1.38041268e+01] [ 6.89238219e-03 -2.82703238e-05 9.99976247e-01 7.64917699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301858064 meters 0.016818813674297696 Centerline is valid? [True, True] Translation: X:99.84, Y:13.82, Z:0.08 [[ 9.48357521e-01 -3.17120038e-01 -7.27280069e-03 9.98422268e+01] [ 3.17110850e-01 9.48385408e-01 -2.41395243e-03 1.38243028e+01] [ 7.66293074e-03 -1.69940669e-05 9.99970639e-01 7.60981053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361858064 meters 0.016796555106337364 Centerline is valid? [True, True] Translation: X:99.90, Y:13.84, Z:0.08 [[ 9.48538129e-01 -3.16535680e-01 -8.97672016e-03 9.98967806e+01] [ 3.16521645e-01 9.48580605e-01 -2.98076595e-03 1.38420348e+01] [ 9.45866141e-03 -1.39560738e-05 9.99955266e-01 7.52283311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421858064 meters 0.016742156879145428 Centerline is valid? [True, True] Translation: X:99.95, Y:13.86, Z:0.07 [[ 9.48396458e-01 -3.16926579e-01 -1.00847169e-02 9.99526504e+01] [ 3.16908860e-01 9.48450074e-01 -3.35130417e-03 1.38615882e+01] [ 1.06269678e-02 -1.75711131e-05 9.99943532e-01 7.47431623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.481858064 meters 0.016921282131168003 Centerline is valid? [True, True] Translation: X:100.01, Y:13.88, Z:0.07 [[ 9.47956821e-01 -3.18232579e-01 -1.02903116e-02 1.00008137e+02] [ 3.18214194e-01 9.48012671e-01 -3.42075756e-03 1.38794322e+01] [ 1.08439423e-02 -3.17927503e-05 9.99941202e-01 7.49150243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.541858064 meters 0.016913882587676985 Centerline is valid? [True, True] Translation: X:100.06, Y:13.90, Z:0.08 [[ 9.47718319e-01 -3.18941891e-01 -1.02984578e-02 1.00063422e+02] [ 3.18923488e-01 9.47774271e-01 -3.42643572e-03 1.38973363e+01] [ 1.08534472e-02 -3.71241727e-05 9.99941099e-01 7.50838102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601858064 meters 0.01698424760474882 Centerline is valid? [True, True] Translation: X:100.12, Y:13.91, Z:0.08 [[ 9.47228958e-01 -3.20397047e-01 -1.01505024e-02 1.00118966e+02] [ 3.20379218e-01 9.47283342e-01 -3.38034856e-03 1.39148932e+01] [ 1.06984556e-02 -5.00459927e-05 9.99942769e-01 7.59257716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661858064 meters 0.017201131559754113 Centerline is valid? [True, True] Translation: X:100.17, Y:13.93, Z:0.08 [[ 9.46845515e-01 -3.21527267e-01 -1.01876192e-02 1.00174237e+02] [ 3.21509361e-01 9.46900318e-01 -3.39385675e-03 1.39325294e+01] [ 1.07378774e-02 -6.19568988e-05 9.99942345e-01 7.61708302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721858064 meters 0.01715895124988922 Centerline is valid? [True, True] Translation: X:100.23, Y:13.95, Z:0.08 [[ 9.47266813e-01 -3.20267863e-01 -1.06808459e-02 1.00229327e+02] [ 3.20248065e-01 9.47327026e-01 -3.56130942e-03 1.39519460e+01] [ 1.12588269e-02 -4.70100025e-05 9.99936616e-01 7.74709899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781858064 meters 0.01698937075009304 Centerline is valid? [True, True] Translation: X:100.28, Y:13.97, Z:0.08 [[ 9.48546015e-01 -3.16442454e-01 -1.11637826e-02 1.00283885e+02] [ 3.16420518e-01 9.48611709e-01 -3.72587559e-03 1.39733734e+01] [ 1.17691201e-02 1.71455551e-06 9.99930742e-01 7.92154448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.841858064 meters 0.0172317425718847 Centerline is valid? [True, True] Translation: X:100.34, Y:13.99, Z:0.08 [[ 9.49575813e-01 -3.13284034e-01 -1.26051041e-02 1.00338373e+02] [ 3.13255763e-01 9.49659471e-01 -4.20892949e-03 1.39946111e+01] [ 1.32891469e-02 4.80761239e-05 9.99911694e-01 7.85588259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.901858064 meters 0.017337829947693176 Centerline is valid? [True, True] Translation: X:100.39, Y:14.02, Z:0.08 [[ 9.50711736e-01 -3.09713069e-01 -1.50003056e-02 1.00392894e+02] [ 3.09672564e-01 9.50830059e-01 -5.01022977e-03 1.40154070e+01] [ 1.58144750e-02 1.18101160e-04 9.99874936e-01 7.81600255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.961858064 meters 0.01727216204362798 Centerline is valid? [True, True] Translation: X:100.45, Y:14.03, Z:0.08 [[ 9.51083926e-01 -3.08563399e-01 -1.50994964e-02 1.00448808e+02] [ 3.08522148e-01 9.51203768e-01 -5.04735858e-03 1.40347460e+01] [ 1.59201280e-02 1.41932562e-04 9.99873257e-01 7.93773960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021858064 meters 0.01719293949536999 Centerline is valid? [True, True] Translation: X:100.50, Y:14.05, Z:0.08 [[ 9.50951530e-01 -3.08955256e-01 -1.54219770e-02 1.00503733e+02] [ 3.08912196e-01 9.51076563e-01 -5.15999132e-03 1.40528986e+01] [ 1.62616873e-02 1.42864859e-04 9.99867760e-01 8.14128080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081858064 meters 0.01729823169112557 Centerline is valid? [True, True] Translation: X:100.56, Y:14.07, Z:0.08 [[ 9.50539549e-01 -3.10180251e-01 -1.62104247e-02 1.00558610e+02] [ 3.10132766e-01 9.50677755e-01 -5.42891701e-03 1.40709867e+01] [ 1.70948330e-02 1.33016487e-04 9.99853864e-01 8.09820064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141858064 meters 0.017033632351377326 Centerline is valid? [True, True] Translation: X:100.62, Y:14.09, Z:0.08 [[ 9.49508118e-01 -3.13212938e-01 -1.82205642e-02 1.00615208e+02] [ 3.13153405e-01 9.49682919e-01 -6.10720581e-03 1.40860578e+01] [ 1.92166144e-02 9.30097864e-05 9.99815339e-01 8.16832423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201858064 meters 0.016799918701837075 Centerline is valid? [True, True] Translation: X:100.67, Y:14.10, Z:0.08 [[ 9.47758692e-01 -3.18370960e-01 -1.98341515e-02 1.00672416e+02] [ 3.18301428e-01 9.47966208e-01 -6.65350932e-03 1.41008330e+01] [ 2.09203895e-02 -7.31745311e-06 9.99781145e-01 8.20470845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.261858064 meters 0.016775764685908582 Centerline is valid? [True, True] Translation: X:100.73, Y:14.12, Z:0.08 [[ 9.46386645e-01 -3.22422332e-01 -1.99036995e-02 1.00728828e+02] [ 3.22353091e-01 9.46595918e-01 -6.68231232e-03 1.41166005e+01] [ 2.09952874e-02 -9.19679046e-05 9.99779570e-01 8.31479018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.321858064 meters 0.016561479977131973 Centerline is valid? [True, True] Translation: X:100.79, Y:14.13, Z:0.09 [[ 9.44824607e-01 -3.26984931e-01 -1.96803825e-02 1.00785755e+02] [ 3.26918110e-01 9.45029534e-01 -6.61281918e-03 1.41328860e+01] [ 2.07608349e-02 -1.85919169e-04 9.99784453e-01 8.56321605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381858064 meters 0.01660905207609741 Centerline is valid? [True, True] Translation: X:100.84, Y:14.15, Z:0.09 [[ 9.44748691e-01 -3.27295325e-01 -1.81019573e-02 1.00840388e+02] [ 3.27238814e-01 9.44922081e-01 -6.08434866e-03 1.41524383e+01] [ 1.90963181e-02 -1.75482615e-04 9.99817633e-01 8.55421630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441858064 meters 0.01620940137520153 Centerline is valid? [True, True] Translation: X:100.90, Y:14.17, Z:0.09 [[ 9.45346435e-01 -3.25601637e-01 -1.74267313e-02 1.00895114e+02] [ 3.25548891e-01 9.45507037e-01 -5.86202474e-03 1.41739760e+01] [ 1.83857819e-02 -1.31608847e-04 9.99830959e-01 8.56738234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501858064 meters 0.015955963689238573 Centerline is valid? [True, True] Translation: X:100.95, Y:14.20, Z:0.09 [[ 9.46238109e-01 -3.23105917e-01 -1.53625179e-02 1.00949722e+02] [ 3.23064530e-01 9.46362807e-01 -5.17178948e-03 1.41953819e+01] [ 1.62095513e-02 -6.93403238e-05 9.99868614e-01 8.66834384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561858064 meters 0.015806137655241703 Centerline is valid? [True, True] Translation: X:101.00, Y:14.22, Z:0.09 [[ 9.46914249e-01 -3.21170007e-01 -1.42559020e-02 1.01004822e+02] [ 3.21134091e-01 9.47021555e-01 -4.80309337e-03 1.42166781e+01] [ 1.50432560e-02 -2.99385777e-05 9.99886843e-01 8.55536026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.621858064 meters 0.015874312963429043 Centerline is valid? [True, True] Translation: X:101.06, Y:14.24, Z:0.08 [[ 9.47245177e-01 -3.20216055e-01 -1.37205253e-02 1.01059599e+02] [ 3.20182666e-01 9.47344540e-01 -4.62415500e-03 1.42366391e+01] [ 1.44787934e-02 -1.28658589e-05 9.99895177e-01 8.39777851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.681858064 meters 0.015856891613608926 Centerline is valid? [True, True] Translation: X:101.11, Y:14.26, Z:0.08 [[ 9.47032209e-01 -3.20863996e-01 -1.32774613e-02 1.01114061e+02] [ 3.20832737e-01 9.47125280e-01 -4.47877132e-03 1.42561372e+01] [ 1.40124957e-02 -1.83035420e-05 9.99901820e-01 8.33311748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741858064 meters 0.01607024006576181 Centerline is valid? [True, True] Translation: X:101.17, Y:14.27, Z:0.08 [[ 9.46612025e-01 -3.22132790e-01 -1.24955902e-02 1.01168741e+02] [ 3.22105163e-01 9.46694494e-01 -4.21888062e-03 1.42747551e+01] [ 1.31885463e-02 -3.12510070e-05 9.99913027e-01 8.35320849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801858064 meters 0.015904752773278474 Centerline is valid? [True, True] Translation: X:101.22, Y:14.29, Z:0.09 [[ 9.45589440e-01 -3.25185228e-01 -1.07321024e-02 1.01223938e+02] [ 3.25165008e-01 9.45650339e-01 -3.62678978e-03 1.42934372e+01] [ 1.13281947e-02 -6.02500422e-05 9.99935832e-01 8.55017444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861858064 meters 0.016276781808893522 Centerline is valid? [True, True] Translation: X:101.28, Y:14.31, Z:0.09 [[ 9.44789377e-01 -3.27524507e-01 -1.00364630e-02 1.01279008e+02] [ 3.27506943e-01 9.44842680e-01 -3.39282968e-03 1.43108153e+01] [ 1.05941135e-02 -8.15018859e-05 9.99943877e-01 8.58249396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921858064 meters 0.017093823141545127 Centerline is valid? [True, True] Translation: X:101.34, Y:14.33, Z:0.08 [[ 9.42749989e-01 -3.33333249e-01 -1.05547898e-02 1.01335402e+02] [ 3.33314158e-01 9.42809059e-01 -3.57072073e-03 1.43289923e+01] [ 1.11413914e-02 -1.51763939e-04 9.99937921e-01 8.45061606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.981858064 meters 0.017584511936015124 Centerline is valid? [True, True] Translation: X:101.39, Y:14.35, Z:0.08 [[ 9.41415987e-01 -3.37019408e-01 -1.24039808e-02 1.01391494e+02] [ 3.36993316e-01 9.41497673e-01 -4.19973233e-03 1.43469421e+01] [ 1.30937104e-02 -2.26363465e-04 9.99914248e-01 8.44835769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.041858064 meters 0.019153084205774926 Centerline is valid? [True, True] Translation: X:101.45, Y:14.36, Z:0.08 [[ 9.39612251e-01 -3.41940893e-01 -1.43263181e-02 1.01448749e+02] [ 3.41906645e-01 9.39721400e-01 -4.85137584e-03 1.43636920e+01] [ 1.51216315e-02 -3.39851165e-04 9.99885604e-01 8.48515091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101858064 meters 0.02011055733100624 Centerline is valid? [True, True] Translation: X:101.50, Y:14.38, Z:0.09 [[ 9.38950424e-01 -3.43720051e-01 -1.51204670e-02 1.01504532e+02] [ 3.43682069e-01 9.39072084e-01 -5.12419143e-03 1.43822480e+01] [ 1.59604957e-02 -3.85271656e-04 9.99872549e-01 8.50078959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161858064 meters 0.020049195497321846 Centerline is valid? [True, True] Translation: X:101.56, Y:14.40, Z:0.09 [[ 9.39393931e-01 -3.42442863e-01 -1.64902387e-02 1.01560090e+02] [ 3.42397418e-01 9.39538574e-01 -5.59256884e-03 1.44034147e+01] [ 1.74083506e-02 -3.92589927e-04 9.99848386e-01 8.54524754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221858064 meters 0.019346096733027434 Centerline is valid? [True, True] Translation: X:101.62, Y:14.42, Z:0.09 [[ 9.40914141e-01 -3.38165641e-01 -1.80160754e-02 1.01615150e+02] [ 3.38110519e-01 9.41086545e-01 -6.11489668e-03 1.44249713e+01] [ 1.90225341e-02 -3.37831844e-04 9.99818998e-01 8.71210181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281858064 meters 0.020440764512220416 Centerline is valid? [True, True] Translation: X:101.67, Y:14.45, Z:0.09 [[ 9.41921778e-01 -3.35365069e-01 -1.77097635e-02 1.01670170e+02] [ 3.35311222e-01 9.42088211e-01 -6.01563853e-03 1.44450559e+01] [ 1.87015944e-02 -2.72021482e-04 9.99825073e-01 8.76905304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.341858064 meters 0.01809481924224231 Centerline is valid? [True, True] Translation: X:101.72, Y:14.47, Z:0.09 [[ 9.43988975e-01 -3.29541342e-01 -1.69504977e-02 1.01724478e+02] [ 3.29491047e-01 9.44141135e-01 -5.75918512e-03 1.44691126e+01] [ 1.79015518e-02 -1.48429985e-04 9.99839743e-01 9.03451825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.401858064 meters 0.017753773904754643 Centerline is valid? [True, True] Translation: X:101.78, Y:14.49, Z:0.09 [[ 9.46088946e-01 -3.23482960e-01 -1.65674603e-02 1.01779541e+02] [ 3.23433940e-01 9.46233995e-01 -5.63139782e-03 1.44917159e+01] [ 1.74983554e-02 -3.06757307e-05 9.99846892e-01 9.29322770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.461858064 meters 0.017685078107022655 Centerline is valid? [True, True] Translation: X:101.83, Y:14.51, Z:0.09 [[ 9.46899708e-01 -3.21090970e-01 -1.67789035e-02 1.01833752e+02] [ 3.21040224e-01 9.47048356e-01 -5.70844674e-03 1.45123978e+01] [ 1.77233637e-02 1.86236102e-05 9.99842929e-01 9.30278462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521858064 meters 0.01782229546041225 Centerline is valid? [True, True] Translation: X:101.89, Y:14.54, Z:0.09 [[ 9.48465429e-01 -3.16428149e-01 -1.69280074e-02 1.01888373e+02] [ 3.16375669e-01 9.48616474e-01 -5.76386428e-03 1.45354190e+01] [ 1.78820356e-02 1.11216343e-04 9.99840097e-01 9.32951354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581858064 meters 0.018214450122752586 Centerline is valid? [True, True] Translation: X:101.94, Y:14.56, Z:0.09 [[ 9.50328406e-01 -3.10769371e-01 -1.72719375e-02 1.01942271e+02] [ 3.10713766e-01 9.50485322e-01 -5.88283135e-03 1.45581972e+01] [ 1.82449269e-02 2.23992998e-04 9.99833522e-01 9.40885559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641858064 meters 0.018320225062376308 Centerline is valid? [True, True] Translation: X:102.00, Y:14.58, Z:0.09 [[ 9.50657855e-01 -3.09737547e-01 -1.76718546e-02 1.01997262e+02] [ 3.09679071e-01 9.50822059e-01 -6.02376159e-03 1.45783628e+01] [ 1.86685743e-02 2.53932765e-04 9.99825695e-01 9.49372621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701858064 meters 0.018318023382275294 Centerline is valid? [True, True] Translation: X:102.05, Y:14.60, Z:0.10 [[ 9.50367671e-01 -3.10599168e-01 -1.81506636e-02 1.02052684e+02] [ 3.10537528e-01 9.50540949e-01 -6.19262663e-03 1.45968121e+01] [ 1.91763737e-02 2.48809932e-04 9.99816085e-01 9.58468559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.761858064 meters 0.018148262092756457 Centerline is valid? [True, True] Translation: X:102.11, Y:14.62, Z:0.10 [[ 9.49680119e-01 -3.12685622e-01 -1.83131959e-02 1.02107302e+02] [ 3.12623207e-01 9.49856651e-01 -6.25084138e-03 1.46161416e+01] [ 1.93494591e-02 2.11169764e-04 9.99812759e-01 9.51964520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.821858064 meters 0.01804497933558686 Centerline is valid? [True, True] Translation: X:102.16, Y:14.63, Z:0.10 [[ 9.48940636e-01 -3.14869935e-01 -1.91987770e-02 1.02162639e+02] [ 3.14801669e-01 9.49134812e-01 -6.55880115e-03 1.46334290e+01] [ 2.02873969e-02 1.80105901e-04 9.99794173e-01 9.64041635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881858064 meters 0.01761604363040488 Centerline is valid? [True, True] Translation: X:102.22, Y:14.65, Z:0.10 [[ 9.48869086e-01 -3.15124365e-01 -1.85497306e-02 1.02218796e+02] [ 3.15060583e-01 9.49050370e-01 -6.34228799e-03 1.46522198e+01] [ 1.96032382e-02 1.73712069e-04 9.99807823e-01 9.92954763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941858064 meters 0.01775429919260055 Centerline is valid? [True, True] Translation: X:102.27, Y:14.67, Z:0.10 [[ 9.49025603e-01 -3.14645783e-01 -1.86664381e-02 1.02274241e+02] [ 3.14581001e-01 9.49209142e-01 -6.38736791e-03 1.46722785e+01] [ 1.97281121e-02 1.89668890e-04 9.99805364e-01 1.01095380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001858064 meters 0.017796775545338827 Centerline is valid? [True, True] Translation: X:102.33, Y:14.69, Z:0.10 [[ 9.48892148e-01 -3.15091329e-01 -1.79205638e-02 1.02329760e+02] [ 3.15031607e-01 9.49061338e-01 -6.13705825e-03 1.46916954e+01] [ 1.89414481e-02 1.77862365e-04 9.99820579e-01 1.01741760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061858064 meters 0.01789133629934598 Centerline is valid? [True, True] Translation: X:102.38, Y:14.71, Z:0.10 [[ 9.47846366e-01 -3.18243543e-01 -1.75588729e-02 1.02384493e+02] [ 3.18186714e-01 9.48008984e-01 -6.01503171e-03 1.47099718e+01] [ 1.85602143e-02 1.14325867e-04 9.99827738e-01 9.99812355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.121858064 meters 0.01741784631988346 Centerline is valid? [True, True] Translation: X:102.44, Y:14.73, Z:0.10 [[ 9.46614996e-01 -3.21951365e-01 -1.63513937e-02 1.02440934e+02] [ 3.21902563e-01 9.46756208e-01 -5.60560762e-03 1.47260829e+01] [ 1.72855165e-02 4.27966833e-05 9.99850593e-01 1.02691755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.181858064 meters 0.01737251861282595 Centerline is valid? [True, True] Translation: X:102.50, Y:14.74, Z:0.10 [[ 9.45766470e-01 -3.24474596e-01 -1.55570361e-02 1.02497204e+02] [ 3.24430692e-01 9.45894411e-01 -5.33755203e-03 1.47441729e+01] [ 1.64472136e-02 8.97749065e-07 9.99864735e-01 1.04198505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241858064 meters 0.017644574853197995 Centerline is valid? [True, True] Translation: X:102.55, Y:14.76, Z:0.10 [[ 9.44919134e-01 -3.26914428e-01 -1.59620602e-02 1.02553483e+02] [ 3.26868482e-01 9.45053943e-01 -5.48092105e-03 1.47627430e+01] [ 1.68768001e-02 -3.84672220e-05 9.99857576e-01 1.03837357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301858064 meters 0.017747945612746997 Centerline is valid? [True, True] Translation: X:102.61, Y:14.78, Z:0.10 [[ 9.44646825e-01 -3.27672056e-01 -1.65347846e-02 1.02608651e+02] [ 3.27622824e-01 9.44791523e-01 -5.68010431e-03 1.47818819e+01] [ 1.74831357e-02 -5.14803120e-05 9.99847157e-01 1.03012650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361858064 meters 0.01790820843270258 Centerline is valid? [True, True] Translation: X:102.66, Y:14.80, Z:0.10 [[ 9.44457068e-01 -3.28236363e-01 -1.61782917e-02 1.02663442e+02] [ 3.28189232e-01 9.44595621e-01 -5.56249342e-03 1.48017529e+01] [ 1.71077561e-02 -5.60048901e-05 9.99853650e-01 1.02147314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421858064 meters 0.018123985517156656 Centerline is valid? [True, True] Translation: X:102.72, Y:14.82, Z:0.10 [[ 9.44039815e-01 -3.29462956e-01 -1.55881167e-02 1.02717694e+02] [ 3.29419289e-01 9.44168500e-01 -5.36435504e-03 1.48213146e+01] [ 1.64851650e-02 -7.08615693e-05 9.99864108e-01 1.01283271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.481858064 meters 0.01813954716087032 Centerline is valid? [True, True] Translation: X:102.77, Y:14.84, Z:0.10 [[ 9.43751538e-01 -3.30351014e-01 -1.41859914e-02 1.02772923e+02] [ 3.30314891e-01 9.43858147e-01 -4.88578303e-03 1.48405699e+01] [ 1.50035870e-02 -7.48789678e-05 9.99887437e-01 1.03292305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.541858064 meters 0.018317709343779316 Centerline is valid? [True, True] Translation: X:102.83, Y:14.86, Z:0.10 [[ 9.43643249e-01 -3.30691090e-01 -1.34469866e-02 1.02827249e+02] [ 3.30658608e-01 9.43739052e-01 -4.63542625e-03 1.48596195e+01] [ 1.42233405e-02 -7.21731690e-05 9.99898841e-01 1.03294025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601858064 meters 0.018366834899522066 Centerline is valid? [True, True] Translation: X:102.88, Y:14.88, Z:0.10 [[ 9.44013164e-01 -3.29655258e-01 -1.29056669e-02 1.02881521e+02] [ 3.29625193e-01 9.44101376e-01 -4.45237036e-03 1.48815629e+01] [ 1.36520052e-02 -5.09367309e-05 9.99906806e-01 1.02767755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661858064 meters 0.018659557821706727 Centerline is valid? [True, True] Translation: X:102.94, Y:14.90, Z:0.10 [[ 9.44514581e-01 -3.28249522e-01 -1.20190266e-02 1.02936286e+02] [ 3.28223292e-01 9.44591049e-01 -4.14971360e-03 1.49040919e+01] [ 1.27152064e-02 -2.54594561e-05 9.99919158e-01 1.00749727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721858064 meters 0.018611436207093945 Centerline is valid? [True, True] Translation: X:102.99, Y:14.92, Z:0.10 [[ 9.44293447e-01 -3.28979985e-01 -9.05846656e-03 1.02991350e+02] [ 3.28965096e-01 9.44336894e-01 -3.12993747e-03 1.49248692e+01] [ 9.58393096e-03 -2.43398791e-05 9.99954073e-01 9.98593432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781858064 meters 0.01847939688496131 Centerline is valid? [True, True] Translation: X:103.05, Y:14.94, Z:0.10 [[ 9.43704661e-01 -3.30686643e-01 -8.23757108e-03 1.03046131e+02] [ 3.30674374e-01 9.43740612e-01 -2.84879750e-03 1.49442439e+01] [ 8.71618966e-03 -3.55301779e-05 9.99962013e-01 9.94524656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.841858064 meters 0.01844279328957142 Centerline is valid? [True, True] Translation: X:103.10, Y:14.96, Z:0.10 [[ 9.42697991e-01 -3.33586567e-01 -6.36391690e-03 1.03100348e+02] [ 3.33579304e-01 9.42719471e-01 -2.20176746e-03 1.49628156e+01] [ 6.73386842e-03 -4.72692117e-05 9.99977326e-01 9.80566353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.901858064 meters 0.01848348464477172 Centerline is valid? [True, True] Translation: X:103.16, Y:14.98, Z:0.10 [[ 9.41692353e-01 -3.36429331e-01 -5.55127611e-03 1.03155987e+02] [ 3.36423846e-01 9.41708714e-01 -1.92198612e-03 1.49813693e+01] [ 5.87429759e-03 -5.76620336e-05 9.99982745e-01 9.70624571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.961858064 meters 0.01904684202957693 Centerline is valid? [True, True] Translation: X:103.21, Y:15.00, Z:0.10 [[ 9.40275447e-01 -3.40394697e-01 -3.67881094e-03 1.03211571e+02] [ 3.40392316e-01 9.40282642e-01 -1.27411139e-03 1.49980337e+01] [ 3.89282284e-03 -5.42233181e-05 9.99992421e-01 9.61357173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021858064 meters 0.01889460456573561 Centerline is valid? [True, True] Translation: X:103.27, Y:15.02, Z:0.10 [[ 9.39927596e-01 -3.41368926e-01 -1.83591911e-03 1.03266626e+02] [ 3.41368335e-01 9.39929389e-01 -6.35982952e-04 1.50173661e+01] [ 1.94273914e-03 -2.89467220e-05 9.99998112e-01 9.52294859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081858064 meters 0.01843698400120016 Centerline is valid? [True, True] Translation: X:103.32, Y:15.04, Z:0.09 [[ 9.40051674e-01 -3.41032003e-01 -1.52312625e-04 1.03321256e+02] [ 3.41031999e-01 9.40051686e-01 -5.25609216e-05 1.50374824e+01] [ 1.61106696e-04 -2.53349661e-06 9.99999987e-01 9.49259708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141858064 meters 0.01799142347177052 Centerline is valid? [True, True] Translation: X:103.38, Y:15.06, Z:0.09 [[ 9.40773736e-01 -3.39031764e-01 1.49670941e-03 1.03375934e+02] [ 3.39031367e-01 9.40774927e-01 5.19228612e-04 1.50573272e+01] [-1.58410167e-03 1.89547948e-05 9.99998745e-01 9.45152089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201858064 meters 0.017523873897492527 Centerline is valid? [True, True] Translation: X:103.43, Y:15.08, Z:0.09 [[ 9.41658541e-01 -3.36562049e-01 2.27599416e-03 1.03431332e+02] [ 3.36561122e-01 9.41661291e-01 7.90271974e-04 1.50774953e+01] [-2.40919116e-03 2.18447950e-05 9.99997098e-01 9.49771819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.261858064 meters 0.016923843531529186 Centerline is valid? [True, True] Translation: X:103.49, Y:15.10, Z:0.10 [[ 9.43278770e-01 -3.31974960e-01 4.21771131e-03 1.03485633e+02] [ 3.31971729e-01 9.43288199e-01 1.46476990e-03 1.50978718e+01] [-4.46478424e-03 1.84745718e-05 9.99990033e-01 9.60215065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.321858064 meters 0.016699059686016843 Centerline is valid? [True, True] Translation: X:103.54, Y:15.12, Z:0.10 [[ 9.44478342e-01 -3.28532547e-01 5.19865608e-03 1.03540035e+02] [ 3.28527577e-01 9.44492650e-01 1.80716370e-03 1.51189045e+01] [-5.50380455e-03 1.07491141e-06 9.99984854e-01 9.50577075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381858064 meters 0.016587578743560122 Centerline is valid? [True, True] Translation: X:103.59, Y:15.14, Z:0.09 [[ 9.44721619e-01 -3.27831666e-01 5.24044693e-03 1.03594624e+02] [ 3.27826595e-01 9.44736153e-01 1.82337970e-03 1.51377921e+01] [-5.54860128e-03 -4.62834778e-06 9.99984606e-01 9.43296214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441858064 meters 0.016460976375846155 Centerline is valid? [True, True] Translation: X:103.65, Y:15.16, Z:0.09 [[ 9.45157509e-01 -3.26569965e-01 5.41667179e-03 1.03649673e+02] [ 3.26564517e-01 9.45173030e-01 1.88644351e-03 1.51551987e+01] [-5.73574788e-03 -1.40934394e-05 9.99983550e-01 9.42824779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501858064 meters 0.016490272495522325 Centerline is valid? [True, True] Translation: X:103.70, Y:15.17, Z:0.09 [[ 9.45653171e-01 -3.25117965e-01 6.19597017e-03 1.03704308e+02] [ 3.25110802e-01 9.45673468e-01 2.15823938e-03 1.51729323e+01] [-6.56104699e-03 -2.65690830e-05 9.99978476e-01 9.41307924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561858064 meters 0.016233131562864347 Centerline is valid? [True, True] Translation: X:103.76, Y:15.19, Z:0.09 [[ 9.46003523e-01 -3.24115819e-01 5.12547441e-03 1.03759713e+02] [ 3.24110893e-01 9.46017407e-01 1.78715476e-03 1.51897218e+01] [-5.42803315e-03 -2.94326135e-05 9.99985268e-01 9.33314038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.621858064 meters 0.016340425219320717 Centerline is valid? [True, True] Translation: X:103.81, Y:15.21, Z:0.09 [[ 9.45985544e-01 -3.24170328e-01 4.99481661e-03 1.03814033e+02] [ 3.24165648e-01 9.45998730e-01 1.74213204e-03 1.52066771e+01] [-5.28983769e-03 -2.88837663e-05 9.99986008e-01 9.34939030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.681858064 meters 0.01602544440324766 Centerline is valid? [True, True] Translation: X:103.87, Y:15.22, Z:0.09 [[ 9.45741731e-01 -3.24894654e-01 4.00532926e-03 1.03870240e+02] [ 3.24891645e-01 9.45750212e-01 1.39846513e-03 1.52205571e+01] [-4.24239484e-03 -2.12888177e-05 9.99991001e-01 9.04966650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741858064 meters 0.01583215570487563 Centerline is valid? [True, True] Translation: X:103.93, Y:15.24, Z:0.09 [[ 9.45449468e-01 -3.25754278e-01 3.07463376e-03 1.03926616e+02] [ 3.25752506e-01 9.45454467e-01 1.07455926e-03 1.52366896e+01] [-3.25696850e-03 -1.43718304e-05 9.99994696e-01 8.90250412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801858064 meters 0.015589242497545373 Centerline is valid? [True, True] Translation: X:103.98, Y:15.25, Z:0.09 [[ 9.44926355e-01 -3.27269899e-01 2.93208132e-03 1.03984146e+02] [ 3.27268292e-01 9.44930904e-01 1.02568769e-03 1.52489171e+01] [-3.10629096e-03 -9.62208694e-06 9.99995175e-01 9.01005345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861858064 meters 0.015536971828328486 Centerline is valid? [True, True] Translation: X:104.04, Y:15.26, Z:0.09 [[ 9.44507377e-01 -3.28473440e-01 3.31862785e-03 1.04039726e+02] [ 3.28471388e-01 9.44513207e-01 1.16117962e-03 1.52642800e+01] [-3.51590450e-03 -6.66841818e-06 9.99993819e-01 9.06591075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921858064 meters 0.01521348194455847 Centerline is valid? [True, True] Translation: X:104.10, Y:15.28, Z:0.09 [[ 9.43472219e-01 -3.31435551e-01 3.26317973e-03 1.04096662e+02] [ 3.31433580e-01 9.43477862e-01 1.14295233e-03 1.52788051e+01] [-3.45755287e-03 3.18356689e-06 9.99994023e-01 9.02962203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.981858064 meters 0.015385153432553176 Centerline is valid? [True, True] Translation: X:104.15, Y:15.29, Z:0.09 [[ 9.41678973e-01 -3.36501579e-01 2.72010926e-03 1.04154623e+02] [ 3.36500229e-01 9.41682901e-01 9.53493482e-04 1.52904036e+01] [-2.88233244e-03 1.74326269e-05 9.99995846e-01 9.07725851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.041858064 meters 0.015639378902777407 Centerline is valid? [True, True] Translation: X:104.21, Y:15.31, Z:0.09 [[ 9.40453560e-01 -3.39910860e-01 2.77647646e-03 1.04211679e+02] [ 3.39909466e-01 9.40457658e-01 9.73998280e-04 1.53055916e+01] [-2.94223114e-03 2.77504801e-05 9.99995671e-01 9.09092245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101858064 meters 0.015793773671496418 Centerline is valid? [True, True] Translation: X:104.27, Y:15.32, Z:0.09 [[ 9.39269776e-01 -3.43170176e-01 2.55303534e-03 1.04268741e+02] [ 3.43169007e-01 9.39273245e-01 8.96345660e-04 1.53213511e+01] [-2.70559689e-03 3.42122144e-05 9.99996339e-01 8.99233235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161858064 meters 0.015936711124821454 Centerline is valid? [True, True] Translation: X:104.32, Y:15.34, Z:0.09 [[ 9.39129403e-01 -3.43561155e-01 1.30312352e-03 1.04323525e+02] [ 3.43560850e-01 9.39130307e-01 4.57687162e-04 1.53366907e+01] [-1.38104632e-03 1.78747544e-05 9.99999046e-01 8.90746003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221858064 meters 0.015520717692266272 Centerline is valid? [True, True] Translation: X:104.38, Y:15.36, Z:0.09 [[ 9.39637708e-01 -3.42170426e-01 -6.13969713e-04 1.04379100e+02] [ 3.42170358e-01 9.39637909e-01 -2.15531105e-04 1.53557699e+01] [ 6.50657587e-04 -7.56108286e-06 9.99999788e-01 8.80463937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281858064 meters 0.0149618694643899 Centerline is valid? [True, True] Translation: X:104.43, Y:15.38, Z:0.09 [[ 9.40887037e-01 -3.38716179e-01 -1.71254962e-03 1.04434352e+02] [ 3.38715645e-01 9.40888596e-01 -6.02057767e-04 1.53756159e+01] [ 1.81524512e-03 -1.35990012e-05 9.99998352e-01 8.73317839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.341858064 meters 0.014647371859236782 Centerline is valid? [True, True] Translation: X:104.49, Y:15.40, Z:0.09 [[ 9.42158856e-01 -3.35164912e-01 -1.08273013e-03 1.04488959e+02] [ 3.35164695e-01 9.42159478e-01 -3.80820162e-04 1.53951122e+01] [ 1.14774201e-03 -4.09982503e-06 9.99999341e-01 8.82504913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.401858064 meters 0.01450170412328574 Centerline is valid? [True, True] Translation: X:104.54, Y:15.41, Z:0.09 [[ 9.42997596e-01 -3.32795237e-01 -1.69258260e-03 1.04543418e+02] [ 3.32794704e-01 9.42999115e-01 -5.95774089e-04 1.54141515e+01] [ 1.79437468e-03 -1.46899283e-06 9.99998390e-01 8.83553152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.461858064 meters 0.014577875587903641 Centerline is valid? [True, True] Translation: X:104.60, Y:15.43, Z:0.09 [[ 9.44369885e-01 -3.28866721e-01 -3.49299404e-03 1.04598199e+02] [ 3.28864420e-01 9.44376344e-01 -1.23028463e-03 1.54330600e+01] [ 3.70330061e-03 1.31222977e-05 9.99993143e-01 8.75242476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521858064 meters 0.014556844915128205 Centerline is valid? [True, True] Translation: X:104.65, Y:15.45, Z:0.09 [[ 9.44928548e-01 -3.27256245e-01 -3.65927406e-03 1.04654028e+02] [ 3.27253704e-01 9.44935633e-01 -1.28971257e-03 1.54517291e+01] [ 3.87984494e-03 2.11752322e-05 9.99992473e-01 8.77878512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581858064 meters 0.01457075499025318 Centerline is valid? [True, True] Translation: X:104.71, Y:15.47, Z:0.09 [[ 9.45234079e-01 -3.26365746e-01 -4.23506802e-03 1.04709665e+02] [ 3.26362329e-01 9.45243566e-01 -1.49384085e-03 1.54701718e+01] [ 4.49070928e-03 2.98626191e-05 9.99989916e-01 8.78621018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641858064 meters 0.014547007212853173 Centerline is valid? [True, True] Translation: X:104.77, Y:15.49, Z:0.09 [[ 9.44992938e-01 -3.27065987e-01 -4.02340893e-03 1.04765697e+02] [ 3.27062903e-01 9.45001502e-01 -1.42042178e-03 1.54873956e+01] [ 4.26669913e-03 2.63807419e-05 9.99990897e-01 8.90817970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701858064 meters 0.014359375668099816 Centerline is valid? [True, True] Translation: X:104.82, Y:15.50, Z:0.09 [[ 9.44510281e-01 -3.28449755e-01 -4.59203208e-03 1.04821063e+02] [ 3.28445748e-01 9.44521444e-01 -1.62265863e-03 1.55049748e+01] [ 4.87023461e-03 2.43843514e-05 9.99988140e-01 8.81734859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.761858064 meters 0.014308329923694608 Centerline is valid? [True, True] Translation: X:104.88, Y:15.52, Z:0.09 [[ 9.43982825e-01 -3.29946718e-01 -5.62042497e-03 1.04875029e+02] [ 3.29940736e-01 9.43999557e-01 -1.98702161e-03 1.55222270e+01] [ 5.96128994e-03 2.13071208e-05 9.99982231e-01 8.69398551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.821858064 meters 0.014141258029675113 Centerline is valid? [True, True] Translation: X:104.93, Y:15.54, Z:0.09 [[ 9.42778066e-01 -3.33370020e-01 -5.82654311e-03 1.04931133e+02] [ 3.33363646e-01 9.42796070e-01 -2.06157004e-03 1.55382262e+01] [ 6.18050759e-03 1.24535633e-06 9.99980900e-01 8.78564968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881858064 meters 0.014263027882327592 Centerline is valid? [True, True] Translation: X:104.99, Y:15.55, Z:0.09 [[ 9.41363229e-01 -3.37355112e-01 -5.17686970e-03 1.04986927e+02] [ 3.37350136e-01 9.41377463e-01 -1.83234358e-03 1.55549472e+01] [ 5.49153894e-03 -2.15168298e-05 9.99984921e-01 8.93946112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941858064 meters 0.014661304439886924 Centerline is valid? [True, True] Translation: X:105.04, Y:15.57, Z:0.09 [[ 9.39574708e-01 -3.42305459e-01 -5.13228684e-03 1.05043247e+02] [ 3.42300636e-01 9.39588724e-01 -1.81777890e-03 1.55718182e+01] [ 5.44447449e-03 -4.88459715e-05 9.99985178e-01 9.01311959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001858064 meters 0.01484405270068006 Centerline is valid? [True, True] Translation: X:105.10, Y:15.59, Z:0.09 [[ 9.38147992e-01 -3.46190180e-01 -5.54115155e-03 1.05098960e+02] [ 3.46184617e-01 9.38164353e-01 -1.96413522e-03 1.55901975e+01] [ 5.87847519e-03 -7.56119136e-05 9.99982719e-01 9.09165153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061858064 meters 0.015821185365494643 Centerline is valid? [True, True] Translation: X:105.15, Y:15.61, Z:0.09 [[ 9.36168295e-01 -3.51518773e-01 -4.84513414e-03 1.05154444e+02] [ 3.51514584e-01 9.36180828e-01 -1.71873921e-03 1.56090847e+01] [ 5.14009079e-03 -9.41061583e-05 9.99986785e-01 9.15779749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.121858064 meters 0.016459601227167275 Centerline is valid? [True, True] Translation: X:105.21, Y:15.63, Z:0.09 [[ 9.35220904e-01 -3.54043801e-01 -3.85334640e-03 1.05209772e+02] [ 3.54041168e-01 9.35228838e-01 -1.36792924e-03 1.56295478e+01] [ 4.08806755e-03 -8.49272446e-05 9.99991640e-01 9.18642442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.181858064 meters 0.016522370372472943 Centerline is valid? [True, True] Translation: X:105.26, Y:15.65, Z:0.09 [[ 9.35002706e-01 -3.54632180e-01 -2.44063631e-03 1.05264005e+02] [ 3.54631124e-01 9.35005890e-01 -8.67070395e-04 1.56512599e+01] [ 2.58950039e-03 -5.48124345e-05 9.99996646e-01 9.38603182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241858064 meters 0.016039620805726525 Centerline is valid? [True, True] Translation: X:105.32, Y:15.68, Z:0.09 [[ 9.35578120e-01 -3.53112597e-01 -2.25296245e-03 1.05318156e+02] [ 3.53111691e-01 9.35580831e-01 -8.01026252e-04 1.56756359e+01] [ 2.39068094e-03 -4.61247472e-05 9.99997141e-01 9.37405116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301858064 meters 0.015392536123421185 Centerline is valid? [True, True] Translation: X:105.37, Y:15.70, Z:0.09 [[ 9.36036666e-01 -3.51892144e-01 -2.69788333e-03 1.05372780e+02] [ 3.51890839e-01 9.36040553e-01 -9.60007100e-04 1.56981419e+01] [ 2.86314716e-03 -5.07585824e-05 9.99995900e-01 9.34301100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361858064 meters 0.014332510542189054 Centerline is valid? [True, True] Translation: X:105.43, Y:15.73, Z:0.09 [[ 9.37862586e-01 -3.46987061e-01 -3.70794776e-03 1.05425496e+02] [ 3.46984554e-01 9.37869915e-01 -1.31996910e-03 1.57251581e+01] [ 3.93558485e-03 -4.86509638e-05 9.99992254e-01 9.28457959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421858064 meters 0.013888712038218311 Centerline is valid? [True, True] Translation: X:105.48, Y:15.75, Z:0.09 [[ 9.38958403e-01 -3.44011540e-01 -3.63007290e-03 1.05479176e+02] [ 3.44009112e-01 9.38965419e-01 -1.29309155e-03 1.57496373e+01] [ 3.85335134e-03 -3.46189808e-05 9.99992575e-01 9.27283883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.481858064 meters 0.013562038984046053 Centerline is valid? [True, True] Translation: X:105.53, Y:15.77, Z:0.09 [[ 9.39946015e-01 -3.41304147e-01 -3.60119140e-03 1.05531924e+02] [ 3.41301735e-01 9.39952913e-01 -1.28329981e-03 1.57729937e+01] [ 3.82294589e-03 -2.28603306e-05 9.99992692e-01 9.28910001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.541858064 meters 0.013486120643766713 Centerline is valid? [True, True] Translation: X:105.59, Y:15.79, Z:0.09 [[ 9.40103587e-01 -3.40873052e-01 -3.28764692e-03 1.05586012e+02] [ 3.40871036e-01 9.40109335e-01 -1.17240022e-03 1.57944769e+01] [ 3.49038720e-03 -1.84859589e-05 9.99993908e-01 9.34658960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601858064 meters 0.013332834393027572 Centerline is valid? [True, True] Translation: X:105.64, Y:15.82, Z:0.09 [[ 9.40538826e-01 -3.39667621e-01 -3.55291858e-03 1.05639258e+02] [ 3.39665256e-01 9.40545537e-01 -1.26752921e-03 1.58175197e+01] [ 3.77222035e-03 -1.46425662e-05 9.99992885e-01 9.31108090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661858064 meters 0.01330299587638803 Centerline is valid? [True, True] Translation: X:105.69, Y:15.84, Z:0.09 [[ 9.40814218e-01 -3.38891845e-01 -4.57429212e-03 1.05693109e+02] [ 3.38887910e-01 9.40825338e-01 -1.63314432e-03 1.58398455e+01] [ 4.85706923e-03 -1.36868968e-05 9.99988204e-01 9.20202744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721858064 meters 0.013217354941163125 Centerline is valid? [True, True] Translation: X:105.75, Y:15.86, Z:0.09 [[ 9.41455418e-01 -3.37095998e-01 -5.28999759e-03 1.05746464e+02] [ 3.37090698e-01 9.41470280e-01 -1.89028745e-03 1.58636148e+01] [ 5.61758385e-03 -3.58761885e-06 9.99984221e-01 9.12129641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781858064 meters 0.013261817177641574 Centerline is valid? [True, True] Translation: X:105.80, Y:15.88, Z:0.09 [[ 9.41431769e-01 -3.37147533e-01 -6.14528273e-03 1.05800304e+02] [ 3.37140377e-01 9.41451826e-01 -2.19667884e-03 1.58847167e+01] [ 6.52609250e-03 -3.79968702e-06 9.99978705e-01 9.07802580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.841858064 meters 0.013334151307769056 Centerline is valid? [True, True] Translation: X:105.86, Y:15.90, Z:0.09 [[ 9.40604382e-01 -3.39429601e-01 -7.13733281e-03 1.05855455e+02] [ 3.39420009e-01 9.40631461e-01 -2.55194917e-03 1.59033818e+01] [ 7.57980687e-03 -2.21789930e-05 9.99971273e-01 9.07004682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.901858064 meters 0.013423502803814403 Centerline is valid? [True, True] Translation: X:105.91, Y:15.92, Z:0.09 [[ 9.39801336e-01 -3.41628080e-01 -7.98148923e-03 1.05910415e+02] [ 3.41616146e-01 9.39835227e-01 -2.85582526e-03 1.59233814e+01] [ 8.47691484e-03 -4.26971929e-05 9.99964069e-01 9.15093975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.961858064 meters 0.013938420657835288 Centerline is valid? [True, True] Translation: X:105.97, Y:15.94, Z:0.09 [[ 9.37881155e-01 -3.46838551e-01 -9.05309607e-03 1.05966612e+02] [ 3.46823415e-01 9.37924842e-01 -3.24176862e-03 1.59414359e+01] [ 9.61549404e-03 -9.94320001e-05 9.99953765e-01 9.12945836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021858064 meters 0.01456640414886576 Centerline is valid? [True, True] Translation: X:106.02, Y:15.96, Z:0.09 [[ 9.35999602e-01 -3.51887376e-01 -8.94533127e-03 1.06022869e+02] [ 3.51872805e-01 9.36042335e-01 -3.20566484e-03 1.59588798e+01] [ 9.50124176e-03 -1.47117791e-04 9.99954851e-01 9.22607547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081858064 meters 0.0164561614396172 Centerline is valid? [True, True] Translation: X:106.08, Y:15.97, Z:0.09 [[ 9.33394029e-01 -3.58747438e-01 -8.70989549e-03 1.06080501e+02] [ 3.58733912e-01 9.33434642e-01 -3.12223616e-03 1.59749714e+01] [ 9.25021241e-03 -2.10258298e-04 9.99957194e-01 9.24498054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141858064 meters 0.016955619821287852 Centerline is valid? [True, True] Translation: X:106.14, Y:15.99, Z:0.09 [[ 9.32095530e-01 -3.62098567e-01 -9.08580587e-03 1.06136568e+02] [ 3.62083985e-01 9.32139777e-01 -3.25936621e-03 1.59937837e+01] [ 9.64945289e-03 -2.51784116e-04 9.99953411e-01 9.28055261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201858064 meters 0.01743902501759836 Centerline is valid? [True, True] Translation: X:106.19, Y:16.01, Z:0.09 [[ 9.31328718e-01 -3.64047851e-01 -9.79702885e-03 1.06192505e+02] [ 3.64030976e-01 9.31380200e-01 -3.51725834e-03 1.60134805e+01] [ 1.04052090e-02 -2.90698271e-04 9.99945822e-01 9.29262743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.261858064 meters 0.01716103091134571 Centerline is valid? [True, True] Translation: X:106.25, Y:16.04, Z:0.09 [[ 9.31991718e-01 -3.62363614e-01 -9.16776836e-03 1.06247075e+02] [ 3.62348731e-01 9.32036774e-01 -3.29387572e-03 1.60358566e+01] [ 9.73827796e-03 -2.52064346e-04 9.99952550e-01 9.31751862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.321858064 meters 0.016862321692239928 Centerline is valid? [True, True] Translation: X:106.30, Y:16.06, Z:0.09 [[ 9.32655359e-01 -3.60653645e-01 -9.10658477e-03 1.06302106e+02] [ 3.60638855e-01 9.32699789e-01 -3.27424015e-03 1.60584425e+01] [ 9.67457633e-03 -2.30450682e-04 9.99953174e-01 9.31140366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381858064 meters 0.016828498581322494 Centerline is valid? [True, True] Translation: X:106.36, Y:16.08, Z:0.09 [[ 9.33471903e-01 -3.58549520e-01 -8.51160784e-03 1.06355661e+02] [ 3.58536504e-01 9.33510688e-01 -3.06125913e-03 1.60798675e+01] [ 9.04328988e-03 -1.94122731e-04 9.99959090e-01 9.37766908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441858064 meters 0.016033626617397285 Centerline is valid? [True, True] Translation: X:106.41, Y:16.10, Z:0.09 [[ 9.34174336e-01 -3.56737979e-01 -7.50493311e-03 1.06409540e+02] [ 3.56727786e-01 9.34204469e-01 -2.70110706e-03 1.61036925e+01] [ 7.97472953e-03 -1.53913278e-04 9.99968189e-01 9.48323809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501858064 meters 0.015311963856438331 Centerline is valid? [True, True] Translation: X:106.46, Y:16.13, Z:0.10 [[ 9.34828944e-01 -3.55033073e-01 -6.80897588e-03 1.06463891e+02] [ 3.55024624e-01 9.34853733e-01 -2.45250029e-03 1.61275683e+01] [ 7.23611524e-03 -1.24685843e-04 9.99973811e-01 9.55926051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561858064 meters 0.01489683151492466 Centerline is valid? [True, True] Translation: X:106.52, Y:16.15, Z:0.10 [[ 9.36241176e-01 -3.51314555e-01 -5.52664262e-03 1.06516694e+02] [ 3.51308921e-01 9.36257484e-01 -1.99126800e-03 1.61519561e+01] [ 5.87392195e-03 -7.72517541e-05 9.99982745e-01 9.61658573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.621858064 meters 0.014455353497772647 Centerline is valid? [True, True] Translation: X:106.57, Y:16.18, Z:0.10 [[ 9.37007898e-01 -3.49274674e-01 -4.83747887e-03 1.06570607e+02] [ 3.49270324e-01 9.37020383e-01 -1.74415704e-03 1.61758642e+01] [ 5.14200619e-03 -5.52988887e-05 9.99986778e-01 9.68104534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.681858064 meters 0.01418579528711342 Centerline is valid? [True, True] Translation: X:106.62, Y:16.20, Z:0.10 [[ 9.37558017e-01 -3.47774228e-01 -6.16846609e-03 1.06624491e+02] [ 3.47767110e-01 9.37578307e-01 -2.22582114e-03 1.62006302e+01] [ 6.55750323e-03 -5.83531768e-05 9.99978498e-01 9.52473438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741858064 meters 0.014303019729251026 Centerline is valid? [True, True] Translation: X:106.68, Y:16.22, Z:0.10 [[ 9.37172727e-01 -3.48814318e-01 -5.98758161e-03 1.06678385e+02] [ 3.48807628e-01 9.37191852e-01 -2.16127407e-03 1.62225091e+01] [ 6.36539604e-03 -6.30270249e-05 9.99979739e-01 9.54351727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801858064 meters 0.014497458352988195 Centerline is valid? [True, True] Translation: X:106.73, Y:16.24, Z:0.10 [[ 9.36502445e-01 -3.50618884e-01 -5.43766842e-03 1.06733189e+02] [ 3.50613389e-01 9.36518229e-01 -1.96411433e-03 1.62435924e+01] [ 5.78113118e-03 -6.71214828e-05 9.99983287e-01 9.64758856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861858064 meters 0.014750063216704431 Centerline is valid? [True, True] Translation: X:106.79, Y:16.27, Z:0.10 [[ 9.35708831e-01 -3.52739075e-01 -4.91215178e-03 1.06787964e+02] [ 3.52734613e-01 9.35721721e-01 -1.77562013e-03 1.62658154e+01] [ 5.22273772e-03 -7.12225254e-05 9.99986359e-01 9.64064003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921858064 meters 0.01493318285235786 Centerline is valid? [True, True] Translation: X:106.84, Y:16.29, Z:0.10 [[ 9.35131610e-01 -3.54260553e-01 -5.32272940e-03 1.06842934e+02] [ 3.54255330e-01 9.35146755e-01 -1.92553163e-03 1.62868310e+01] [ 5.65967302e-03 -8.49797675e-05 9.99983980e-01 9.53752484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.981858064 meters 0.015160139690608457 Centerline is valid? [True, True] Translation: X:106.90, Y:16.31, Z:0.10 [[ 9.34641760e-01 -3.55552169e-01 -5.23791702e-03 1.06898105e+02] [ 3.55547123e-01 9.34656433e-01 -1.89631173e-03 1.63073753e+01] [ 5.56989059e-03 -8.99541940e-05 9.99984484e-01 9.53603272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.041858064 meters 0.014941609615104096 Centerline is valid? [True, True] Translation: X:106.95, Y:16.33, Z:0.10 [[ 9.35359573e-01 -3.53664578e-01 -4.88211742e-03 1.06952677e+02] [ 3.53660162e-01 9.35372312e-01 -1.76885178e-03 1.63302577e+01] [ 5.19217767e-03 -7.20979899e-05 9.99986518e-01 9.56371930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101858064 meters 0.014316120061101577 Centerline is valid? [True, True] Translation: X:107.01, Y:16.35, Z:0.10 [[ 9.36979371e-01 -3.49346218e-01 -5.18437517e-03 1.07007229e+02] [ 3.49341165e-01 9.36993712e-01 -1.87973372e-03 1.63542433e+01] [ 5.51440480e-03 -4.98439449e-05 9.99984794e-01 9.52747631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161858064 meters 0.014078377277623061 Centerline is valid? [True, True] Translation: X:107.06, Y:16.38, Z:0.10 [[ 9.37594539e-01 -3.47685879e-01 -5.56860533e-03 1.07062685e+02] [ 3.47680014e-01 9.37611075e-01 -2.01999627e-03 1.63754745e+01] [ 5.92351021e-03 -4.21553022e-05 9.99982455e-01 9.50420867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221858064 meters 0.014089175829598621 Centerline is valid? [True, True] Translation: X:107.12, Y:16.40, Z:0.09 [[ 9.38781173e-01 -3.44478599e-01 -4.94007578e-03 1.07117725e+02] [ 3.44473932e-01 9.38794170e-01 -1.79325778e-03 1.63973633e+01] [ 5.25545328e-03 -1.82506837e-05 9.99986190e-01 9.49352931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281858064 meters 0.013871089355213926 Centerline is valid? [True, True] Translation: X:107.17, Y:16.42, Z:0.09 [[ 9.39225406e-01 -3.43260078e-01 -5.30612628e-03 1.07172386e+02] [ 3.43254665e-01 9.39240394e-01 -1.92780368e-03 1.64174217e+01] [ 5.64546618e-03 -1.07104066e-05 9.99984064e-01 9.48855282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.341858064 meters 0.013936067990327582 Centerline is valid? [True, True] Translation: X:107.23, Y:16.44, Z:0.09 [[ 9.40080215e-01 -3.40913268e-01 -5.22814486e-03 1.07227566e+02] [ 3.40907967e-01 9.40094753e-01 -1.90114449e-03 1.64367515e+01] [ 5.56307693e-03 4.91208379e-06 9.99984526e-01 9.47320314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.401858064 meters 0.01407705057920374 Centerline is valid? [True, True] Translation: X:107.28, Y:16.46, Z:0.10 [[ 9.40702125e-01 -3.39200432e-01 -4.75181498e-03 1.07282607e+02] [ 3.39196024e-01 9.40714126e-01 -1.72943436e-03 1.64561470e+01] [ 5.05672436e-03 1.50858335e-05 9.99987215e-01 9.54549647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.461858064 meters 0.014370275816329782 Centerline is valid? [True, True] Translation: X:107.34, Y:16.48, Z:0.10 [[ 9.41671111e-01 -3.36501936e-01 -4.68674986e-03 1.07336968e+02] [ 3.36497610e-01 9.41682774e-01 -1.70639241e-03 1.64759021e+01] [ 4.98763595e-03 2.97803068e-05 9.99987561e-01 9.52469315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521858064 meters 0.014426617705558024 Centerline is valid? [True, True] Translation: X:107.39, Y:16.49, Z:0.10 [[ 9.42093036e-01 -3.35307380e-01 -5.44716978e-03 1.07393490e+02] [ 3.35301510e-01 9.42108783e-01 -1.98466084e-03 1.64928507e+01] [ 5.79729792e-03 4.32909075e-05 9.99983195e-01 9.58620911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581858064 meters 0.014309516358494997 Centerline is valid? [True, True] Translation: X:107.45, Y:16.51, Z:0.10 [[ 9.41794295e-01 -3.36152327e-01 -5.01198158e-03 1.07449474e+02] [ 3.36147360e-01 9.41807630e-01 -1.82767273e-03 1.65087121e+01] [ 5.33469894e-03 3.65273731e-05 9.99985770e-01 9.72901989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641858064 meters 0.014281898079964389 Centerline is valid? [True, True] Translation: X:107.51, Y:16.52, Z:0.10 [[ 9.41057400e-01 -3.38207253e-01 -5.17923682e-03 1.07506040e+02] [ 3.38201971e-01 9.41071652e-01 -1.89035140e-03 1.65227767e+01] [ 5.51336350e-03 2.73010733e-05 9.99984801e-01 9.77583074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701858064 meters 0.014335506959627526 Centerline is valid? [True, True] Translation: X:107.56, Y:16.54, Z:0.10 [[ 9.40280690e-01 -3.40345936e-01 -6.07194426e-03 1.07562563e+02] [ 3.40338714e-01 9.40300294e-01 -2.21721946e-03 1.65353564e+01] [ 6.46407261e-03 1.82909464e-05 9.99979107e-01 9.76182568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.761858064 meters 0.014355524020160984 Centerline is valid? [True, True] Translation: X:107.62, Y:16.55, Z:0.10 [[ 9.39715634e-01 -3.41895860e-01 -6.46123336e-03 1.07618975e+02] [ 3.41887705e-01 9.39737847e-01 -2.36130311e-03 1.65501872e+01] [ 6.87918528e-03 9.93720045e-06 9.99976338e-01 9.76942511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.821858064 meters 0.014443170876660767 Centerline is valid? [True, True] Translation: X:107.68, Y:16.56, Z:0.10 [[ 9.39126815e-01 -3.43507918e-01 -6.56775979e-03 1.07676201e+02] [ 3.43499518e-01 9.39149781e-01 -2.40233072e-03 1.65640530e+01] [ 6.99332980e-03 7.08812904e-08 9.99975546e-01 9.70823202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881858064 meters 0.014522622369013923 Centerline is valid? [True, True] Translation: X:107.73, Y:16.58, Z:0.10 [[ 9.38891237e-01 -3.44145161e-01 -6.88131847e-03 1.07732563e+02] [ 3.44135940e-01 9.38916454e-01 -2.51925188e-03 1.65804474e+01] [ 7.32797148e-03 -2.80548613e-06 9.99973150e-01 9.65080133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941858064 meters 0.014536742746080529 Centerline is valid? [True, True] Translation: X:107.79, Y:16.59, Z:0.10 [[ 9.39010881e-01 -3.43807454e-01 -7.41623913e-03 1.07788177e+02] [ 3.43796719e-01 9.39040167e-01 -2.71680334e-03 1.65948368e+01] [ 7.89820367e-03 1.42920790e-06 9.99968809e-01 9.53151827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001858064 meters 0.01447692745821924 Centerline is valid? [True, True] Translation: X:107.84, Y:16.61, Z:0.09 [[ 9.39162034e-01 -3.43389052e-01 -7.65727649e-03 1.07843493e+02] [ 3.43377575e-01 9.39193249e-01 -2.80746181e-03 1.66114538e+01] [ 8.15571403e-03 7.32450801e-06 9.99966742e-01 9.48752449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061858064 meters 0.014510862506632692 Centerline is valid? [True, True] Translation: X:107.90, Y:16.63, Z:0.10 [[ 9.39101256e-01 -3.43581572e-01 -6.36670283e-03 1.07899098e+02] [ 3.43573629e-01 9.39122837e-01 -2.33626072e-03 1.66276104e+01] [ 6.78181215e-03 6.55418391e-06 9.99977003e-01 9.64246348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.121858064 meters 0.01445280950220754 Centerline is valid? [True, True] Translation: X:107.96, Y:16.64, Z:0.10 [[ 9.38926722e-01 -3.44089394e-01 -4.37035451e-03 1.07955031e+02] [ 3.44085650e-01 9.38936893e-01 -1.60499792e-03 1.66446788e+01] [ 4.65574984e-03 3.19915803e-06 9.99989162e-01 9.82261553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.181858064 meters 0.01451082774739981 Centerline is valid? [True, True] Translation: X:108.01, Y:16.66, Z:0.10 [[ 9.38945322e-01 -3.44037052e-01 -4.49331952e-03 1.08010733e+02] [ 3.44033088e-01 9.38956073e-01 -1.65157667e-03 1.66616999e+01] [ 4.78723322e-03 4.88959749e-06 9.99988541e-01 9.85898016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241858064 meters 0.014616907859060715 Centerline is valid? [True, True] Translation: X:108.07, Y:16.68, Z:0.10 [[ 9.38775710e-01 -3.44505451e-01 -4.01998754e-03 1.08066295e+02] [ 3.44502277e-01 9.38784317e-01 -1.47885162e-03 1.66799556e+01] [ 4.28337370e-03 3.41512105e-06 9.99990826e-01 9.99713208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301858064 meters 0.01469717910216685 Centerline is valid? [True, True] Translation: X:108.12, Y:16.70, Z:0.10 [[ 9.38274010e-01 -3.45855396e-01 -5.09187323e-03 1.08121841e+02] [ 3.45850314e-01 9.38287826e-01 -1.87486197e-03 1.66974833e+01] [ 5.42607379e-03 -1.89169947e-06 9.99985279e-01 9.96764530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361858064 meters 0.015067994992263795 Centerline is valid? [True, True] Translation: X:108.18, Y:16.71, Z:0.10 [[ 9.37335253e-01 -3.48366494e-01 -6.58864510e-03 1.08178378e+02] [ 3.48358034e-01 9.37358408e-01 -2.42790649e-03 1.67141407e+01] [ 7.02172315e-03 -1.94451018e-05 9.99975347e-01 9.90359867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421858064 meters 0.015128602960911784 Centerline is valid? [True, True] Translation: X:108.23, Y:16.73, Z:0.10 [[ 9.36554351e-01 -3.50450435e-01 -7.10215338e-03 1.08234273e+02] [ 3.50440650e-01 9.36581278e-01 -2.61914717e-03 1.67336208e+01] [ 7.56962516e-03 -3.59095748e-05 9.99971349e-01 9.87672149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.481858064 meters 0.015380698779952712 Centerline is valid? [True, True] Translation: X:108.29, Y:16.75, Z:0.10 [[ 9.35777920e-01 -3.52519266e-01 -7.06056837e-03 1.08289575e+02] [ 3.52509639e-01 9.35804555e-01 -2.60580792e-03 1.67529923e+01] [ 7.52590954e-03 -5.04608888e-05 9.99971679e-01 9.86589736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.541858064 meters 0.01550857695754619 Centerline is valid? [True, True] Translation: X:108.34, Y:16.77, Z:0.10 [[ 9.35653026e-01 -3.52855516e-01 -6.81173430e-03 1.08343596e+02] [ 3.52846557e-01 9.35677820e-01 -2.51502958e-03 1.67727490e+01] [ 7.26103075e-03 -5.03019531e-05 9.99973637e-01 9.79379283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601858064 meters 0.015348080961500234 Centerline is valid? [True, True] Translation: X:108.40, Y:16.80, Z:0.10 [[ 9.35946048e-01 -3.52064541e-01 -7.45353119e-03 1.08397509e+02] [ 3.52053770e-01 9.35975725e-01 -2.75428167e-03 1.67952141e+01] [ 7.94600917e-03 -4.61847107e-05 9.99968429e-01 9.80436278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661858064 meters 0.015410014086832935 Centerline is valid? [True, True] Translation: X:108.45, Y:16.82, Z:0.10 [[ 9.36470925e-01 -3.50671898e-01 -7.17120301e-03 1.08451003e+02] [ 3.50661880e-01 9.36498382e-01 -2.65084554e-03 1.68167141e+01] [ 7.64539705e-03 -3.22277505e-05 9.99970773e-01 9.67802087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721858064 meters 0.015458213699122262 Centerline is valid? [True, True] Translation: X:108.50, Y:16.84, Z:0.10 [[ 9.36726657e-01 -3.49966656e-01 -8.15536065e-03 1.08504761e+02] [ 3.49953651e-01 9.36762157e-01 -3.01711153e-03 1.68381706e+01] [ 8.69552166e-03 -2.77894384e-05 9.99962193e-01 9.75288090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781858064 meters 0.015545850610752372 Centerline is valid? [True, True] Translation: X:108.56, Y:16.86, Z:0.10 [[ 9.36231318e-01 -3.51273555e-01 -8.82091231e-03 1.08559947e+02] [ 3.51258375e-01 9.36272871e-01 -3.26587683e-03 1.68599074e+01] [ 9.40599706e-03 -4.08031532e-05 9.99955762e-01 9.83445475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.841858064 meters 0.015657853365491907 Centerline is valid? [True, True] Translation: X:108.61, Y:16.88, Z:0.10 [[ 9.35133285e-01 -3.54180797e-01 -9.03891244e-03 1.08614746e+02] [ 3.54164969e-01 9.35176966e-01 -3.34914559e-03 1.68808421e+01] [ 9.63918576e-03 -6.93686282e-05 9.99953540e-01 9.84419703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.901858064 meters 0.01621684121829555 Centerline is valid? [True, True] Translation: X:108.67, Y:16.90, Z:0.10 [[ 9.33015277e-01 -3.59718760e-01 -9.21448971e-03 1.08669919e+02] [ 3.59702569e-01 9.33060768e-01 -3.41527819e-03 1.69000287e+01] [ 9.82621848e-03 -1.27968895e-04 9.99951713e-01 1.00051558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.961858064 meters 0.017479032656253637 Centerline is valid? [True, True] Translation: X:108.73, Y:16.92, Z:0.10 [[ 9.30602710e-01 -3.65914493e-01 -9.22934054e-03 1.08726107e+02] [ 3.65898549e-01 9.30648455e-01 -3.42127638e-03 1.69197104e+01] [ 9.84116612e-03 -1.93153244e-04 9.99951556e-01 1.00814946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021858064 meters 0.01825114802442 Centerline is valid? [True, True] Translation: X:108.78, Y:16.94, Z:0.10 [[ 9.29528622e-01 -3.68631144e-01 -9.36061946e-03 1.08781323e+02] [ 3.68614857e-01 9.29575726e-01 -3.47232943e-03 1.69409305e+01] [ 9.98141340e-03 -2.22833809e-04 9.99950160e-01 1.00124416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081858064 meters 0.018546179391057977 Centerline is valid? [True, True] Translation: X:108.84, Y:16.96, Z:0.10 [[ 9.29209706e-01 -3.69425796e-01 -9.69036462e-03 1.08836011e+02] [ 3.69408357e-01 9.29260203e-01 -3.59729441e-03 1.69635756e+01] [ 1.03338035e-02 -2.37060793e-04 9.99946577e-01 9.93522616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141858064 meters 0.0185154034312321 Centerline is valid? [True, True] Translation: X:108.89, Y:16.99, Z:0.10 [[ 9.29539332e-01 -3.68601897e-01 -9.44838305e-03 1.08890086e+02] [ 3.68585250e-01 9.29587324e-01 -3.50999604e-03 1.69869555e+01] [ 1.00768883e-02 -2.19855254e-04 9.99949203e-01 9.93160768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20185806399999 meters 0.017898731287818635 Centerline is valid? [True, True] Translation: X:108.94, Y:17.01, Z:0.10 [[ 9.30993355e-01 -3.64902703e-01 -9.86866822e-03 1.08942753e+02] [ 3.64884324e-01 9.31045639e-01 -3.66703819e-03 1.70127650e+01] [ 1.05262927e-02 -1.86934149e-04 9.99944580e-01 9.86299184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.261858064 meters 0.01643802651554447 Centerline is valid? [True, True] Translation: X:109.00, Y:17.04, Z:0.10 [[ 9.32459338e-01 -3.61148526e-01 -9.55642201e-03 1.08996204e+02] [ 3.61131072e-01 9.32508296e-01 -3.55333052e-03 1.70395920e+01] [ 1.01947229e-02 -1.37784697e-04 9.99948023e-01 1.00547015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.321858064 meters 0.0155399143466518 Centerline is valid? [True, True] Translation: X:109.05, Y:17.07, Z:0.10 [[ 9.35505104e-01 -3.53233832e-01 -7.48732120e-03 1.09049187e+02] [ 3.53222854e-01 9.35535065e-01 -2.78504210e-03 1.70673998e+01] [ 7.98842262e-03 -3.92718671e-05 9.99968091e-01 1.03465395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381858064 meters 0.015300449898845488 Centerline is valid? [True, True] Translation: X:109.10, Y:17.09, Z:0.11 [[ 9.37840005e-01 -3.47028775e-01 -5.21099526e-03 1.09101585e+02] [ 3.47023355e-01 9.37854482e-01 -1.93961843e-03 1.70945352e+01] [ 5.56025867e-03 1.07147017e-05 9.99984542e-01 1.05633213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441858064 meters 0.015429423587836335 Centerline is valid? [True, True] Translation: X:109.16, Y:17.12, Z:0.11 [[ 9.38638573e-01 -3.44867316e-01 -4.91565127e-03 1.09155106e+02] [ 3.44862455e-01 9.38651444e-01 -1.83124085e-03 1.71165944e+01] [ 5.24561828e-03 2.36497313e-05 9.99986241e-01 1.06366625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501858064 meters 0.015540897353228604 Centerline is valid? [True, True] Translation: X:109.21, Y:17.14, Z:0.11 [[ 9.38677968e-01 -3.44767252e-01 -4.38334545e-03 1.09209573e+02] [ 3.44763379e-01 9.38688203e-01 -1.63435204e-03 1.71376606e+01] [ 4.67806572e-03 2.29132665e-05 9.99989058e-01 1.06389909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561858064 meters 0.015385133385849606 Centerline is valid? [True, True] Translation: X:109.26, Y:17.16, Z:0.10 [[ 9.37965385e-01 -3.46696185e-01 -4.76355561e-03 1.09263614e+02] [ 3.46691632e-01 9.37977481e-01 -1.77680537e-03 1.71578193e+01] [ 5.08411954e-03 1.50970651e-05 9.99987076e-01 1.04478194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.621858064 meters 0.015344686069341825 Centerline is valid? [True, True] Translation: X:109.32, Y:17.18, Z:0.10 [[ 9.36923953e-01 -3.49488504e-01 -5.59384191e-03 1.09319149e+02] [ 3.49482266e-01 9.36940652e-01 -2.08813201e-03 1.71761527e+01] [ 5.97087602e-03 1.47235601e-06 9.99982174e-01 1.03876308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.681858064 meters 0.015467748060819618 Centerline is valid? [True, True] Translation: X:109.37, Y:17.19, Z:0.10 [[ 9.35340373e-01 -3.53714015e-01 -4.97820801e-03 1.09374024e+02] [ 3.53709130e-01 9.35353621e-01 -1.85896357e-03 1.71937340e+01] [ 5.31392636e-03 -2.20739456e-05 9.99985881e-01 1.04436689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741858064 meters 0.01567446242609792 Centerline is valid? [True, True] Translation: X:109.43, Y:17.22, Z:0.10 [[ 9.33919189e-01 -3.57441968e-01 -5.49442132e-03 1.09428525e+02] [ 3.57436074e-01 9.33935350e-01 -2.05316685e-03 1.72159915e+01] [ 5.86532229e-03 -4.64124699e-05 9.99982798e-01 1.03880654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801858064 meters 0.01604256066832195 Centerline is valid? [True, True] Translation: X:109.48, Y:17.23, Z:0.10 [[ 9.32989068e-01 -3.59862354e-01 -5.52123435e-03 1.09483860e+02] [ 3.59856440e-01 9.33005403e-01 -2.06413466e-03 1.72344190e+01] [ 5.89414584e-03 -6.10366635e-05 9.99982628e-01 1.03483498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861858064 meters 0.016233473520510563 Centerline is valid? [True, True] Translation: X:109.54, Y:17.25, Z:0.10 [[ 9.32046582e-01 -3.62300230e-01 -5.26425275e-03 1.09539588e+02] [ 3.62294884e-01 9.32061445e-01 -1.96942329e-03 1.72536971e+01] [ 5.62012954e-03 -7.16175913e-05 9.99984204e-01 1.04981750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921858064 meters 0.017642165703284852 Centerline is valid? [True, True] Translation: X:109.59, Y:17.28, Z:0.10 [[ 9.31096450e-01 -3.64736326e-01 -5.17807090e-03 1.09593731e+02] [ 3.64731188e-01 9.31110845e-01 -1.93783397e-03 1.72752118e+01] [ 5.52815642e-03 -8.42936212e-05 9.99984716e-01 1.04177164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.981858064 meters 0.016559681084524835 Centerline is valid? [True, True] Translation: X:109.65, Y:17.30, Z:0.11 [[ 9.30942272e-01 -3.65133780e-01 -4.87943912e-03 1.09646708e+02] [ 3.65129216e-01 9.30955056e-01 -1.82748389e-03 1.72992648e+01] [ 5.20981462e-03 -8.03437766e-05 9.99986426e-01 1.06015889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.041858064 meters 0.01707200828945266 Centerline is valid? [True, True] Translation: X:109.70, Y:17.32, Z:0.11 [[ 9.31139941e-01 -3.64632620e-01 -4.63277696e-03 1.09700851e+02] [ 3.64628496e-01 9.31151463e-01 -1.73574063e-03 1.73193349e+01] [ 4.94672470e-03 -7.30250684e-05 9.99987762e-01 1.06062050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101858064 meters 0.016421561776242415 Centerline is valid? [True, True] Translation: X:109.75, Y:17.35, Z:0.11 [[ 9.31296624e-01 -3.64227917e-01 -4.96207299e-03 1.09753458e+02] [ 3.64223172e-01 9.31309841e-01 -1.86054800e-03 1.73452677e+01] [ 5.29889092e-03 -7.45798965e-05 9.99985958e-01 1.06081297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161858064 meters 0.016351324654164858 Centerline is valid? [True, True] Translation: X:109.81, Y:17.37, Z:0.11 [[ 9.31433889e-01 -3.63879287e-01 -4.77227302e-03 1.09806993e+02] [ 3.63874886e-01 9.31446112e-01 -1.79089738e-03 1.73685492e+01] [ 5.09678561e-03 -6.84077911e-05 9.99987009e-01 1.07077126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221858064 meters 0.016126694744413236 Centerline is valid? [True, True] Translation: X:109.86, Y:17.39, Z:0.11 [[ 9.31662396e-01 -3.63288827e-01 -5.13887954e-03 1.09860337e+02] [ 3.63283706e-01 9.31676566e-01 -1.93014376e-03 1.73916094e+01] [ 5.48897331e-03 -6.86288499e-05 9.99984933e-01 1.07686938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281858064 meters 0.01601966223497498 Centerline is valid? [True, True] Translation: X:109.91, Y:17.41, Z:0.11 [[ 9.31971230e-01 -3.62498498e-01 -4.94621227e-03 1.09914799e+02] [ 3.62493736e-01 9.31984353e-01 -1.85918335e-03 1.74138081e+01] [ 5.28374361e-03 -6.02655712e-05 9.99986039e-01 1.07803423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.341858064 meters 0.015924726703487407 Centerline is valid? [True, True] Translation: X:109.97, Y:17.44, Z:0.11 [[ 9.32367826e-01 -3.61459482e-01 -6.10576200e-03 1.09968002e+02] [ 3.61452190e-01 9.32387816e-01 -2.29698706e-03 1.74364873e+01] [ 6.52320584e-03 -6.53042095e-05 9.99978722e-01 1.06917440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.401858064 meters 0.01576874017054569 Centerline is valid? [True, True] Translation: X:110.02, Y:17.46, Z:0.11 [[ 9.32545253e-01 -3.61001131e-01 -6.12658684e-03 1.10022203e+02] [ 3.60993766e-01 9.32565376e-01 -2.30675790e-03 1.74586803e+01] [ 6.54618497e-03 -6.05035329e-05 9.99978572e-01 1.06218171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.461858064 meters 0.01573689602964335 Centerline is valid? [True, True] Translation: X:110.08, Y:17.48, Z:0.11 [[ 9.32380945e-01 -3.61426884e-01 -6.03162781e-03 1.10076230e+02] [ 3.61419742e-01 9.32400453e-01 -2.27291793e-03 1.74795387e+01] [ 6.44538615e-03 -6.07239968e-05 9.99979226e-01 1.06078050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521858064 meters 0.015687514525547865 Centerline is valid? [True, True] Translation: X:110.13, Y:17.50, Z:0.11 [[ 9.32155318e-01 -3.62017884e-01 -5.43270399e-03 1.10130763e+02] [ 3.62012090e-01 9.32171148e-01 -2.04894195e-03 1.74990148e+01] [ 5.80596354e-03 -5.67723895e-05 9.99983144e-01 1.06487064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581858064 meters 0.01557611413702723 Centerline is valid? [True, True] Translation: X:110.19, Y:17.52, Z:0.11 [[ 9.32595844e-01 -3.60885651e-01 -5.15149318e-03 1.10186008e+02] [ 3.60880416e-01 9.32610071e-01 -1.94434325e-03 1.75199381e+01] [ 5.50602000e-03 -4.57865643e-05 9.99984841e-01 1.06351476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641858064 meters 0.015345147963747724 Centerline is valid? [True, True] Translation: X:110.24, Y:17.54, Z:0.11 [[ 9.34341987e-01 -3.56328590e-01 -5.91505614e-03 1.10240109e+02] [ 3.56321586e-01 9.34360710e-01 -2.23422147e-03 1.75425608e+01] [ 6.32291303e-03 -2.01352584e-05 9.99980010e-01 1.06314333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70185806399999 meters 0.015252459362380405 Centerline is valid? [True, True] Translation: X:110.29, Y:17.57, Z:0.11 [[ 9.35899880e-01 -3.52195816e-01 -7.03718124e-03 1.10293764e+02] [ 3.52185769e-01 9.35926336e-01 -2.66035385e-03 1.75660470e+01] [ 7.52324875e-03 1.14297626e-05 9.99971700e-01 1.05651449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.761858064 meters 0.015441392296024413 Centerline is valid? [True, True] Translation: X:110.35, Y:17.59, Z:0.11 [[ 9.37642359e-01 -3.47517994e-01 -7.61907118e-03 1.10348043e+02] [ 3.47506043e-01 9.37673312e-01 -2.88255888e-03 1.75894879e+01] [ 8.14594079e-03 5.51360261e-05 9.99966820e-01 1.05126475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.821858064 meters 0.015584047615693068 Centerline is valid? [True, True] Translation: X:110.40, Y:17.61, Z:0.11 [[ 9.37924396e-01 -3.46763459e-01 -7.27536793e-03 1.10402526e+02] [ 3.46752521e-01 9.37952611e-01 -2.75486363e-03 1.76084122e+01] [ 7.77923638e-03 6.11016400e-05 9.99969739e-01 1.06090267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881858064 meters 0.015512520888518103 Centerline is valid? [True, True] Translation: X:110.46, Y:17.63, Z:0.11 [[ 9.37417378e-01 -3.48137933e-01 -6.97424481e-03 1.10458331e+02] [ 3.48127905e-01 9.37443320e-01 -2.64284426e-03 1.76268634e+01] [ 7.45803354e-03 4.95189067e-05 9.99972187e-01 1.06152830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941858064 meters 0.015359840452122648 Centerline is valid? [True, True] Translation: X:110.52, Y:17.64, Z:0.11 [[ 9.36140457e-01 -3.51543159e-01 -7.64533471e-03 1.10515143e+02] [ 3.51531204e-01 9.36171676e-01 -2.89932712e-03 1.76426923e+01] [ 8.17658442e-03 2.66037031e-05 9.99966571e-01 1.06367481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001858064 meters 0.015431790915277518 Centerline is valid? [True, True] Translation: X:110.57, Y:17.66, Z:0.11 [[ 9.35592718e-01 -3.53005037e-01 -7.32874153e-03 1.10569795e+02] [ 3.52994078e-01 9.35621421e-01 -2.78160105e-03 1.76615561e+01] [ 7.83884674e-03 1.54433260e-05 9.99969276e-01 1.06387739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061858064 meters 0.015402437809952225 Centerline is valid? [True, True] Translation: X:110.63, Y:17.68, Z:0.11 [[ 9.33970669e-01 -3.57257719e-01 -8.10622822e-03 1.10625715e+02] [ 3.57244462e-01 9.34005847e-01 -3.07771308e-03 1.76761117e+01] [ 8.67080130e-03 -2.14113919e-05 9.99962408e-01 1.06669573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.121858064 meters 0.015608538020274369 Centerline is valid? [True, True] Translation: X:110.68, Y:17.69, Z:0.11 [[ 9.32931771e-01 -3.59941752e-01 -8.95803054e-03 1.10682386e+02] [ 3.59925664e-01 9.32974776e-01 -3.40347749e-03 1.76936425e+01] [ 9.58267019e-03 -4.90128039e-05 9.99954084e-01 1.05756532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.181858064 meters 0.015845165873866786 Centerline is valid? [True, True] Translation: X:110.74, Y:17.71, Z:0.11 [[ 9.31525542e-01 -3.63535362e-01 -1.01096584e-02 1.10740219e+02] [ 3.63515051e-01 9.31580395e-01 -3.84390411e-03 1.77081400e+01] [ 1.08153546e-02 -9.43181291e-05 9.99941508e-01 1.06083926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241858064 meters 0.016249951980108625 Centerline is valid? [True, True] Translation: X:110.80, Y:17.73, Z:0.11 [[ 9.30684512e-01 -3.65684885e-01 -1.00451012e-02 1.10796498e+02] [ 3.65664927e-01 9.30738713e-01 -3.82219729e-03 1.77252230e+01] [ 1.07470844e-02 -1.15881399e-04 9.99942242e-01 1.06981219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301858064 meters 0.016365757294645244 Centerline is valid? [True, True] Translation: X:110.85, Y:17.74, Z:0.11 [[ 9.30310420e-01 -3.66649883e-01 -9.50708242e-03 1.10850899e+02] [ 3.66632046e-01 9.30358989e-01 -3.61855923e-03 1.77436407e+01] [ 1.01717439e-02 -1.19217720e-04 9.99948259e-01 1.06569821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361858064 meters 0.016684362378310762 Centerline is valid? [True, True] Translation: X:110.91, Y:17.76, Z:0.11 [[ 9.29914010e-01 -3.67699510e-01 -7.55008222e-03 1.10906301e+02] [ 3.67688278e-01 9.29944654e-01 -2.87589793e-03 1.77608302e+01] [ 8.07862486e-03 -1.01738946e-04 9.99967362e-01 1.07584810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421858064 meters 0.01673909617152133 Centerline is valid? [True, True] Translation: X:110.96, Y:17.78, Z:0.11 [[ 9.29901945e-01 -3.67726184e-01 -7.73478133e-03 1.10960506e+02] [ 3.67714386e-01 9.29934107e-01 -2.94746304e-03 1.77795119e+01] [ 8.27669630e-03 -1.03338755e-04 9.99965742e-01 1.06683764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.481858064 meters 0.016131639977618392 Centerline is valid? [True, True] Translation: X:111.02, Y:17.80, Z:0.11 [[ 9.30823452e-01 -3.65358188e-01 -9.00529368e-03 1.11015550e+02] [ 3.65342060e-01 9.30867008e-01 -3.43407954e-03 1.78005543e+01] [ 9.63739986e-03 -9.34907712e-05 9.99953555e-01 1.06176655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.541858064 meters 0.016023298304130296 Centerline is valid? [True, True] Translation: X:111.07, Y:17.82, Z:0.11 [[ 9.31435458e-01 -3.63818213e-01 -8.01841858e-03 1.11070753e+02] [ 3.63805350e-01 9.31469969e-01 -3.05998676e-03 1.78211804e+01] [ 8.58219502e-03 -6.69634108e-05 9.99963170e-01 1.07118873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601858064 meters 0.015941379766270546 Centerline is valid? [True, True] Translation: X:111.13, Y:17.84, Z:0.11 [[ 9.32296959e-01 -3.61619245e-01 -7.34180653e-03 1.11126350e+02] [ 3.61608378e-01 9.32325866e-01 -2.80380812e-03 1.78410600e+01] [ 7.85886710e-03 -4.08769718e-05 9.99969118e-01 1.08136523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661858064 meters 0.015825412254259662 Centerline is valid? [True, True] Translation: X:111.18, Y:17.86, Z:0.11 [[ 9.32452445e-01 -3.61249476e-01 -5.59058880e-03 1.11182472e+02] [ 3.61243159e-01 9.32469203e-01 -2.13653798e-03 1.78602714e+01] [ 5.98487511e-03 -2.73418927e-05 9.99982090e-01 1.09719627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721858064 meters 0.01580006482096518 Centerline is valid? [True, True] Translation: X:111.24, Y:17.88, Z:0.11 [[ 9.32378654e-01 -3.61449740e-01 -4.91239782e-03 1.11237366e+02] [ 3.61444857e-01 9.32391594e-01 -1.87885165e-03 1.78789200e+01] [ 5.25938887e-03 -2.37597566e-05 9.99986169e-01 1.10223597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781858064 meters 0.01583240970034578 Centerline is valid? [True, True] Translation: X:111.29, Y:17.90, Z:0.11 [[ 9.32201448e-01 -3.61907617e-01 -4.83083500e-03 1.11291694e+02] [ 3.61902895e-01 9.32213965e-01 -1.84876468e-03 1.78952608e+01] [ 5.17245387e-03 -2.48720604e-05 9.99986622e-01 1.09834585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.841858064 meters 0.015712973384104496 Centerline is valid? [True, True] Translation: X:111.35, Y:17.91, Z:0.11 [[ 9.32486200e-01 -3.61151326e-01 -6.26147134e-03 1.11346558e+02] [ 3.61143363e-01 9.32507222e-01 -2.39826607e-03 1.79146152e+01] [ 6.70500422e-03 -2.49388017e-05 9.99977521e-01 1.08960920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.901858064 meters 0.015663788555709702 Centerline is valid? [True, True] Translation: X:111.40, Y:17.93, Z:0.11 [[ 9.33259131e-01 -3.59130038e-01 -7.28085244e-03 1.11400869e+02] [ 3.59119201e-01 9.33287531e-01 -2.78992025e-03 1.79332633e+01] [ 7.79707296e-03 -1.09753616e-05 9.99969602e-01 1.08006559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.961858064 meters 0.015709615724218345 Centerline is valid? [True, True] Translation: X:111.46, Y:17.95, Z:0.11 [[ 9.33378552e-01 -3.58781408e-01 -8.96549762e-03 1.11456029e+02] [ 3.58764937e-01 9.33421609e-01 -3.43785471e-03 1.79527641e+01] [ 9.60202757e-03 -7.68634155e-06 9.99953899e-01 1.06299743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021858064 meters 0.01559395248271832 Centerline is valid? [True, True] Translation: X:111.51, Y:17.97, Z:0.11 [[ 9.32776675e-01 -3.60330535e-01 -9.46467025e-03 1.11511439e+02] [ 3.60312228e-01 9.32824691e-01 -3.63222631e-03 1.79714591e+01] [ 1.01376802e-02 -2.21804490e-05 9.99948612e-01 1.05588912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081858064 meters 0.015772090915940444 Centerline is valid? [True, True] Translation: X:111.57, Y:17.99, Z:0.11 [[ 9.31227667e-01 -3.64363755e-01 -7.35434032e-03 1.11566859e+02] [ 3.64352819e-01 9.31256705e-01 -2.82343574e-03 1.79874473e+01] [ 7.87753638e-03 -5.03131473e-05 9.99968970e-01 1.07304247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141858064 meters 0.015868704724467813 Centerline is valid? [True, True] Translation: X:111.62, Y:18.01, Z:0.11 [[ 9.30039397e-01 -3.67395208e-01 -6.89057260e-03 1.11622745e+02] [ 3.67385678e-01 9.30064920e-01 -2.64717036e-03 1.80073744e+01] [ 7.38123756e-03 -6.95249627e-05 9.99972756e-01 1.08927472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20185806399999 meters 0.016113768132584975 Centerline is valid? [True, True] Translation: X:111.68, Y:18.03, Z:0.11 [[ 9.28416515e-01 -3.71482305e-01 -6.60844567e-03 1.11678595e+02] [ 3.71473630e-01 9.28440029e-01 -2.54064580e-03 1.80266259e+01] [ 7.07935045e-03 -9.60857781e-05 9.99974936e-01 1.10004495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.261858064 meters 0.016321049855310302 Centerline is valid? [True, True] Translation: X:111.73, Y:18.05, Z:0.11 [[ 9.27608152e-01 -3.73454100e-01 -8.66899640e-03 1.11733245e+02] [ 3.73439246e-01 9.27648648e-01 -3.33393819e-03 1.80473743e+01] [ 9.28685567e-03 -1.44755238e-04 9.99956866e-01 1.09737769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.321858064 meters 0.01663454246031865 Centerline is valid? [True, True] Translation: X:111.79, Y:18.07, Z:0.11 [[ 9.27460327e-01 -3.73778826e-01 -1.03311021e-02 1.11786915e+02] [ 3.73757739e-01 9.27517848e-01 -3.97420693e-03 1.80682396e+01] [ 1.10677560e-02 -1.75410114e-04 9.99938735e-01 1.08116209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381858064 meters 0.016390229406911427 Centerline is valid? [True, True] Translation: X:111.84, Y:18.09, Z:0.11 [[ 9.27507902e-01 -3.73640909e-01 -1.10255636e-02 1.11839764e+02] [ 3.73616841e-01 9.27573414e-01 -4.24477214e-03 1.80920896e+01] [ 1.18130402e-02 -1.82276528e-04 9.99930207e-01 1.07657829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441858064 meters 0.016203340413120416 Centerline is valid? [True, True] Translation: X:111.89, Y:18.12, Z:0.11 [[ 9.27772445e-01 -3.73020626e-01 -9.69031809e-03 1.11893865e+02] [ 3.73001972e-01 9.27823038e-01 -3.73344190e-03 1.81152392e+01] [ 1.03835512e-02 -1.50723242e-04 9.99946078e-01 1.08471708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501858064 meters 0.015914906539683787 Centerline is valid? [True, True] Translation: X:111.95, Y:18.14, Z:0.11 [[ 9.27930902e-01 -3.72635785e-01 -9.31738304e-03 1.11947515e+02] [ 3.72618493e-01 9.27977668e-01 -3.59240937e-03 1.81387687e+01] [ 9.98498367e-03 -1.38321568e-04 9.99950139e-01 1.09749279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561858064 meters 0.0156383651444345 Centerline is valid? [True, True] Translation: X:112.00, Y:18.16, Z:0.11 [[ 9.28872067e-01 -3.70302816e-01 -8.51513259e-03 1.12001395e+02] [ 3.70288254e-01 9.28911091e-01 -3.28547367e-03 1.81637755e+01] [ 9.12642125e-03 -1.01268858e-04 9.99958348e-01 1.09969977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.621858064 meters 0.015175501117413203 Centerline is valid? [True, True] Translation: X:112.05, Y:18.19, Z:0.11 [[ 9.30394171e-01 -3.66432642e-01 -9.68527626e-03 1.12053540e+02] [ 3.66413582e-01 9.30444579e-01 -3.73809850e-03 1.81886051e+01] [ 1.03813741e-02 -7.09117072e-05 9.99946110e-01 1.08903850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.681858064 meters 0.014976790022540412 Centerline is valid? [True, True] Translation: X:112.11, Y:18.21, Z:0.11 [[ 9.31398829e-01 -3.63861637e-01 -1.00464490e-02 1.12107344e+02] [ 3.63840951e-01 9.31453009e-01 -3.88010659e-03 1.82120537e+01] [ 1.07696171e-02 -4.13828315e-05 9.99942005e-01 1.08424725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741858064 meters 0.014868790193105021 Centerline is valid? [True, True] Translation: X:112.16, Y:18.24, Z:0.11 [[ 9.32318202e-01 -3.61531433e-01 -8.82005551e-03 1.12161373e+02] [ 3.61515361e-01 9.32359921e-01 -3.40892710e-03 1.82354060e+01] [ 9.45590056e-03 -1.03807711e-05 9.99955292e-01 1.09958900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801858064 meters 0.014949494246585844 Centerline is valid? [True, True] Translation: X:112.21, Y:18.26, Z:0.11 [[ 9.33934581e-01 -3.57340836e-01 -8.58635503e-03 1.12214420e+02] [ 3.57325418e-01 9.33974050e-01 -3.31960479e-03 1.82586210e+01] [ 9.20566314e-03 3.21708088e-05 9.99957626e-01 1.10005950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861858064 meters 0.015011285126090203 Centerline is valid? [True, True] Translation: X:112.27, Y:18.28, Z:0.11 [[ 9.35125942e-01 -3.54210181e-01 -8.63830053e-03 1.12269231e+02] [ 3.54194421e-01 9.35165837e-01 -3.34198068e-03 1.82797546e+01] [ 9.26200713e-03 6.55349744e-05 9.99957105e-01 1.11827432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921858064 meters 0.015185263924328741 Centerline is valid? [True, True] Translation: X:112.32, Y:18.30, Z:0.11 [[ 9.35272787e-01 -3.53828616e-01 -8.37400961e-03 1.12323526e+02] [ 3.53813767e-01 9.35310272e-01 -3.24236011e-03 1.83012636e+01] [ 8.97953700e-03 6.96512928e-05 9.99959681e-01 1.11550242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.981858064 meters 0.015156112431454143 Centerline is valid? [True, True] Translation: X:112.38, Y:18.32, Z:0.11 [[ 9.35431618e-01 -3.53418348e-01 -7.94720908e-03 1.12378636e+02] [ 3.53404938e-01 9.35465374e-01 -3.07959818e-03 1.83203850e+01] [ 8.52272542e-03 7.21705808e-05 9.99963678e-01 1.12359514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.041858064 meters 0.014971659873051482 Centerline is valid? [True, True] Translation: X:112.43, Y:18.34, Z:0.11 [[ 9.35168911e-01 -3.54097616e-01 -8.60157348e-03 1.12433384e+02] [ 3.54081909e-01 9.35208465e-01 -3.33596686e-03 1.83389963e+01] [ 9.22552224e-03 7.40309294e-05 9.99957441e-01 1.11923994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101858064 meters 0.015017599375596536 Centerline is valid? [True, True] Translation: X:112.49, Y:18.36, Z:0.11 [[ 9.34725305e-01 -3.55264762e-01 -8.69214945e-03 1.12488232e+02] [ 3.55248764e-01 9.34765716e-01 -3.37214353e-03 1.83580498e+01] [ 9.32312707e-03 6.41525427e-05 9.99956537e-01 1.10997444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161858064 meters 0.01485607687045963 Centerline is valid? [True, True] Translation: X:112.54, Y:18.38, Z:0.11 [[ 9.34110329e-01 -3.56843493e-01 -1.00306638e-02 1.12543436e+02] [ 3.56822245e-01 9.34164182e-01 -3.89447975e-03 1.83756483e+01] [ 1.07600066e-02 5.87097920e-05 9.99942108e-01 1.10198540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221858064 meters 0.014691454144322335 Centerline is valid? [True, True] Translation: X:112.60, Y:18.39, Z:0.11 [[ 9.32721675e-01 -3.60464838e-01 -9.76615618e-03 1.12600350e+02] [ 3.60444865e-01 9.32772802e-01 -3.79463051e-03 1.83909782e+01] [ 1.04774357e-02 1.91732800e-05 9.99945110e-01 1.12124336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281858064 meters 0.014636920527123983 Centerline is valid? [True, True] Translation: X:112.66, Y:18.41, Z:0.11 [[ 9.31294742e-01 -3.64157096e-01 -8.92821909e-03 1.12656136e+02] [ 3.64140545e-01 9.31337538e-01 -3.47194225e-03 1.84089825e+01] [ 9.57951799e-03 -1.77250004e-05 9.99954115e-01 1.13151405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.341858064 meters 0.014816544404668603 Centerline is valid? [True, True] Translation: X:112.71, Y:18.43, Z:0.11 [[ 9.29355801e-01 -3.69100551e-01 -7.91068217e-03 1.12712948e+02] [ 3.69087718e-01 9.29389466e-01 -3.07851079e-03 1.84263801e+01] [ 8.48838471e-03 -5.87037696e-05 9.99963971e-01 1.14410835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.401858064 meters 0.015031725738409623 Centerline is valid? [True, True] Translation: X:112.77, Y:18.45, Z:0.12 [[ 9.28338787e-01 -3.71672161e-01 -6.84849859e-03 1.12768729e+02] [ 3.71662598e-01 9.28364045e-01 -2.66706158e-03 1.84467698e+01] [ 7.34917239e-03 -6.93940676e-05 9.99972992e-01 1.15325269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.461858064 meters 0.015160409121115678 Centerline is valid? [True, True] Translation: X:112.82, Y:18.47, Z:0.12 [[ 9.28031672e-01 -3.72450132e-01 -6.17370448e-03 1.12822984e+02] [ 3.72442365e-01 9.28052205e-01 -2.40621652e-03 1.84684539e+01] [ 6.62571572e-03 -6.63039540e-05 9.99978048e-01 1.15488505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521858064 meters 0.015180129635426731 Centerline is valid? [True, True] Translation: X:112.88, Y:18.49, Z:0.11 [[ 9.28103157e-01 -3.72258355e-01 -6.94599910e-03 1.12875083e+02] [ 3.72248506e-01 9.28129146e-01 -2.70885920e-03 1.84914409e+01] [ 7.45517968e-03 -7.15370086e-05 9.99972207e-01 1.13996923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581858064 meters 0.014932068245380148 Centerline is valid? [True, True] Translation: X:112.93, Y:18.52, Z:0.11 [[ 9.29027889e-01 -3.69918784e-01 -8.20216409e-03 1.12928870e+02] [ 3.69904939e-01 9.29064093e-01 -3.20101749e-03 1.85161137e+01] [ 8.80445264e-03 -6.01864873e-05 9.99961238e-01 1.12510129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641858064 meters 0.014783789127342007 Centerline is valid? [True, True] Translation: X:112.98, Y:18.54, Z:0.11 [[ 9.29905904e-01 -3.67710337e-01 -8.00737869e-03 1.12981544e+02] [ 3.67697052e-01 9.29940378e-01 -3.12592176e-03 1.85404668e+01] [ 8.59581851e-03 -3.74764403e-05 9.99963055e-01 1.11077129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70185806399999 meters 0.014754452501912561 Centerline is valid? [True, True] Translation: X:113.03, Y:18.57, Z:0.11 [[ 9.31214879e-01 -3.64420192e-01 -6.06400809e-03 1.13033448e+02] [ 3.64412499e-01 9.31234623e-01 -2.36782734e-03 1.85673786e+01] [ 6.50989838e-03 -4.84429495e-06 9.99978810e-01 1.12383114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.761858064 meters 0.014773855536406932 Centerline is valid? [True, True] Translation: X:113.09, Y:18.59, Z:0.11 [[ 9.31643017e-01 -3.63335398e-01 -5.35521000e-03 1.13086547e+02] [ 3.63329372e-01 9.31658408e-01 -2.09255485e-03 1.85908002e+01] [ 5.74952567e-03 3.80902398e-06 9.99983471e-01 1.14409623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.821858064 meters 0.01488234751652018 Centerline is valid? [True, True] Translation: X:113.14, Y:18.62, Z:0.12 [[ 9.31970927e-01 -3.62514491e-01 -3.66546604e-03 1.13139694e+02] [ 3.62511657e-01 9.31978135e-01 -1.43334533e-03 1.86153611e+01] [ 3.93574266e-03 7.06200423e-06 9.99992255e-01 1.15291651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881858064 meters 0.014978003224684918 Centerline is valid? [True, True] Translation: X:113.19, Y:18.64, Z:0.11 [[ 9.31672271e-01 -3.63283879e-01 -3.40614948e-03 1.13192174e+02] [ 3.63281433e-01 9.31678498e-01 -1.33302371e-03 1.86403246e+01] [ 3.65770226e-03 4.55035608e-06 9.99993311e-01 1.14279300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941858064 meters 0.014973625630589599 Centerline is valid? [True, True] Translation: X:113.25, Y:18.66, Z:0.11 [[ 9.31418288e-01 -3.63922357e-01 -4.52669434e-03 1.13245163e+02] [ 3.63918037e-01 9.31429288e-01 -1.77314506e-03 1.86631104e+01] [ 4.86158282e-03 4.19401810e-06 9.99988182e-01 1.13472005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001858064 meters 0.014837856724915496 Centerline is valid? [True, True] Translation: X:113.30, Y:18.69, Z:0.11 [[ 9.31140877e-01 -3.64606596e-01 -6.22076597e-03 1.13299985e+02] [ 3.64598441e-01 9.31161656e-01 -2.43864640e-03 1.86857736e+01] [ 6.68168531e-03 2.64177295e-06 9.99977677e-01 1.13756802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061858064 meters 0.015002655394664603 Centerline is valid? [True, True] Translation: X:113.35, Y:18.71, Z:0.11 [[ 9.30887400e-01 -3.65249422e-01 -6.44261559e-03 1.13352872e+02] [ 3.65240676e-01 9.30909695e-01 -2.52769899e-03 1.87094036e+01] [ 6.92073390e-03 -1.02132225e-07 9.99976051e-01 1.13779600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.121858064 meters 0.014992524583464095 Centerline is valid? [True, True] Translation: X:113.41, Y:18.73, Z:0.11 [[ 9.30099160e-01 -3.67275199e-01 -4.94778620e-03 1.13405753e+02] [ 3.67270061e-01 9.30112320e-01 -1.94276823e-03 1.87329418e+01] [ 5.31552749e-03 -1.02066330e-05 9.99985872e-01 1.14669560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.181858064 meters 0.015117809281254278 Centerline is valid? [True, True] Translation: X:113.46, Y:18.75, Z:0.12 [[ 9.28817998e-01 -3.70518362e-01 -3.64274838e-03 1.13459929e+02] [ 3.70515600e-01 9.28825141e-01 -1.43081663e-03 1.87533373e+01] [ 3.91362012e-03 -2.07268588e-05 9.99992342e-01 1.16898932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241858064 meters 0.015370017949215335 Centerline is valid? [True, True] Translation: X:113.51, Y:18.78, Z:0.12 [[ 9.27662246e-01 -3.73410959e-01 -2.64834564e-03 1.13514143e+02] [ 3.73409509e-01 9.27666026e-01 -1.04079751e-03 1.87757407e+01] [ 2.84542547e-03 -2.34088851e-05 9.99995951e-01 1.17681007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301858064 meters 0.015608506678166602 Centerline is valid? [True, True] Translation: X:113.57, Y:18.80, Z:0.12 [[ 9.26786984e-01 -3.75582062e-01 -2.00005847e-03 1.13567884e+02] [ 3.75581239e-01 9.26789142e-01 -7.86515182e-04 1.88000382e+01] [ 2.14903347e-03 -2.22524041e-05 9.99997691e-01 1.17913592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361858064 meters 0.015341125603316217 Centerline is valid? [True, True] Translation: X:113.62, Y:18.82, Z:0.12 [[ 9.26864593e-01 -3.75389627e-01 -2.15731299e-03 1.13620915e+02] [ 3.75388667e-01 9.26867104e-01 -8.49023984e-04 1.88249561e+01] [ 2.31825724e-03 -2.29005777e-05 9.99997313e-01 1.18303282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421858064 meters 0.01516084096219986 Centerline is valid? [True, True] Translation: X:113.67, Y:18.85, Z:0.12 [[ 9.27388575e-01 -3.74089781e-01 -2.69565857e-03 1.13674217e+02] [ 3.74088275e-01 9.27392493e-01 -1.06175415e-03 1.88501888e+01] [ 2.89712490e-03 -2.37555975e-05 9.99995803e-01 1.18446859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.481858064 meters 0.014916347129208486 Centerline is valid? [True, True] Translation: X:113.73, Y:18.88, Z:0.12 [[ 9.28682727e-01 -3.70868693e-01 -2.19216626e-03 1.13726140e+02] [ 3.70867687e-01 9.28685314e-01 -8.63766754e-04 1.88774209e+01] [ 2.35617666e-03 -1.08383676e-05 9.99997224e-01 1.18403915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.541858064 meters 0.014793095083326893 Centerline is valid? [True, True] Translation: X:113.78, Y:18.90, Z:0.12 [[ 9.29258966e-01 -3.69424487e-01 -1.82253367e-03 1.13779324e+02] [ 3.69423789e-01 9.29260754e-01 -7.18513333e-04 1.89009632e+01] [ 1.95904543e-03 -5.60233507e-06 9.99998081e-01 1.19776968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601858064 meters 0.0145923353842158 Centerline is valid? [True, True] Translation: X:113.83, Y:18.93, Z:0.12 [[ 9.30228531e-01 -3.66978379e-01 -1.32227735e-03 1.13832002e+02] [ 3.66978008e-01 9.30229471e-01 -5.21648015e-04 1.89267188e+01] [ 1.42145491e-03 5.15663530e-09 9.99998990e-01 1.21127986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661858064 meters 0.014662763935475394 Centerline is valid? [True, True] Translation: X:113.88, Y:18.95, Z:0.12 [[ 9.31102741e-01 -3.64756979e-01 1.81438908e-04 1.13883484e+02] [ 3.64756972e-01 9.31102758e-01 7.19342805e-05 1.89533612e+01] [-1.95176798e-04 -7.97099157e-07 9.99999981e-01 1.21761596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721858064 meters 0.014594731434087042 Centerline is valid? [True, True] Translation: X:113.94, Y:18.98, Z:0.12 [[ 9.30923640e-01 -3.65213445e-01 5.62566308e-04 1.13936399e+02] [ 3.65213377e-01 9.30923810e-01 2.22669738e-04 1.89765853e+01] [-6.05028352e-04 -1.83178246e-06 9.99999817e-01 1.22072307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781858064 meters 0.014448686150053515 Centerline is valid? [True, True] Translation: X:113.99, Y:19.00, Z:0.12 [[ 9.30063027e-01 -3.67399268e-01 -7.37138586e-04 1.13990108e+02] [ 3.67399152e-01 9.30063319e-01 -2.91404953e-04 1.89989814e+01] [ 7.92647527e-04 2.00880703e-07 9.99999686e-01 1.21094281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.841858064 meters 0.014422342096867713 Centerline is valid? [True, True] Translation: X:114.04, Y:19.02, Z:0.12 [[ 9.29605288e-01 -3.68555009e-01 -1.10201137e-03 1.14044006e+02] [ 3.68554750e-01 9.29605941e-01 -4.36137177e-04 1.90210328e+01] [ 1.18517686e-03 -7.16099854e-07 9.99999298e-01 1.20838923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.901858064 meters 0.014402515035643234 Centerline is valid? [True, True] Translation: X:114.10, Y:19.04, Z:0.12 [[ 9.28518197e-01 -3.71286028e-01 -8.01996269e-04 1.14097885e+02] [ 3.71285892e-01 9.28518543e-01 -3.17590381e-04 1.90433728e+01] [ 8.62585279e-04 -2.88145261e-06 9.99999628e-01 1.20353830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.961858064 meters 0.014722832465586621 Centerline is valid? [True, True] Translation: X:114.15, Y:19.06, Z:0.12 [[ 9.26251112e-01 -3.76906936e-01 -1.97646864e-04 1.14153321e+02] [ 3.76906928e-01 9.26251133e-01 -7.81577357e-05 1.90642846e+01] [ 2.12528824e-04 -2.10078267e-06 9.99999977e-01 1.20840330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021858064 meters 0.015657985218490465 Centerline is valid? [True, True] Translation: X:114.21, Y:19.08, Z:0.12 [[ 9.23669897e-01 -3.83188210e-01 -8.46695756e-04 1.14208796e+02] [ 3.83188063e-01 9.23670285e-01 -3.35815552e-04 1.90838153e+01] [ 9.10748270e-04 -1.42609903e-05 9.99999585e-01 1.20704010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081858064 meters 0.015941544152326792 Centerline is valid? [True, True] Translation: X:114.26, Y:19.11, Z:0.12 [[ 9.22284679e-01 -3.86508990e-01 -1.33094632e-03 1.14262983e+02] [ 3.86508630e-01 9.22285639e-01 -5.28119361e-04 1.91072441e+01] [ 1.43163556e-03 -2.73458431e-05 9.99998975e-01 1.19389101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141858064 meters 0.016251055266879567 Centerline is valid? [True, True] Translation: X:114.32, Y:19.13, Z:0.12 [[ 9.21562066e-01 -3.88223239e-01 -2.46497949e-03 1.14316070e+02] [ 3.88222008e-01 9.21565361e-01 -9.79014246e-04 1.91324916e+01] [ 2.65171579e-03 -5.47368955e-05 9.99996483e-01 1.17129658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20185806399999 meters 0.016380680115420963 Centerline is valid? [True, True] Translation: X:114.37, Y:19.16, Z:0.12 [[ 9.21671788e-01 -3.87959068e-01 -2.97932096e-03 1.14369658e+02] [ 3.87957266e-01 9.21676601e-01 -1.18423465e-03 1.91562729e+01] [ 3.20540498e-03 -6.43735480e-05 9.99994861e-01 1.17156613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.261858064 meters 0.01638419365221199 Centerline is valid? [True, True] Translation: X:114.42, Y:19.18, Z:0.12 [[ 9.22136837e-01 -3.86854744e-01 -2.65718735e-03 1.14421867e+02] [ 3.86853305e-01 9.22140664e-01 -1.05668331e-03 1.91810826e+01] [ 2.85908346e-03 -5.35351048e-05 9.99995911e-01 1.17801416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.321858064 meters 0.01584103362717682 Centerline is valid? [True, True] Translation: X:114.47, Y:19.21, Z:0.12 [[ 9.22376815e-01 -3.86287039e-01 -1.82596582e-03 1.14474720e+02] [ 3.86286357e-01 9.22378622e-01 -7.26503469e-04 1.92068568e+01] [ 1.96487071e-03 -3.52357266e-05 9.99998069e-01 1.17995005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381858064 meters 0.016186760125312623 Centerline is valid? [True, True] Translation: X:114.53, Y:19.23, Z:0.12 [[ 9.22989424e-01 -3.84821000e-01 -1.82234685e-03 1.14528329e+02] [ 3.84820317e-01 9.22991223e-01 -7.25576972e-04 1.92301393e+01] [ 1.96122740e-03 -3.15762217e-05 9.99998076e-01 1.18267901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441858064 meters 0.015353240142115613 Centerline is valid? [True, True] Translation: X:114.58, Y:19.26, Z:0.12 [[ 9.23870668e-01 -3.82694809e-01 -2.76989356e-03 1.14581129e+02] [ 3.82693219e-01 9.23874819e-01 -1.10374132e-03 1.92564552e+01] [ 2.98143099e-03 -4.03052529e-05 9.99995555e-01 1.16692688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501858064 meters 0.015084308874307277 Centerline is valid? [True, True] Translation: X:114.63, Y:19.28, Z:0.12 [[ 9.24838334e-01 -3.80350508e-01 -2.74713019e-03 1.14634790e+02] [ 3.80348932e-01 9.24842414e-01 -1.09543597e-03 1.92805286e+01] [ 2.95731214e-03 -3.17668559e-05 9.99995627e-01 1.16263342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561858064 meters 0.014546497544420025 Centerline is valid? [True, True] Translation: X:114.69, Y:19.31, Z:0.11 [[ 9.26886515e-01 -3.75325771e-01 -3.45744679e-03 1.14688345e+02] [ 3.75323236e-01 9.26892963e-01 -1.37964159e-03 1.93063949e+01] [ 3.72249815e-03 -1.88889323e-05 9.99993071e-01 1.14757744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.621858064 meters 0.014537408962421925 Centerline is valid? [True, True] Translation: X:114.74, Y:19.33, Z:0.12 [[ 9.28894003e-01 -3.70329104e-01 -3.50521940e-03 1.14741912e+02] [ 3.70326459e-01 9.28900616e-01 -1.39969782e-03 1.93313163e+01] [ 3.77434930e-03 2.09541863e-06 9.99992877e-01 1.15683158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.681858064 meters 0.014740635743253676 Centerline is valid? [True, True] Translation: X:114.80, Y:19.35, Z:0.12 [[ 9.29856061e-01 -3.67914854e-01 -2.52315831e-03 1.14795165e+02] [ 3.67913473e-01 9.29859484e-01 -1.00828291e-03 1.93549539e+01] [ 2.71714494e-03 9.25404292e-06 9.99996309e-01 1.15541975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741858064 meters 0.014906880770712548 Centerline is valid? [True, True] Translation: X:114.85, Y:19.38, Z:0.12 [[ 9.30035840e-01 -3.67462274e-01 -2.19372353e-03 1.14849012e+02] [ 3.67461227e-01 9.30038428e-01 -8.77334247e-04 1.93756436e+01] [ 2.36263442e-03 9.84395172e-06 9.99997209e-01 1.15917524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801858064 meters 0.014904344900092521 Centerline is valid? [True, True] Translation: X:114.90, Y:19.39, Z:0.12 [[ 9.29214632e-01 -3.69534736e-01 -2.06090575e-03 1.14904128e+02] [ 3.69533815e-01 9.29216917e-01 -8.24890911e-04 1.93948575e+01] [ 2.21985433e-03 4.92633913e-06 9.99997536e-01 1.15657433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861858064 meters 0.014866220940881344 Centerline is valid? [True, True] Translation: X:114.96, Y:19.41, Z:0.12 [[ 9.27602789e-01 -3.73564981e-01 -1.50716034e-03 1.14960357e+02] [ 3.73564493e-01 9.27604013e-01 -6.03684333e-04 1.94118274e+01] [ 1.62356331e-03 -3.04231935e-06 9.99998682e-01 1.16124132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921858064 meters 0.01497761863673164 Centerline is valid? [True, True] Translation: X:115.02, Y:19.43, Z:0.11 [[ 9.26239960e-01 -3.76929896e-01 -1.84123133e-03 1.15015517e+02] [ 3.76929174e-01 9.26241790e-01 -7.37932357e-04 1.94285496e+01] [ 1.98357417e-03 -1.05113692e-05 9.99998033e-01 1.14806965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.981858064 meters 0.015225939084557789 Centerline is valid? [True, True] Translation: X:115.07, Y:19.45, Z:0.11 [[ 9.25414602e-01 -3.78951503e-01 -1.89019251e-03 1.15072040e+02] [ 3.78950745e-01 9.25416532e-01 -7.57948342e-04 1.94470767e+01] [ 2.03644106e-03 -1.48733954e-05 9.99997926e-01 1.14879458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.041858064 meters 0.015296520923498735 Centerline is valid? [True, True] Translation: X:115.13, Y:19.47, Z:0.12 [[ 9.24806342e-01 -3.80436277e-01 -1.21183749e-03 1.15128339e+02] [ 3.80435967e-01 9.24807136e-01 -4.86198940e-04 1.94661779e+01] [ 1.30568367e-03 -1.13867032e-05 9.99999148e-01 1.16145437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101858064 meters 0.015268248855261752 Centerline is valid? [True, True] Translation: X:115.18, Y:19.49, Z:0.11 [[ 9.24755154e-01 -3.80556779e-01 -2.10811717e-03 1.15182994e+02] [ 3.80555837e-01 9.24757556e-01 -8.46628998e-04 1.94870777e+01] [ 2.27168768e-03 -1.93317642e-05 9.99997420e-01 1.14923176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161858064 meters 0.015236459506766413 Centerline is valid? [True, True] Translation: X:115.24, Y:19.51, Z:0.11 [[ 9.25051067e-01 -3.79826763e-01 -3.48607179e-03 1.15235893e+02] [ 3.79824180e-01 9.25057636e-01 -1.40105744e-03 1.95071842e+01] [ 3.75697644e-03 -2.80446741e-05 9.99992942e-01 1.13820439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221858064 meters 0.015350442021394805 Centerline is valid? [True, True] Translation: X:115.29, Y:19.53, Z:0.11 [[ 9.24801961e-01 -3.80431313e-01 -3.65368420e-03 1.15290665e+02] [ 3.80428476e-01 9.24809178e-01 -1.46956317e-03 1.95278582e+01] [ 3.93802853e-03 -3.09106096e-05 9.99992245e-01 1.14119075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281858064 meters 0.015345074472525384 Centerline is valid? [True, True] Translation: X:115.34, Y:19.55, Z:0.12 [[ 9.24529939e-01 -3.81104105e-01 -2.01316431e-03 1.15344218e+02] [ 3.81103244e-01 9.24532131e-01 -8.10044993e-04 1.95475848e+01] [ 2.16994657e-03 -1.83126025e-05 9.99997645e-01 1.15443696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.341858064 meters 0.01544123296586295 Centerline is valid? [True, True] Translation: X:115.40, Y:19.57, Z:0.12 [[ 9.24606508e-01 -3.80923035e-01 -6.67690953e-04 1.15398631e+02] [ 3.80922941e-01 9.24606749e-01 -2.68654813e-04 1.95689432e+01] [ 7.19688368e-04 -5.93881285e-06 9.99999741e-01 1.16716654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.401858064 meters 0.015313417848454998 Centerline is valid? [True, True] Translation: X:115.45, Y:19.59, Z:0.12 [[ 9.25194372e-01 -3.79492942e-01 -6.93892838e-04 1.15453584e+02] [ 3.79492839e-01 9.25194632e-01 -2.79439425e-04 1.95913353e+01] [ 7.48031218e-04 -4.79157997e-06 9.99999720e-01 1.17205845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.461858064 meters 0.01521503754406111 Centerline is valid? [True, True] Translation: X:115.51, Y:19.62, Z:0.12 [[ 9.26911863e-01 -3.75273398e-01 -2.06751902e-03 1.15507393e+02] [ 3.75272472e-01 9.26914169e-01 -8.33654772e-04 1.96154054e+01] [ 2.22926113e-03 -3.15847645e-06 9.99997515e-01 1.16437125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521858064 meters 0.015353597964089517 Centerline is valid? [True, True] Translation: X:115.56, Y:19.64, Z:0.12 [[ 9.28039511e-01 -3.72477319e-01 -1.82016881e-03 1.15560919e+02] [ 3.72476595e-01 9.28041296e-01 -7.34455654e-04 1.96378776e+01] [ 1.96275989e-03 3.63358686e-06 9.99998074e-01 1.16731349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581858064 meters 0.01564493419537797 Centerline is valid? [True, True] Translation: X:115.61, Y:19.66, Z:0.12 [[ 9.29520665e-01 -3.68759056e-01 -2.84460306e-03 1.15614132e+02] [ 3.68757268e-01 9.29525018e-01 -1.14844696e-03 1.96611865e+01] [ 3.06762993e-03 1.85371335e-05 9.99995295e-01 1.15455462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641858064 meters 0.01600836770991703 Centerline is valid? [True, True] Translation: X:115.67, Y:19.68, Z:0.11 [[ 9.30397737e-01 -3.66534208e-01 -3.56731378e-03 1.15669500e+02] [ 3.66531377e-01 9.30404575e-01 -1.44110012e-03 1.96824706e+01] [ 3.84725755e-03 3.32638585e-05 9.99992599e-01 1.13975220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70185806399999 meters 0.016041684316223586 Centerline is valid? [True, True] Translation: X:115.72, Y:19.70, Z:0.11 [[ 9.30349464e-01 -3.66663656e-01 -2.76379415e-03 1.15724116e+02] [ 3.66661955e-01 9.30353569e-01 -1.11729542e-03 1.97034224e+01] [ 2.98097737e-03 2.60970308e-05 9.99995557e-01 1.14256997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.761858064 meters 0.01583036678999279 Centerline is valid? [True, True] Translation: X:115.78, Y:19.72, Z:0.11 [[ 9.29612641e-01 -3.68529622e-01 -2.50104640e-03 1.15780141e+02] [ 3.68528234e-01 9.29616005e-01 -1.01178148e-03 1.97216177e+01] [ 2.69788421e-03 1.88586379e-05 9.99996361e-01 1.13138248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.821858064 meters 0.015518616866142886 Centerline is valid? [True, True] Translation: X:115.84, Y:19.74, Z:0.11 [[ 9.28138450e-01 -3.72229144e-01 -2.11711631e-03 1.15836293e+02] [ 3.72228158e-01 9.28140864e-01 -8.56846973e-04 1.97362239e+01] [ 2.28392558e-03 7.22231674e-06 9.99997392e-01 1.14231215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881858064 meters 0.015501671851517351 Centerline is valid? [True, True] Translation: X:115.89, Y:19.75, Z:0.11 [[ 9.26873876e-01 -3.75368172e-01 -1.88487326e-03 1.15892469e+02] [ 3.75367396e-01 9.26875793e-01 -7.63283277e-04 1.97532273e+01] [ 2.03355565e-03 -5.26392869e-08 9.99997932e-01 1.14606194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941858064 meters 0.015589498355368778 Centerline is valid? [True, True] Translation: X:115.95, Y:19.77, Z:0.11 [[ 9.25256099e-01 -3.79330116e-01 -3.13280362e-03 1.15949584e+02] [ 3.79327992e-01 9.25261402e-01 -1.26968388e-03 1.97695096e+01] [ 3.38029161e-03 -1.35773575e-05 9.99994287e-01 1.12675786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001858064 meters 0.01574988306337936 Centerline is valid? [True, True] Translation: X:116.00, Y:19.79, Z:0.11 [[ 9.24609919e-01 -3.80905422e-01 -2.74900626e-03 1.16004641e+02] [ 3.80903791e-01 9.24614005e-01 -1.11494388e-03 1.97876074e+01] [ 2.96645786e-03 -1.62187329e-05 9.99995600e-01 1.12998758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061858064 meters 0.015974376145109534 Centerline is valid? [True, True] Translation: X:116.06, Y:19.81, Z:0.11 [[ 9.23451631e-01 -3.83705389e-01 -2.69441625e-03 1.16060338e+02] [ 3.83703833e-01 9.23455561e-01 -1.09324607e-03 1.98056602e+01] [ 2.90765808e-03 -2.42979762e-05 9.99995772e-01 1.13475518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.121858064 meters 0.016204074098781263 Centerline is valid? [True, True] Translation: X:116.12, Y:19.82, Z:0.11 [[ 9.22447635e-01 -3.86109428e-01 -3.14155801e-03 1.16116285e+02] [ 3.86107323e-01 9.22452984e-01 -1.27543470e-03 1.98249464e+01] [ 3.39039693e-03 -3.64568291e-05 9.99994252e-01 1.12164993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.181858064 meters 0.016708028420284408 Centerline is valid? [True, True] Translation: X:116.17, Y:19.84, Z:0.11 [[ 9.21551898e-01 -3.88246849e-01 -2.54642571e-03 1.16171157e+02] [ 3.88245473e-01 9.21555415e-01 -1.03426513e-03 1.98427614e+01] [ 2.74822258e-03 -3.55092625e-05 9.99996223e-01 1.11196399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241858064 meters 0.017176558365717947 Centerline is valid? [True, True] Translation: X:116.23, Y:19.86, Z:0.11 [[ 9.20376715e-01 -3.91017416e-01 -3.47609839e-03 1.16227952e+02] [ 3.91014869e-01 9.20383277e-01 -1.41277258e-03 1.98604905e+01] [ 3.75176151e-03 -5.89231710e-05 9.99992960e-01 1.10522919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301858064 meters 0.01682250264264731 Centerline is valid? [True, True] Translation: X:116.28, Y:19.88, Z:0.11 [[ 9.20525403e-01 -3.90671765e-01 -2.92470937e-03 1.16283732e+02] [ 3.90669957e-01 9.20530048e-01 -1.18947182e-03 1.98805060e+01] [ 3.15697591e-03 -4.76570558e-05 9.99995016e-01 1.11984360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361858064 meters 0.01649284953807128 Centerline is valid? [True, True] Translation: X:116.34, Y:19.90, Z:0.11 [[ 9.21591647e-01 -3.88156134e-01 -1.91090033e-03 1.16337989e+02] [ 3.88155356e-01 9.21593628e-01 -7.77627182e-04 1.99037260e+01] [ 2.06291433e-03 -2.50714808e-05 9.99997872e-01 1.12940962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421858064 meters 0.01607597026962847 Centerline is valid? [True, True] Translation: X:116.39, Y:19.93, Z:0.11 [[ 9.23576183e-01 -3.83411717e-01 -1.57779352e-03 1.16392349e+02] [ 3.83411179e-01 9.23577531e-01 -6.42488174e-04 1.99261795e+01] [ 1.70355214e-03 -1.15568987e-05 9.99998549e-01 1.13853307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.481858064 meters 0.0160564163866534 Centerline is valid? [True, True] Translation: X:116.45, Y:19.95, Z:0.11 [[ 9.24488388e-01 -3.81206173e-01 -1.75302097e-03 1.16446742e+02] [ 3.81205504e-01 9.24490050e-01 -7.14375547e-04 1.99483466e+01] [ 1.89297481e-03 -7.82934475e-06 9.99998208e-01 1.12914867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.541858064 meters 0.01610065904017754 Centerline is valid? [True, True] Translation: X:116.50, Y:19.97, Z:0.11 [[ 9.25507530e-01 -3.78723515e-01 -2.07643447e-03 1.16500875e+02] [ 3.78722568e-01 9.25509859e-01 -8.46857281e-04 1.99686956e+01] [ 2.24248534e-03 -2.61980407e-06 9.99997486e-01 1.12316532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601858064 meters 0.01606675295888087 Centerline is valid? [True, True] Translation: X:116.56, Y:19.99, Z:0.11 [[ 9.25959608e-01 -3.77618943e-01 -1.65511141e-03 1.16555931e+02] [ 3.77618338e-01 9.25961087e-01 -6.75509698e-04 1.99886179e+01] [ 1.78765402e-03 4.94273921e-07 9.99998402e-01 1.12022741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661858064 meters 0.01600125063071673 Centerline is valid? [True, True] Translation: X:116.61, Y:20.01, Z:0.11 [[ 9.25950962e-01 -3.77639713e-01 -1.75028668e-03 1.16610905e+02] [ 3.77639037e-01 9.25952616e-01 -7.14937895e-04 2.00079973e+01] [ 1.89067147e-03 1.02085681e-06 9.99998213e-01 1.11339084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721858064 meters 0.015999392156492216 Centerline is valid? [True, True] Translation: X:116.67, Y:20.02, Z:0.11 [[ 9.25492445e-01 -3.78759098e-01 -2.29799516e-03 1.16666589e+02] [ 3.78757932e-01 9.25495298e-01 -9.39498230e-04 2.00248935e+01] [ 2.48262722e-03 -8.85383323e-07 9.99996918e-01 1.11661441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781858064 meters 0.016002393333035103 Centerline is valid? [True, True] Translation: X:116.72, Y:20.04, Z:0.11 [[ 9.24604479e-01 -3.80920133e-01 -2.53192747e-03 1.16721960e+02] [ 3.80918724e-01 9.24607945e-01 -1.03599978e-03 2.00434960e+01] [ 2.73567343e-03 -6.56854207e-06 9.99996258e-01 1.11866012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.841858064 meters 0.01612382957706201 Centerline is valid? [True, True] Translation: X:116.78, Y:20.06, Z:0.11 [[ 9.22296064e-01 -3.86471069e-01 -3.17529468e-03 1.16778230e+02] [ 3.86468884e-01 9.22301530e-01 -1.29993795e-03 2.00589753e+01] [ 3.43096755e-03 -2.82249323e-05 9.99994114e-01 1.11347481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.901858064 meters 0.01658708855763757 Centerline is valid? [True, True] Translation: X:116.83, Y:20.08, Z:0.11 [[ 9.20607948e-01 -3.90478863e-01 -2.69521671e-03 1.16834275e+02] [ 3.90477303e-01 9.20611893e-01 -1.10403092e-03 2.00772506e+01] [ 2.91234930e-03 -3.60413194e-05 9.99995758e-01 1.11495507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.961858064 meters 0.017031799972118553 Centerline is valid? [True, True] Translation: X:116.89, Y:20.10, Z:0.11 [[ 9.18721660e-01 -3.94899636e-01 -2.18835810e-03 1.16888898e+02] [ 3.94898620e-01 9.18724265e-01 -8.96733616e-04 2.00979084e+01] [ 2.36461747e-03 -4.03309983e-05 9.99997203e-01 1.11119335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021858064 meters 0.01798957724760726 Centerline is valid? [True, True] Translation: X:116.94, Y:20.12, Z:0.11 [[ 9.17859872e-01 -3.96899113e-01 -2.08555617e-03 1.16943626e+02] [ 3.96898195e-01 9.17862240e-01 -8.54816403e-04 2.01178281e+01] [ 2.25352913e-03 -4.31518064e-05 9.99997460e-01 1.11342165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081858064 meters 0.017605268719086613 Centerline is valid? [True, True] Translation: X:117.00, Y:20.14, Z:0.11 [[ 9.17357915e-01 -3.98057118e-01 -2.23286882e-03 1.16997701e+02] [ 3.98056068e-01 9.17360631e-01 -9.15699676e-04 2.01422889e+01] [ 2.41284673e-03 -4.87826389e-05 9.99997088e-01 1.11275046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141858064 meters 0.017806099646555665 Centerline is valid? [True, True] Translation: X:117.05, Y:20.17, Z:0.11 [[ 9.17291330e-01 -3.98213040e-01 -1.72954318e-03 1.17049582e+02] [ 3.98212410e-01 9.17292959e-01 -7.09600044e-04 2.01653953e+01] [ 1.86906977e-03 -3.78155878e-05 9.99998253e-01 1.11621455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20185806399999 meters 0.017560817884205156 Centerline is valid? [True, True] Translation: X:117.10, Y:20.19, Z:0.11 [[ 9.17631733e-01 -3.97429630e-01 -1.30081963e-03 1.17101932e+02] [ 3.97429272e-01 9.17632654e-01 -5.33930218e-04 2.01927014e+01] [ 1.40587426e-03 -2.70324875e-05 9.99999011e-01 1.12171448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.261858064 meters 0.017108861843795523 Centerline is valid? [True, True] Translation: X:117.15, Y:20.22, Z:0.11 [[ 9.18169872e-01 -3.96185590e-01 -1.03211478e-03 1.17154969e+02] [ 3.96185364e-01 9.18170451e-01 -4.23885050e-04 2.02186094e+01] [ 1.11559444e-03 -1.97102870e-05 9.99999378e-01 1.12709147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.321858064 meters 0.016864615652050812 Centerline is valid? [True, True] Translation: X:117.21, Y:20.25, Z:0.11 [[ 9.18698989e-01 -3.94958248e-01 3.87665647e-04 1.17207912e+02] [ 3.94958216e-01 9.18699071e-01 1.59640811e-04 2.02450554e+01] [-4.19199525e-04 6.44988042e-06 9.99999912e-01 1.14952523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381858064 meters 0.016538144005480565 Centerline is valid? [True, True] Translation: X:117.26, Y:20.27, Z:0.12 [[ 9.18958011e-01 -3.94351763e-01 1.69150350e-03 1.17260925e+02] [ 3.94351150e-01 9.18959567e-01 6.96285955e-04 2.02716612e+01] [-1.82900491e-03 2.71887921e-05 9.99998327e-01 1.15817907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441858064 meters 0.016366141546474134 Centerline is valid? [True, True] Translation: X:117.31, Y:20.30, Z:0.12 [[ 9.19244013e-01 -3.93680816e-01 2.42068002e-03 1.17313551e+02] [ 3.93679555e-01 9.19247200e-01 9.97039501e-04 2.02993837e+01] [-2.61771865e-03 3.64496390e-05 9.99996573e-01 1.15730144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501858064 meters 0.016200175976617347 Centerline is valid? [True, True] Translation: X:117.37, Y:20.33, Z:0.11 [[ 9.18756267e-01 -3.94819355e-01 2.14466989e-03 1.17366549e+02] [ 3.94818366e-01 9.18758769e-01 8.84017447e-04 2.03261671e+01] [-2.31946146e-03 3.45584917e-05 9.99997309e-01 1.14342232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561858064 meters 0.016393870218929095 Centerline is valid? [True, True] Translation: X:117.42, Y:20.35, Z:0.11 [[ 9.17999153e-01 -3.96581681e-01 7.24515519e-04 1.17420587e+02] [ 3.96581569e-01 9.17999439e-01 2.99006653e-04 2.03498233e+01] [-7.83685401e-04 1.28416472e-05 9.99999693e-01 1.13601139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.621858064 meters 0.01675385960932235 Centerline is valid? [True, True] Translation: X:117.47, Y:20.37, Z:0.11 [[ 9.16908726e-01 -3.99095245e-01 -1.17167331e-03 1.17474646e+02] [ 3.99094954e-01 9.16909475e-01 -4.83276608e-04 2.03734312e+01] [ 1.26719175e-03 -2.44883657e-05 9.99999197e-01 1.11650932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.681858064 meters 0.017212954270108986 Centerline is valid? [True, True] Translation: X:117.53, Y:20.40, Z:0.11 [[ 9.16130247e-01 -4.00869722e-01 -2.97244779e-03 1.17527702e+02] [ 4.00867849e-01 9.16135067e-01 -1.22725951e-03 2.03982103e+01] [ 3.21513483e-03 -6.72291911e-05 9.99994829e-01 1.09126002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741858064 meters 0.01778420756499256 Centerline is valid? [True, True] Translation: X:117.58, Y:20.42, Z:0.11 [[ 9.14898057e-01 -4.03675574e-01 -2.75260398e-03 1.17581390e+02] [ 4.03673979e-01 9.14902195e-01 -1.13690475e-03 2.04209934e+01] [ 2.97730410e-03 -7.10026527e-05 9.99995565e-01 1.09645440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801858064 meters 0.018154608557689356 Centerline is valid? [True, True] Translation: X:117.63, Y:20.45, Z:0.11 [[ 9.14493994e-01 -4.04592681e-01 -2.34460227e-03 1.17634924e+02] [ 4.04591525e-01 9.14496998e-01 -9.68894181e-04 2.04459004e+01] [ 2.53613923e-03 -6.25582999e-05 9.99996782e-01 1.09647794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861858064 meters 0.0172301985108571 Centerline is valid? [True, True] Translation: X:117.69, Y:20.47, Z:0.11 [[ 9.15808599e-01 -4.01609024e-01 -2.19106675e-03 1.17687584e+02] [ 4.01608006e-01 9.15811219e-01 -9.05771835e-04 2.04723100e+01] [ 2.37036966e-03 -5.04363149e-05 9.99997189e-01 1.09793499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921858064 meters 0.01593335531075674 Centerline is valid? [True, True] Translation: X:117.74, Y:20.50, Z:0.11 [[ 9.18872490e-01 -3.94552230e-01 -1.37323669e-03 1.17738988e+02] [ 3.94551822e-01 9.18873516e-01 -5.67764822e-04 2.05031095e+01] [ 1.48584371e-03 -2.01095635e-05 9.99998896e-01 1.09801920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.981858064 meters 0.015372130407937662 Centerline is valid? [True, True] Translation: X:117.79, Y:20.53, Z:0.11 [[ 9.20797685e-01 -3.90040008e-01 -6.44338086e-04 1.17791468e+02] [ 3.90039917e-01 9.20797910e-01 -2.66381093e-04 2.05309723e+01] [ 6.97204447e-04 -6.03448007e-06 9.99999757e-01 1.10465361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.041858064 meters 0.01511226933302213 Centerline is valid? [True, True] Translation: X:117.84, Y:20.56, Z:0.11 [[ 9.22034200e-01 -3.87107998e-01 5.76748441e-04 1.17844027e+02] [ 3.87107924e-01 9.22034380e-01 2.38857339e-04 2.05592377e+01] [-6.24245477e-04 3.02925586e-06 9.99999805e-01 1.12019136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101858064 meters 0.015250309984077868 Centerline is valid? [True, True] Translation: X:117.90, Y:20.58, Z:0.11 [[ 9.21670235e-01 -3.87973108e-01 9.19437740e-04 1.17896368e+02] [ 3.87972921e-01 9.21670693e-01 3.81155111e-04 2.05844809e+01] [-9.95296752e-04 5.41762533e-06 9.99999505e-01 1.12289936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161858064 meters 0.015583299576377073 Centerline is valid? [True, True] Translation: X:117.95, Y:20.61, Z:0.11 [[ 9.20326001e-01 -3.91151545e-01 7.22179993e-04 1.17949169e+02] [ 3.91151430e-01 9.20326284e-01 2.99444682e-04 2.06070740e+01] [-7.81769479e-04 6.89501065e-06 9.99999694e-01 1.12205041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221858064 meters 0.015965562990087705 Centerline is valid? [True, True] Translation: X:118.00, Y:20.63, Z:0.11 [[ 9.18874573e-01 -3.94549752e-01 -1.08495630e-04 1.18002895e+02] [ 3.94549749e-01 9.18874580e-01 -4.48925850e-05 2.06299050e+01] [ 1.17406235e-04 -1.55626866e-06 9.99999993e-01 1.11431864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281858064 meters 0.016844347777436635 Centerline is valid? [True, True] Translation: X:118.06, Y:20.65, Z:0.11 [[ 9.16471896e-01 -4.00098781e-01 -4.79554098e-04 1.18058826e+02] [ 4.00098732e-01 9.16472021e-01 -1.98728093e-04 2.06506047e+01] [ 5.19008781e-04 -9.74027465e-06 9.99999865e-01 1.12692979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.341858064 meters 0.01715380024719458 Centerline is valid? [True, True] Translation: X:118.11, Y:20.67, Z:0.11 [[ 9.15419370e-01 -4.02500878e-01 -6.47570769e-04 1.18113335e+02] [ 4.02500789e-01 9.15419599e-01 -2.68540656e-04 2.06733690e+01] [ 7.00886824e-04 -1.48204268e-05 9.99999754e-01 1.13666793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.401858064 meters 0.017506628279855968 Centerline is valid? [True, True] Translation: X:118.17, Y:20.70, Z:0.11 [[ 9.15667962e-01 -4.01925889e-01 -2.78615999e-03 1.18165854e+02] [ 4.01924229e-01 9.15672199e-01 -1.15670781e-03 2.06974979e+01] [ 3.01612006e-03 -6.06649252e-05 9.99995450e-01 1.14104275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.461858064 meters 0.016282908203314513 Centerline is valid? [True, True] Translation: X:118.22, Y:20.73, Z:0.12 [[ 9.17918114e-01 -3.96752557e-01 -3.70730876e-03 1.18218005e+02] [ 3.96749573e-01 9.17925599e-01 -1.53969687e-03 2.07265594e+01] [ 4.01391229e-03 -5.75575202e-05 9.99991943e-01 1.15186660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521858064 meters 0.015877538473630676 Centerline is valid? [True, True] Translation: X:118.27, Y:20.75, Z:0.12 [[ 9.19469375e-01 -3.93138503e-01 -4.26456355e-03 1.18270425e+02] [ 3.93134511e-01 9.19479263e-01 -1.77224889e-03 2.07529736e+01] [ 4.61791702e-03 -4.70185273e-05 9.99989336e-01 1.15703860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581858064 meters 0.015410756817514566 Centerline is valid? [True, True] Translation: X:118.32, Y:20.78, Z:0.12 [[ 9.20836620e-01 -3.89916167e-01 -5.03013217e-03 1.18322478e+02] [ 3.89910557e-01 9.20850358e-01 -2.09188773e-03 2.07816581e+01] [ 5.44765986e-03 -3.50148076e-05 9.99985161e-01 1.15627159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641858064 meters 0.014995658434674873 Centerline is valid? [True, True] Translation: X:118.37, Y:20.81, Z:0.12 [[ 9.21293594e-01 -3.88821305e-01 -6.00892412e-03 1.18374374e+02] [ 3.88813263e-01 9.21313189e-01 -2.50092676e-03 2.08088547e+01] [ 6.50851464e-03 -3.22615884e-05 9.99978819e-01 1.15866496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70185806399999 meters 0.014861234927488578 Centerline is valid? [True, True] Translation: X:118.43, Y:20.83, Z:0.12 [[ 9.21259997e-01 -3.88896885e-01 -6.26341808e-03 1.18427598e+02] [ 3.88888136e-01 9.21281288e-01 -2.60891798e-03 2.08328962e+01] [ 6.78496996e-03 -3.22772060e-05 9.99976981e-01 1.15835225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.761858064 meters 0.014738041659483085 Centerline is valid? [True, True] Translation: X:118.48, Y:20.86, Z:0.12 [[ 9.21076157e-01 -3.89330890e-01 -6.33811925e-03 1.18480853e+02] [ 3.89321927e-01 9.21097963e-01 -2.64208960e-03 2.08559933e+01] [ 6.86667582e-03 -3.40030661e-05 9.99976424e-01 1.15411629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.821858064 meters 0.014647944889254881 Centerline is valid? [True, True] Translation: X:118.54, Y:20.88, Z:0.11 [[ 9.20700185e-01 -3.90204164e-01 -7.20269329e-03 1.18536000e+02] [ 3.90192599e-01 9.20728358e-01 -3.00457214e-03 2.08777687e+01] [ 7.80412053e-03 -4.41274849e-05 9.99969546e-01 1.12536935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881858064 meters 0.014723417144380123 Centerline is valid? [True, True] Translation: X:118.59, Y:20.90, Z:0.11 [[ 9.20600525e-01 -3.90426424e-01 -7.86648747e-03 1.18590561e+02] [ 3.90412616e-01 9.20634132e-01 -3.28394535e-03 2.08986492e+01] [ 8.52429590e-03 -4.79741382e-05 9.99963666e-01 1.10597696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941858064 meters 0.014850825442386877 Centerline is valid? [True, True] Translation: X:118.65, Y:20.92, Z:0.11 [[ 9.20540648e-01 -3.90559340e-01 -8.26539431e-03 1.18645242e+02] [ 3.90544078e-01 9.20577753e-01 -3.45306344e-03 2.09175927e+01] [ 8.95756430e-03 -4.93155442e-05 9.99959879e-01 1.08244304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001858064 meters 0.014771351319453951 Centerline is valid? [True, True] Translation: X:118.70, Y:20.94, Z:0.11 [[ 9.20224698e-01 -3.91323741e-01 -7.22743866e-03 1.18700315e+02] [ 3.91312077e-01 9.20253078e-01 -3.02174152e-03 2.09371962e+01] [ 7.83355187e-03 -4.75028566e-05 9.99969316e-01 1.08461451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061858064 meters 0.014817818948247834 Centerline is valid? [True, True] Translation: X:118.76, Y:20.95, Z:0.11 [[ 9.20219360e-01 -3.91347979e-01 -6.56412753e-03 1.18756039e+02] [ 3.91338344e-01 9.20242771e-01 -2.74655470e-03 2.09541862e+01] [ 7.11544954e-03 -4.13619794e-05 9.99974684e-01 1.08176204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.121858064 meters 0.014733612792018843 Centerline is valid? [True, True] Translation: X:118.81, Y:20.97, Z:0.11 [[ 9.21141347e-01 -3.89202803e-01 -4.44936129e-03 1.18811938e+02] [ 3.89198345e-01 9.21152093e-01 -1.86294384e-03 2.09733501e+01] [ 4.82360143e-03 -1.56494501e-05 9.99988366e-01 1.08108317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.181858064 meters 0.01468239279112263 Centerline is valid? [True, True] Translation: X:118.87, Y:20.99, Z:0.11 [[ 9.22741192e-01 -3.85408931e-01 -2.94075760e-03 1.18866811e+02] [ 3.85406963e-01 9.22745878e-01 -1.23166765e-03 2.09930326e+01] [ 3.18826766e-03 3.12201906e-06 9.99994917e-01 1.08007765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241858064 meters 0.014813204382666043 Centerline is valid? [True, True] Translation: X:118.92, Y:21.01, Z:0.11 [[ 9.23637414e-01 -3.83259560e-01 -2.45712775e-03 1.18921288e+02] [ 3.83258177e-01 9.23640682e-01 -1.02973019e-03 2.10124944e+01] [ 2.66415709e-03 9.38302923e-06 9.99996451e-01 1.08434568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301858064 meters 0.014896910534990272 Centerline is valid? [True, True] Translation: X:118.98, Y:21.03, Z:0.11 [[ 9.24339452e-01 -3.81560800e-01 -2.81666231e-03 1.18976642e+02] [ 3.81558972e-01 9.24343743e-01 -1.18129038e-03 2.10324437e+01] [ 3.05429829e-03 1.71905295e-05 9.99995335e-01 1.07069199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361858064 meters 0.014917669262099092 Centerline is valid? [True, True] Translation: X:119.03, Y:21.05, Z:0.11 [[ 9.24205348e-01 -3.81874296e-01 -4.06156571e-03 1.19031931e+02] [ 3.81870491e-01 9.24214272e-01 -1.70479341e-03 2.10519828e+01] [ 4.40477378e-03 2.45870952e-05 9.99990299e-01 1.05349772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421858064 meters 0.014730826038362215 Centerline is valid? [True, True] Translation: X:119.09, Y:21.07, Z:0.10 [[ 9.22361031e-01 -3.86298778e-01 -4.83563048e-03 1.19088826e+02] [ 3.86293440e-01 9.22373707e-01 -2.03061751e-03 2.10668251e+01] [ 5.24468347e-03 4.99012194e-06 9.99986247e-01 1.03355244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.481858064 meters 0.014908764206795273 Centerline is valid? [True, True] Translation: X:119.14, Y:21.08, Z:0.10 [[ 9.20445582e-01 -3.90846716e-01 -4.33296148e-03 1.19144785e+02] [ 3.90842475e-01 9.20455781e-01 -1.82076417e-03 2.10830857e+01] [ 4.69993914e-03 -1.75910536e-05 9.99988955e-01 1.03786579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.541858064 meters 0.015168191521052053 Centerline is valid? [True, True] Translation: X:119.20, Y:21.10, Z:0.10 [[ 9.18798840e-01 -3.94699999e-01 -4.53904165e-03 1.19201381e+02] [ 3.94695386e-01 9.18810051e-01 -1.90871085e-03 2.11015853e+01] [ 4.92388526e-03 -3.78174852e-05 9.99987877e-01 1.03862369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601858064 meters 0.015741220270182186 Centerline is valid? [True, True] Translation: X:119.26, Y:21.12, Z:0.10 [[ 9.17206985e-01 -3.98376828e-01 -5.22008431e-03 1.19257282e+02] [ 3.98370781e-01 9.17221837e-01 -2.19581264e-03 2.11193913e+01] [ 5.66273620e-03 -6.55143739e-05 9.99983964e-01 1.03714870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661858064 meters 0.01636562216221829 Centerline is valid? [True, True] Translation: X:119.31, Y:21.14, Z:0.10 [[ 9.15997390e-01 -4.01166365e-01 -3.78530365e-03 1.19313089e+02] [ 4.01163206e-01 9.16005210e-01 -1.59317742e-03 2.11395526e+01] [ 4.10648706e-03 -5.91781913e-05 9.99991567e-01 1.04022113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721858064 meters 0.016985419616959988 Centerline is valid? [True, True] Translation: X:119.37, Y:21.16, Z:0.11 [[ 9.15038020e-01 -4.03361100e-01 -2.29002357e-03 1.19367342e+02] [ 4.03359950e-01 9.15040885e-01 -9.64193031e-04 2.11609145e+01] [ 2.48438316e-03 -4.14305115e-05 9.99996913e-01 1.05858484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781858064 meters 0.016589241810720967 Centerline is valid? [True, True] Translation: X:119.42, Y:21.19, Z:0.11 [[ 9.14439231e-01 -4.04722276e-01 -8.78644104e-04 1.19420083e+02] [ 4.04722107e-01 9.14439653e-01 -3.70013124e-04 2.11881131e+01] [ 9.53219563e-04 -1.72521764e-05 9.99999546e-01 1.06379337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.841858064 meters 0.016853955633594615 Centerline is valid? [True, True] Translation: X:119.47, Y:21.21, Z:0.11 [[ 9.13881068e-01 -4.05981561e-01 -6.04402435e-04 1.19473578e+02] [ 4.05981481e-01 9.13881268e-01 -2.54628338e-04 2.12125388e+01] [ 6.55726474e-04 -1.26761783e-05 9.99999785e-01 1.05534881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.901858064 meters 0.016953124701271773 Centerline is valid? [True, True] Translation: X:119.53, Y:21.24, Z:0.10 [[ 9.14249428e-01 -4.05147588e-01 -1.84801429e-03 1.19526339e+02] [ 4.05146840e-01 9.14251295e-01 -7.79423410e-04 2.12365912e+01] [ 2.00533098e-03 -3.61297458e-05 9.99997989e-01 1.04907485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.961858064 meters 0.01814275494296968 Centerline is valid? [True, True] Translation: X:119.58, Y:21.26, Z:0.10 [[ 9.14632856e-01 -4.04276162e-01 -2.74308855e-03 1.19579218e+02] [ 4.04274508e-01 9.14636968e-01 -1.15740685e-03 2.12593452e+01] [ 2.97684219e-03 -5.03584430e-05 9.99995568e-01 1.03387762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021858064 meters 0.01708954739209527 Centerline is valid? [True, True] Translation: X:119.63, Y:21.29, Z:0.10 [[ 9.14217141e-01 -4.05215024e-01 -2.79350630e-03 1.19631707e+02] [ 4.05213312e-01 9.14221407e-01 -1.17936826e-03 2.12864815e+01] [ 3.03178100e-03 -5.37672609e-05 9.99995403e-01 1.02900975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081858064 meters 0.01811796145723909 Centerline is valid? [True, True] Translation: X:119.69, Y:21.31, Z:0.10 [[ 9.12738559e-01 -4.08539007e-01 -2.05013129e-03 1.19685895e+02] [ 4.08538093e-01 9.12740860e-01 -8.65882910e-04 2.13076824e+01] [ 2.22498554e-03 -4.72320066e-05 9.99997524e-01 1.04512112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141858064 meters 0.018439055381064873 Centerline is valid? [True, True] Translation: X:119.74, Y:21.33, Z:0.11 [[ 9.11577559e-01 -4.11125453e-01 -1.48871574e-03 1.19739689e+02] [ 4.11124973e-01 9.11578774e-01 -6.29049359e-04 2.13312525e+01] [ 1.61569987e-03 -3.86209389e-05 9.99998694e-01 1.05912488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20185806399999 meters 0.018872139446921187 Centerline is valid? [True, True] Translation: X:119.79, Y:21.36, Z:0.11 [[ 9.10026879e-01 -4.14547652e-01 1.14998621e-03 1.19793505e+02] [ 4.14547369e-01 9.10027605e-01 4.86217525e-04 2.13559669e+01] [-1.24807953e-03 3.42527397e-05 9.99999221e-01 1.08285267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.261858064 meters 0.020082675737185748 Centerline is valid? [True, True] Translation: X:119.85, Y:21.38, Z:0.11 [[ 9.08788484e-01 -4.17253007e-01 1.84909056e-03 1.19847048e+02] [ 4.17252278e-01 9.08790363e-01 7.81936258e-04 2.13792168e+01] [-2.00670094e-03 6.09225824e-05 9.99997985e-01 1.09655064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.321858064 meters 0.019629043198479985 Centerline is valid? [True, True] Translation: X:119.90, Y:21.41, Z:0.11 [[ 9.08500826e-01 -4.17882990e-01 2.37457195e-04 1.19899022e+02] [ 4.17882978e-01 9.08500857e-01 1.00706613e-04 2.14064894e+01] [-2.57813645e-04 7.73727890e-06 9.99999967e-01 1.08494965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381858064 meters 0.01982861920575947 Centerline is valid? [True, True] Translation: X:119.95, Y:21.43, Z:0.11 [[ 9.08646527e-01 -4.17565586e-01 -6.85409891e-04 1.19952373e+02] [ 4.17565486e-01 9.08646785e-01 -2.89984981e-04 2.14317213e+01] [ 7.43883243e-04 -2.27096684e-05 9.99999723e-01 1.07679583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441858064 meters 0.019407279627577774 Centerline is valid? [True, True] Translation: X:120.00, Y:21.46, Z:0.11 [[ 9.09690528e-01 -4.15277022e-01 -2.85267196e-03 1.20004789e+02] [ 4.15275274e-01 9.09694997e-01 -1.20816025e-03 2.14603604e+01] [ 3.09678260e-03 -8.55921933e-05 9.99995201e-01 1.07051364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501858064 meters 0.018110658462871656 Centerline is valid? [True, True] Translation: X:120.06, Y:21.49, Z:0.11 [[ 9.10556853e-01 -4.13373344e-01 -2.94885462e-03 1.20056342e+02] [ 4.13371463e-01 9.10561625e-01 -1.24964176e-03 2.14899475e+01] [ 3.20168245e-03 -8.11024841e-05 9.99994871e-01 1.06767457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561858064 meters 0.01798146414890827 Centerline is valid? [True, True] Translation: X:120.11, Y:21.52, Z:0.11 [[ 9.10556112e-01 -4.13383180e-01 -1.38330729e-03 1.20107997e+02] [ 4.13382766e-01 9.10557162e-01 -5.86500538e-04 2.15181789e+01] [ 1.50202982e-03 -3.77937439e-05 9.99998871e-01 1.08402258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.621858064 meters 0.017921709430254246 Centerline is valid? [True, True] Translation: X:120.16, Y:21.54, Z:0.11 [[ 9.10122441e-01 -4.14339078e-01 -5.20728358e-04 1.20160926e+02] [ 4.14339020e-01 9.10122590e-01 -2.20792740e-04 2.15437814e+01] [ 5.65409702e-04 -1.48096501e-05 9.99999840e-01 1.10133937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.681858064 meters 0.017821723618377992 Centerline is valid? [True, True] Translation: X:120.21, Y:21.57, Z:0.11 [[ 9.10360053e-01 -4.13816698e-01 5.61531636e-04 1.20212834e+02] [ 4.13816629e-01 9.10360226e-01 2.38750827e-04 2.15717308e+01] [-6.09995145e-04 1.50219135e-05 9.99999814e-01 1.11493694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741858064 meters 0.0170918765283121 Centerline is valid? [True, True] Translation: X:120.26, Y:21.60, Z:0.11 [[ 9.12021939e-01 -4.10140051e-01 -1.05897198e-03 1.20263597e+02] [ 4.10139805e-01 9.12022554e-01 -4.49878134e-04 2.16040638e+01] [ 1.15031937e-03 -2.40278316e-05 9.99999338e-01 1.10247701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801858064 meters 0.016284968582354037 Centerline is valid? [True, True] Translation: X:120.31, Y:21.64, Z:0.11 [[ 9.14295210e-01 -4.05034415e-01 -3.37506571e-03 1.20313938e+02] [ 4.05031878e-01 9.14301438e-01 -1.43472332e-03 2.16362265e+01] [ 3.66693975e-03 -5.52485456e-05 9.99993275e-01 1.08218793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861858064 meters 0.01592629191500878 Centerline is valid? [True, True] Translation: X:120.37, Y:21.67, Z:0.11 [[ 9.15423707e-01 -4.02469502e-01 -4.21148692e-03 1.20366060e+02] [ 4.02465519e-01 9.15433393e-01 -1.79128751e-03 2.16652970e+01] [ 4.57627435e-03 -5.51912127e-05 9.99989527e-01 1.06700393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921858064 meters 0.015880569992916697 Centerline is valid? [True, True] Translation: X:120.42, Y:21.70, Z:0.10 [[ 9.16164501e-01 -4.00757935e-01 -5.97371763e-03 1.20416372e+02] [ 4.00749880e-01 9.16183974e-01 -2.54166045e-03 2.16958113e+01] [ 6.49161495e-03 -6.53875445e-05 9.99978927e-01 1.04238551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.981858064 meters 0.016006836333510573 Centerline is valid? [True, True] Translation: X:120.47, Y:21.72, Z:0.10 [[ 9.15747250e-01 -4.01709834e-01 -6.01522760e-03 1.20468922e+02] [ 4.01701677e-01 9.15767003e-01 -2.56089437e-03 2.17218046e+01] [ 6.53728340e-03 -7.11950374e-05 9.99978629e-01 1.03904920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041858064 meters 0.016481860704222893 Centerline is valid? [True, True] Translation: X:120.52, Y:21.75, Z:0.10 [[ 9.14095584e-01 -4.05457223e-01 -5.80544677e-03 1.20522360e+02] [ 4.05449690e-01 9.14114015e-01 -2.47324735e-03 2.17474888e+01] [ 6.30963625e-03 -9.30321163e-05 9.99980090e-01 1.04310313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101858064 meters 0.016788978157503732 Centerline is valid? [True, True] Translation: X:120.58, Y:21.77, Z:0.10 [[ 9.13371098e-01 -4.07074363e-01 -6.61066968e-03 1.20575160e+02] [ 4.07064624e-01 9.13395013e-01 -2.81821791e-03 2.17730402e+01] [ 7.18537698e-03 -1.16890983e-04 9.99974178e-01 1.03379024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161858064 meters 0.01673474120914132 Centerline is valid? [True, True] Translation: X:120.63, Y:21.80, Z:0.10 [[ 9.13768670e-01 -4.06199458e-01 -5.36818493e-03 1.20627090e+02] [ 4.06193013e-01 9.13784434e-01 -2.29000879e-03 2.18013236e+01] [ 5.83556416e-03 -8.79809247e-05 9.99982969e-01 1.04141124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221858064 meters 0.01644690533125573 Centerline is valid? [True, True] Translation: X:120.68, Y:21.83, Z:0.10 [[ 9.15573197e-01 -4.02121135e-01 -4.93089720e-03 1.20677576e+02] [ 4.02115634e-01 9.15586473e-01 -2.10408507e-03 2.18302939e+01] [ 5.36075985e-03 -5.63469571e-05 9.99985629e-01 1.03429676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281858064 meters 0.015696888460495412 Centerline is valid? [True, True] Translation: X:120.73, Y:21.86, Z:0.10 [[ 9.18135779e-01 -3.96212881e-01 -6.48419287e-03 1.20728530e+02] [ 3.96203209e-01 9.18158675e-01 -2.76858529e-03 2.18604044e+01] [ 7.05046709e-03 -2.71208060e-05 9.99975145e-01 1.02122079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341858064 meters 0.015593909793973335 Centerline is valid? [True, True] Translation: X:120.78, Y:21.89, Z:0.10 [[ 9.19359830e-01 -3.93356881e-01 -6.91859458e-03 1.20780244e+02] [ 3.93345772e-01 9.19385862e-01 -2.95633387e-03 2.18867667e+01] [ 7.52375232e-03 -3.46531894e-06 9.99971696e-01 1.01295335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401858064 meters 0.015578173599513618 Centerline is valid? [True, True] Translation: X:120.83, Y:21.91, Z:0.10 [[ 9.19994856e-01 -3.91865039e-01 -7.15927395e-03 1.20833357e+02] [ 3.91853079e-01 9.20022712e-01 -3.06154007e-03 2.19094611e+01] [ 7.78640516e-03 1.12175719e-05 9.99969685e-01 1.01142784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461858064 meters 0.015552935795770252 Centerline is valid? [True, True] Translation: X:120.89, Y:21.93, Z:0.10 [[ 9.20049138e-01 -3.91741946e-01 -6.91608008e-03 1.20886080e+02] [ 3.91730773e-01 9.20075131e-01 -2.95866013e-03 2.19310778e+01] [ 7.52234457e-03 1.28713017e-05 9.99971707e-01 1.00881953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52185806399999 meters 0.015523466020437238 Centerline is valid? [True, True] Translation: X:120.94, Y:21.95, Z:0.10 [[ 9.19704734e-01 -3.92561220e-01 -6.23620332e-03 1.20940377e+02] [ 3.92552142e-01 9.19725877e-01 -2.66972672e-03 2.19506339e+01] [ 6.78362874e-03 7.32533510e-06 9.99976991e-01 1.02125659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.581858064 meters 0.015561380685038552 Centerline is valid? [True, True] Translation: X:120.99, Y:21.97, Z:0.10 [[ 9.19752649e-01 -3.92455152e-01 -5.83255387e-03 1.20994169e+02] [ 3.92447197e-01 9.19771142e-01 -2.49883647e-03 2.19716540e+01] [ 6.34529598e-03 9.34204778e-06 9.99979868e-01 1.02245993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.641858064 meters 0.015599802042365765 Centerline is valid? [True, True] Translation: X:121.05, Y:21.99, Z:0.10 [[ 9.20045060e-01 -3.91783352e-01 -4.78466331e-03 1.21049421e+02] [ 3.91777981e-01 9.20057501e-01 -2.05144783e-03 2.19893603e+01] [ 5.20588848e-03 1.28987110e-05 9.99986449e-01 1.03581804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701858064 meters 0.015748898142396103 Centerline is valid? [True, True] Translation: X:121.11, Y:22.01, Z:0.10 [[ 9.20847425e-01 -3.89894737e-01 -4.70248196e-03 1.21105564e+02] [ 3.89889517e-01 9.20859432e-01 -2.01760766e-03 2.20078151e+01] [ 5.11697947e-03 2.44604019e-05 9.99986908e-01 1.03750928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761858064 meters 0.01601202888843137 Centerline is valid? [True, True] Translation: X:121.16, Y:22.03, Z:0.10 [[ 9.21859541e-01 -3.87485632e-01 -5.46555902e-03 1.21160737e+02] [ 3.87478529e-01 9.21875742e-01 -2.34667555e-03 2.20277335e+01] [ 5.94786933e-03 4.55184808e-05 9.99982310e-01 1.04145216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821858064 meters 0.01638319017102187 Centerline is valid? [True, True] Translation: X:121.22, Y:22.05, Z:0.10 [[ 9.23071505e-01 -3.84574646e-01 -6.42947430e-03 1.21215593e+02] [ 3.84564740e-01 9.23093893e-01 -2.76141350e-03 2.20458001e+01] [ 6.99697808e-03 7.64330025e-05 9.99975518e-01 1.03367845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881858064 meters 0.01667879382987474 Centerline is valid? [True, True] Translation: X:121.27, Y:22.06, Z:0.10 [[ 9.23473364e-01 -3.83601620e-01 -6.83694433e-03 1.21271937e+02] [ 3.83590386e-01 9.23498668e-01 -2.93713084e-03 2.20607309e+01] [ 7.44059713e-03 8.97759829e-05 9.99972314e-01 1.03546385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941858064 meters 0.01673758277767578 Centerline is valid? [True, True] Translation: X:121.33, Y:22.08, Z:0.10 [[ 9.23209036e-01 -3.84245921e-01 -6.33624299e-03 1.21327579e+02] [ 3.84236281e-01 9.23230776e-01 -2.72295179e-03 2.20773498e+01] [ 6.89609765e-03 7.92392555e-05 9.99976218e-01 1.04647480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001858064 meters 0.01597423001579625 Centerline is valid? [True, True] Translation: X:121.39, Y:22.09, Z:0.11 [[ 9.21675695e-01 -3.87939572e-01 -4.09906540e-03 1.21387014e+02] [ 3.87935569e-01 9.21684809e-01 -1.76260132e-03 2.20889245e+01] [ 4.46182911e-03 3.43735245e-05 9.99990045e-01 1.06915811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061858064 meters 0.015600966227477165 Centerline is valid? [True, True] Translation: X:121.45, Y:22.10, Z:0.11 [[ 9.19879210e-01 -3.92191255e-01 -2.87373044e-03 1.21446261e+02] [ 3.92189306e-01 9.19883699e-01 -1.23648128e-03 2.21000179e+01] [ 3.12843493e-03 1.03670799e-05 9.99995106e-01 1.07938112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121858064 meters 0.015551458271084628 Centerline is valid? [True, True] Translation: X:121.50, Y:22.12, Z:0.11 [[ 9.18963623e-01 -3.94333114e-01 -2.69365438e-03 1.21502583e+02] [ 3.94331408e-01 9.18967570e-01 -1.15987624e-03 2.21150050e+01] [ 2.93275863e-03 3.69154708e-06 9.99995699e-01 1.08139794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181858064 meters 0.015557867953704958 Centerline is valid? [True, True] Translation: X:121.56, Y:22.13, Z:0.11 [[ 9.18294665e-01 -3.95891392e-01 -2.21666735e-03 1.21558845e+02] [ 3.95890240e-01 9.18297341e-01 -9.54926265e-04 2.21283990e+01] [ 2.41360682e-03 -6.53275122e-07 9.99997087e-01 1.07950912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241858064 meters 0.01576277762590656 Centerline is valid? [True, True] Translation: X:121.62, Y:22.14, Z:0.11 [[ 9.17949596e-01 -3.96677989e-01 -3.88732981e-03 1.21616054e+02] [ 3.96674452e-01 9.17957827e-01 -1.67516456e-03 2.21424685e+01] [ 4.23290573e-03 -4.28778754e-06 9.99991041e-01 1.06787147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.301858064 meters 0.01582389409305279 Centerline is valid? [True, True] Translation: X:121.67, Y:22.16, Z:0.11 [[ 9.17260349e-01 -3.98261234e-01 -4.63047654e-03 1.21672445e+02] [ 3.98256229e-01 9.17272037e-01 -1.99678957e-03 2.21591717e+01] [ 5.04265053e-03 -1.25402277e-05 9.99987286e-01 1.06223065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.361858064 meters 0.01595536720702021 Centerline is valid? [True, True] Translation: X:121.73, Y:22.17, Z:0.11 [[ 9.15866463e-01 -4.01453051e-01 -4.90611261e-03 1.21730219e+02] [ 4.01447473e-01 9.15879603e-01 -2.11635722e-03 2.21725397e+01] [ 5.34302654e-03 -3.12459073e-05 9.99985725e-01 1.06539013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421858064 meters 0.016103533730841797 Centerline is valid? [True, True] Translation: X:121.79, Y:22.19, Z:0.11 [[ 9.15495653e-01 -4.02293612e-01 -5.24966022e-03 1.21785237e+02] [ 4.02287231e-01 9.15510704e-01 -2.26609723e-03 2.21916138e+01] [ 5.71775656e-03 -3.72691075e-05 9.99983653e-01 1.06684057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481858064 meters 0.015951503169288277 Centerline is valid? [True, True] Translation: X:121.84, Y:22.22, Z:0.11 [[ 9.16424524e-01 -4.00192358e-01 -3.48833534e-03 1.21838100e+02] [ 4.00189521e-01 9.16431163e-01 -1.50672462e-03 2.22167531e+01] [ 3.79979889e-03 -1.51958518e-05 9.99992781e-01 1.07182960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541858064 meters 0.015961452177354958 Centerline is valid? [True, True] Translation: X:121.89, Y:22.24, Z:0.11 [[ 9.16559830e-01 -3.99877731e-01 -3.98476744e-03 1.21889877e+02] [ 3.99874025e-01 9.16568492e-01 -1.72184912e-03 2.22397085e+01] [ 4.34084140e-03 -1.52272581e-05 9.99990578e-01 1.07423878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601858064 meters 0.015898915804158763 Centerline is valid? [True, True] Translation: X:121.94, Y:22.26, Z:0.11 [[ 9.16791108e-01 -3.99341812e-01 -4.49230852e-03 1.21942686e+02] [ 3.99337087e-01 9.16802115e-01 -1.94253399e-03 2.22644937e+01] [ 4.89429300e-03 -1.30475107e-05 9.99988023e-01 1.07016297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661858064 meters 0.016016151755480712 Centerline is valid? [True, True] Translation: X:122.00, Y:22.29, Z:0.10 [[ 9.16603789e-01 -3.99764547e-01 -5.07938055e-03 1.21995010e+02] [ 3.99758504e-01 9.16617863e-01 -2.19813844e-03 2.22900807e+01] [ 5.53458876e-03 -1.57035464e-05 9.99984684e-01 1.04711874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721858064 meters 0.016220992676458344 Centerline is valid? [True, True] Translation: X:122.05, Y:22.31, Z:0.10 [[ 9.16586620e-01 -3.99788371e-01 -6.18274990e-03 1.22048067e+02] [ 3.99779404e-01 9.16607472e-01 -2.67776745e-03 2.23143771e+01] [ 6.73769504e-03 -1.73302563e-05 9.99977301e-01 1.03854361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781858064 meters 0.016224233155451396 Centerline is valid? [True, True] Translation: X:122.10, Y:22.34, Z:0.10 [[ 9.16656818e-01 -3.99625331e-01 -6.31443127e-03 1.22101138e+02] [ 3.99615959e-01 9.16678566e-01 -2.73693217e-03 2.23380975e+01] [ 6.88205123e-03 -1.45199707e-05 9.99976318e-01 1.03813144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841858064 meters 0.016359579709501165 Centerline is valid? [True, True] Translation: X:122.15, Y:22.36, Z:0.10 [[ 9.16403345e-01 -4.00199117e-01 -6.75102950e-03 1.22154071e+02] [ 4.00188402e-01 9.16428211e-01 -2.92844432e-03 2.23609299e+01] [ 7.35879472e-03 -1.80475399e-05 9.99972924e-01 1.02560687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901858064 meters 0.016443315199936925 Centerline is valid? [True, True] Translation: X:122.21, Y:22.38, Z:0.10 [[ 9.16292147e-01 -4.00470435e-01 -5.66846550e-03 1.22208170e+02] [ 4.00462882e-01 9.16309680e-01 -2.45957467e-03 2.23814988e+01] [ 6.17905675e-03 -1.63210738e-05 9.99980909e-01 1.03750508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961858064 meters 0.016457122679956044 Centerline is valid? [True, True] Translation: X:122.26, Y:22.40, Z:0.10 [[ 9.16277640e-01 -4.00520270e-01 -4.33598901e-03 1.22261812e+02] [ 4.00515845e-01 9.16287899e-01 -1.88262225e-03 2.24049566e+01] [ 4.72704263e-03 -1.16276346e-05 9.99988827e-01 1.04839200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02185806399999 meters 0.016579500518742466 Centerline is valid? [True, True] Translation: X:122.31, Y:22.43, Z:0.10 [[ 9.16756991e-01 -3.99424353e-01 -4.09956773e-03 1.22314349e+02] [ 3.99420380e-01 9.16766157e-01 -1.78132353e-03 2.24294207e+01] [ 4.46984895e-03 -4.41010002e-06 9.99990010e-01 1.04772660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.081858064 meters 0.016778981415481602 Centerline is valid? [True, True] Translation: X:122.37, Y:22.45, Z:0.10 [[ 9.17518750e-01 -3.97668050e-01 -4.41199344e-03 1.22367104e+02] [ 3.97663422e-01 9.17529357e-01 -1.91857913e-03 2.24533613e+01] [ 4.81109113e-03 5.84391305e-06 9.99988427e-01 1.03299593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.141858064 meters 0.016783271486904856 Centerline is valid? [True, True] Translation: X:122.42, Y:22.48, Z:0.10 [[ 9.17398769e-01 -3.97946916e-01 -4.21307218e-03 1.22419982e+02] [ 3.97942693e-01 9.17408443e-01 -1.83348973e-03 2.24767597e+01] [ 4.59473957e-03 5.47993472e-06 9.99989444e-01 1.02872150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201858064 meters 0.01668971427899826 Centerline is valid? [True, True] Translation: X:122.47, Y:22.50, Z:0.10 [[ 9.16352989e-01 -4.00346957e-01 -4.41754699e-03 1.22471970e+02] [ 4.00342335e-01 9.16363636e-01 -1.92358280e-03 2.24996181e+01] [ 4.81817994e-03 -5.85023227e-06 9.99988392e-01 1.02827193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261858064 meters 0.016645371121757818 Centerline is valid? [True, True] Translation: X:122.52, Y:22.52, Z:0.10 [[ 9.15219809e-01 -4.02928564e-01 -4.61228873e-03 1.22524699e+02] [ 4.02923552e-01 9.15231431e-01 -2.00984893e-03 2.25229641e+01] [ 5.03113716e-03 -1.89462006e-05 9.99987344e-01 1.02155955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321858064 meters 0.016759247650217125 Centerline is valid? [True, True] Translation: X:122.58, Y:22.54, Z:0.10 [[ 9.13866374e-01 -4.05975817e-01 -5.64675245e-03 1.22579775e+02] [ 4.05968351e-01 9.13883819e-01 -2.46235881e-03 2.25447768e+01] [ 6.16013382e-03 -4.21358611e-05 9.99981025e-01 1.01958590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381858064 meters 0.017407316405491365 Centerline is valid? [True, True] Translation: X:122.63, Y:22.57, Z:0.10 [[ 9.11607375e-01 -4.11018344e-01 -5.99284654e-03 1.22633976e+02] [ 4.11010032e-01 9.11627070e-01 -2.61501512e-03 2.25671368e+01] [ 6.53806032e-03 -7.92529789e-05 9.99978624e-01 1.01043545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441858064 meters 0.018052690051913838 Centerline is valid? [True, True] Translation: X:122.69, Y:22.59, Z:0.10 [[ 9.10073525e-01 -4.14406315e-01 -5.79524343e-03 1.22688747e+02] [ 4.14398601e-01 9.10091971e-01 -2.53042988e-03 2.25897868e+01] [ 6.32283064e-03 -9.86635288e-05 9.99980006e-01 1.01850756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501858064 meters 0.01827889611890127 Centerline is valid? [True, True] Translation: X:122.74, Y:22.61, Z:0.10 [[ 9.08288056e-01 -4.18327185e-01 -3.89532981e-03 1.22742474e+02] [ 4.18323731e-01 9.08296405e-01 -1.70191463e-03 2.26133359e+01] [ 4.25007122e-03 -8.36801715e-05 9.99990965e-01 1.04130042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561858064 meters 0.018365140736485236 Centerline is valid? [True, True] Translation: X:122.80, Y:22.64, Z:0.10 [[ 9.07744772e-01 -4.19504691e-01 -3.90418050e-03 1.22796405e+02] [ 4.19501228e-01 9.07753164e-01 -1.70693159e-03 2.26374430e+01] [ 4.26009801e-03 -8.83502896e-05 9.99990922e-01 1.04928729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621858064 meters 0.018312899160745896 Centerline is valid? [True, True] Translation: X:122.85, Y:22.66, Z:0.11 [[ 9.07884750e-01 -4.19207130e-01 -3.26538956e-03 1.22849347e+02] [ 4.19204702e-01 9.07890619e-01 -1.42857019e-03 2.26642978e+01] [ 3.56348336e-03 -7.18895751e-05 9.99993648e-01 1.05770809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681858064 meters 0.018005340931742473 Centerline is valid? [True, True] Translation: X:122.90, Y:22.69, Z:0.11 [[ 9.09059691e-01 -4.16659988e-01 -2.22069829e-03 1.22900474e+02] [ 4.16658857e-01 9.09062403e-01 -9.71835805e-04 2.26911900e+01] [ 2.42367842e-03 -4.18168545e-05 9.99997062e-01 1.07783804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741858064 meters 0.017448416286299052 Centerline is valid? [True, True] Translation: X:122.95, Y:22.72, Z:0.11 [[ 9.10001539e-01 -4.14600961e-01 -1.80039210e-03 1.22952487e+02] [ 4.14600213e-01 9.10003320e-01 -7.88261609e-04 2.27184130e+01] [ 1.96517681e-03 -2.91236720e-05 9.99998069e-01 1.08837604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.801858064 meters 0.01714632857041356 Centerline is valid? [True, True] Translation: X:123.00, Y:22.75, Z:0.11 [[ 9.11105072e-01 -4.12171812e-01 -1.39428331e-03 1.23004484e+02] [ 4.12171360e-01 9.11106139e-01 -6.10815424e-04 2.27463511e+01] [ 1.52210099e-03 -1.81666184e-05 9.99998841e-01 1.10093301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.861858064 meters 0.016837145315425704 Centerline is valid? [True, True] Translation: X:123.06, Y:22.77, Z:0.11 [[ 9.12365991e-01 -4.09375377e-01 -3.16285985e-04 1.23056193e+02] [ 4.09375353e-01 9.12366045e-01 -1.38473777e-04 2.27746281e+01] [ 3.45256348e-04 -3.14092256e-06 9.99999940e-01 1.11826109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921858064 meters 0.016682905028720395 Centerline is valid? [True, True] Translation: X:123.11, Y:22.80, Z:0.11 [[ 9.13429881e-01 -4.06996106e-01 -1.47431483e-04 1.23108496e+02] [ 4.06996101e-01 9.13429893e-01 -6.44814708e-05 2.28031897e+01] [ 1.60912031e-04 -1.10473663e-06 9.99999987e-01 1.12283975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981858064 meters 0.01647613353746364 Centerline is valid? [True, True] Translation: X:123.16, Y:22.83, Z:0.11 [[ 9.14671793e-01 -4.04194755e-01 -1.45314856e-03 1.23158959e+02] [ 4.04194251e-01 9.14672947e-01 -6.37766537e-04 2.28327910e+01] [ 1.58693756e-03 -4.00723177e-06 9.99998741e-01 1.10950931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041858064 meters 0.01633548062795233 Centerline is valid? [True, True] Translation: X:123.21, Y:22.86, Z:0.11 [[ 9.14603401e-01 -4.04347972e-01 -1.82652191e-03 1.23211011e+02] [ 4.04347177e-01 9.14605225e-01 -8.02120277e-04 2.28574912e+01] [ 1.99488219e-03 -4.92704547e-06 9.99998010e-01 1.10585346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101858064 meters 0.016725653218211126 Centerline is valid? [True, True] Translation: X:123.27, Y:22.88, Z:0.11 [[ 9.12972008e-01 -4.08021396e-01 -8.07858550e-04 1.23265751e+02] [ 4.08021242e-01 9.12972366e-01 -3.54889441e-04 2.28790950e+01] [ 8.82355016e-04 -5.61932330e-06 9.99999611e-01 1.12321481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161858064 meters 0.01716110367972844 Centerline is valid? [True, True] Translation: X:123.32, Y:22.90, Z:0.11 [[ 9.11308164e-01 -4.11720600e-01 -1.89174142e-03 1.23318163e+02] [ 4.11719760e-01 9.11310127e-01 -8.31659180e-04 2.29032224e+01] [ 2.06637433e-03 -2.09695245e-05 9.99997865e-01 1.09850498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221858064 meters 0.016915399469942843 Centerline is valid? [True, True] Translation: X:123.37, Y:22.93, Z:0.11 [[ 9.10189824e-01 -4.14183881e-01 -2.48944020e-03 1.23371014e+02] [ 4.14182436e-01 9.10193228e-01 -1.09470601e-03 2.29280562e+01] [ 2.71928120e-03 -3.46921335e-05 9.99996302e-01 1.09954219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281858064 meters 0.017344789001373078 Centerline is valid? [True, True] Translation: X:123.42, Y:22.95, Z:0.11 [[ 9.08533570e-01 -4.17788436e-01 -4.42435653e-03 1.23424613e+02] [ 4.17783908e-01 9.08544339e-01 -1.94679943e-03 2.29518423e+01] [ 4.83307437e-03 -7.96923239e-05 9.99988317e-01 1.08336371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341858064 meters 0.018319269526826484 Centerline is valid? [True, True] Translation: X:123.48, Y:22.97, Z:0.11 [[ 9.06657104e-01 -4.21828119e-01 -5.82522936e-03 1.23479521e+02] [ 4.21820349e-01 9.06675808e-01 -2.56383788e-03 2.29733226e+01] [ 6.36309345e-03 -1.32678454e-04 9.99979747e-01 1.07718945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401858064 meters 0.01907370710608983 Centerline is valid? [True, True] Translation: X:123.53, Y:23.00, Z:0.11 [[ 9.05322454e-01 -4.24678235e-01 -6.29697170e-03 1.23533846e+02] [ 4.24669212e-01 9.05344338e-01 -2.77311491e-03 2.29965980e+01] [ 6.87860922e-03 -1.63566813e-04 9.99976329e-01 1.07251108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461858064 meters 0.020138151519170373 Centerline is valid? [True, True] Translation: X:123.59, Y:23.02, Z:0.11 [[ 9.03937601e-01 -4.27618695e-01 -6.25014843e-03 1.23587688e+02] [ 4.27609864e-01 9.03959190e-01 -2.75428614e-03 2.30212780e+01] [ 6.82766336e-03 -1.82922309e-04 9.99976675e-01 1.07053076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52185806399999 meters 0.021039556514016643 Centerline is valid? [True, True] Translation: X:123.64, Y:23.04, Z:0.11 [[ 9.03050899e-01 -4.29490593e-01 -6.07493571e-03 1.23641817e+02] [ 4.29482281e-01 9.03071312e-01 -2.67878659e-03 2.30446286e+01] [ 6.63661380e-03 -1.89996607e-04 9.99977959e-01 1.06565972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.581858064 meters 0.021556284385825308 Centerline is valid? [True, True] Translation: X:123.70, Y:23.07, Z:0.11 [[ 9.01342897e-01 -4.33073693e-01 -5.30637571e-03 1.23696447e+02] [ 4.33067410e-01 9.01358497e-01 -2.34047366e-03 2.30676176e+01] [ 5.79654440e-03 -1.88449074e-04 9.99983182e-01 1.08752501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.641858064 meters 0.020351278930512744 Centerline is valid? [True, True] Translation: X:123.75, Y:23.10, Z:0.11 [[ 9.01005198e-01 -4.33793405e-01 -3.59372578e-03 1.23748063e+02] [ 4.33790525e-01 9.01012356e-01 -1.58596000e-03 2.30956173e+01] [ 3.92597032e-03 -1.29965991e-04 9.99992285e-01 1.11335291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701858064 meters 0.020500354397316 Centerline is valid? [True, True] Translation: X:123.80, Y:23.12, Z:0.11 [[ 9.02136545e-01 -4.31438432e-01 -3.24541340e-03 1.23799799e+02] [ 4.31436067e-01 9.02142377e-01 -1.43271576e-03 2.31209947e+01] [ 3.54595360e-03 -1.07683142e-04 9.99993707e-01 1.11435572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761858064 meters 0.018865639334248212 Centerline is valid? [True, True] Translation: X:123.85, Y:23.15, Z:0.11 [[ 9.04684493e-01 -4.26065959e-01 -3.71030478e-03 1.23851619e+02] [ 4.26062819e-01 9.04692096e-01 -1.63879709e-03 2.31516547e+01] [ 4.05491906e-03 -9.82285985e-05 9.99991774e-01 1.10965228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821858064 meters 0.01799539164341229 Centerline is valid? [True, True] Translation: X:123.90, Y:23.18, Z:0.11 [[ 9.06340217e-01 -4.22521063e-01 -4.83343707e-03 1.23903632e+02] [ 4.22515680e-01 9.06353099e-01 -2.13547994e-03 2.31793051e+01] [ 5.28308592e-03 -1.06731592e-04 9.99986039e-01 1.10232792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881858064 meters 0.017658399449657986 Centerline is valid? [True, True] Translation: X:123.96, Y:23.21, Z:0.11 [[ 9.07690441e-01 -4.19597386e-01 -6.00803711e-03 1.23956158e+02] [ 4.19588995e-01 9.07710318e-01 -2.65594144e-03 2.32070934e+01] [ 6.56798336e-03 -1.10133592e-04 9.99978424e-01 1.08185382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941858064 meters 0.017632648680456425 Centerline is valid? [True, True] Translation: X:124.01, Y:23.23, Z:0.11 [[ 9.07711152e-01 -4.19553864e-01 -5.91778290e-03 1.24008941e+02] [ 4.19545710e-01 9.07730436e-01 -2.61796481e-03 2.32301371e+01] [ 6.47012890e-03 -1.06424573e-04 9.99979063e-01 1.08503164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001858064 meters 0.01775033366766542 Centerline is valid? [True, True] Translation: X:124.06, Y:23.25, Z:0.11 [[ 9.07278970e-01 -4.20502398e-01 -4.75425317e-03 1.24062362e+02] [ 4.20497140e-01 9.07291422e-01 -2.10475530e-03 2.32534117e+01] [ 5.19854777e-03 -8.95496376e-05 9.99986483e-01 1.09273875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061858064 meters 0.01738905780255197 Centerline is valid? [True, True] Translation: X:124.12, Y:23.28, Z:0.11 [[ 9.07034109e-01 -4.21026860e-01 -5.05066539e-03 1.24115799e+02] [ 4.21020924e-01 9.07048165e-01 -2.23773313e-03 2.32759403e+01] [ 5.52334253e-03 -9.67355283e-05 9.99984742e-01 1.09016779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121858064 meters 0.017346678662373907 Centerline is valid? [True, True] Translation: X:124.17, Y:23.30, Z:0.11 [[ 9.07684783e-01 -4.19622941e-01 -4.99222042e-03 1.24168567e+02] [ 4.19617117e-01 9.07698507e-01 -2.21255636e-03 2.32990251e+01] [ 5.45987043e-03 -8.65173930e-05 9.99985091e-01 1.08594333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181858064 meters 0.01709204449575828 Centerline is valid? [True, True] Translation: X:124.22, Y:23.32, Z:0.11 [[ 9.09549076e-01 -4.15559453e-01 -5.55150491e-03 1.24221535e+02] [ 4.15552171e-01 9.09566016e-01 -2.46102244e-03 2.33223948e+01] [ 6.07216135e-03 -6.85192269e-05 9.99981562e-01 1.06876237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241858064 meters 0.0167065743112983 Centerline is valid? [True, True] Translation: X:124.28, Y:23.35, Z:0.11 [[ 9.10194359e-01 -4.14140624e-01 -5.81141641e-03 1.24275126e+02] [ 4.14132605e-01 9.10212909e-01 -2.57780410e-03 2.33470910e+01] [ 6.35719964e-03 -6.03942685e-05 9.99979791e-01 1.07105859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.301858064 meters 0.01646759804628918 Centerline is valid? [True, True] Translation: X:124.33, Y:23.37, Z:0.11 [[ 9.10988226e-01 -4.12397215e-01 -5.38415199e-03 1.24328440e+02] [ 4.12390298e-01 9.11004135e-01 -2.38896906e-03 2.33693507e+01] [ 5.89018892e-03 -4.40493563e-05 9.99982652e-01 1.07177702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.361858064 meters 0.016437246509746137 Centerline is valid? [True, True] Translation: X:124.38, Y:23.39, Z:0.11 [[ 9.11380260e-01 -4.11539204e-01 -4.63741855e-03 1.24383127e+02] [ 4.11534059e-01 9.11392058e-01 -2.05810118e-03 2.33887242e+01] [ 5.07349576e-03 -3.27428887e-05 9.99987129e-01 1.07501584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421858064 meters 0.016256272813370665 Centerline is valid? [True, True] Translation: X:124.44, Y:23.41, Z:0.11 [[ 9.11780328e-01 -4.10647227e-01 -5.04872346e-03 1.24437930e+02] [ 4.10641106e-01 9.11794305e-01 -2.24215330e-03 2.34077795e+01] [ 5.52413133e-03 -2.88621206e-05 9.99984741e-01 1.07920194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481858064 meters 0.016246088917238763 Centerline is valid? [True, True] Translation: X:124.49, Y:23.43, Z:0.11 [[ 9.12453947e-01 -4.09157709e-01 -4.21475058e-03 1.24493125e+02] [ 4.09153422e-01 9.12463681e-01 -1.87299750e-03 2.34293896e+01] [ 4.61215820e-03 -1.54556640e-05 9.99989364e-01 1.07327186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541858064 meters 0.016171189151740113 Centerline is valid? [True, True] Translation: X:124.55, Y:23.45, Z:0.11 [[ 9.13427616e-01 -4.06984254e-01 -3.71571492e-03 1.24547108e+02] [ 4.06980900e-01 9.13435174e-01 -1.65241839e-03 2.34497712e+01] [ 4.06657297e-03 -2.86040748e-06 9.99991731e-01 1.06446054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601858064 meters 0.016097587398990348 Centerline is valid? [True, True] Translation: X:124.60, Y:23.47, Z:0.11 [[ 9.13675212e-01 -4.06429823e-01 -3.52215115e-03 1.24601448e+02] [ 4.06426800e-01 9.13682001e-01 -1.56750914e-03 2.34698170e+01] [ 3.85520858e-03 6.97626563e-07 9.99992569e-01 1.06113920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661858064 meters 0.016218250352133288 Centerline is valid? [True, True] Translation: X:124.66, Y:23.49, Z:0.11 [[ 9.14362328e-01 -4.04877607e-01 -3.95686394e-03 1.24657373e+02] [ 4.04873771e-01 9.14370889e-01 -1.76232207e-03 2.34879602e+01] [ 4.33156594e-03 9.37048592e-06 9.99990619e-01 1.06111014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721858064 meters 0.016339299037812217 Centerline is valid? [True, True] Translation: X:124.71, Y:23.51, Z:0.11 [[ 9.14548136e-01 -4.04454816e-01 -4.24360832e-03 1.24712194e+02] [ 4.04450393e-01 9.14557982e-01 -1.89148261e-03 2.35080084e+01] [ 4.64604511e-03 1.35228428e-05 9.99989207e-01 1.05997997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781858064 meters 0.016435651159057933 Centerline is valid? [True, True] Translation: X:124.77, Y:23.53, Z:0.10 [[ 9.14917018e-01 -4.03610354e-01 -5.05305280e-03 1.24766483e+02] [ 4.03604064e-01 9.14930971e-01 -2.25331106e-03 2.35271675e+01] [ 5.53265418e-03 2.21599851e-05 9.99984695e-01 1.04281251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841858064 meters 0.01631231152362207 Centerline is valid? [True, True] Translation: X:124.82, Y:23.55, Z:0.10 [[ 9.14343250e-01 -4.04897793e-01 -5.84799022e-03 1.24821623e+02] [ 4.04889384e-01 9.14361951e-01 -2.60964823e-03 2.35455772e+01] [ 6.40382055e-03 1.83250890e-05 9.99979495e-01 1.04276249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901858064 meters 0.01640865463953754 Centerline is valid? [True, True] Translation: X:124.88, Y:23.56, Z:0.10 [[ 9.12539454e-01 -4.08945049e-01 -5.97430344e-03 1.24878546e+02] [ 4.08936345e-01 9.12559010e-01 -2.66805803e-03 2.35607451e+01] [ 6.54299355e-03 -8.40159696e-06 9.99978594e-01 1.04362645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961858064 meters 0.016625927280854498 Centerline is valid? [True, True] Translation: X:124.93, Y:23.58, Z:0.10 [[ 9.10899917e-01 -4.12585790e-01 -5.85720124e-03 1.24933956e+02] [ 4.12577493e-01 9.10918748e-01 -2.61682380e-03 2.35777382e+01] [ 6.41509874e-03 -3.28848187e-05 9.99979423e-01 1.04661686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02185806399999 meters 0.01689297136252736 Centerline is valid? [True, True] Translation: X:124.99, Y:23.60, Z:0.11 [[ 9.10420352e-01 -4.13666032e-01 -3.89837195e-03 1.24987250e+02] [ 4.13662361e-01 9.10428698e-01 -1.74281031e-03 2.36007191e+01] [ 4.27013112e-03 -2.59197661e-05 9.99990883e-01 1.05802497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.081858064 meters 0.017136776064484018 Centerline is valid? [True, True] Translation: X:125.04, Y:23.62, Z:0.11 [[ 9.10461762e-01 -4.13571025e-01 -4.28793781e-03 1.25040905e+02] [ 4.13566577e-01 9.10471859e-01 -1.91843262e-03 2.36240030e+01] [ 4.69745486e-03 -2.66882167e-05 9.99988967e-01 1.05028307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.141858064 meters 0.017224378323670776 Centerline is valid? [True, True] Translation: X:125.09, Y:23.65, Z:0.10 [[ 9.10677913e-01 -4.13092254e-01 -4.53070589e-03 1.25093566e+02] [ 4.13087274e-01 9.10689183e-01 -2.02857953e-03 2.36487987e+01] [ 4.96405534e-03 -2.41943747e-05 9.99987679e-01 1.04756566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201858064 meters 0.017217751286611363 Centerline is valid? [True, True] Translation: X:125.14, Y:23.67, Z:0.10 [[ 9.11269019e-01 -4.11782798e-01 -4.86849488e-03 1.25144581e+02] [ 4.11777022e-01 9.11282024e-01 -2.18102686e-03 2.36747155e+01] [ 5.33468121e-03 -1.72321237e-05 9.99985770e-01 1.03305979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261858064 meters 0.017297140717935817 Centerline is valid? [True, True] Translation: X:125.20, Y:23.70, Z:0.10 [[ 9.11473860e-01 -4.11331021e-01 -4.71104072e-03 1.25196986e+02] [ 4.11325599e-01 9.11486035e-01 -2.11194379e-03 2.37008028e+01] [ 5.16275582e-03 -1.27900869e-05 9.99986673e-01 1.03199891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321858064 meters 0.017296646665000116 Centerline is valid? [True, True] Translation: X:125.25, Y:23.73, Z:0.10 [[ 9.11433656e-01 -4.11428048e-01 -3.95626825e-03 1.25249458e+02] [ 4.11424220e-01 9.11442242e-01 -1.77485457e-03 2.37251064e+01] [ 4.33613496e-03 -1.00423885e-05 9.99990599e-01 1.04178118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381858064 meters 0.017378208193790327 Centerline is valid? [True, True] Translation: X:125.30, Y:23.75, Z:0.11 [[ 9.10833293e-01 -4.12763625e-01 -2.98365769e-03 1.25302698e+02] [ 4.12761452e-01 9.10838180e-01 -1.33945488e-03 2.37485221e+01] [ 3.27050760e-03 -1.15187820e-05 9.99994652e-01 1.05092814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441858064 meters 0.01730499352077269 Centerline is valid? [True, True] Translation: X:125.36, Y:23.77, Z:0.11 [[ 9.10307466e-01 -4.13927024e-01 -2.17635231e-03 1.25355938e+02] [ 4.13925870e-01 9.10310067e-01 -9.77704908e-04 2.37723016e+01] [ 2.38585390e-03 -1.08364462e-05 9.99997154e-01 1.05678376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501858064 meters 0.0173633391810553 Centerline is valid? [True, True] Translation: X:125.41, Y:23.80, Z:0.10 [[ 9.09642150e-01 -4.15386779e-01 -2.23200716e-03 1.25408912e+02] [ 4.15385568e-01 9.09644889e-01 -1.00314305e-03 2.37954054e+01] [ 2.44702627e-03 -1.46423669e-05 9.99997006e-01 1.04686477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561858064 meters 0.017401046844518535 Centerline is valid? [True, True] Translation: X:125.46, Y:23.82, Z:0.10 [[ 9.09093856e-01 -4.16581738e-01 -2.83152334e-03 1.25463098e+02] [ 4.16579792e-01 9.09098265e-01 -1.27329877e-03 2.38189268e+01] [ 3.10456597e-03 -2.20073191e-05 9.99995181e-01 1.04559753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621858064 meters 0.01745797641241037 Centerline is valid? [True, True] Translation: X:125.52, Y:23.84, Z:0.10 [[ 9.07878515e-01 -4.19216360e-01 -3.77428664e-03 1.25517543e+02] [ 4.19212921e-01 9.07886360e-01 -1.69844584e-03 2.38412058e+01] [ 4.13863964e-03 -4.02472388e-05 9.99991435e-01 1.04708201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681858064 meters 0.017776181359618216 Centerline is valid? [True, True] Translation: X:125.57, Y:23.86, Z:0.11 [[ 9.06770711e-01 -4.21606591e-01 -3.84184366e-03 1.25571726e+02] [ 4.21603047e-01 9.06778848e-01 -1.72940524e-03 2.38631259e+01] [ 4.21283121e-03 -5.15589727e-05 9.99991125e-01 1.05127130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741858064 meters 0.018594471492425584 Centerline is valid? [True, True] Translation: X:125.63, Y:23.88, Z:0.10 [[ 9.04620476e-01 -4.26187634e-01 -5.08862218e-03 1.25626797e+02] [ 4.26181482e-01 9.04634783e-01 -2.29199380e-03 2.38848573e+01] [ 5.58016404e-03 -9.52920144e-05 9.99984426e-01 1.04241904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.801858064 meters 0.018937764481277642 Centerline is valid? [True, True] Translation: X:125.68, Y:23.91, Z:0.10 [[ 9.02232456e-01 -4.31221557e-01 -4.95626840e-03 1.25681788e+02] [ 4.31215790e-01 9.02246060e-01 -2.23359718e-03 2.39081774e+01] [ 5.43494890e-03 -1.21997323e-04 9.99985223e-01 1.04752767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.861858064 meters 0.019385469327060572 Centerline is valid? [True, True] Translation: X:125.74, Y:23.93, Z:0.11 [[ 9.01296528e-01 -4.33179597e-01 -4.47274357e-03 1.25736023e+02] [ 4.33174918e-01 9.01307618e-01 -2.01695660e-03 2.39310054e+01] [ 4.90502230e-03 -1.19604354e-04 9.99987963e-01 1.06497260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921858064 meters 0.01965432114322753 Centerline is valid? [True, True] Translation: X:125.79, Y:23.96, Z:0.11 [[ 9.01094523e-01 -4.33614633e-01 -2.64779105e-03 1.25787257e+02] [ 4.33612994e-01 9.01098410e-01 -1.19441600e-03 2.39555190e+01] [ 2.90383656e-03 -7.18348941e-05 9.99995781e-01 1.08326434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981858064 meters 0.01952614172161901 Centerline is valid? [True, True] Translation: X:125.84, Y:23.98, Z:0.11 [[ 9.01807063e-01 -4.32132381e-01 -2.37203925e-03 1.25839488e+02] [ 4.32131059e-01 9.01810181e-01 -1.07058527e-03 2.39826209e+01] [ 2.60176371e-03 -5.95704710e-05 9.99996614e-01 1.08771819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041858064 meters 0.019172006902471662 Centerline is valid? [True, True] Translation: X:125.89, Y:24.01, Z:0.11 [[ 9.03054114e-01 -4.29516799e-01 -2.93022106e-03 1.25891369e+02] [ 4.29514764e-01 9.03058866e-01 -1.32340346e-03 2.40098196e+01] [ 3.21458613e-03 -6.34682736e-05 9.99994831e-01 1.09521914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101858064 meters 0.018359804199550238 Centerline is valid? [True, True] Translation: X:125.94, Y:24.04, Z:0.11 [[ 9.03379993e-01 -4.28832371e-01 -2.71777616e-03 1.25943044e+02] [ 4.28830616e-01 9.03384079e-01 -1.22823673e-03 2.40378580e+01] [ 2.98190338e-03 -5.59011400e-05 9.99995553e-01 1.10070862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161858064 meters 0.018054789922616325 Centerline is valid? [True, True] Translation: X:125.99, Y:24.07, Z:0.11 [[ 9.03805363e-01 -4.27936181e-01 -2.54751171e-03 1.25994995e+02] [ 4.27934633e-01 9.03808952e-01 -1.15203368e-03 2.40650058e+01] [ 2.79546078e-03 -4.89542723e-05 9.99996091e-01 1.09794851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221858064 meters 0.017931581735848988 Centerline is valid? [True, True] Translation: X:126.05, Y:24.09, Z:0.11 [[ 9.04168468e-01 -4.27171118e-01 -2.05339435e-03 1.26048168e+02] [ 4.27170109e-01 9.04170799e-01 -9.29147179e-04 2.40910913e+01] [ 2.25352405e-03 -3.70431083e-05 9.99997460e-01 1.10627313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281858064 meters 0.01796052196933736 Centerline is valid? [True, True] Translation: X:126.10, Y:24.12, Z:0.11 [[ 9.04909233e-01 -4.25599280e-01 -2.12919222e-03 1.26099671e+02] [ 4.25598190e-01 9.04911737e-01 -9.63826211e-04 2.41178801e+01] [ 2.33693477e-03 -3.40051162e-05 9.99997269e-01 1.10700143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341858064 meters 0.01808345815367769 Centerline is valid? [True, True] Translation: X:126.15, Y:24.14, Z:0.11 [[ 9.04875697e-01 -4.25669018e-01 -2.42073565e-03 1.26151927e+02] [ 4.25667608e-01 9.04878934e-01 -1.09642556e-03 2.41441519e+01] [ 2.65718709e-03 -3.82999090e-05 9.99996469e-01 1.09852516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401858064 meters 0.018204396852148145 Centerline is valid? [True, True] Translation: X:126.20, Y:24.17, Z:0.11 [[ 9.04795886e-01 -4.25837632e-01 -2.59151054e-03 1.26204271e+02] [ 4.25836014e-01 9.04799596e-01 -1.17463495e-03 2.41696155e+01] [ 2.84500146e-03 -4.07536477e-05 9.99995952e-01 1.09954815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461858064 meters 0.018041278291850753 Centerline is valid? [True, True] Translation: X:126.26, Y:24.20, Z:0.11 [[ 9.04929249e-01 -4.25545215e-01 -3.78480762e-03 1.26256428e+02] [ 4.25541756e-01 9.04937162e-01 -1.71685557e-03 2.41950164e+01] [ 4.15561274e-03 -5.69608615e-05 9.99991364e-01 1.10172488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52185806399999 meters 0.017571402502032294 Centerline is valid? [True, True] Translation: X:126.31, Y:24.22, Z:0.11 [[ 9.04960593e-01 -4.25473382e-01 -4.32736275e-03 1.26308407e+02] [ 4.25468852e-01 9.04970937e-01 -1.96440174e-03 2.42222520e+01] [ 4.75193817e-03 -6.34518980e-05 9.99988707e-01 1.10129276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.581858064 meters 0.01765975155756528 Centerline is valid? [True, True] Translation: X:126.36, Y:24.25, Z:0.11 [[ 9.04797179e-01 -4.25805183e-01 -5.65781918e-03 1.26361277e+02] [ 4.25797441e-01 9.04814864e-01 -2.56920676e-03 2.42465935e+01] [ 6.21326045e-03 -8.44738965e-05 9.99980694e-01 1.09512669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.641858064 meters 0.01807657081957528 Centerline is valid? [True, True] Translation: X:126.41, Y:24.27, Z:0.11 [[ 9.04100275e-01 -4.27266850e-01 -6.76247826e-03 1.26414348e+02] [ 4.27255822e-01 9.04125559e-01 -3.07185102e-03 2.42705945e+01] [ 7.42662954e-03 -1.12046850e-04 9.99972416e-01 1.08024520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701858064 meters 0.01874246614580866 Centerline is valid? [True, True] Translation: X:126.47, Y:24.29, Z:0.11 [[ 9.02062846e-01 -4.31538929e-01 -7.53492849e-03 1.26468791e+02] [ 4.31525369e-01 9.02094300e-01 -3.42484565e-03 2.42934604e+01] [ 8.27517026e-03 -1.62086785e-04 9.99965747e-01 1.08767544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761858064 meters 0.01966118540765752 Centerline is valid? [True, True] Translation: X:126.52, Y:24.32, Z:0.11 [[ 9.00815991e-01 -4.34148134e-01 -6.77850047e-03 1.26522402e+02] [ 4.34137227e-01 9.00841479e-01 -3.08185001e-03 2.43159581e+01] [ 7.44433382e-03 -1.66619632e-04 9.99972277e-01 1.09870425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821858064 meters 0.019770943254370017 Centerline is valid? [True, True] Translation: X:126.57, Y:24.34, Z:0.11 [[ 9.00134965e-01 -4.35556043e-01 -6.92667919e-03 1.26574508e+02] [ 4.35544690e-01 9.00161597e-01 -3.14993928e-03 2.43424711e+01] [ 7.60710569e-03 -1.81507862e-04 9.99971049e-01 1.09970575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881858064 meters 0.01972069765712134 Centerline is valid? [True, True] Translation: X:126.63, Y:24.37, Z:0.11 [[ 8.99931501e-01 -4.35976554e-01 -6.90924300e-03 1.26626543e+02] [ 4.35965255e-01 8.99958005e-01 -3.14412400e-03 2.43686329e+01] [ 7.58879289e-03 -1.82693652e-04 9.99971188e-01 1.10046145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941858064 meters 0.019230650298534966 Centerline is valid? [True, True] Translation: X:126.68, Y:24.40, Z:0.11 [[ 8.99860794e-01 -4.36102527e-01 -8.07072347e-03 1.26677719e+02] [ 4.36087090e-01 8.99896961e-01 -3.67546898e-03 2.43962405e+01] [ 8.86570084e-03 -2.12127876e-04 9.99960676e-01 1.10181851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001858064 meters 0.020574711101492064 Centerline is valid? [True, True] Translation: X:126.73, Y:24.42, Z:0.11 [[ 9.00095029e-01 -4.35606852e-01 -8.69538557e-03 1.26729837e+02] [ 4.35588899e-01 9.00137001e-01 -3.96106837e-03 2.44205134e+01] [ 9.55250682e-03 -2.22275475e-04 9.99954349e-01 1.09070894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061858064 meters 0.01929345646449786 Centerline is valid? [True, True] Translation: X:126.78, Y:24.45, Z:0.11 [[ 9.00290433e-01 -4.35217329e-01 -7.93801134e-03 1.26781071e+02] [ 4.35202333e-01 9.00325407e-01 -3.61822330e-03 2.44508020e+01] [ 8.72150677e-03 -1.97189232e-04 9.99961947e-01 1.09894060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121858064 meters 0.01883033814682612 Centerline is valid? [True, True] Translation: X:126.83, Y:24.48, Z:0.11 [[ 9.01185140e-01 -4.33391188e-01 -6.11722723e-03 1.26832832e+02] [ 4.33382234e-01 9.01205892e-01 -2.78926032e-03 2.44805003e+01] [ 6.72172207e-03 -1.37457651e-04 9.99977400e-01 1.11657631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181858064 meters 0.0185908060731185 Centerline is valid? [True, True] Translation: X:126.88, Y:24.51, Z:0.11 [[ 9.01901754e-01 -4.31903452e-01 -5.71258120e-03 1.26884689e+02] [ 4.31895604e-01 9.01919838e-01 -2.60628232e-03 2.45084461e+01] [ 6.27795264e-03 -1.16628115e-04 9.99980287e-01 1.12086791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241858064 meters 0.017484295143626635 Centerline is valid? [True, True] Translation: X:126.94, Y:24.54, Z:0.11 [[ 9.03369944e-01 -4.28822250e-01 -5.84991866e-03 1.26935337e+02] [ 4.28813944e-01 9.03388880e-01 -2.67067406e-03 2.45391230e+01] [ 6.42999593e-03 -9.59200155e-05 9.99979323e-01 1.12936523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.301858064 meters 0.017099349740782765 Centerline is valid? [True, True] Translation: X:126.99, Y:24.57, Z:0.11 [[ 9.04819644e-01 -4.25767057e-01 -4.88115722e-03 1.26985952e+02] [ 4.25761222e-01 9.04832808e-01 -2.22980556e-03 2.45705181e+01] [ 5.36600894e-03 -6.06355942e-05 9.99985601e-01 1.12969738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.361858064 meters 0.016860345311370577 Centerline is valid? [True, True] Translation: X:127.04, Y:24.60, Z:0.11 [[ 9.05657772e-01 -4.23968586e-01 -5.88545415e-03 1.27038264e+02] [ 4.23960054e-01 9.05676893e-01 -2.69039471e-03 2.45986462e+01] [ 6.47096267e-03 -5.86205813e-05 9.99979061e-01 1.11802080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421858064 meters 0.01683893131209095 Centerline is valid? [True, True] Translation: X:127.09, Y:24.63, Z:0.11 [[ 9.06439440e-01 -4.22276386e-01 -7.08488389e-03 1.27089230e+02] [ 4.22263962e-01 9.06467126e-01 -3.23963303e-03 2.46256019e+01] [ 7.79023486e-03 -5.51599964e-05 9.99969654e-01 1.10023103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481858064 meters 0.01679058396162089 Centerline is valid? [True, True] Translation: X:127.14, Y:24.65, Z:0.11 [[ 9.06976110e-01 -4.21122407e-01 -7.08894228e-03 1.27141463e+02] [ 4.21109917e-01 9.07003813e-01 -3.24366246e-03 2.46521256e+01] [ 7.79567662e-03 -4.32995362e-05 9.99969612e-01 1.09848431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541858064 meters 0.01665274188334011 Centerline is valid? [True, True] Translation: X:127.19, Y:24.68, Z:0.11 [[ 9.07337648e-01 -4.20369715e-01 -5.26269490e-03 1.27194419e+02] [ 4.20362810e-01 9.07352909e-01 -2.40955367e-03 2.46788790e+01] [ 5.78802491e-03 -2.59624539e-05 9.99983249e-01 1.11760257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601858064 meters 0.016591821647437974 Centerline is valid? [True, True] Translation: X:127.25, Y:24.70, Z:0.11 [[ 9.07119772e-01 -4.20837194e-01 -5.45665086e-03 1.27247400e+02] [ 4.20829768e-01 9.07136184e-01 -2.50019538e-03 2.47021814e+01] [ 6.00210065e-03 -2.83444466e-05 9.99981987e-01 1.11719688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661858064 meters 0.01655361278612683 Centerline is valid? [True, True] Translation: X:127.30, Y:24.73, Z:0.11 [[ 9.06583567e-01 -4.21977761e-01 -6.40352685e-03 1.27301391e+02] [ 4.21967549e-01 9.06606181e-01 -2.93605090e-03 2.47253167e+01] [ 7.04442521e-03 -4.03050323e-05 9.99975187e-01 1.11094309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721858064 meters 0.016657860078108228 Centerline is valid? [True, True] Translation: X:127.36, Y:24.75, Z:0.11 [[ 9.05913276e-01 -4.23398074e-01 -7.43023270e-03 1.27355842e+02] [ 4.23384353e-01 9.05943744e-01 -3.40906265e-03 2.47474837e+01] [ 8.17476340e-03 -5.75291496e-05 9.99966584e-01 1.10577207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781858064 meters 0.016621878587287763 Centerline is valid? [True, True] Translation: X:127.41, Y:24.77, Z:0.11 [[ 9.05549637e-01 -4.24167533e-01 -7.85861260e-03 1.27409338e+02] [ 4.24152191e-01 9.05583734e-01 -3.60828948e-03 2.47693325e+01] [ 8.64715099e-03 -6.57625252e-05 9.99962611e-01 1.10729828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841858064 meters 0.017097637105406686 Centerline is valid? [True, True] Translation: X:127.46, Y:24.79, Z:0.11 [[ 9.04324965e-01 -4.26769160e-01 -8.02756293e-03 1.27464070e+02] [ 4.26753244e-01 9.04360589e-01 -3.68690465e-03 2.47885742e+01] [ 8.83326874e-03 -9.16286026e-05 9.99960982e-01 1.09701018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901858064 meters 0.01708066533308763 Centerline is valid? [True, True] Translation: X:127.52, Y:24.81, Z:0.11 [[ 9.03288918e-01 -4.28933562e-01 -9.22657257e-03 1.27519654e+02] [ 4.28912622e-01 9.03336030e-01 -4.24017673e-03 2.48086529e+01] [ 1.01534495e-02 -1.27288781e-04 9.99948444e-01 1.10180801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961858064 meters 0.017173773839697575 Centerline is valid? [True, True] Translation: X:127.57, Y:24.83, Z:0.11 [[ 9.02925544e-01 -4.29689466e-01 -9.61380767e-03 1.27574803e+02] [ 4.29666745e-01 9.02976713e-01 -4.42097600e-03 2.48300539e+01] [ 1.05806913e-02 -1.38921289e-04 9.99944013e-01 1.10651774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02185806399999 meters 0.01701934408209772 Centerline is valid? [True, True] Translation: X:127.63, Y:24.85, Z:0.11 [[ 9.02665903e-01 -4.30225342e-01 -1.00211528e-02 1.27628620e+02] [ 4.30200653e-01 9.02721515e-01 -4.61135090e-03 2.48543995e+01] [ 1.10302303e-02 -1.48597261e-04 9.99939154e-01 1.10988498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.081858064 meters 0.01719616672591272 Centerline is valid? [True, True] Translation: X:127.68, Y:24.87, Z:0.11 [[ 9.02463448e-01 -4.30642562e-01 -1.03300362e-02 1.27683047e+02] [ 4.30616341e-01 9.02522553e-01 -4.75475469e-03 2.48738202e+01] [ 1.13706904e-02 -1.57290070e-04 9.99935339e-01 1.10510444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.141858064 meters 0.017041294830644187 Centerline is valid? [True, True] Translation: X:127.74, Y:24.89, Z:0.11 [[ 9.02372537e-01 -4.30847791e-01 -9.69457771e-03 1.27738042e+02] [ 4.30824675e-01 9.02424600e-01 -4.46540742e-03 2.48943814e+01] [ 1.06725363e-02 -1.47202265e-04 9.99943036e-01 1.11651932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201858064 meters 0.01696516300176191 Centerline is valid? [True, True] Translation: X:127.79, Y:24.91, Z:0.11 [[ 9.02436397e-01 -4.30703385e-01 -1.01560165e-02 1.27792268e+02] [ 4.30677968e-01 9.02493530e-01 -4.68144366e-03 2.49143559e+01] [ 1.11820528e-02 -1.49267411e-04 9.99937468e-01 1.11914598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261858064 meters 0.017056139849517364 Centerline is valid? [True, True] Translation: X:127.85, Y:24.93, Z:0.11 [[ 9.02350959e-01 -4.30866403e-01 -1.08115224e-02 1.27848134e+02] [ 4.30837566e-01 9.02415713e-01 -4.98729548e-03 2.49320063e+01] [ 1.19053457e-02 -1.57719126e-04 9.99929116e-01 1.12044780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321858064 meters 0.016792992661490567 Centerline is valid? [True, True] Translation: X:127.90, Y:24.95, Z:0.11 [[ 9.02728725e-01 -4.30077381e-01 -1.06909086e-02 1.27903578e+02] [ 4.30049092e-01 9.02792017e-01 -4.93490635e-03 2.49534601e+01] [ 1.17740586e-02 -1.42733830e-04 9.99930673e-01 1.12811383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381858064 meters 0.016495153143300374 Centerline is valid? [True, True] Translation: X:127.96, Y:24.97, Z:0.11 [[ 9.03519606e-01 -4.28436268e-01 -9.73063438e-03 1.27959188e+02] [ 4.28412706e-01 9.03571996e-01 -4.49455769e-03 2.49728399e+01] [ 1.07179603e-02 -1.07806409e-04 9.99942555e-01 1.14544697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441858064 meters 0.016364529173339866 Centerline is valid? [True, True] Translation: X:128.01, Y:24.99, Z:0.12 [[ 9.03651444e-01 -4.28161069e-01 -9.60032320e-03 1.28014385e+02] [ 4.28138084e-01 9.03702434e-01 -4.43763250e-03 2.49929379e+01] [ 1.05758569e-02 -1.00190960e-04 9.99944069e-01 1.15519605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501858064 meters 0.016372684385633086 Centerline is valid? [True, True] Translation: X:128.07, Y:25.01, Z:0.11 [[ 9.03849640e-01 -4.27725093e-01 -1.03476509e-02 1.28069951e+02] [ 4.27698320e-01 9.03908864e-01 -4.78661335e-03 2.50106109e+01] [ 1.14006880e-02 -9.92941393e-05 9.99935005e-01 1.14973691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561858064 meters 0.016391904686185947 Centerline is valid? [True, True] Translation: X:128.13, Y:25.03, Z:0.11 [[ 9.03815011e-01 -4.27783488e-01 -1.09413798e-02 1.28125377e+02] [ 4.27753514e-01 9.03881230e-01 -5.06502300e-03 2.50294278e+01] [ 1.20564411e-02 -1.02369858e-04 9.99927313e-01 1.14898181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621858064 meters 0.016358306431500554 Centerline is valid? [True, True] Translation: X:128.18, Y:25.05, Z:0.11 [[ 9.03915342e-01 -4.27566810e-01 -1.11210204e-02 1.28178486e+02] [ 4.27535805e-01 9.03983746e-01 -5.14998348e-03 2.50505218e+01] [ 1.22551837e-02 -9.94853306e-05 9.99924897e-01 1.14553265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681858064 meters 0.016311188371558 Centerline is valid? [True, True] Translation: X:128.23, Y:25.07, Z:0.12 [[ 9.03830024e-01 -4.27747265e-01 -1.11159322e-02 1.28232717e+02] [ 4.27716258e-01 9.03898372e-01 -5.15125608e-03 2.50714751e+01] [ 1.22511088e-02 -9.86050292e-05 9.99924947e-01 1.15110789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741858064 meters 0.01629867376841973 Centerline is valid? [True, True] Translation: X:128.29, Y:25.09, Z:0.11 [[ 9.03569913e-01 -4.28260750e-01 -1.24154052e-02 1.28287794e+02] [ 4.28222065e-01 9.03655198e-01 -5.75724705e-03 2.50935045e+01] [ 1.36848484e-02 -1.14475253e-04 9.99906352e-01 1.14772205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.801858064 meters 0.01601159638416554 Centerline is valid? [True, True] Translation: X:128.34, Y:25.12, Z:0.12 [[ 9.04189559e-01 -4.26967593e-01 -1.18286216e-02 1.28340809e+02] [ 4.26932322e-01 9.04266922e-01 -5.48868117e-03 2.51183543e+01] [ 1.30397202e-02 -8.72126801e-05 9.99914975e-01 1.16404517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.861858064 meters 0.016045935046063713 Centerline is valid? [True, True] Translation: X:128.39, Y:25.14, Z:0.12 [[ 9.04806953e-01 -4.25639241e-01 -1.24745744e-02 1.28392417e+02] [ 4.25599859e-01 9.04892939e-01 -5.79038924e-03 2.51414855e+01] [ 1.37527712e-02 -6.99926644e-05 9.99905424e-01 1.16375398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921858064 meters 0.015862138749448963 Centerline is valid? [True, True] Translation: X:128.45, Y:25.17, Z:0.12 [[ 9.04750795e-01 -4.25781878e-01 -1.16529642e-02 1.28446337e+02] [ 4.25747481e-01 9.04825833e-01 -5.41236232e-03 2.51657074e+01] [ 1.28483888e-02 -6.43810327e-05 9.99917454e-01 1.17978322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981858064 meters 0.01617393596637923 Centerline is valid? [True, True] Translation: X:128.50, Y:25.19, Z:0.12 [[ 9.04433061e-01 -4.26475063e-01 -1.09479808e-02 1.28499102e+02] [ 4.26444738e-01 9.04499318e-01 -5.08620820e-03 2.51895647e+01] [ 1.20715821e-02 -6.85739501e-05 9.99927133e-01 1.17445725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041858064 meters 0.015954218659278218 Centerline is valid? [True, True] Translation: X:128.55, Y:25.22, Z:0.12 [[ 9.03842538e-01 -4.27706348e-01 -1.16596231e-02 1.28551465e+02] [ 4.27672013e-01 9.03917735e-01 -5.42009445e-03 2.52158108e+01] [ 1.28575489e-02 -8.75825466e-05 9.99917334e-01 1.18005338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101858064 meters 0.01583608768090766 Centerline is valid? [True, True] Translation: X:128.60, Y:25.24, Z:0.12 [[ 9.04008383e-01 -4.27338100e-01 -1.22878544e-02 1.28604266e+02] [ 4.27299874e-01 9.04091888e-01 -5.71632886e-03 2.52403867e+01] [ 1.35521546e-02 -8.29894231e-05 9.99908162e-01 1.19918106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161858064 meters 0.01579022744588588 Centerline is valid? [True, True] Translation: X:128.66, Y:25.27, Z:0.12 [[ 9.04199123e-01 -4.26949555e-01 -1.17483326e-02 1.28656123e+02] [ 4.26914561e-01 9.04275440e-01 -5.46675680e-03 2.52662382e+01] [ 1.29577580e-02 -7.24975347e-05 9.99916042e-01 1.19792200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221858064 meters 0.015768113040901397 Centerline is valid? [True, True] Translation: X:128.71, Y:25.29, Z:0.12 [[ 9.04199423e-01 -4.26959367e-01 -1.13623353e-02 1.28708084e+02] [ 4.26926589e-01 9.04270808e-01 -5.29083380e-03 2.52918648e+01] [ 1.25335992e-02 -6.69141788e-05 9.99921449e-01 1.20663620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281858064 meters 0.0158144448638427 Centerline is valid? [True, True] Translation: X:128.76, Y:25.32, Z:0.12 [[ 9.04316663e-01 -4.26712895e-01 -1.12905792e-02 1.28760753e+02] [ 4.26680464e-01 9.04387141e-01 -5.26122916e-03 2.53153626e+01] [ 1.24560890e-02 -5.96523714e-05 9.99922418e-01 1.20909776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341858064 meters 0.01597688408514297 Centerline is valid? [True, True] Translation: X:128.81, Y:25.34, Z:0.12 [[ 9.04133366e-01 -4.27093460e-01 -1.15772389e-02 1.28813607e+02] [ 4.27059343e-01 9.04207483e-01 -5.39868094e-03 2.53398857e+01] [ 1.27739674e-02 -6.30404585e-05 9.99918408e-01 1.20622062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401858064 meters 0.016001272974901077 Centerline is valid? [True, True] Translation: X:128.87, Y:25.36, Z:0.12 [[ 9.03879508e-01 -4.27633196e-01 -1.14753569e-02 1.28865431e+02] [ 4.27599697e-01 9.03952346e-01 -5.35296957e-03 2.53627849e+01] [ 1.26622832e-02 -6.84196106e-05 9.99919828e-01 1.21272567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461858064 meters 0.015777351537578067 Centerline is valid? [True, True] Translation: X:128.92, Y:25.39, Z:0.12 [[ 9.03486585e-01 -4.28463840e-01 -1.14336840e-02 1.28919075e+02] [ 4.28430603e-01 9.03558926e-01 -5.33725319e-03 2.53860561e+01] [ 1.26178272e-02 -7.64034773e-05 9.99920389e-01 1.23216260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52185806399999 meters 0.016015817140625607 Centerline is valid? [True, True] Translation: X:128.97, Y:25.41, Z:0.12 [[ 9.03026358e-01 -4.29419994e-01 -1.19107436e-02 1.28973278e+02] [ 4.29383961e-01 9.03104900e-01 -5.56359786e-03 2.54093780e+01] [ 1.31457711e-02 -9.02067440e-05 9.99913587e-01 1.23766608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.581858064 meters 0.016376512217589033 Centerline is valid? [True, True] Translation: X:129.03, Y:25.43, Z:0.12 [[ 9.02723320e-01 -4.30024306e-01 -1.30270704e-02 1.29027197e+02] [ 4.29981241e-01 9.02817304e-01 -6.08660702e-03 2.54306711e+01] [ 1.43784535e-02 -1.06873791e-04 9.99896619e-01 1.23167801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.641858064 meters 0.016431027000391712 Centerline is valid? [True, True] Translation: X:129.08, Y:25.45, Z:0.12 [[ 9.02745657e-01 -4.29994771e-01 -1.24408733e-02 1.29080386e+02] [ 4.29955437e-01 9.02831373e-01 -5.81680846e-03 2.54547960e+01] [ 1.37332080e-02 -9.79225492e-05 9.99905690e-01 1.24185020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701858064 meters 0.016180181148495454 Centerline is valid? [True, True] Translation: X:129.13, Y:25.48, Z:0.13 [[ 9.03233735e-01 -4.28966024e-01 -1.25287827e-02 1.29133051e+02] [ 4.28925972e-01 9.03320621e-01 -5.86224856e-03 2.54790924e+01] [ 1.38322133e-02 -7.89396603e-05 9.99904327e-01 1.26042269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761858064 meters 0.01623181260444009 Centerline is valid? [True, True] Translation: X:129.19, Y:25.50, Z:0.13 [[ 9.03474255e-01 -4.28454261e-01 -1.26971536e-02 1.29185117e+02] [ 4.28413046e-01 9.03563468e-01 -5.94308729e-03 2.55019140e+01] [ 1.40190252e-02 -7.01998812e-05 9.99901726e-01 1.26673101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821858064 meters 0.016169491595908185 Centerline is valid? [True, True] Translation: X:129.24, Y:25.53, Z:0.13 [[ 9.03438669e-01 -4.28553731e-01 -1.18435746e-02 1.29238670e+02] [ 4.28517836e-01 9.03516295e-01 -5.54692379e-03 2.55255420e+01] [ 1.30780175e-02 -6.38775172e-05 9.99914477e-01 1.27331701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881858064 meters 0.015922739131126216 Centerline is valid? [True, True] Translation: X:129.29, Y:25.55, Z:0.13 [[ 9.03194467e-01 -4.29074868e-01 -1.15979628e-02 1.29291271e+02] [ 4.29040441e-01 9.03268926e-01 -5.43575434e-03 2.55494043e+01] [ 1.28084250e-02 -6.64518305e-05 9.99917967e-01 1.28455052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941858064 meters 0.0159141249828085 Centerline is valid? [True, True] Translation: X:129.34, Y:25.57, Z:0.13 [[ 9.03036322e-01 -4.29414180e-01 -1.13517500e-02 1.29342717e+02] [ 4.29381203e-01 9.03107666e-01 -5.32214446e-03 2.55733635e+01] [ 1.25372567e-02 -6.81382950e-05 9.99921403e-01 1.28770537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001858064 meters 0.015465555892848998 Centerline is valid? [True, True] Translation: X:129.40, Y:25.60, Z:0.13 [[ 9.02955008e-01 -4.29611198e-01 -1.03185484e-02 1.29395680e+02] [ 4.29583930e-01 9.03013961e-01 -4.84072463e-03 2.55998798e+01] [ 1.13974228e-02 -6.17260368e-05 9.99935045e-01 1.30112812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061858064 meters 0.015364239237361608 Centerline is valid? [True, True] Translation: X:129.45, Y:25.63, Z:0.13 [[ 9.02796146e-01 -4.29961276e-01 -9.61351258e-03 1.29447995e+02] [ 4.29937591e-01 9.02847328e-01 -4.51331612e-03 2.56260896e+01] [ 1.06200853e-02 -5.86060464e-05 9.99943604e-01 1.29742980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121858064 meters 0.01537231545660318 Centerline is valid? [True, True] Translation: X:129.50, Y:25.65, Z:0.13 [[ 9.01961629e-01 -4.31714082e-01 -9.38998961e-03 1.29499968e+02] [ 4.31691563e-01 9.02010502e-01 -4.41005602e-03 2.56507758e+01] [ 1.03737525e-02 -7.58779895e-05 9.99946188e-01 1.27810193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181858064 meters 0.01560501740443772 Centerline is valid? [True, True] Translation: X:129.55, Y:25.67, Z:0.13 [[ 9.00651548e-01 -4.34470724e-01 -7.87263067e-03 1.29554097e+02] [ 4.34454981e-01 9.00685951e-01 -3.69965914e-03 2.56744692e+01] [ 8.69816143e-03 -8.81998759e-05 9.99962166e-01 1.28038421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241858064 meters 0.016317863556062122 Centerline is valid? [True, True] Translation: X:129.61, Y:25.70, Z:0.13 [[ 8.98450828e-01 -4.39034401e-01 -5.90805601e-03 1.29608750e+02] [ 4.39025622e-01 8.98470247e-01 -2.77813555e-03 2.56967184e+01] [ 6.52790963e-03 -9.77697772e-05 9.99978688e-01 1.28816375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.301858064 meters 0.01664277491930396 Centerline is valid? [True, True] Translation: X:129.66, Y:25.72, Z:0.13 [[ 8.97490422e-01 -4.41001753e-01 -5.32883324e-03 1.29662540e+02] [ 4.40994637e-01 8.97506236e-01 -2.50733137e-03 2.57216297e+01] [ 5.88839859e-03 -9.96809894e-05 9.99982658e-01 1.28929423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.361858064 meters 0.01705051875227106 Centerline is valid? [True, True] Translation: X:129.72, Y:25.75, Z:0.13 [[ 8.96466511e-01 -4.43069687e-01 -6.08666821e-03 1.29715750e+02] [ 4.43060438e-01 8.96487164e-01 -2.86574764e-03 2.57471977e+01] [ 6.72634583e-03 -1.27715093e-04 9.99977370e-01 1.27092631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421858064 meters 0.018011570723181543 Centerline is valid? [True, True] Translation: X:129.77, Y:25.77, Z:0.13 [[ 8.95139395e-01 -4.45735647e-01 -6.72279749e-03 1.29768886e+02] [ 4.45724432e-01 8.95164625e-01 -3.16612776e-03 2.57702217e+01] [ 7.42926651e-03 -1.62389399e-04 9.99972389e-01 1.25353836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481858064 meters 0.01780573171601092 Centerline is valid? [True, True] Translation: X:129.82, Y:25.80, Z:0.13 [[ 8.94383735e-01 -4.47247299e-01 -6.89835769e-03 1.29821860e+02] [ 4.47235521e-01 8.94410321e-01 -3.25070774e-03 2.57966816e+01] [ 7.62383257e-03 -1.77810468e-04 9.99970922e-01 1.25024797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541858064 meters 0.018322066262196658 Centerline is valid? [True, True] Translation: X:129.87, Y:25.82, Z:0.12 [[ 8.93727653e-01 -4.48544691e-01 -7.65132092e-03 1.29874305e+02] [ 4.48530229e-01 8.93760380e-01 -3.60780356e-03 2.58226420e+01] [ 8.45670863e-03 -2.07454911e-04 9.99964220e-01 1.23358855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601858064 meters 0.01818003163786662 Centerline is valid? [True, True] Translation: X:129.93, Y:25.85, Z:0.12 [[ 8.93167662e-01 -4.49649201e-01 -8.19282639e-03 1.29926569e+02] [ 4.49632644e-01 8.93205207e-01 -3.86560262e-03 2.58508921e+01] [ 9.05604033e-03 -2.31130936e-04 9.99958967e-01 1.22267615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661858064 meters 0.018263462809741976 Centerline is valid? [True, True] Translation: X:129.98, Y:25.88, Z:0.12 [[ 8.92405857e-01 -4.51142793e-01 -9.05352714e-03 1.29979141e+02] [ 4.51122623e-01 8.92451740e-01 -4.27445940e-03 2.58781714e+01] [ 1.00082276e-02 -2.69698305e-04 9.99949880e-01 1.20467513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721858064 meters 0.020824478076914742 Centerline is valid? [True, True] Translation: X:130.03, Y:25.90, Z:0.12 [[ 8.90833148e-01 -4.54249003e-01 -8.61076020e-03 1.30032998e+02] [ 4.54230896e-01 8.90874716e-01 -4.06613796e-03 2.59022149e+01] [ 9.51814766e-03 -2.89022833e-04 9.99954660e-01 1.19738862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781858064 meters 0.02251019753390629 Centerline is valid? [True, True] Translation: X:130.09, Y:25.93, Z:0.12 [[ 8.89336549e-01 -4.57175862e-01 -8.41029645e-03 1.30087236e+02] [ 4.57158701e-01 8.89376261e-01 -3.97339839e-03 2.59269594e+01] [ 9.29645985e-03 -3.11151786e-04 9.99956739e-01 1.19913898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841858064 meters 0.022860499287021857 Centerline is valid? [True, True] Translation: X:130.14, Y:25.96, Z:0.12 [[ 8.87607284e-01 -4.60530043e-01 -8.08636708e-03 1.30138651e+02] [ 4.60514311e-01 8.87644055e-01 -3.82099675e-03 2.59573172e+01] [ 8.93749947e-03 -3.32343217e-04 9.99960005e-01 1.18870455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901858064 meters 0.021348768497682566 Centerline is valid? [True, True] Translation: X:130.19, Y:25.99, Z:0.12 [[ 8.88401097e-01 -4.58972661e-01 -9.35887375e-03 1.30187627e+02] [ 4.58951475e-01 8.88450316e-01 -4.42486771e-03 2.59914886e+01] [ 1.03457877e-02 -3.64211583e-04 9.99946415e-01 1.16389057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961858064 meters 0.020174510941229507 Centerline is valid? [True, True] Translation: X:130.24, Y:26.02, Z:0.12 [[ 8.90186817e-01 -4.55469505e-01 -1.07219699e-02 1.30237655e+02] [ 4.55441432e-01 8.90251309e-01 -5.07039581e-03 2.60237548e+01] [ 1.18546584e-02 -3.69629809e-04 9.99929663e-01 1.15027410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02185806399999 meters 0.018312492716807502 Centerline is valid? [True, True] Translation: X:130.29, Y:26.06, Z:0.12 [[ 8.93281343e-01 -4.49387867e-01 -9.94921191e-03 1.30286479e+02] [ 4.49363308e-01 8.93336708e-01 -4.70571367e-03 2.60583045e+01] [ 1.10026868e-02 -2.67284552e-04 9.99939433e-01 1.16593406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.081858064 meters 0.01710999329755355 Centerline is valid? [True, True] Translation: X:130.34, Y:26.09, Z:0.12 [[ 8.95631463e-01 -4.44707950e-01 -8.89499998e-03 1.30336294e+02] [ 4.44688082e-01 8.95675613e-01 -4.20773806e-03 2.60908140e+01] [ 9.83824913e-03 -1.86917880e-04 9.99951586e-01 1.16669233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.141858064 meters 0.015358864224872348 Centerline is valid? [True, True] Translation: X:130.39, Y:26.13, Z:0.12 [[ 8.99371658e-01 -4.37096928e-01 -8.76907166e-03 1.30385745e+02] [ 4.37077236e-01 8.99414401e-01 -4.15027889e-03 2.61257340e+01] [ 9.70110350e-03 -1.00118392e-04 9.99952938e-01 1.17547211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201858064 meters 0.01474526062406129 Centerline is valid? [True, True] Translation: X:130.44, Y:26.16, Z:0.12 [[ 9.00973152e-01 -4.33812772e-01 -7.33874811e-03 1.30436640e+02] [ 4.33798854e-01 9.01003039e-01 -3.47538869e-03 2.61557718e+01] [ 8.11990235e-03 -5.23086148e-05 9.99967032e-01 1.19635962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261858064 meters 0.0142947844294551 Centerline is valid? [True, True] Translation: X:130.49, Y:26.19, Z:0.12 [[ 9.02404043e-01 -4.30836157e-01 -6.86647616e-03 1.30486790e+02] [ 4.30823872e-01 9.02430166e-01 -3.25367889e-03 2.61862415e+01] [ 7.59831773e-03 -2.21088580e-05 9.99971132e-01 1.20656762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321858064 meters 0.014084161671402902 Centerline is valid? [True, True] Translation: X:130.54, Y:26.21, Z:0.12 [[ 9.03151766e-01 -4.29263228e-01 -7.06891200e-03 1.30536128e+02] [ 4.29250150e-01 9.03179429e-01 -3.35071000e-03 2.62143846e+01] [ 7.82283249e-03 -8.13188957e-06 9.99969401e-01 1.20197689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381858064 meters 0.014050607851563564 Centerline is valid? [True, True] Translation: X:130.59, Y:26.24, Z:0.12 [[ 9.02923088e-01 -4.29741449e-01 -7.22389494e-03 1.30588250e+02] [ 4.29727788e-01 9.02951985e-01 -3.42649758e-03 2.62411614e+01] [ 7.99533831e-03 -1.04446201e-05 9.99968037e-01 1.20594426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441858064 meters 0.014013504599930475 Centerline is valid? [True, True] Translation: X:130.64, Y:26.27, Z:0.12 [[ 9.01697060e-01 -4.32282079e-01 -8.63808981e-03 1.30641657e+02] [ 4.32262636e-01 9.01738434e-01 -4.10003830e-03 2.62650572e+01] [ 9.56167065e-03 -3.69309910e-05 9.99954285e-01 1.20917610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501858064 meters 0.014096694771582204 Centerline is valid? [True, True] Translation: X:130.70, Y:26.29, Z:0.12 [[ 9.00084417e-01 -4.35615156e-01 -9.35297307e-03 1.30696005e+02] [ 4.35592512e-01 9.00133007e-01 -4.44226100e-03 2.62880067e+01] [ 1.03540360e-02 -7.56751308e-05 9.99946393e-01 1.21713147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561858064 meters 0.014297040137332871 Centerline is valid? [True, True] Translation: X:130.75, Y:26.31, Z:0.12 [[ 8.99044348e-01 -4.37771744e-01 -8.66948439e-03 1.30749709e+02] [ 4.37752363e-01 8.99086143e-01 -4.12026056e-03 2.63120399e+01] [ 9.59834693e-03 -9.07903080e-05 9.99953931e-01 1.22283459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621858064 meters 0.014727359704738745 Centerline is valid? [True, True] Translation: X:130.80, Y:26.33, Z:0.12 [[ 8.97497854e-01 -4.40953283e-01 -7.60289645e-03 1.30804300e+02] [ 4.40938473e-01 8.97530050e-01 -3.61562931e-03 2.63345407e+01] [ 8.41815164e-03 -1.07389997e-04 9.99964561e-01 1.23621102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681858064 meters 0.015056107738611518 Centerline is valid? [True, True] Translation: X:130.86, Y:26.36, Z:0.12 [[ 8.96458426e-01 -4.43081040e-01 -6.44064435e-03 1.30859065e+02] [ 4.43070453e-01 8.96481556e-01 -3.06481029e-03 2.63575011e+01] [ 7.13187820e-03 -1.06184197e-04 9.99974562e-01 1.24865835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74185806399998 meters 0.015897768140130705 Centerline is valid? [True, True] Translation: X:130.91, Y:26.38, Z:0.13 [[ 8.95470165e-01 -4.45088224e-01 -5.44574690e-03 1.30912997e+02] [ 4.45080687e-01 8.95486718e-01 -2.59231832e-03 2.63788303e+01] [ 6.03040438e-03 -1.02453054e-04 9.99981812e-01 1.26003308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.801858064 meters 0.016095773451444088 Centerline is valid? [True, True] Translation: X:130.97, Y:26.40, Z:0.13 [[ 8.95074933e-01 -4.45883556e-01 -5.35901997e-03 1.30966835e+02] [ 4.45876263e-01 8.95090969e-01 -2.55248791e-03 2.64021587e+01] [ 5.93492277e-03 -1.04791856e-04 9.99982383e-01 1.27521184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.861858064 meters 0.015458403313684003 Centerline is valid? [True, True] Translation: X:131.02, Y:26.43, Z:0.13 [[ 8.95172731e-01 -4.45693519e-01 -4.80299640e-03 1.31019623e+02] [ 4.45687650e-01 8.95185612e-01 -2.28906714e-03 2.64289379e+01] [ 5.31979566e-03 -9.15256903e-05 9.99985846e-01 1.27927492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921858064 meters 0.015018506676324076 Centerline is valid? [True, True] Translation: X:131.07, Y:26.46, Z:0.13 [[ 8.95748141e-01 -4.44533465e-01 -5.02663980e-03 1.31071624e+02] [ 4.44527010e-01 8.95762240e-01 -2.39720246e-03 2.64558114e+01] [ 5.56831085e-03 -8.71875131e-05 9.99984493e-01 1.28082032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981858064 meters 0.015053365948063023 Centerline is valid? [True, True] Translation: X:131.12, Y:26.48, Z:0.13 [[ 8.96044190e-01 -4.43926850e-01 -5.81043171e-03 1.31124192e+02] [ 4.43918199e-01 8.96063024e-01 -2.77301354e-03 2.64801941e+01] [ 6.43752818e-03 -9.46137122e-05 9.99979274e-01 1.27558307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041858064 meters 0.014927323756715271 Centerline is valid? [True, True] Translation: X:131.18, Y:26.51, Z:0.13 [[ 8.96422965e-01 -4.43163419e-01 -5.66140034e-03 1.31177416e+02] [ 4.43155180e-01 8.96440839e-01 -2.70361913e-03 2.65056169e+01] [ 6.27325556e-03 -8.52926067e-05 9.99980319e-01 1.27676721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101858064 meters 0.014876604482628827 Centerline is valid? [True, True] Translation: X:131.23, Y:26.53, Z:0.13 [[ 8.96751991e-01 -4.42518691e-01 -3.61598447e-03 1.31229910e+02] [ 4.42515323e-01 8.96759279e-01 -1.72727337e-03 2.65294444e+01] [ 4.00701838e-03 -5.11927010e-05 9.99991971e-01 1.29898308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161858064 meters 0.014761751609054262 Centerline is valid? [True, True] Translation: X:131.28, Y:26.55, Z:0.13 [[ 8.96910870e-01 -4.42203590e-01 -2.62212565e-03 1.31282347e+02] [ 4.42201816e-01 8.96914702e-01 -1.25320589e-03 2.65547988e+01] [ 2.90599519e-03 -3.54947431e-05 9.99995777e-01 1.30275640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221858064 meters 0.014504303374313526 Centerline is valid? [True, True] Translation: X:131.34, Y:26.58, Z:0.13 [[ 8.97286445e-01 -4.41438446e-01 -3.02233191e-03 1.31335444e+02] [ 4.41436081e-01 8.97291534e-01 -1.44544664e-03 2.65807246e+01] [ 3.34998855e-03 -3.71866777e-05 9.99994388e-01 1.30059969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281858064 meters 0.014175218967828912 Centerline is valid? [True, True] Translation: X:131.39, Y:26.61, Z:0.13 [[ 8.98341105e-01 -4.39292309e-01 -2.35097713e-03 1.31386969e+02] [ 4.39290870e-01 8.98344181e-01 -1.12471241e-03 2.66068014e+01] [ 2.60606413e-03 -2.23874044e-05 9.99996604e-01 1.30418926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341858064 meters 0.013864981654949749 Centerline is valid? [True, True] Translation: X:131.44, Y:26.63, Z:0.13 [[ 8.99045967e-01 -4.37850148e-01 -1.89631841e-03 1.31439358e+02] [ 4.37849208e-01 8.99047967e-01 -9.07598700e-04 2.66339346e+01] [ 2.10227343e-03 -1.43285605e-05 9.99997790e-01 1.30188155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401858064 meters 0.013780303314745418 Centerline is valid? [True, True] Translation: X:131.49, Y:26.66, Z:0.13 [[ 8.99770722e-01 -4.36358883e-01 -1.89022545e-03 1.31492500e+02] [ 4.36357944e-01 8.99772707e-01 -9.05243063e-04 2.66600908e+01] [ 2.09578412e-03 -1.03036875e-05 9.99997804e-01 1.29736403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461858064 meters 0.013731705325925206 Centerline is valid? [True, True] Translation: X:131.54, Y:26.69, Z:0.13 [[ 9.00348660e-01 -4.35166857e-01 -1.44823291e-03 1.31544960e+02] [ 4.35166303e-01 9.00349825e-01 -6.93970720e-04 2.66857182e+01] [ 1.60590931e-03 -5.40655458e-06 9.99998711e-01 1.30400737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52185806399999 meters 0.013622868302663592 Centerline is valid? [True, True] Translation: X:131.60, Y:26.71, Z:0.13 [[ 9.01716784e-01 -4.32322218e-01 -2.08359105e-03 1.31596550e+02] [ 4.32321063e-01 9.01719191e-01 -9.99231287e-04 2.67132378e+01] [ 2.31080392e-03 2.43324649e-07 9.99997330e-01 1.29457152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.581858064 meters 0.0137103949753204 Centerline is valid? [True, True] Translation: X:131.65, Y:26.74, Z:0.13 [[ 9.02774514e-01 -4.30110071e-01 -1.87180440e-03 1.31648641e+02] [ 4.30109133e-01 9.02776454e-01 -8.98265181e-04 2.67390528e+01] [ 2.07617384e-03 5.85074564e-06 9.99997845e-01 1.28953278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.641858064 meters 0.013691974567699166 Centerline is valid? [True, True] Translation: X:131.70, Y:26.76, Z:0.13 [[ 9.02917716e-01 -4.29810035e-01 -1.71220572e-03 1.31701238e+02] [ 4.29809248e-01 9.02919340e-01 -8.22230704e-04 2.67634295e+01] [ 1.89938666e-03 6.48481776e-06 9.99998196e-01 1.28854208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701858064 meters 0.01369571174834296 Centerline is valid? [True, True] Translation: X:131.76, Y:26.79, Z:0.13 [[ 9.02951103e-01 -4.29741810e-01 -1.13262637e-03 1.31755084e+02] [ 4.29741465e-01 9.02951813e-01 -5.44198893e-04 2.67858510e+01] [ 1.25657205e-03 4.64847481e-06 9.99999211e-01 1.29636505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761858064 meters 0.013766667980267417 Centerline is valid? [True, True] Translation: X:131.81, Y:26.81, Z:0.13 [[ 9.02979950e-01 -4.29680590e-01 -1.34203310e-03 1.31808171e+02] [ 4.29680106e-01 9.02980947e-01 -6.45312070e-04 2.68090783e+01] [ 1.48910839e-03 6.05893513e-06 9.99998891e-01 1.29778237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821858064 meters 0.013921845816911112 Centerline is valid? [True, True] Translation: X:131.86, Y:26.83, Z:0.13 [[ 9.04019664e-01 -4.27488351e-01 -1.46879343e-03 1.31861795e+02] [ 4.27487767e-01 9.04020857e-01 -7.06749757e-04 2.68327369e+01] [ 1.62994718e-03 1.10244557e-05 9.99998672e-01 1.29944078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881858064 meters 0.014151346536332867 Centerline is valid? [True, True] Translation: X:131.92, Y:26.86, Z:0.13 [[ 9.04606037e-01 -4.26238016e-01 -3.01193073e-03 1.31916203e+02] [ 4.26235550e-01 9.04611050e-01 -1.45038408e-03 2.68564766e+01] [ 3.34283465e-03 2.82342413e-05 9.99994412e-01 1.28270817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941858064 meters 0.013733913603716211 Centerline is valid? [True, True] Translation: X:131.97, Y:26.88, Z:0.13 [[ 9.03779733e-01 -4.27983017e-01 -3.56816487e-03 1.31971530e+02] [ 4.27979564e-01 9.03786776e-01 -1.71933836e-03 2.68778623e+01] [ 3.96070784e-03 2.68015233e-05 9.99992156e-01 1.28067521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001858064 meters 0.013579598628212126 Centerline is valid? [True, True] Translation: X:132.03, Y:26.89, Z:0.13 [[ 9.01531952e-01 -4.32700062e-01 -3.28578418e-03 1.32029292e+02] [ 4.32697162e-01 9.01537939e-01 -1.58423050e-03 2.68943877e+01] [ 3.64775573e-03 6.48492943e-06 9.99993347e-01 1.28922455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061858064 meters 0.01369333575140945 Centerline is valid? [True, True] Translation: X:132.08, Y:26.91, Z:0.13 [[ 8.99755641e-01 -4.36379309e-01 -3.58954737e-03 1.32084171e+02] [ 4.36375872e-01 8.99762801e-01 -1.73193396e-03 2.69133526e+01] [ 3.98552135e-03 -8.07451546e-06 9.99992058e-01 1.28982856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121858064 meters 0.014077768251257146 Centerline is valid? [True, True] Translation: X:132.14, Y:26.93, Z:0.13 [[ 8.97964279e-01 -4.40046280e-01 -4.40745058e-03 1.32140456e+02] [ 4.40041139e-01 8.97975095e-01 -2.12729739e-03 2.69305506e+01] [ 4.89389015e-03 -2.92225028e-05 9.99988024e-01 1.27856795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181858064 meters 0.014219034435898198 Centerline is valid? [True, True] Translation: X:132.20, Y:26.95, Z:0.13 [[ 8.97320199e-01 -4.41350180e-01 -5.14576643e-03 1.32196647e+02] [ 4.41343186e-01 8.97334953e-01 -2.48506572e-03 2.69501744e+01] [ 5.71426028e-03 -4.11492824e-05 9.99983673e-01 1.26965031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24185806399998 meters 0.014509414613636747 Centerline is valid? [True, True] Translation: X:132.25, Y:26.97, Z:0.13 [[ 8.97017744e-01 -4.41971565e-01 -4.50592092e-03 1.32250683e+02] [ 4.41966206e-01 8.97029060e-01 -2.17682039e-03 2.69704662e+01] [ 5.00403472e-03 -3.88182600e-05 9.99987479e-01 1.27040537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.301858064 meters 0.014565680171632452 Centerline is valid? [True, True] Translation: X:132.31, Y:26.99, Z:0.13 [[ 8.96593587e-01 -4.42831920e-01 -4.45313822e-03 1.32305235e+02] [ 4.42826690e-01 8.96604645e-01 -2.15270044e-03 2.69904264e+01] [ 4.94598888e-03 -4.18710507e-05 9.99987768e-01 1.26960697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.361858064 meters 0.014599801602886325 Centerline is valid? [True, True] Translation: X:132.36, Y:27.01, Z:0.13 [[ 8.96568038e-01 -4.42872927e-01 -5.41508119e-03 1.32358798e+02] [ 4.42865183e-01 8.96584390e-01 -2.61961175e-03 2.70126493e+01] [ 6.01523238e-03 -4.94907541e-05 9.99981907e-01 1.26487855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421858064 meters 0.01454530250126737 Centerline is valid? [True, True] Translation: X:132.41, Y:27.03, Z:0.13 [[ 8.96960837e-01 -4.42071219e-01 -5.85614311e-03 1.32412692e+02] [ 4.42062131e-01 8.96979952e-01 -2.83502832e-03 2.70347823e+01] [ 6.50612739e-03 -4.58697332e-05 9.99978834e-01 1.26975115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481858064 meters 0.0144680091801375 Centerline is valid? [True, True] Translation: X:132.47, Y:27.06, Z:0.13 [[ 8.96796246e-01 -4.42406897e-01 -5.71237258e-03 1.32466262e+02] [ 4.42398243e-01 8.96814438e-01 -2.76743283e-03 2.70575559e+01] [ 6.34726957e-03 -4.53202238e-05 9.99979855e-01 1.26979837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541858064 meters 0.01470790694443996 Centerline is valid? [True, True] Translation: X:132.52, Y:27.08, Z:0.13 [[ 8.96356214e-01 -4.43302716e-01 -5.31411158e-03 1.32520250e+02] [ 4.43295238e-01 8.96371965e-01 -2.57524557e-03 2.70799857e+01] [ 5.90503399e-03 -4.73829848e-05 9.99982564e-01 1.28175908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601858064 meters 0.014715713275330156 Centerline is valid? [True, True] Translation: X:132.57, Y:27.11, Z:0.13 [[ 8.96304452e-01 -4.43419257e-01 -4.20613999e-03 1.32572911e+02] [ 4.43414568e-01 8.96314320e-01 -2.03958079e-03 2.71050729e+01] [ 4.67441291e-03 -3.69784082e-05 9.99989074e-01 1.28914338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661858064 meters 0.014706247884361291 Centerline is valid? [True, True] Translation: X:132.63, Y:27.13, Z:0.13 [[ 8.96869879e-01 -4.42278858e-01 -3.71911241e-03 1.32625147e+02] [ 4.42275178e-01 8.96877590e-01 -1.80454591e-03 2.71329783e+01] [ 4.13370108e-03 -2.64282254e-05 9.99991456e-01 1.28806504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721858064 meters 0.014697616794684235 Centerline is valid? [True, True] Translation: X:132.68, Y:27.16, Z:0.13 [[ 8.96696627e-01 -4.42629991e-01 -3.72153079e-03 1.32676677e+02] [ 4.42626304e-01 8.96704349e-01 -1.80696770e-03 2.71595340e+01] [ 4.13693095e-03 -2.69455732e-05 9.99991443e-01 1.28004953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781858064 meters 0.014793035596673535 Centerline is valid? [True, True] Translation: X:132.73, Y:27.19, Z:0.13 [[ 8.96267202e-01 -4.43500455e-01 -3.52833334e-03 1.32728903e+02] [ 4.43497143e-01 8.96274146e-01 -1.71436715e-03 2.71857242e+01] [ 3.92267656e-03 -2.82747099e-05 9.99992306e-01 1.28163909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841858064 meters 0.014935509215028476 Centerline is valid? [True, True] Translation: X:132.78, Y:27.21, Z:0.13 [[ 8.95550990e-01 -4.44950094e-01 -2.79967638e-03 1.32781232e+02] [ 4.44948014e-01 8.95555366e-01 -1.36085979e-03 2.72109725e+01] [ 3.11277990e-03 -2.69911119e-05 9.99995155e-01 1.28431106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901858064 meters 0.015536788430215569 Centerline is valid? [True, True] Translation: X:132.83, Y:27.24, Z:0.13 [[ 8.93984993e-01 -4.48088824e-01 -2.69033136e-03 1.32834144e+02] [ 4.48086916e-01 8.93989040e-01 -1.30803072e-03 2.72357247e+01] [ 2.99124070e-03 -3.61424498e-05 9.99995526e-01 1.28596675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961858064 meters 0.01567342391752562 Centerline is valid? [True, True] Translation: X:132.89, Y:27.26, Z:0.13 [[ 8.93121776e-01 -4.49803834e-01 -3.16300860e-03 1.32886156e+02] [ 4.49801205e-01 8.93127375e-01 -1.53865709e-03 2.72626117e+01] [ 3.51706343e-03 -4.85169278e-05 9.99993814e-01 1.27242381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02185806399999 meters 0.01662844171958866 Centerline is valid? [True, True] Translation: X:132.94, Y:27.29, Z:0.13 [[ 8.92385464e-01 -4.51265377e-01 -2.78260884e-03 1.32938726e+02] [ 4.51263348e-01 8.92389801e-01 -1.35402730e-03 2.72876461e+01] [ 3.09419739e-03 -4.73750987e-05 9.99995212e-01 1.27232131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.081858064 meters 0.01589021649101863 Centerline is valid? [True, True] Translation: X:132.99, Y:27.32, Z:0.13 [[ 8.92179302e-01 -4.51673012e-01 -2.75396515e-03 1.32989611e+02] [ 4.51671024e-01 8.92183551e-01 -1.34085095e-03 2.73166276e+01] [ 3.06266859e-03 -4.76067929e-05 9.99995309e-01 1.27125009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.141858064 meters 0.016188803087928434 Centerline is valid? [True, True] Translation: X:133.04, Y:27.34, Z:0.13 [[ 8.91987732e-01 -4.52056489e-01 -1.67829018e-03 1.33041416e+02] [ 4.52055750e-01 8.91989311e-01 -8.17596393e-04 2.73428358e+01] [ 1.86661666e-03 -2.93947758e-05 9.99998257e-01 1.27600540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201858064 meters 0.015911199854009603 Centerline is valid? [True, True] Translation: X:133.09, Y:27.37, Z:0.13 [[ 8.92288821e-01 -4.51461769e-01 -1.71181899e-03 1.33093198e+02] [ 4.51460999e-01 8.92290463e-01 -8.34484645e-04 2.73711270e+01] [ 1.90417767e-03 -2.82181888e-05 9.99998187e-01 1.27606329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261858064 meters 0.015546165652067092 Centerline is valid? [True, True] Translation: X:133.15, Y:27.40, Z:0.13 [[ 8.92877946e-01 -4.50293738e-01 -2.12656982e-03 1.33145087e+02] [ 4.50292544e-01 8.92880478e-01 -1.03737239e-03 2.73990278e+01] [ 2.36589497e-03 -3.13315999e-05 9.99997201e-01 1.27465630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321858064 meters 0.01567214796114534 Centerline is valid? [True, True] Translation: X:133.20, Y:27.43, Z:0.13 [[ 8.93069703e-01 -4.49913443e-01 -2.09750214e-03 1.33196327e+02] [ 4.49912280e-01 8.93072166e-01 -1.02356720e-03 2.74259565e+01] [ 2.33373742e-03 -2.95751101e-05 9.99997276e-01 1.26129488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381858064 meters 0.01626915659601181 Centerline is valid? [True, True] Translation: X:133.25, Y:27.45, Z:0.13 [[ 8.91815940e-01 -4.52390752e-01 -2.63386195e-03 1.33250839e+02] [ 4.52388926e-01 8.91819828e-01 -1.28595298e-03 2.74486230e+01] [ 2.93068355e-03 -4.46966129e-05 9.99995705e-01 1.27655851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441858064 meters 0.016999696840649295 Centerline is valid? [True, True] Translation: X:133.30, Y:27.47, Z:0.13 [[ 8.90611627e-01 -4.54759470e-01 -2.18042426e-03 1.33303939e+02] [ 4.54758225e-01 8.90614295e-01 -1.06497127e-03 2.74729407e+01] [ 2.42622279e-03 -4.30900684e-05 9.99997056e-01 1.27397434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501858064 meters 0.017018916646452227 Centerline is valid? [True, True] Translation: X:133.36, Y:27.50, Z:0.13 [[ 8.88609531e-01 -4.58656688e-01 -2.67298840e-03 1.33356910e+02] [ 4.58654832e-01 8.88613549e-01 -1.30627958e-03 2.74989941e+01] [ 2.97438757e-03 -6.52065643e-05 9.99995574e-01 1.26132842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561858064 meters 0.018254195862075242 Centerline is valid? [True, True] Translation: X:133.41, Y:27.52, Z:0.12 [[ 8.86578215e-01 -4.62560001e-01 -4.16107800e-03 1.33411394e+02] [ 4.62555544e-01 8.86587971e-01 -2.03409641e-03 2.75219845e+01] [ 4.63005334e-03 -1.21344133e-04 9.99989274e-01 1.24391741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621858064 meters 0.020710749192548655 Centerline is valid? [True, True] Translation: X:133.47, Y:27.54, Z:0.12 [[ 8.85432222e-01 -4.64752552e-01 -3.85294685e-03 1.33465693e+02] [ 4.64748750e-01 8.85440597e-01 -1.88384485e-03 2.75432418e+01] [ 4.28707726e-03 -1.22635297e-04 9.99990803e-01 1.24046880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681858064 meters 0.019493731923897268 Centerline is valid? [True, True] Translation: X:133.52, Y:27.57, Z:0.13 [[ 8.84718412e-01 -4.66123114e-01 -1.60428060e-03 1.33517286e+02] [ 4.66122457e-01 8.84719865e-01 -7.84672540e-04 2.75721137e+01] [ 1.78509293e-03 -5.35769725e-05 9.99998405e-01 1.26296868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74185806399998 meters 0.018815609711237833 Centerline is valid? [True, True] Translation: X:133.57, Y:27.60, Z:0.13 [[ 8.84894253e-01 -4.65790900e-01 -9.99445888e-04 1.33569526e+02] [ 4.65790644e-01 8.84894817e-01 -4.89053754e-04 2.75998100e+01] [ 1.11220127e-03 -3.27716879e-05 9.99999381e-01 1.26552457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.801858064 meters 0.01849053304894977 Centerline is valid? [True, True] Translation: X:133.62, Y:27.63, Z:0.13 [[ 8.86024367e-01 -4.63638189e-01 -6.71430762e-04 1.33621170e+02] [ 4.63638073e-01 8.86024621e-01 -3.28676364e-04 2.76275698e+01] [ 7.47291101e-04 -2.00855974e-05 9.99999721e-01 1.26122074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.861858064 meters 0.017523607413352144 Centerline is valid? [True, True] Translation: X:133.67, Y:27.66, Z:0.13 [[ 8.87419311e-01 -4.60962137e-01 -9.34936265e-04 1.33672360e+02] [ 4.60961910e-01 8.87419803e-01 -4.58001032e-04 2.76567625e+01] [ 1.04080209e-03 -2.45310465e-05 9.99999458e-01 1.25233292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921858064 meters 0.017133939124235775 Centerline is valid? [True, True] Translation: X:133.72, Y:27.69, Z:0.12 [[ 8.89961762e-01 -4.56029920e-01 -2.18504246e-03 1.33723258e+02] [ 4.56028665e-01 8.89964443e-01 -1.07067529e-03 2.76858964e+01] [ 2.43287006e-03 -4.35819249e-05 9.99997040e-01 1.23201687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981858064 meters 0.015973188348334784 Centerline is valid? [True, True] Translation: X:133.77, Y:27.72, Z:0.12 [[ 8.92026538e-01 -4.51967141e-01 -3.78925686e-03 1.33773117e+02] [ 4.51963327e-01 8.92034585e-01 -1.85776248e-03 2.77176468e+01] [ 4.21979577e-03 -5.54317024e-05 9.99991095e-01 1.21087940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041858064 meters 0.01535551916067969 Centerline is valid? [True, True] Translation: X:133.82, Y:27.75, Z:0.12 [[ 8.93647715e-01 -4.48760837e-01 -2.73369883e-03 1.33824554e+02] [ 4.48758835e-01 8.93651895e-01 -1.34102578e-03 2.77465659e+01] [ 3.04477499e-03 -2.83668746e-05 9.99995364e-01 1.21929075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101858064 meters 0.015327979834128504 Centerline is valid? [True, True] Translation: X:133.88, Y:27.77, Z:0.12 [[ 8.94509784e-01 -4.47044212e-01 -1.92836367e-03 1.33876492e+02] [ 4.47043211e-01 8.94511863e-01 -9.46260457e-04 2.77726013e+01] [ 2.14796444e-03 -1.56226510e-05 9.99997693e-01 1.22678968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161858064 meters 0.015241976252735382 Centerline is valid? [True, True] Translation: X:133.93, Y:27.80, Z:0.12 [[ 8.95396647e-01 -4.45268820e-01 -7.23307053e-04 1.33928943e+02] [ 4.45268679e-01 8.95396939e-01 -3.54947070e-04 2.78003263e+01] [ 8.05693784e-04 -4.24755963e-06 9.99999675e-01 1.23808903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221858064 meters 0.015294282680507247 Centerline is valid? [True, True] Translation: X:133.98, Y:27.83, Z:0.12 [[ 8.95682286e-01 -4.44694412e-01 3.50627866e-04 1.33980563e+02] [ 4.44694379e-01 8.95682354e-01 1.72564404e-04 2.78269654e+01] [-3.90789619e-04 1.35936118e-06 9.99999924e-01 1.24828885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281858064 meters 0.015288221711360999 Centerline is valid? [True, True] Translation: X:134.03, Y:27.85, Z:0.12 [[ 8.96280961e-01 -4.43486642e-01 1.94731166e-04 1.34031928e+02] [ 4.43486632e-01 8.96280982e-01 9.60245790e-05 2.78533217e+01] [-2.17119459e-04 2.95667115e-07 9.99999976e-01 1.23904403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341858064 meters 0.01523890501738454 Centerline is valid? [True, True] Translation: X:134.08, Y:27.88, Z:0.12 [[ 8.96391950e-01 -4.43258979e-01 -1.71733640e-03 1.34083462e+02] [ 4.43258174e-01 8.96393595e-01 -8.44787229e-04 2.78796477e+01] [ 1.91386887e-03 -3.96292350e-06 9.99998169e-01 1.21882288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401858064 meters 0.015344846709248317 Centerline is valid? [True, True] Translation: X:134.14, Y:27.90, Z:0.12 [[ 8.95748576e-01 -4.44556201e-01 -2.06724024e-03 1.34136009e+02] [ 4.44555036e-01 8.95750961e-01 -1.01766813e-03 2.79042866e+01] [ 2.30414311e-03 -7.42728085e-06 9.99997345e-01 1.21401293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461858064 meters 0.015608507875880546 Centerline is valid? [True, True] Translation: X:134.19, Y:27.93, Z:0.12 [[ 8.93756617e-01 -4.48547172e-01 -2.13179705e-03 1.34190303e+02] [ 4.48545943e-01 8.93759159e-01 -1.05011866e-03 2.79274309e+01] [ 2.37634090e-03 -1.76584175e-05 9.99997176e-01 1.21573231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52185806399999 meters 0.016882040882080417 Centerline is valid? [True, True] Translation: X:134.24, Y:27.95, Z:0.12 [[ 8.90837365e-01 -4.54317051e-01 -2.19241395e-03 1.34244249e+02] [ 4.54315768e-01 8.90840062e-01 -1.08035904e-03 2.79486249e+01] [ 2.44391571e-03 -3.36240261e-05 9.99997013e-01 1.21477984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.581858064 meters 0.017201402958754598 Centerline is valid? [True, True] Translation: X:134.30, Y:27.97, Z:0.12 [[ 8.88589339e-01 -4.58699971e-01 -1.82292048e-03 1.34297921e+02] [ 4.58699092e-01 8.88591208e-01 -8.98668631e-04 2.79737668e+01] [ 2.03205039e-03 -3.76246056e-05 9.99997935e-01 1.21471409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.641858064 meters 0.018120506898954586 Centerline is valid? [True, True] Translation: X:134.35, Y:28.00, Z:0.12 [[ 8.86435110e-01 -4.62849443e-01 -1.78587926e-03 1.34352182e+02] [ 4.62848607e-01 8.86436908e-01 -8.80706481e-04 2.79974117e+01] [ 1.99070379e-03 -4.59025815e-05 9.99998017e-01 1.21450442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701858064 meters 0.019832108245273143 Centerline is valid? [True, True] Translation: X:134.41, Y:28.02, Z:0.12 [[ 8.84881086e-01 -4.65814891e-01 -1.39709349e-03 1.34405847e+02] [ 4.65814383e-01 8.84882188e-01 -6.89079800e-04 2.80202670e+01] [ 1.55724678e-03 -4.10325628e-05 9.99998787e-01 1.21709176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761858064 meters 0.020391789831639386 Centerline is valid? [True, True] Translation: X:134.46, Y:28.05, Z:0.12 [[ 8.83692170e-01 -4.68066830e-01 -1.26136989e-03 1.34458142e+02] [ 4.68066418e-01 8.83693069e-01 -6.22350897e-04 2.80470108e+01] [ 1.40596565e-03 -4.04382743e-05 9.99999011e-01 1.22625465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821858064 meters 0.020963423326847013 Centerline is valid? [True, True] Translation: X:134.51, Y:28.08, Z:0.12 [[ 8.83840909e-01 -4.67786955e-01 -7.83234925e-04 1.34508817e+02] [ 4.67786795e-01 8.83841255e-01 -3.86584351e-04 2.80759642e+01] [ 8.73094455e-04 -2.47078919e-05 9.99999619e-01 1.21922810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881858064 meters 0.020988194481564613 Centerline is valid? [True, True] Translation: X:134.56, Y:28.10, Z:0.12 [[ 8.84307710e-01 -4.66904294e-01 -5.04672464e-04 1.34560609e+02] [ 4.66904227e-01 8.84307854e-01 -2.49066994e-04 2.81045093e+01] [ 5.62576273e-04 -1.53818435e-05 9.99999842e-01 1.21737903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941858064 meters 0.021366499400804168 Centerline is valid? [True, True] Translation: X:134.61, Y:28.13, Z:0.12 [[ 8.84462874e-01 -4.66609487e-01 1.00560143e-03 1.34610521e+02] [ 4.66609223e-01 8.84463445e-01 4.96904488e-04 2.81342362e+01] [-1.12127805e-03 2.97293289e-05 9.99999371e-01 1.23233342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001858064 meters 0.018407769226876432 Centerline is valid? [True, True] Translation: X:134.66, Y:28.17, Z:0.12 [[ 8.85288993e-01 -4.65031197e-01 3.06357970e-03 1.34658479e+02] [ 4.65028739e-01 8.85294289e-01 1.51421006e-03 2.81713339e+01] [-3.41632453e-03 8.41391077e-05 9.99994161e-01 1.24917248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061858064 meters 0.02048683991019678 Centerline is valid? [True, True] Translation: X:134.71, Y:28.20, Z:0.13 [[ 8.86187384e-01 -4.63314453e-01 3.41155392e-03 1.34710423e+02] [ 4.63311392e-01 8.86193946e-01 1.68650962e-03 2.81968698e+01] [-3.80468271e-03 8.60482484e-05 9.99992758e-01 1.26362966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121858064 meters 0.01971966718923469 Centerline is valid? [True, True] Translation: X:134.76, Y:28.23, Z:0.12 [[ 8.87329716e-01 -4.61133860e-01 1.24023435e-03 1.34759165e+02] [ 4.61133453e-01 8.87330582e-01 6.13620462e-04 2.82300565e+01] [-1.38345904e-03 2.74298778e-05 9.99999043e-01 1.22767077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181858064 meters 0.017236527772788446 Centerline is valid? [True, True] Translation: X:134.81, Y:28.27, Z:0.12 [[ 8.87828905e-01 -4.60172717e-01 -9.51898428e-04 1.34806943e+02] [ 4.60172477e-01 8.87829415e-01 -4.70855941e-04 2.82658751e+01] [ 1.06179848e-03 -1.99979429e-05 9.99999436e-01 1.20142583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24185806399998 meters 0.01949010142033605 Centerline is valid? [True, True] Translation: X:134.86, Y:28.29, Z:0.12 [[ 8.87982280e-01 -4.59873795e-01 -1.88771671e-03 1.34859276e+02] [ 4.59872847e-01 8.87984286e-01 -9.34392882e-04 2.82903730e+01] [ 2.10596557e-03 -3.83853336e-05 9.99997782e-01 1.18962602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.301858064 meters 0.01744903637722776 Centerline is valid? [True, True] Translation: X:134.91, Y:28.32, Z:0.12 [[ 8.87807407e-01 -4.60210453e-01 -2.08479308e-03 1.34906943e+02] [ 4.60209297e-01 8.87809854e-01 -1.03251402e-03 2.83243175e+01] [ 2.32607359e-03 -4.27675576e-05 9.99997294e-01 1.19275723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.361858064 meters 0.01809562777597244 Centerline is valid? [True, True] Translation: X:134.96, Y:28.35, Z:0.12 [[ 8.87093877e-01 -4.61581398e-01 -2.65823402e-03 1.34957494e+02] [ 4.61579522e-01 8.87097858e-01 -1.31704388e-03 2.83536082e+01] [ 2.96603666e-03 -5.86448275e-05 9.99995600e-01 1.18778647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421858064 meters 0.016999536474850693 Centerline is valid? [True, True] Translation: X:135.01, Y:28.39, Z:0.12 [[ 8.86016418e-01 -4.63640680e-01 -3.49657068e-03 1.35007898e+02] [ 4.63637448e-01 8.86023314e-01 -1.73336520e-03 2.83851702e+01] [ 3.90170176e-03 -8.53510786e-05 9.99992385e-01 1.18401445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481858064 meters 0.018391577585418012 Centerline is valid? [True, True] Translation: X:135.06, Y:28.41, Z:0.12 [[ 8.84175286e-01 -4.67147232e-01 -2.74354138e-03 1.35060133e+02] [ 4.67145258e-01 8.84179539e-01 -1.36038597e-03 2.84126723e+01] [ 3.06128369e-03 -7.88126881e-05 9.99995311e-01 1.18447273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541858064 meters 0.01824540513613985 Centerline is valid? [True, True] Translation: X:135.11, Y:28.44, Z:0.12 [[ 8.83840561e-01 -4.67783717e-01 -2.06315575e-03 1.35110243e+02] [ 4.67782601e-01 8.83842967e-01 -1.02344789e-03 2.84439165e+01] [ 2.30225796e-03 -6.05436024e-05 9.99997348e-01 1.19025256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601858064 meters 0.017519362555221327 Centerline is valid? [True, True] Translation: X:135.16, Y:28.48, Z:0.12 [[ 8.85501651e-01 -4.64631879e-01 -2.01091907e-03 1.35159866e+02] [ 4.64630810e-01 8.85503933e-01 -9.97873760e-04 2.84759456e+01] [ 2.24432070e-03 -5.07160946e-05 9.99997480e-01 1.19216328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661858064 meters 0.016768529904818124 Centerline is valid? [True, True] Translation: X:135.21, Y:28.51, Z:0.12 [[ 8.87427304e-01 -4.60943481e-01 -1.97149772e-03 1.35210694e+02] [ 4.60942444e-01 8.87429493e-01 -9.78709828e-04 2.85067733e+01] [ 2.20069514e-03 -4.02131537e-05 9.99997578e-01 1.19293030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721858064 meters 0.015323091874862893 Centerline is valid? [True, True] Translation: X:135.26, Y:28.54, Z:0.12 [[ 8.91077045e-01 -4.53841463e-01 -3.10267013e-03 1.35258912e+02] [ 4.53838848e-01 8.91082446e-01 -1.54126813e-03 2.85434528e+01] [ 3.46422627e-03 -3.47235889e-05 9.99993999e-01 1.17522589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781858064 meters 0.014825759643705607 Centerline is valid? [True, True] Translation: X:135.31, Y:28.58, Z:0.12 [[ 8.93220729e-01 -4.49614059e-01 -1.98189590e-03 1.35308865e+02] [ 4.49612980e-01 8.93222927e-01 -9.85043027e-04 2.85751111e+01] [ 2.21316406e-03 -1.12252730e-05 9.99997551e-01 1.18262170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841858064 meters 0.014943044050878148 Centerline is valid? [True, True] Translation: X:135.36, Y:28.60, Z:0.12 [[ 8.93784726e-01 -4.48496190e-01 1.76472388e-04 1.35358709e+02] [ 4.48496182e-01 8.93784743e-01 8.79658258e-05 2.86028890e+01] [-1.97180666e-04 5.24680637e-07 9.99999981e-01 1.19892283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901858064 meters 0.014894287554231347 Centerline is valid? [True, True] Translation: X:135.41, Y:28.63, Z:0.12 [[ 8.94041819e-01 -4.47983327e-01 4.06090641e-04 1.35410864e+02] [ 4.47983281e-01 8.94041911e-01 2.02408361e-04 2.86291561e+01] [-4.53737624e-04 9.60278705e-07 9.99999897e-01 1.20454173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961858064 meters 0.014894509393929382 Centerline is valid? [True, True] Translation: X:135.46, Y:28.66, Z:0.12 [[ 8.94606695e-01 -4.46854068e-01 5.51370212e-04 1.35461710e+02] [ 4.46853983e-01 8.94606864e-01 2.74911926e-04 2.86571179e+01] [-6.16105089e-04 4.43925761e-07 9.99999810e-01 1.20128553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02185806399999 meters 0.01478505396778206 Centerline is valid? [True, True] Translation: X:135.51, Y:28.69, Z:0.12 [[ 8.95217624e-01 -4.45628715e-01 6.74102233e-04 1.35512763e+02] [ 4.45628588e-01 8.95217877e-01 3.36281104e-04 2.86851951e+01] [-7.53324887e-04 -6.45544757e-07 9.99999716e-01 1.19903575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.081858064 meters 0.014926953542255293 Centerline is valid? [True, True] Translation: X:135.56, Y:28.71, Z:0.12 [[ 8.96091108e-01 -4.43869825e-01 5.51650002e-04 1.35564038e+02] [ 4.43869740e-01 8.96091278e-01 2.75440518e-04 2.87123325e+01] [-6.16588489e-04 -1.95905618e-06 9.99999810e-01 1.19481845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.141858064 meters 0.014945299676835775 Centerline is valid? [True, True] Translation: X:135.62, Y:28.74, Z:0.12 [[ 8.96545918e-01 -4.42947381e-01 -1.74183986e-03 1.35616595e+02] [ 4.42946528e-01 8.96547610e-01 -8.69176592e-04 2.87381374e+01] [ 1.94664186e-03 7.71480645e-06 9.99998105e-01 1.18470349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201858064 meters 0.014975240096221505 Centerline is valid? [True, True] Translation: X:135.67, Y:28.76, Z:0.12 [[ 8.96031775e-01 -4.43980363e-01 -2.91464947e-03 1.35669621e+02] [ 4.43977977e-01 8.96036516e-01 -1.45561491e-03 2.87610501e+01] [ 3.25789679e-03 1.02370345e-05 9.99994693e-01 1.17324523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261858064 meters 0.014967291972026361 Centerline is valid? [True, True] Translation: X:135.72, Y:28.78, Z:0.12 [[ 8.95256765e-01 -4.45539388e-01 -3.15894711e-03 1.35723506e+02] [ 4.45536590e-01 8.95262338e-01 -1.57876938e-03 2.87838869e+01] [ 3.53149032e-03 5.97744567e-06 9.99993764e-01 1.17700995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321858064 meters 0.014994105539782263 Centerline is valid? [True, True] Translation: X:135.78, Y:28.81, Z:0.12 [[ 8.94547399e-01 -4.46964267e-01 -2.80981141e-03 1.35776906e+02] [ 4.46962058e-01 8.94551812e-01 -1.40525927e-03 2.88062939e+01] [ 3.14162256e-03 1.19193664e-06 9.99995065e-01 1.17965500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381858064 meters 0.015092224230693735 Centerline is valid? [True, True] Translation: X:135.83, Y:28.83, Z:0.12 [[ 8.94158740e-01 -4.47740331e-01 -2.95688653e-03 1.35829751e+02] [ 4.47737887e-01 8.94163629e-01 -1.47944734e-03 2.88270863e+01] [ 3.30634863e-03 -1.04935522e-06 9.99994534e-01 1.18339191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441858064 meters 0.015143168557738666 Centerline is valid? [True, True] Translation: X:135.88, Y:28.85, Z:0.12 [[ 8.94028716e-01 -4.47999419e-01 -3.02919683e-03 1.35883178e+02] [ 4.47996852e-01 8.94033848e-01 -1.51654200e-03 2.88494469e+01] [ 3.38761443e-03 -1.23854767e-06 9.99994262e-01 1.18927395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501858064 meters 0.015037164676307207 Centerline is valid? [True, True] Translation: X:135.94, Y:28.87, Z:0.12 [[ 8.93598804e-01 -4.48853043e-01 -3.48194640e-03 1.35936824e+02] [ 4.48849655e-01 8.93605587e-01 -1.74393886e-03 2.88708131e+01] [ 3.89425902e-03 -4.48876155e-06 9.99992417e-01 1.20160251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561858064 meters 0.015080950495559034 Centerline is valid? [True, True] Translation: X:135.99, Y:28.89, Z:0.12 [[ 8.93313928e-01 -4.49420073e-01 -3.43869076e-03 1.35989969e+02] [ 4.49416769e-01 8.93320546e-01 -1.72333052e-03 2.88939226e+01] [ 3.84635243e-03 -5.93013408e-06 9.99992603e-01 1.21337452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621858064 meters 0.015098067141977617 Centerline is valid? [True, True] Translation: X:136.04, Y:28.92, Z:0.12 [[ 8.93052900e-01 -4.49936528e-01 -3.69299515e-03 1.36042372e+02] [ 4.49932716e-01 8.93060536e-01 -1.85209515e-03 2.89188133e+01] [ 4.13139349e-03 -7.58039126e-06 9.99991466e-01 1.21285711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681858064 meters 0.015187849044926718 Centerline is valid? [True, True] Translation: X:136.10, Y:28.94, Z:0.12 [[ 8.93004174e-01 -4.50011318e-01 -5.77577559e-03 1.36096610e+02] [ 4.50001983e-01 8.93022852e-01 -2.89858036e-03 2.89410898e+01] [ 6.46229356e-03 -1.06661125e-05 9.99979119e-01 1.19221811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74185806399998 meters 0.015232663020135689 Centerline is valid? [True, True] Translation: X:136.15, Y:28.96, Z:0.12 [[ 8.92538401e-01 -4.50920622e-01 -6.76725718e-03 1.36151897e+02] [ 4.50907826e-01 8.92564055e-01 -3.39706856e-03 2.89596816e+01] [ 7.57201878e-03 -1.93950837e-05 9.99971332e-01 1.19024985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.801858064 meters 0.015321025376966823 Centerline is valid? [True, True] Translation: X:136.21, Y:28.98, Z:0.12 [[ 8.92323354e-01 -4.51332640e-01 -7.60785609e-03 1.36206750e+02] [ 4.51316461e-01 8.92355785e-01 -3.82150479e-03 2.89788488e+01] [ 8.51368424e-03 -2.35327203e-05 9.99963758e-01 1.19284693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.861858064 meters 0.015298118444297395 Centerline is valid? [True, True] Translation: X:136.26, Y:29.00, Z:0.12 [[ 8.92926388e-01 -4.50134059e-01 -7.86099123e-03 1.36260231e+02] [ 4.50116715e-01 8.92960990e-01 -3.95144818e-03 2.90017450e+01] [ 8.79823992e-03 -1.00111978e-05 9.99961295e-01 1.19807848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921858064 meters 0.01526319144961066 Centerline is valid? [True, True] Translation: X:136.31, Y:29.02, Z:0.12 [[ 8.94528126e-01 -4.46962834e-01 -6.60737451e-03 1.36314796e+02] [ 4.46950477e-01 8.94552528e-01 -3.32359607e-03 2.90231428e+01] [ 7.39616749e-03 1.98809732e-05 9.99972648e-01 1.21940237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981858064 meters 0.015418320454845947 Centerline is valid? [True, True] Translation: X:136.37, Y:29.05, Z:0.12 [[ 8.95307699e-01 -4.45405041e-01 -6.20270335e-03 1.36368298e+02] [ 4.45394099e-01 8.95329185e-01 -3.12221692e-03 2.90454215e+01] [ 6.94411249e-03 3.26973775e-05 9.99975889e-01 1.21443437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041858064 meters 0.015261020681201368 Centerline is valid? [True, True] Translation: X:136.42, Y:29.07, Z:0.12 [[ 8.95130232e-01 -4.45749204e-01 -7.03669802e-03 1.36422190e+02] [ 4.45735112e-01 8.95157889e-01 -3.54455571e-03 2.90681440e+01] [ 7.87893863e-03 3.63355894e-05 9.99968960e-01 1.20979106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101858064 meters 0.015448192203773898 Centerline is valid? [True, True] Translation: X:136.48, Y:29.09, Z:0.12 [[ 8.94694039e-01 -4.46571341e-01 -9.82926976e-03 1.36477740e+02] [ 4.46543860e-01 8.94748029e-01 -4.95438404e-03 2.90891334e+01] [ 1.10072057e-02 4.34578066e-05 9.99939418e-01 1.19718802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161858064 meters 0.01552233602519361 Centerline is valid? [True, True] Translation: X:136.53, Y:29.11, Z:0.12 [[ 8.93604317e-01 -4.48710353e-01 -1.14168055e-02 1.36532265e+02] [ 4.48673406e-01 8.93677245e-01 -5.75813405e-03 2.91121408e+01] [ 1.27866737e-02 2.30764327e-05 9.99918247e-01 1.18029556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221858064 meters 0.015516380349555343 Centerline is valid? [True, True] Translation: X:136.58, Y:29.13, Z:0.12 [[ 8.92256622e-01 -4.51384608e-01 -1.14042424e-02 1.36584971e+02] [ 4.51347937e-01 8.92329499e-01 -5.75364733e-03 2.91347257e+01] [ 1.27734497e-02 -1.35513275e-05 9.99918416e-01 1.17134133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281858064 meters 0.01559300546582204 Centerline is valid? [True, True] Translation: X:136.64, Y:29.15, Z:0.12 [[ 8.89673927e-01 -4.56469011e-01 -1.07863941e-02 1.36641124e+02] [ 4.56436540e-01 8.89739308e-01 -5.44512058e-03 2.91547943e+01] [ 1.20826077e-02 -7.89226160e-05 9.99927000e-01 1.19194459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341858064 meters 0.015829387537558057 Centerline is valid? [True, True] Translation: X:136.70, Y:29.18, Z:0.12 [[ 8.88180231e-01 -4.59370842e-01 -1.06914451e-02 1.36695933e+02] [ 4.59339110e-01 8.88244570e-01 -5.40048687e-03 2.91779146e+01] [ 1.19774443e-02 -1.14393204e-04 9.99928261e-01 1.19581239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401858064 meters 0.015887886681382312 Centerline is valid? [True, True] Translation: X:136.75, Y:29.20, Z:0.12 [[ 8.88195910e-01 -4.59327702e-01 -1.12288787e-02 1.36748151e+02] [ 4.59292647e-01 8.88266879e-01 -5.67585890e-03 2.92041246e+01] [ 1.25813202e-02 -1.16066749e-04 9.99920845e-01 1.18234478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461858064 meters 0.015748940761494346 Centerline is valid? [True, True] Translation: X:136.80, Y:29.23, Z:0.12 [[ 8.88438826e-01 -4.58868927e-01 -1.07592206e-02 1.36801071e+02] [ 4.58836670e-01 8.88503966e-01 -5.44181843e-03 2.92307440e+01] [ 1.20566916e-02 -1.02002192e-04 9.99927310e-01 1.19527743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52185806399999 meters 0.015512794566457785 Centerline is valid? [True, True] Translation: X:136.85, Y:29.26, Z:0.12 [[ 8.89026421e-01 -4.57768060e-01 -8.96801273e-03 1.36852876e+02] [ 4.57745565e-01 8.89071650e-01 -4.53859685e-03 2.92585006e+01] [ 1.00508305e-02 -7.01355450e-05 9.99949487e-01 1.20528361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.581858064 meters 0.015460356211493572 Centerline is valid? [True, True] Translation: X:136.90, Y:29.29, Z:0.12 [[ 8.89553336e-01 -4.56756846e-01 -8.24898085e-03 1.36903811e+02] [ 4.56737761e-01 8.89591581e-01 -4.17573757e-03 2.92853045e+01] [ 9.24552063e-03 -5.30797572e-05 9.99957258e-01 1.20706496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.641858064 meters 0.01525784987364612 Centerline is valid? [True, True] Translation: X:136.96, Y:29.31, Z:0.12 [[ 8.90638047e-01 -4.54652887e-01 -7.39064850e-03 1.36955711e+02] [ 4.54637477e-01 8.90668711e-01 -3.74334039e-03 2.93139821e+01] [ 8.28453988e-03 -2.61044136e-05 9.99965682e-01 1.21172996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701858064 meters 0.015197412419957652 Centerline is valid? [True, True] Translation: X:137.01, Y:29.34, Z:0.12 [[ 8.91045438e-01 -4.53850573e-01 -7.59507862e-03 1.37006868e+02] [ 4.53834247e-01 8.91077806e-01 -3.84950092e-03 2.93413156e+01] [ 8.51490419e-03 -1.68265591e-05 9.99963747e-01 1.19671404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761858064 meters 0.015185739724699821 Centerline is valid? [True, True] Translation: X:137.06, Y:29.37, Z:0.12 [[ 8.91021945e-01 -4.53878341e-01 -8.62239338e-03 1.37058424e+02] [ 4.53857290e-01 8.91063663e-01 -4.37133065e-03 2.93675953e+01] [ 9.66715374e-03 -1.83845544e-05 9.99953272e-01 1.18621426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821858064 meters 0.015237450361283694 Centerline is valid? [True, True] Translation: X:137.11, Y:29.39, Z:0.12 [[ 8.90547954e-01 -4.54807104e-01 -8.65097609e-03 1.37110306e+02] [ 4.54785930e-01 8.90589972e-01 -4.38862059e-03 2.93931742e+01] [ 9.70044837e-03 -2.60651233e-05 9.99952949e-01 1.19062082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881858064 meters 0.015196080825514558 Centerline is valid? [True, True] Translation: X:137.16, Y:29.42, Z:0.12 [[ 8.89476135e-01 -4.56925311e-01 -7.17395700e-03 1.37162120e+02] [ 4.56910799e-01 8.89505064e-01 -3.64184381e-03 2.94195788e+01] [ 8.04532169e-03 -3.85252722e-05 9.99967635e-01 1.20586560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941858064 meters 0.015317063059615716 Centerline is valid? [True, True] Translation: X:137.21, Y:29.44, Z:0.12 [[ 8.88314061e-01 -4.59196675e-01 -6.04501699e-03 1.37214370e+02] [ 4.59186419e-01 8.88334628e-01 -3.06955206e-03 2.94447632e+01] [ 6.77952601e-03 -4.90634475e-05 9.99977018e-01 1.20971785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001858064 meters 0.01566810325789679 Centerline is valid? [True, True] Translation: X:137.27, Y:29.47, Z:0.12 [[ 8.86555497e-01 -4.62583990e-01 -5.95000885e-03 1.37267863e+02] [ 4.62574118e-01 8.86575460e-01 -3.02298525e-03 2.94697164e+01] [ 6.67351641e-03 -7.22759070e-05 9.99977729e-01 1.20992178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061858064 meters 0.015623063682357148 Centerline is valid? [True, True] Translation: X:137.32, Y:29.50, Z:0.12 [[ 8.86385186e-01 -4.62911626e-01 -5.84203416e-03 1.37319069e+02] [ 4.62902102e-01 8.86404435e-01 -2.97014787e-03 2.94969397e+01] [ 6.55332097e-03 -7.15948303e-05 9.99978524e-01 1.20916847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121858064 meters 0.015784415780139456 Centerline is valid? [True, True] Translation: X:137.37, Y:29.52, Z:0.12 [[ 8.86094713e-01 -4.63470315e-01 -5.60596832e-03 1.37370314e+02] [ 4.63461545e-01 8.86112443e-01 -2.85209328e-03 2.95240403e+01] [ 6.28937885e-03 -7.09259666e-05 9.99980219e-01 1.20445267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181858064 meters 0.01580420385736871 Centerline is valid? [True, True] Translation: X:137.42, Y:29.55, Z:0.12 [[ 8.85606414e-01 -4.64407849e-01 -5.16046415e-03 1.37421648e+02] [ 4.64400422e-01 8.85621446e-01 -2.62727067e-03 2.95505128e+01] [ 5.79034284e-03 -6.97939736e-05 9.99983233e-01 1.21544614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24185806399998 meters 0.015946534597857633 Centerline is valid? [True, True] Translation: X:137.47, Y:29.58, Z:0.12 [[ 8.85395830e-01 -4.64809767e-01 -5.10933170e-03 1.37473232e+02] [ 4.64802483e-01 8.85410569e-01 -2.60308118e-03 2.95780010e+01] [ 5.73379384e-03 -7.00728431e-05 9.99983559e-01 1.22105806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.301858064 meters 0.015729028093769432 Centerline is valid? [True, True] Translation: X:137.52, Y:29.61, Z:0.12 [[ 8.86349815e-01 -4.62986624e-01 -5.23368827e-03 1.37523345e+02] [ 4.62978940e-01 8.86365265e-01 -2.66811115e-03 2.96086593e+01] [ 5.87425926e-03 -5.82076246e-05 9.99982745e-01 1.20687018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.361858064 meters 0.015711544616500695 Centerline is valid? [True, True] Translation: X:137.57, Y:29.64, Z:0.12 [[ 8.87098126e-01 -4.61554823e-01 -4.90515237e-03 1.37574574e+02] [ 4.61548042e-01 8.87111686e-01 -2.50213097e-03 2.96379118e+01] [ 5.50628860e-03 -4.43277739e-05 9.99984839e-01 1.20277528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421858064 meters 0.01542003493145536 Centerline is valid? [True, True] Translation: X:137.63, Y:29.67, Z:0.12 [[ 8.88139378e-01 -4.59541474e-01 -5.48453274e-03 1.37626171e+02] [ 4.59532948e-01 8.88156311e-01 -2.79939935e-03 2.96656622e+01] [ 6.15756247e-03 -3.40667032e-05 9.99981041e-01 1.20759488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481858064 meters 0.015416747631322367 Centerline is valid? [True, True] Translation: X:137.68, Y:29.69, Z:0.12 [[ 8.88299662e-01 -4.59225849e-01 -5.94394105e-03 1.37677401e+02] [ 4.59215814e-01 8.88319548e-01 -3.03595396e-03 2.96928306e+01] [ 6.67430756e-03 -3.27148505e-05 9.99977726e-01 1.20556193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541858064 meters 0.01525231528542551 Centerline is valid? [True, True] Translation: X:137.73, Y:29.72, Z:0.12 [[ 8.89326257e-01 -4.57239076e-01 -5.58884270e-03 1.37728269e+02] [ 4.57230155e-01 8.89343818e-01 -2.85632924e-03 2.97225692e+01] [ 6.27642805e-03 -1.51788195e-05 9.99980303e-01 1.20917106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601858064 meters 0.015065681218152547 Centerline is valid? [True, True] Translation: X:137.78, Y:29.75, Z:0.12 [[ 8.89652652e-01 -4.56601680e-01 -5.75021257e-03 1.37779483e+02] [ 4.56592210e-01 8.89671235e-01 -2.94080347e-03 2.97507380e+01] [ 6.45857452e-03 -9.20866142e-06 9.99979143e-01 1.21222596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661858064 meters 0.015006069302050652 Centerline is valid? [True, True] Translation: X:137.83, Y:29.78, Z:0.12 [[ 8.90119355e-01 -4.55691954e-01 -5.69011488e-03 1.37829912e+02] [ 4.55682650e-01 8.90137541e-01 -2.91205537e-03 2.97799766e+01] [ 6.39198508e-03 -8.09780315e-07 9.99979571e-01 1.21077536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721858064 meters 0.014983938952558791 Centerline is valid? [True, True] Translation: X:137.88, Y:29.81, Z:0.12 [[ 8.90126773e-01 -4.55686252e-01 -4.93631326e-03 1.37881167e+02] [ 4.55679240e-01 8.90140461e-01 -2.52794337e-03 2.98077002e+01] [ 5.54596120e-03 8.14598272e-07 9.99984621e-01 1.22453570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781858064 meters 0.015024525051657496 Centerline is valid? [True, True] Translation: X:137.93, Y:29.83, Z:0.12 [[ 8.89640454e-01 -4.56641698e-01 -4.26875734e-03 1.37931804e+02] [ 4.56636460e-01 8.89650696e-01 -2.18711961e-03 2.98334887e+01] [ 4.79643295e-03 -3.52015972e-06 9.99988497e-01 1.23396031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841858064 meters 0.015071654890070712 Centerline is valid? [True, True] Translation: X:137.98, Y:29.86, Z:0.12 [[ 8.89002842e-01 -4.57878364e-01 -4.62063743e-03 1.37983964e+02] [ 4.57872236e-01 8.89014850e-01 -2.36889072e-03 2.98592592e+01] [ 5.19247910e-03 -9.71100261e-06 9.99986519e-01 1.22770307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901858064 meters 0.015282305148828062 Centerline is valid? [True, True] Translation: X:138.04, Y:29.89, Z:0.12 [[ 8.87417671e-01 -4.60938093e-01 -5.09433799e-03 1.38036365e+02] [ 4.60930685e-01 8.87432293e-01 -2.61334446e-03 2.98853100e+01] [ 5.72547006e-03 -2.90086458e-05 9.99983609e-01 1.21160607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961858064 meters 0.015735090527745913 Centerline is valid? [True, True] Translation: X:138.09, Y:29.91, Z:0.12 [[ 8.86327019e-01 -4.63010488e-01 -6.76042961e-03 1.38089058e+02] [ 4.62997496e-01 8.86352800e-01 -3.46898304e-03 2.99087164e+01] [ 7.59830124e-03 -5.54085860e-05 9.99971131e-01 1.18747225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02185806399999 meters 0.015497194692909048 Centerline is valid? [True, True] Translation: X:138.14, Y:29.94, Z:0.12 [[ 8.85381707e-01 -4.64807441e-01 -7.29896966e-03 1.38141568e+02] [ 4.64792340e-01 8.85411790e-01 -3.74743476e-03 2.99359255e+01] [ 8.20442935e-03 -7.45950044e-05 9.99966340e-01 1.20039719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.081858064 meters 0.015944517823374783 Centerline is valid? [True, True] Translation: X:138.19, Y:29.96, Z:0.12 [[ 8.84267291e-01 -4.66935110e-01 -6.55441803e-03 1.38193638e+02] [ 4.66922984e-01 8.84291579e-01 -3.36613812e-03 2.99601362e+01] [ 7.36778474e-03 -8.38425860e-05 9.99972854e-01 1.21661785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.141858064 meters 0.016076432837990616 Centerline is valid? [True, True] Translation: X:138.24, Y:29.99, Z:0.12 [[ 8.84061369e-01 -4.67331367e-01 -6.07364354e-03 1.38243682e+02] [ 4.67320958e-01 8.84082229e-01 -3.12010375e-03 2.99870005e+01] [ 6.82772267e-03 -7.99777232e-05 9.99976688e-01 1.22835409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201858064 meters 0.01567037867383199 Centerline is valid? [True, True] Translation: X:138.29, Y:30.01, Z:0.12 [[ 8.84073765e-01 -4.67310148e-01 -5.89938199e-03 1.38294214e+02] [ 4.67300315e-01 8.84093445e-01 -3.03249603e-03 3.00148948e+01] [ 6.63272112e-03 -7.58328770e-05 9.99978000e-01 1.23824058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261858064 meters 0.015421884823180956 Centerline is valid? [True, True] Translation: X:138.34, Y:30.05, Z:0.12 [[ 8.84948480e-01 -4.65653155e-01 -5.77296481e-03 1.38344320e+02] [ 4.65643692e-01 8.84967308e-01 -2.96932142e-03 3.00454727e+01] [ 6.49155901e-03 -6.04481756e-05 9.99978928e-01 1.24225281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321858064 meters 0.015015931705440747 Centerline is valid? [True, True] Translation: X:138.40, Y:30.08, Z:0.13 [[ 8.85948731e-01 -4.63746845e-01 -5.80597098e-03 1.38395270e+02] [ 4.63737221e-01 8.85967754e-01 -2.98809180e-03 3.00756515e+01] [ 6.52962121e-03 -4.51487020e-05 9.99978681e-01 1.25570832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381858064 meters 0.014847304222015434 Centerline is valid? [True, True] Translation: X:138.45, Y:30.11, Z:0.13 [[ 8.87476168e-01 -4.60817866e-01 -5.73978653e-03 1.38445431e+02] [ 4.60808387e-01 8.87494729e-01 -2.95580153e-03 3.01075337e+01] [ 6.45611644e-03 -2.17383568e-05 9.99979159e-01 1.25654098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441858064 meters 0.014671317837411374 Centerline is valid? [True, True] Translation: X:138.50, Y:30.14, Z:0.13 [[ 8.88237981e-01 -4.59342356e-01 -6.15546068e-03 1.38496049e+02] [ 4.59331404e-01 8.88259309e-01 -3.17204686e-03 3.01369301e+01] [ 6.92470072e-03 -9.86389645e-06 9.99976024e-01 1.25494587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501858064 meters 0.01475279521413005 Centerline is valid? [True, True] Translation: X:138.55, Y:30.16, Z:0.13 [[ 8.88826754e-01 -4.58208382e-01 -5.66390752e-03 1.38545879e+02] [ 4.58199080e-01 8.88844800e-01 -2.91974997e-03 3.01645448e+01] [ 6.37218866e-03 -4.53228309e-08 9.99979697e-01 1.25283630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561858064 meters 0.014738928951246266 Centerline is valid? [True, True] Translation: X:138.60, Y:30.19, Z:0.13 [[ 8.89015677e-01 -4.57836722e-01 -6.05490152e-03 1.38596625e+02] [ 4.57826068e-01 8.89036296e-01 -3.12332744e-03 3.01926668e+01] [ 6.81300122e-03 4.59530717e-06 9.99976791e-01 1.26468619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621858064 meters 0.014784649351404465 Centerline is valid? [True, True] Translation: X:138.65, Y:30.22, Z:0.13 [[ 8.88766210e-01 -4.58311700e-01 -6.70891587e-03 1.38646963e+02] [ 4.58298616e-01 8.88791531e-01 -3.46311106e-03 3.02214201e+01] [ 7.55001193e-03 3.20923949e-06 9.99971498e-01 1.25362318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681858064 meters 0.014732873539962464 Centerline is valid? [True, True] Translation: X:138.70, Y:30.25, Z:0.13 [[ 8.87915464e-01 -4.59957610e-01 -6.71755525e-03 1.38698175e+02] [ 4.59944521e-01 8.87940875e-01 -3.46994297e-03 3.02478935e+01] [ 7.56081856e-03 -8.68671157e-06 9.99971417e-01 1.25145738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74185806399998 meters 0.014902464064702577 Centerline is valid? [True, True] Translation: X:138.75, Y:30.27, Z:0.13 [[ 8.85633031e-01 -4.64342010e-01 -6.37436497e-03 1.38750389e+02] [ 4.64330324e-01 8.85655969e-01 -3.29464742e-03 3.02741449e+01] [ 7.17533759e-03 -4.19623746e-05 9.99974256e-01 1.26313069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.801858064 meters 0.014965221957713845 Centerline is valid? [True, True] Translation: X:138.80, Y:30.30, Z:0.13 [[ 8.84394591e-01 -4.66705016e-01 -5.71275637e-03 1.38802902e+02] [ 4.66695668e-01 8.84413040e-01 -2.95442435e-03 3.03010456e+01] [ 6.43128089e-03 -5.32417399e-05 9.99979318e-01 1.27594049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.861858064 meters 0.01520718105403489 Centerline is valid? [True, True] Translation: X:138.85, Y:30.33, Z:0.13 [[ 8.83125857e-01 -4.69099974e-01 -5.82544227e-03 1.38853883e+02] [ 4.69090293e-01 8.83145067e-01 -3.01452167e-03 3.03313550e+01] [ 6.55882264e-03 -7.04563944e-05 9.99978488e-01 1.27640577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921858064 meters 0.01553664089937424 Centerline is valid? [True, True] Translation: X:138.90, Y:30.36, Z:0.13 [[ 8.82472621e-01 -4.70328721e-01 -5.74170092e-03 1.38904927e+02] [ 4.70319331e-01 8.82491296e-01 -2.97297024e-03 3.03616958e+01] [ 6.46527438e-03 -7.68680966e-05 9.99979097e-01 1.27897619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981858064 meters 0.01563676929424686 Centerline is valid? [True, True] Translation: X:138.96, Y:30.39, Z:0.13 [[ 8.81678132e-01 -4.71809773e-01 -6.26180422e-03 1.38956460e+02] [ 4.71798629e-01 8.81700362e-01 -3.24423436e-03 3.03899587e+01] [ 7.05169653e-03 -9.39401528e-05 9.99975132e-01 1.27623245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041858064 meters 0.015865359928645895 Centerline is valid? [True, True] Translation: X:139.01, Y:30.42, Z:0.13 [[ 8.80726939e-01 -4.73572372e-01 -7.01902501e-03 1.39007979e+02] [ 4.73558407e-01 8.80754900e-01 -3.63877219e-03 3.04187469e+01] [ 7.90526265e-03 -1.19153609e-04 9.99968746e-01 1.28798357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101858064 meters 0.016275567194531167 Centerline is valid? [True, True] Translation: X:139.06, Y:30.45, Z:0.13 [[ 8.80112806e-01 -4.74714569e-01 -6.89386258e-03 1.39059378e+02] [ 4.74701117e-01 8.80139797e-01 -3.57601492e-03 3.04485197e+01] [ 7.76514919e-03 -1.25227739e-04 9.99969843e-01 1.28844820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161858064 meters 0.017062182144853416 Centerline is valid? [True, True] Translation: X:139.11, Y:30.48, Z:0.13 [[ 8.78471329e-01 -4.77746895e-01 -6.78447407e-03 1.39109228e+02] [ 4.77733940e-01 8.78497514e-01 -3.52136059e-03 3.04807347e+01] [ 7.64246269e-03 -1.47759211e-04 9.99970785e-01 1.28858139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221858064 meters 0.01780553153393798 Centerline is valid? [True, True] Translation: X:139.16, Y:30.51, Z:0.13 [[ 8.77448933e-01 -4.79606572e-01 -7.80415554e-03 1.39160483e+02] [ 4.79589492e-01 8.77483618e-01 -4.05203177e-03 3.05086127e+01] [ 8.79139971e-03 -1.87340034e-04 9.99961337e-01 1.28595396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281858064 meters 0.017743022936656926 Centerline is valid? [True, True] Translation: X:139.21, Y:30.54, Z:0.13 [[ 8.76553695e-01 -4.81231299e-01 -8.37003306e-03 1.39209163e+02] [ 4.81211715e-01 8.76593629e-01 -4.34682978e-03 3.05414575e+01] [ 9.42894819e-03 -2.17528265e-04 9.99955523e-01 1.28010885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341858064 meters 0.017783031279464682 Centerline is valid? [True, True] Translation: X:139.26, Y:30.57, Z:0.13 [[ 8.76837424e-01 -4.80704862e-01 -8.88632624e-03 1.39259381e+02] [ 4.80682735e-01 8.76882424e-01 -4.61758462e-03 3.05727393e+01] [ 1.00119587e-02 -2.22632600e-04 9.99949854e-01 1.27665876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401858064 meters 0.01725144840672803 Centerline is valid? [True, True] Translation: X:139.31, Y:30.60, Z:0.13 [[ 8.77706745e-01 -4.79097983e-01 -9.79759532e-03 1.39309398e+02] [ 4.79070951e-01 8.77761399e-01 -5.09423026e-03 3.06048628e+01] [ 1.10405864e-02 -2.22503045e-04 9.99939026e-01 1.27758918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461858064 meters 0.017442211989892285 Centerline is valid? [True, True] Translation: X:139.36, Y:30.63, Z:0.13 [[ 8.78794226e-01 -4.77081266e-01 -1.06852369e-02 1.39359217e+02] [ 4.77048948e-01 8.78859158e-01 -5.55712547e-03 3.06349330e+01] [ 1.20420187e-02 -2.13811231e-04 9.99927469e-01 1.27124266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52185806399999 meters 0.01686876481562387 Centerline is valid? [True, True] Translation: X:139.41, Y:30.67, Z:0.13 [[ 8.80025626e-01 -4.74782077e-01 -1.16994149e-02 1.39407837e+02] [ 4.74743082e-01 8.80103369e-01 -6.08807906e-03 3.06691105e+01] [ 1.31872053e-02 -1.96550706e-04 9.99913026e-01 1.26819574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.581858064 meters 0.017116748623207806 Centerline is valid? [True, True] Translation: X:139.46, Y:30.70, Z:0.13 [[ 8.80335036e-01 -4.74184654e-01 -1.26150023e-02 1.39457465e+02] [ 4.74139226e-01 8.80425394e-01 -6.56660400e-03 3.06972980e+01] [ 1.42203512e-02 -2.00455855e-04 9.99898866e-01 1.26351704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.641858064 meters 0.01717528143884644 Centerline is valid? [True, True] Translation: X:139.51, Y:30.73, Z:0.13 [[ 8.81140260e-01 -4.72668878e-01 -1.32654946e-02 1.39507413e+02] [ 4.72618451e-01 8.81240091e-01 -6.90667555e-03 3.07261724e+01] [ 1.49546563e-02 -1.83767629e-04 9.99888156e-01 1.27282745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701858064 meters 0.016348656949277573 Centerline is valid? [True, True] Translation: X:139.56, Y:30.76, Z:0.13 [[ 8.82061672e-01 -4.70990968e-01 -1.16066424e-02 1.39556934e+02] [ 4.70952174e-01 8.82138022e-01 -6.04646667e-03 3.07579638e+01] [ 1.30864918e-02 -1.32816985e-04 9.99914359e-01 1.32018410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761858064 meters 0.01657580741195007 Centerline is valid? [True, True] Translation: X:139.61, Y:30.79, Z:0.13 [[ 8.82891632e-01 -4.69417300e-01 -1.22378133e-02 1.39607792e+02] [ 4.69373990e-01 8.82976435e-01 -6.37744096e-03 3.07863946e+01] [ 1.37993818e-02 -1.13521989e-04 9.99904778e-01 1.30746428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821858064 meters 0.016255885355232667 Centerline is valid? [True, True] Translation: X:139.66, Y:30.82, Z:0.13 [[ 8.83784894e-01 -4.67703463e-01 -1.33315942e-02 1.39657551e+02] [ 4.67651801e-01 8.83885435e-01 -6.95201701e-03 3.08156411e+01] [ 1.50350844e-02 -9.04564184e-05 9.99886963e-01 1.32777993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881858064 meters 0.016125153308261083 Centerline is valid? [True, True] Translation: X:139.71, Y:30.84, Z:0.13 [[ 8.84219649e-01 -4.66882558e-01 -1.32773895e-02 1.39707452e+02] [ 4.66831152e-01 8.84319327e-01 -6.92847380e-03 3.08447636e+01] [ 1.49762357e-02 -7.20063584e-05 9.99887847e-01 1.34030700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941858064 meters 0.015962835598526633 Centerline is valid? [True, True] Translation: X:139.76, Y:30.88, Z:0.13 [[ 8.84894247e-01 -4.65570127e-01 -1.43745785e-02 1.39758197e+02] [ 4.65509627e-01 8.85010991e-01 -7.50554072e-03 3.08752825e+01] [ 1.62160155e-02 -4.98948651e-05 9.99868511e-01 1.33754121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001858064 meters 0.015952416209969632 Centerline is valid? [True, True] Translation: X:139.81, Y:30.90, Z:0.13 [[ 8.84994879e-01 -4.65382602e-01 -1.42512361e-02 1.39810089e+02] [ 4.65323035e-01 8.85109616e-01 -7.44591945e-03 3.09024159e+01] [ 1.60791075e-02 -4.18278552e-05 9.99870722e-01 1.34968720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061858064 meters 0.015973600194296396 Centerline is valid? [True, True] Translation: X:139.86, Y:30.93, Z:0.14 [[ 8.84809467e-01 -4.65739942e-01 -1.40894817e-02 1.39860758e+02] [ 4.65681684e-01 8.84921637e-01 -7.36643485e-03 3.09303462e+01] [ 1.58989301e-02 -4.33222611e-05 9.99873603e-01 1.35509615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121858064 meters 0.01600322576021944 Centerline is valid? [True, True] Translation: X:139.91, Y:30.96, Z:0.14 [[ 8.84494019e-01 -4.66315548e-01 -1.48370986e-02 1.39912973e+02] [ 4.66250945e-01 8.84618453e-01 -7.76206776e-03 3.09580705e+01] [ 1.67447441e-02 -5.23087253e-05 9.99859796e-01 1.35228049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181858064 meters 0.016106325256458928 Centerline is valid? [True, True] Translation: X:139.97, Y:30.98, Z:0.14 [[ 8.83301775e-01 -4.68609058e-01 -1.35471563e-02 1.39967385e+02] [ 4.68555404e-01 8.83405651e-01 -7.09152483e-03 3.09820376e+01] [ 1.52907872e-02 -8.36368004e-05 9.99883086e-01 1.37273520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24185806399998 meters 0.016390867076950935 Centerline is valid? [True, True] Translation: X:140.02, Y:31.01, Z:0.14 [[ 8.82410662e-01 -4.70291524e-01 -1.33156384e-02 1.40019479e+02] [ 4.70239855e-01 8.82511116e-01 -6.97197480e-03 3.10064897e+01] [ 1.50300596e-02 -1.09398978e-04 9.99887036e-01 1.38078392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.301858064 meters 0.016477740167003048 Centerline is valid? [True, True] Translation: X:140.07, Y:31.03, Z:0.14 [[ 8.82651197e-01 -4.69820080e-01 -1.39984219e-02 1.40071637e+02] [ 4.69762841e-01 8.82762189e-01 -7.33424247e-03 3.10327653e+01] [ 1.58030519e-02 -1.02360538e-04 9.99875119e-01 1.37513550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.361858064 meters 0.01637589107018394 Centerline is valid? [True, True] Translation: X:140.12, Y:31.06, Z:0.14 [[ 8.84272769e-01 -4.66755448e-01 -1.41781945e-02 1.40124368e+02] [ 4.66696265e-01 8.84386426e-01 -7.43279816e-03 3.10599004e+01] [ 1.60083018e-02 -4.42893838e-05 9.99871858e-01 1.37821004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421858064 meters 0.016323110849308504 Centerline is valid? [True, True] Translation: X:140.17, Y:31.09, Z:0.14 [[ 8.85535963e-01 -4.64348851e-01 -1.43597852e-02 1.40174582e+02] [ 4.64287788e-01 8.85652384e-01 -7.53027389e-03 3.10863337e+01] [ 1.62144520e-02 1.25542147e-06 9.99868537e-01 1.38111359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481858064 meters 0.016426470465829415 Centerline is valid? [True, True] Translation: X:140.23, Y:31.11, Z:0.14 [[ 8.87049901e-01 -4.61450419e-01 -1.43521099e-02 1.40225966e+02] [ 4.61388965e-01 8.87165998e-01 -7.53096918e-03 3.11128490e+01] [ 1.62078728e-02 5.84403228e-05 9.99868642e-01 1.37755830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541858064 meters 0.016657767215194998 Centerline is valid? [True, True] Translation: X:140.28, Y:31.14, Z:0.14 [[ 8.87709026e-01 -4.60192411e-01 -1.39867621e-02 1.40278574e+02] [ 4.60133838e-01 8.87819203e-01 -7.34254139e-03 3.11363629e+01] [ 1.57966978e-02 8.22577192e-05 9.99875221e-01 1.37902101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601858064 meters 0.016740451430570565 Centerline is valid? [True, True] Translation: X:140.33, Y:31.16, Z:0.14 [[ 8.87854991e-01 -4.59908759e-01 -1.40516757e-02 1.40331317e+02] [ 4.59849533e-01 8.87966174e-01 -7.38116445e-03 3.11613786e+01] [ 1.58720748e-02 9.17472018e-05 9.99874026e-01 1.37299048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661858064 meters 0.016585397030011082 Centerline is valid? [True, True] Translation: X:140.38, Y:31.18, Z:0.14 [[ 8.88289617e-01 -4.59080633e-01 -1.36575371e-02 1.40384520e+02] [ 4.59024510e-01 8.88394597e-01 -7.17900848e-03 3.11843568e+01] [ 1.54290260e-02 1.07894406e-04 9.99880960e-01 1.39407125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721858064 meters 0.016946805020515664 Centerline is valid? [True, True] Translation: X:140.44, Y:31.21, Z:0.14 [[ 8.89123773e-01 -4.57486491e-01 -1.28462921e-02 1.40437566e+02] [ 4.57436606e-01 8.89216561e-01 -6.75713696e-03 3.12083437e+01] [ 1.45144345e-02 1.31566868e-04 9.99894651e-01 1.39728858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781858064 meters 0.017004641164119885 Centerline is valid? [True, True] Translation: X:140.49, Y:31.23, Z:0.14 [[ 8.89421174e-01 -4.56918267e-01 -1.24768544e-02 1.40490801e+02] [ 4.56871090e-01 8.89508672e-01 -6.56732975e-03 3.12325836e+01] [ 1.40990031e-02 1.40808087e-04 9.99900594e-01 1.40058195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841858064 meters 0.01704634378340976 Centerline is valid? [True, True] Translation: X:140.55, Y:31.26, Z:0.14 [[ 8.88936164e-01 -4.57856379e-01 -1.26503794e-02 1.40545059e+02] [ 4.57807910e-01 8.89026163e-01 -6.66324961e-03 3.12550833e+01] [ 1.42973296e-02 1.31759808e-04 9.99897779e-01 1.38818582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901858064 meters 0.016938046752548976 Centerline is valid? [True, True] Translation: X:140.60, Y:31.28, Z:0.14 [[ 8.88125770e-01 -4.59422939e-01 -1.27741811e-02 1.40600017e+02] [ 4.59373620e-01 8.88217626e-01 -6.73250983e-03 3.12775421e+01] [ 1.44393222e-02 1.11193683e-04 9.99895741e-01 1.38669943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961858064 meters 0.016490226326588617 Centerline is valid? [True, True] Translation: X:140.66, Y:31.30, Z:0.14 [[ 8.86709928e-01 -4.62187721e-01 -1.13143096e-02 1.40656296e+02] [ 4.62149212e-01 8.86782108e-01 -5.96649385e-03 3.12980818e+01] [ 1.27909675e-02 6.16500717e-05 9.99918190e-01 1.41181170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02185806399999 meters 0.016230248260321906 Centerline is valid? [True, True] Translation: X:140.71, Y:31.32, Z:0.14 [[ 8.85334439e-01 -4.64855640e-01 -9.60030862e-03 1.40711761e+02] [ 4.64828038e-01 8.85386488e-01 -5.06567918e-03 3.13186924e+01] [ 1.08547931e-02 2.23276097e-05 9.99941085e-01 1.41997142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.081858064 meters 0.016229413709558414 Centerline is valid? [True, True] Translation: X:140.77, Y:31.34, Z:0.14 [[ 8.83762231e-01 -4.67833125e-01 -9.82278453e-03 1.40766744e+02] [ 4.67804373e-01 8.83816818e-01 -5.18670134e-03 3.13400155e+01] [ 1.11080529e-02 -1.13308097e-05 9.99938304e-01 1.42448610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.141858064 meters 0.01641743257643143 Centerline is valid? [True, True] Translation: X:140.82, Y:31.36, Z:0.14 [[ 8.82385774e-01 -4.70414318e-01 -1.02818003e-02 1.40821904e+02] [ 4.70382974e-01 8.82445674e-01 -5.43046186e-03 3.13594124e+01] [ 1.16276972e-02 -4.46215283e-05 9.99932395e-01 1.40977971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201858064 meters 0.01632015782593069 Centerline is valid? [True, True] Translation: X:140.88, Y:31.38, Z:0.14 [[ 8.81756053e-01 -4.71600521e-01 -9.96051748e-03 1.40876466e+02] [ 4.71571143e-01 8.81812307e-01 -5.26416760e-03 3.13806895e+01] [ 1.12658911e-02 -5.53809700e-05 9.99936536e-01 1.40319016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261858064 meters 0.016209811253977108 Centerline is valid? [True, True] Translation: X:140.93, Y:31.41, Z:0.14 [[ 8.81470149e-01 -4.72140355e-01 -9.68820739e-03 1.40928495e+02] [ 4.72112556e-01 8.81523387e-01 -5.12370560e-03 3.14059455e+01] [ 1.09594896e-02 -5.75308124e-05 9.99939941e-01 1.40517389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321858064 meters 0.016089114596082553 Centerline is valid? [True, True] Translation: X:140.98, Y:31.43, Z:0.14 [[ 8.81408429e-01 -4.72270163e-01 -8.94846262e-03 1.40982630e+02] [ 4.72246422e-01 8.81453851e-01 -4.73565366e-03 3.14280057e+01] [ 1.01241648e-02 -5.18344020e-05 9.99948748e-01 1.40835293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381858064 meters 0.016141683393734976 Centerline is valid? [True, True] Translation: X:141.04, Y:31.45, Z:0.14 [[ 8.81562049e-01 -4.71982263e-01 -9.00542345e-03 1.41035598e+02] [ 4.71958171e-01 8.81608043e-01 -4.76899858e-03 3.14521609e+01] [ 1.01901365e-02 -4.60150258e-05 9.99948078e-01 1.40236359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441858064 meters 0.01591114213488651 Centerline is valid? [True, True] Translation: X:141.09, Y:31.48, Z:0.14 [[ 8.81525655e-01 -4.72067958e-01 -8.02258856e-03 1.41089241e+02] [ 4.72048816e-01 8.81562160e-01 -4.25130229e-03 3.14752901e+01] [ 9.07931409e-03 -3.94213918e-05 9.99958781e-01 1.39660224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501858064 meters 0.01586018210265833 Centerline is valid? [True, True] Translation: X:141.14, Y:31.50, Z:0.14 [[ 8.81077088e-01 -4.72926616e-01 -6.60157996e-03 1.41142571e+02] [ 4.72913662e-01 8.81101818e-01 -3.50059308e-03 3.14992778e+01] [ 7.47218775e-03 -3.76849976e-05 9.99972082e-01 1.40937577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561858064 meters 0.01597423259719589 Centerline is valid? [True, True] Translation: X:141.20, Y:31.52, Z:0.14 [[ 8.80598029e-01 -4.73834043e-01 -5.33026381e-03 1.41196649e+02] [ 4.73825603e-01 8.80614160e-01 -2.82831930e-03 3.15206674e+01] [ 6.03405975e-03 -3.50030603e-05 9.99981794e-01 1.41611369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621858064 meters 0.015885898761519433 Centerline is valid? [True, True] Translation: X:141.25, Y:31.55, Z:0.14 [[ 8.80264732e-01 -4.74457455e-01 -4.91175670e-03 1.41249845e+02] [ 4.74450288e-01 8.80278435e-01 -2.60798575e-03 3.15451173e+01] [ 5.56109178e-03 -3.46665021e-05 9.99984536e-01 1.41656308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681858064 meters 0.015597080311608232 Centerline is valid? [True, True] Translation: X:141.30, Y:31.57, Z:0.14 [[ 8.80471747e-01 -4.74076148e-01 -4.61607692e-03 1.41303075e+02] [ 4.74069805e-01 8.80483847e-01 -2.45261120e-03 3.15692570e+01] [ 5.22710564e-03 -2.88878139e-05 9.99986338e-01 1.40538811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74185806399998 meters 0.015208039789821527 Centerline is valid? [True, True] Translation: X:141.36, Y:31.59, Z:0.14 [[ 8.81509177e-01 -4.72149846e-01 -4.01183293e-03 1.41356014e+02] [ 4.72145029e-01 8.81518306e-01 -2.13279223e-03 3.15946499e+01] [ 4.54350169e-03 -1.40910492e-05 9.99989678e-01 1.41120286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.801858064 meters 0.014916011138752322 Centerline is valid? [True, True] Translation: X:141.41, Y:31.62, Z:0.14 [[ 8.82112764e-01 -4.71028728e-01 -3.00160783e-03 1.41407200e+02] [ 4.71026021e-01 8.82117871e-01 -1.59670578e-03 3.16220697e+01] [ 3.39986620e-03 -5.36084228e-06 9.99994220e-01 1.41892408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.861858064 meters 0.014659754826359781 Centerline is valid? [True, True] Translation: X:141.46, Y:31.65, Z:0.14 [[ 8.82513204e-01 -4.70273751e-01 -3.61172924e-03 1.41459317e+02] [ 4.70269821e-01 8.82520594e-01 -1.92261844e-03 3.16476959e+01] [ 4.09158242e-03 -1.75109988e-06 9.99991629e-01 1.41806128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921858064 meters 0.01454341444648085 Centerline is valid? [True, True] Translation: X:141.51, Y:31.67, Z:0.14 [[ 8.82452873e-01 -4.70379619e-01 -4.46554278e-03 1.41510677e+02] [ 4.70373609e-01 8.82464172e-01 -2.37787848e-03 3.16735060e+01] [ 5.05918709e-03 -2.10777542e-06 9.99987202e-01 1.41140683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981858064 meters 0.0144520219641373 Centerline is valid? [True, True] Translation: X:141.56, Y:31.70, Z:0.14 [[ 8.83277232e-01 -4.68835466e-01 -3.82570624e-03 1.41560754e+02] [ 4.68831036e-01 8.83285517e-01 -2.03831269e-03 3.17020174e+01] [ 4.33482420e-03 6.78537619e-06 9.99990605e-01 1.42004248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041858064 meters 0.014160648961706232 Centerline is valid? [True, True] Translation: X:141.61, Y:31.73, Z:0.14 [[ 8.83537108e-01 -4.68349946e-01 -3.24144612e-03 1.41610660e+02] [ 4.68346758e-01 8.83543054e-01 -1.72813061e-03 3.17329334e+01] [ 3.67332708e-03 8.74674012e-06 9.99993253e-01 1.42097672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101858064 meters 0.014016924910709109 Centerline is valid? [True, True] Translation: X:141.66, Y:31.76, Z:0.14 [[ 8.83238812e-01 -4.68907176e-01 -3.90659000e-03 1.41661715e+02] [ 4.68902544e-01 8.83247451e-01 -2.08421289e-03 3.17605787e+01] [ 4.42778805e-03 9.04772839e-06 9.99990197e-01 1.42027289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161858064 meters 0.013890867326131547 Centerline is valid? [True, True] Translation: X:141.71, Y:31.79, Z:0.14 [[ 8.82167577e-01 -4.70911461e-01 -4.77087487e-03 1.41712791e+02] [ 4.70904577e-01 8.82180478e-01 -2.54628496e-03 3.17863846e+01] [ 5.40784745e-03 -3.76779052e-07 9.99985377e-01 1.41325789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221858064 meters 0.013829838453626089 Centerline is valid? [True, True] Translation: X:141.76, Y:31.81, Z:0.14 [[ 8.81067307e-01 -4.72969833e-01 -4.46520134e-03 1.41764754e+02] [ 4.72963822e-01 8.81078621e-01 -2.38455915e-03 3.18127905e+01] [ 5.06201798e-03 -1.09215834e-05 9.99987188e-01 1.41604795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281858064 meters 0.013924756331031832 Centerline is valid? [True, True] Translation: X:141.82, Y:31.84, Z:0.14 [[ 8.79771648e-01 -4.75375105e-01 -4.51191364e-03 1.41816285e+02] [ 4.75368992e-01 8.79783217e-01 -2.41095597e-03 3.18405100e+01] [ 5.11561434e-03 -2.37331267e-05 9.99986915e-01 1.41382779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341858064 meters 0.014057480367013552 Centerline is valid? [True, True] Translation: X:141.87, Y:31.87, Z:0.14 [[ 8.78592318e-01 -4.77551129e-01 -4.52312023e-03 1.41868621e+02] [ 4.77545006e-01 8.78603960e-01 -2.41834817e-03 3.18673028e+01] [ 5.12891624e-03 -3.52513554e-05 9.99986846e-01 1.41598363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401858064 meters 0.014954926504456734 Centerline is valid? [True, True] Translation: X:141.92, Y:31.89, Z:0.14 [[ 8.76179979e-01 -4.81967981e-01 -3.93818722e-03 1.41921182e+02] [ 4.81963381e-01 8.76188828e-01 -2.10641941e-03 3.18908954e+01] [ 4.46582235e-03 -5.24595109e-05 9.99990027e-01 1.42606655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461858064 meters 0.015414194758513551 Centerline is valid? [True, True] Translation: X:141.97, Y:31.92, Z:0.14 [[ 8.74768288e-01 -4.84520463e-01 -4.51251885e-03 1.41974290e+02] [ 4.84514451e-01 8.74779924e-01 -2.41493425e-03 3.19170316e+01] [ 5.11754596e-03 -7.38726893e-05 9.99986903e-01 1.42483626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52185806399999 meters 0.016006378607757124 Centerline is valid? [True, True] Translation: X:142.02, Y:31.95, Z:0.14 [[ 8.74518841e-01 -4.84970031e-01 -4.56781691e-03 1.42024887e+02] [ 4.84963873e-01 8.74530767e-01 -2.44517841e-03 3.19451104e+01] [ 5.18053468e-03 -7.68715861e-05 9.99986578e-01 1.41124067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.581858064 meters 0.014995022563467192 Centerline is valid? [True, True] Translation: X:142.07, Y:31.98, Z:0.14 [[ 8.75203931e-01 -4.83733144e-01 -4.50835740e-03 1.42074300e+02] [ 4.83727122e-01 8.75215540e-01 -2.41460067e-03 3.19778066e+01] [ 5.11380683e-03 -6.75467550e-05 9.99986922e-01 1.41825534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.641858064 meters 0.014882000678467126 Centerline is valid? [True, True] Translation: X:142.13, Y:32.01, Z:0.14 [[ 8.75731834e-01 -4.82786528e-01 -3.30500631e-03 1.42125327e+02] [ 4.82783281e-01 8.75738070e-01 -1.77106374e-03 3.20071927e+01] [ 3.74936556e-03 -4.46248910e-05 9.99992970e-01 1.43117767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701858064 meters 0.014734912761009218 Centerline is valid? [True, True] Translation: X:142.18, Y:32.04, Z:0.14 [[ 8.76077552e-01 -4.82162110e-01 -2.79673390e-03 1.42175489e+02] [ 4.82159780e-01 8.76082016e-01 -1.49951416e-03 3.20377897e+01] [ 3.17317719e-03 -3.47819066e-05 9.99994965e-01 1.43538316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761858064 meters 0.01492955281077196 Centerline is valid? [True, True] Translation: X:142.23, Y:32.07, Z:0.14 [[ 8.75215784e-01 -4.83720255e-01 -3.47075246e-03 1.42226146e+02] [ 4.83716674e-01 8.75222664e-01 -1.86200443e-03 3.20671082e+01] [ 3.93837048e-03 -4.92051729e-05 9.99992243e-01 1.41517520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821858064 meters 0.0146688190460856 Centerline is valid? [True, True] Translation: X:142.28, Y:32.10, Z:0.14 [[ 8.74095620e-01 -4.85735766e-01 -4.19671458e-03 1.42277092e+02] [ 4.85730550e-01 8.74105692e-01 -2.25214585e-03 3.20957504e+01] [ 4.76231989e-03 -6.98816545e-05 9.99988658e-01 1.41749351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881858064 meters 0.015142596919867296 Centerline is valid? [True, True] Translation: X:142.33, Y:32.12, Z:0.14 [[ 8.73059168e-01 -4.87588057e-01 -5.05731593e-03 1.42328542e+02] [ 4.87580510e-01 8.73073810e-01 -2.71457584e-03 3.21224107e+01] [ 5.73900485e-03 -9.58633588e-05 9.99983527e-01 1.42039781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941858064 meters 0.015032877488711804 Centerline is valid? [True, True] Translation: X:142.38, Y:32.15, Z:0.14 [[ 8.73480216e-01 -4.86836251e-01 -4.77254455e-03 1.42379597e+02] [ 4.86829511e-01 8.73493250e-01 -2.56305645e-03 3.21526656e+01] [ 5.41657424e-03 -8.46364234e-05 9.99985327e-01 1.42339360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001858064 meters 0.01507385081728225 Centerline is valid? [True, True] Translation: X:142.43, Y:32.18, Z:0.14 [[ 8.75011658e-01 -4.84072079e-01 -5.36848307e-03 1.42429135e+02] [ 4.84063494e-01 8.75028124e-01 -2.88387541e-03 3.21826641e+01] [ 6.09357724e-03 -7.52620696e-05 9.99981431e-01 1.41194453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061858064 meters 0.01425026259865203 Centerline is valid? [True, True] Translation: X:142.48, Y:32.21, Z:0.14 [[ 8.75781772e-01 -4.82673353e-01 -5.72033645e-03 1.42479059e+02] [ 4.82663565e-01 8.75800451e-01 -3.07453540e-03 3.22134299e+01] [ 6.49386956e-03 -6.83759263e-05 9.99978912e-01 1.42285766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121858064 meters 0.013777300998828125 Centerline is valid? [True, True] Translation: X:142.53, Y:32.24, Z:0.14 [[ 8.77630425e-01 -4.79310122e-01 -5.16179923e-03 1.42528652e+02] [ 4.79302086e-01 8.77645603e-01 -2.77592057e-03 3.22447662e+01] [ 5.86075723e-03 -3.78287875e-05 9.99982825e-01 1.43579853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181858064 meters 0.013548596206505387 Centerline is valid? [True, True] Translation: X:142.58, Y:32.28, Z:0.14 [[ 8.78743952e-01 -4.77264469e-01 -5.26239012e-03 1.42578747e+02] [ 4.77256069e-01 8.78759709e-01 -2.83165633e-03 3.22763040e+01] [ 5.97582537e-03 -2.32067534e-05 9.99982144e-01 1.43577336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24185806399998 meters 0.013342439930782263 Centerline is valid? [True, True] Translation: X:142.63, Y:32.31, Z:0.14 [[ 8.79343093e-01 -4.76166692e-01 -4.58329055e-03 1.42628467e+02] [ 4.76160297e-01 8.79355037e-01 -2.46778518e-03 3.23063885e+01] [ 5.20541674e-03 -1.23511376e-05 9.99986452e-01 1.43252912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.301858064 meters 0.013328391130686339 Centerline is valid? [True, True] Translation: X:142.68, Y:32.33, Z:0.14 [[ 8.79154167e-01 -4.76506902e-01 -5.39654896e-03 1.42679138e+02] [ 4.76498031e-01 8.79170730e-01 -2.90766519e-03 3.23349524e+01] [ 6.13001042e-03 -1.51589809e-05 9.99981211e-01 1.42913002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.361858064 meters 0.013250838799830722 Centerline is valid? [True, True] Translation: X:142.73, Y:32.36, Z:0.14 [[ 8.78437368e-01 -4.77819549e-01 -6.02247162e-03 1.42730295e+02] [ 4.77808516e-01 8.78458012e-01 -3.24715868e-03 3.23623579e+01] [ 6.84204434e-03 -2.51627006e-05 9.99976593e-01 1.42829039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421858064 meters 0.013467677780383328 Centerline is valid? [True, True] Translation: X:142.78, Y:32.39, Z:0.14 [[ 8.77895580e-01 -4.78816099e-01 -5.87319628e-03 1.42781621e+02] [ 4.78805623e-01 8.77915225e-01 -3.16752529e-03 3.23897049e+01] [ 6.67283054e-03 -3.13629544e-05 9.99977736e-01 1.43334883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481858064 meters 0.013306292636591137 Centerline is valid? [True, True] Translation: X:142.83, Y:32.42, Z:0.14 [[ 8.77302634e-01 -4.79899400e-01 -6.05429071e-03 1.42832749e+02] [ 4.79888279e-01 8.77323523e-01 -3.26723668e-03 3.24172484e+01] [ 6.87951658e-03 -3.90278054e-05 9.99976335e-01 1.44219922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541858064 meters 0.013295111822173647 Centerline is valid? [True, True] Translation: X:142.88, Y:32.44, Z:0.14 [[ 8.76581684e-01 -4.81221045e-01 -5.55481285e-03 1.42884588e+02] [ 4.81211706e-01 8.76599283e-01 -2.99849271e-03 3.24440388e+01] [ 6.31228276e-03 -4.46171696e-05 9.99980076e-01 1.43957497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601858064 meters 0.01371670022729107 Centerline is valid? [True, True] Translation: X:142.94, Y:32.47, Z:0.14 [[ 8.74853272e-01 -4.84362436e-01 -4.97836484e-03 1.42938001e+02] [ 4.84354977e-01 8.74867434e-01 -2.68872286e-03 3.24694182e+01] [ 5.65772563e-03 -5.90577953e-05 9.99983993e-01 1.43993609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661858064 meters 0.013900782302428338 Centerline is valid? [True, True] Translation: X:142.99, Y:32.50, Z:0.15 [[ 8.73907767e-01 -4.86069699e-01 -4.63271932e-03 1.42991228e+02] [ 4.86063256e-01 8.73920044e-01 -2.50348364e-03 3.24957736e+01] [ 5.26549381e-03 -6.39808387e-05 9.99986135e-01 1.45007093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721858064 meters 0.014279390660109534 Centerline is valid? [True, True] Translation: X:143.04, Y:32.52, Z:0.15 [[ 8.72844327e-01 -4.87982440e-01 -3.98985347e-03 1.43043461e+02] [ 4.87977675e-01 8.72853444e-01 -2.15731753e-03 3.25236307e+01] [ 4.53529041e-03 -6.39570497e-05 9.99989713e-01 1.45407297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781858064 meters 0.01458475297128144 Centerline is valid? [True, True] Translation: X:143.09, Y:32.55, Z:0.14 [[ 8.71846849e-01 -4.89750718e-01 -5.22554360e-03 1.43094777e+02] [ 4.89742567e-01 8.71862504e-01 -2.82721581e-03 3.25526687e+01] [ 5.94058650e-03 -9.42719376e-05 9.99982350e-01 1.42482374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841858064 meters 0.015023018910747418 Centerline is valid? [True, True] Translation: X:143.15, Y:32.58, Z:0.14 [[ 8.70783927e-01 -4.91634771e-01 -5.53211657e-03 1.43147014e+02] [ 4.91625662e-01 8.70801492e-01 -2.99487457e-03 3.25798300e+01] [ 6.28975984e-03 -1.11841830e-04 9.99980213e-01 1.41936362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901858064 meters 0.016178141484920583 Centerline is valid? [True, True] Translation: X:143.20, Y:32.61, Z:0.14 [[ 8.69162179e-01 -4.94504003e-01 -4.78521783e-03 1.43198462e+02] [ 4.94497227e-01 8.69175344e-01 -2.59119714e-03 3.26062429e+01] [ 5.44055071e-03 -1.14106399e-04 9.99985194e-01 1.41783615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961858064 meters 0.016350246911835068 Centerline is valid? [True, True] Translation: X:143.25, Y:32.63, Z:0.14 [[ 8.68313319e-01 -4.95993470e-01 -4.73903281e-03 1.43250291e+02] [ 4.95986839e-01 8.68326242e-01 -2.56753893e-03 3.26344566e+01] [ 5.38850909e-03 -1.21069660e-04 9.99985475e-01 1.41285554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02185806399999 meters 0.01647522139944421 Centerline is valid? [True, True] Translation: X:143.30, Y:32.66, Z:0.14 [[ 8.68455779e-01 -4.95751314e-01 -3.89796728e-03 1.43301608e+02] [ 4.95746820e-01 8.68464522e-01 -2.11304956e-03 3.26634295e+01] [ 4.43279338e-03 -9.73147818e-05 9.99990170e-01 1.40767037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.081858064 meters 0.016158438464873266 Centerline is valid? [True, True] Translation: X:143.35, Y:32.69, Z:0.14 [[ 8.69996316e-01 -4.93044330e-01 -3.70116328e-03 1.43350787e+02] [ 4.93040252e-01 8.70004185e-01 -2.00691763e-03 3.26933102e+01] [ 4.20952690e-03 -7.88115295e-05 9.99991137e-01 1.38447694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.141858064 meters 0.015763009209214814 Centerline is valid? [True, True] Translation: X:143.40, Y:32.72, Z:0.14 [[ 8.71137688e-01 -4.91030802e-01 -2.80707239e-03 1.43401968e+02] [ 4.91028444e-01 8.71142209e-01 -1.52279276e-03 3.27220694e+01] [ 3.19309740e-03 -5.17902282e-05 9.99994901e-01 1.38595013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201858064 meters 0.01510071309451796 Centerline is valid? [True, True] Translation: X:143.45, Y:32.75, Z:0.14 [[ 8.73212669e-01 -4.87337528e-01 -1.32970358e-03 1.43452032e+02] [ 4.87336994e-01 8.73213681e-01 -7.21542161e-04 3.27509634e+01] [ 1.51274993e-03 -1.79539881e-05 9.99998856e-01 1.39794641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261858064 meters 0.014226426661007291 Centerline is valid? [True, True] Translation: X:143.50, Y:32.78, Z:0.14 [[ 8.75172792e-01 -4.83810359e-01 -3.47295836e-04 1.43501349e+02] [ 4.83810322e-01 8.75172861e-01 -1.88353403e-04 3.27827143e+01] [ 3.95071218e-04 -3.18353714e-06 9.99999922e-01 1.39230600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321858064 meters 0.014067875867463218 Centerline is valid? [True, True] Translation: X:143.55, Y:32.81, Z:0.14 [[ 8.76207428e-01 -4.81934036e-01 3.57833649e-04 1.43552781e+02] [ 4.81933997e-01 8.76207501e-01 1.94671685e-04 3.28116966e+01] [-4.07355439e-04 1.87942434e-06 9.99999917e-01 1.39315815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381858064 meters 0.014052393951152806 Centerline is valid? [True, True] Translation: X:143.60, Y:32.84, Z:0.14 [[ 8.76828769e-01 -4.80802097e-01 8.08857832e-04 1.43603363e+02] [ 4.80801895e-01 8.76829142e-01 4.40069628e-04 3.28399546e+01] [-9.20816518e-04 3.03466868e-06 9.99999576e-01 1.38164346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441858064 meters 0.014192412187050567 Centerline is valid? [True, True] Translation: X:143.65, Y:32.87, Z:0.14 [[ 8.76442501e-01 -4.81506030e-01 6.97039032e-04 1.43654635e+02] [ 4.81505880e-01 8.76442778e-01 3.79517724e-04 3.28674852e+01] [-7.93654898e-04 3.00293006e-06 9.99999685e-01 1.37256152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501858064 meters 0.014433519317651033 Centerline is valid? [True, True] Translation: X:143.71, Y:32.89, Z:0.14 [[ 8.75180837e-01 -4.83795766e-01 3.99105169e-04 1.43707673e+02] [ 4.83795717e-01 8.75180928e-01 2.17506390e-04 3.28923874e+01] [-4.54517902e-04 2.72794691e-06 9.99999897e-01 1.36294605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561858064 meters 0.014554616465103696 Centerline is valid? [True, True] Translation: X:143.76, Y:32.92, Z:0.14 [[ 8.74371440e-01 -4.85257235e-01 -3.09829524e-05 1.43760449e+02] [ 4.85257235e-01 8.74371440e-01 -1.66322325e-05 3.29184890e+01] [ 3.51615199e-05 -4.91952757e-07 9.99999999e-01 1.35819989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621858064 meters 0.014658394264302677 Centerline is valid? [True, True] Translation: X:143.81, Y:32.94, Z:0.13 [[ 8.73041898e-01 -4.87645136e-01 2.56421837e-04 1.43813536e+02] [ 4.87645116e-01 8.73041936e-01 1.40007429e-04 3.29444462e+01] [-2.92140959e-04 2.81050488e-06 9.99999957e-01 1.34591529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681858064 meters 0.015099952781216997 Centerline is valid? [True, True] Translation: X:143.87, Y:32.97, Z:0.13 [[ 8.72312201e-01 -4.88949306e-01 5.46933224e-06 1.43866139e+02] [ 4.88949306e-01 8.72312201e-01 3.06881418e-06 3.29679184e+01] [-6.27145977e-06 -2.73784432e-09 1.00000000e+00 1.34845364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74185806399998 meters 0.015101523869638927 Centerline is valid? [True, True] Translation: X:143.92, Y:32.99, Z:0.13 [[ 8.72208516e-01 -4.89134237e-01 5.90212860e-05 1.43917787e+02] [ 4.89134236e-01 8.72208518e-01 3.24760380e-05 3.29944783e+01] [-6.73640104e-05 5.43454742e-07 9.99999998e-01 1.34874168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.801858064 meters 0.015134603786538298 Centerline is valid? [True, True] Translation: X:143.97, Y:33.02, Z:0.13 [[ 8.72106315e-01 -4.89315140e-01 1.12686630e-03 1.43969167e+02] [ 4.89314753e-01 8.72107043e-01 6.15426346e-04 3.30224580e+01] [-1.28388547e-03 1.46751047e-05 9.99999176e-01 1.34060177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.861858064 meters 0.015390367843171751 Centerline is valid? [True, True] Translation: X:144.02, Y:33.05, Z:0.14 [[ 8.71369813e-01 -4.90616099e-01 3.23929696e-03 1.44022194e+02] [ 4.90612913e-01 8.71375832e-01 1.76875069e-03 3.30466273e+01] [-3.69042265e-03 4.80049567e-05 9.99993189e-01 1.35363480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921858064 meters 0.01573037976489556 Centerline is valid? [True, True] Translation: X:144.08, Y:33.07, Z:0.14 [[ 8.70714693e-01 -4.91778707e-01 3.10253164e-03 1.44075856e+02] [ 4.91775788e-01 8.70720219e-01 1.69521459e-03 3.30719731e+01] [-3.53510747e-03 4.97016880e-05 9.99993750e-01 1.36249178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981858064 meters 0.01570821443714751 Centerline is valid? [True, True] Translation: X:144.13, Y:33.10, Z:0.13 [[ 8.71138294e-01 -4.91030731e-01 2.62572293e-03 1.44127349e+02] [ 4.91028634e-01 8.71142250e-01 1.43555117e-03 3.30999819e+01] [-2.99227792e-03 3.87415494e-05 9.99995522e-01 1.34960917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041858064 meters 0.015562057729000867 Centerline is valid? [True, True] Translation: X:144.18, Y:33.13, Z:0.13 [[ 8.72711860e-01 -4.88230995e-01 2.12244950e-03 1.44177902e+02] [ 4.88229617e-01 8.72714441e-01 1.16052369e-03 3.31286951e+01] [-2.41889596e-03 2.34399199e-05 9.99997074e-01 1.34558936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101858064 meters 0.015312333743486142 Centerline is valid? [True, True] Translation: X:144.23, Y:33.16, Z:0.13 [[ 8.72926411e-01 -4.87848378e-01 1.85496823e-03 1.44228430e+02] [ 4.87847323e-01 8.72928382e-01 1.01516150e-03 3.31580431e+01] [-2.11449930e-03 1.87799963e-05 9.99997764e-01 1.34233496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161858064 meters 0.015424539014579639 Centerline is valid? [True, True] Translation: X:144.28, Y:33.18, Z:0.13 [[ 8.73282591e-01 -4.87213657e-01 6.06756152e-04 1.44279754e+02] [ 4.87213544e-01 8.73282802e-01 3.32198931e-04 3.31845018e+01] [-6.91721569e-04 5.51627129e-06 9.99999761e-01 1.33357937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221858064 meters 0.015343974632116167 Centerline is valid? [True, True] Translation: X:144.33, Y:33.21, Z:0.13 [[ 8.72995364e-01 -4.87728494e-01 -1.00136368e-04 1.44330222e+02] [ 4.87728491e-01 8.72995370e-01 -5.45678740e-05 3.32123685e+01] [ 1.14032893e-04 -1.20185881e-06 9.99999993e-01 1.32530905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281858064 meters 0.015570923201278793 Centerline is valid? [True, True] Translation: X:144.38, Y:33.24, Z:0.13 [[ 8.71891447e-01 -4.89697570e-01 1.26277259e-03 1.44382731e+02] [ 4.89697081e-01 8.71892361e-01 6.92195605e-04 3.32398328e+01] [-1.43996828e-03 1.48566257e-05 9.99998963e-01 1.33708883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341858064 meters 0.01595560689643055 Centerline is valid? [True, True] Translation: X:144.43, Y:33.27, Z:0.13 [[ 8.70834517e-01 -4.91574511e-01 1.32052068e-03 1.44434951e+02] [ 4.91573977e-01 8.70835518e-01 7.24261593e-04 3.32675761e+01] [-1.50598485e-03 1.84216092e-05 9.99998866e-01 1.33295709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401858064 meters 0.016227793057687512 Centerline is valid? [True, True] Translation: X:144.49, Y:33.29, Z:0.13 [[ 8.70097943e-01 -4.92878022e-01 9.08154647e-04 1.44486132e+02] [ 4.92877770e-01 8.70098417e-01 4.98112738e-04 3.32939926e+01] [-1.03569274e-03 1.42023687e-05 9.99999464e-01 1.33303769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461858064 meters 0.016166065832154086 Centerline is valid? [True, True] Translation: X:144.54, Y:33.32, Z:0.13 [[ 8.69811560e-01 -4.93384067e-01 1.13296142e-04 1.44536788e+02] [ 4.93384063e-01 8.69811567e-01 6.22317337e-05 3.33230081e+01] [-1.29250441e-04 1.76862974e-06 9.99999992e-01 1.32984229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52185806399999 meters 0.016189525433782815 Centerline is valid? [True, True] Translation: X:144.59, Y:33.35, Z:0.13 [[ 8.69233277e-01 -4.94400779e-01 -1.17446759e-03 1.44587066e+02] [ 4.94400359e-01 8.69234071e-01 -6.44340940e-04 3.33538967e+01] [ 1.33944991e-03 -2.05746106e-05 9.99999103e-01 1.30614345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.581858064 meters 0.01648602006808543 Centerline is valid? [True, True] Translation: X:144.64, Y:33.38, Z:0.13 [[ 8.68294438e-01 -4.96043878e-01 -2.28903184e-03 1.44639461e+02] [ 4.96042288e-01 8.68297454e-01 -1.25678785e-03 3.33814358e+01] [ 2.61098244e-03 -4.41946882e-05 9.99996590e-01 1.30320883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.641858064 meters 0.016669181872131504 Centerline is valid? [True, True] Translation: X:144.69, Y:33.41, Z:0.13 [[ 8.67679291e-01 -4.97117772e-01 -2.56287989e-03 1.44690959e+02] [ 4.97115781e-01 8.67683075e-01 -1.40799048e-03 3.34096116e+01] [ 2.92370459e-03 -5.23638538e-05 9.99995725e-01 1.29940356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701858064 meters 0.0169848621871951 Centerline is valid? [True, True] Translation: X:144.74, Y:33.44, Z:0.13 [[ 8.67476670e-01 -4.97466077e-01 -3.42492302e-03 1.44741289e+02] [ 4.97462521e-01 8.67483428e-01 -1.88220018e-03 3.34388641e+01] [ 3.90739470e-03 -7.10060965e-05 9.99992364e-01 1.29269675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761858064 meters 0.016765529981904486 Centerline is valid? [True, True] Translation: X:144.79, Y:33.47, Z:0.13 [[ 8.67199564e-01 -4.97947287e-01 -3.66283524e-03 1.44791101e+02] [ 4.97943220e-01 8.67207296e-01 -2.01409355e-03 3.34690043e+01] [ 4.17934986e-03 -7.72629227e-05 9.99991263e-01 1.29229380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821858064 meters 0.01687878677402911 Centerline is valid? [True, True] Translation: X:144.84, Y:33.50, Z:0.13 [[ 8.66474469e-01 -4.99217194e-01 -2.04639189e-03 1.44841190e+02] [ 4.99215926e-01 8.66476885e-01 -1.12582206e-03 3.34994124e+01] [ 2.33518100e-03 -4.60953548e-05 9.99997272e-01 1.30285540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881858064 meters 0.017348789407231474 Centerline is valid? [True, True] Translation: X:144.89, Y:33.53, Z:0.13 [[ 8.65958803e-01 -5.00110670e-01 -2.16065778e-03 1.44892432e+02] [ 5.00109259e-01 8.65961497e-01 -1.18910039e-03 3.35265284e+01] [ 2.46572824e-03 -5.08530133e-05 9.99996959e-01 1.30928379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941858064 meters 0.017499987276849354 Centerline is valid? [True, True] Translation: X:144.94, Y:33.56, Z:0.13 [[ 8.65636964e-01 -5.00668530e-01 -1.91574907e-03 1.44943462e+02] [ 5.00667421e-01 8.65639082e-01 -1.05475392e-03 3.35568590e+01] [ 2.18642936e-03 -4.61191667e-05 9.99997609e-01 1.30639157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001858064 meters 0.016900991990258196 Centerline is valid? [True, True] Translation: X:144.99, Y:33.59, Z:0.13 [[ 8.65333483e-01 -5.01192902e-01 -1.90726845e-03 1.44991857e+02] [ 5.01191803e-01 8.65335584e-01 -1.05074714e-03 3.35889201e+01] [ 2.17705426e-03 -4.66606351e-05 9.99997629e-01 1.30192521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061858064 meters 0.017606184839434286 Centerline is valid? [True, True] Translation: X:145.04, Y:33.62, Z:0.13 [[ 8.64324660e-01 -5.02920671e-01 -3.69873519e-03 1.45042247e+02] [ 5.02916549e-01 8.64332569e-01 -2.03857917e-03 3.36180175e+01] [ 4.22218089e-03 -9.81608884e-05 9.99991082e-01 1.28612362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121858064 meters 0.018206827173981886 Centerline is valid? [True, True] Translation: X:145.09, Y:33.65, Z:0.13 [[ 8.63159738e-01 -5.04912388e-01 -4.32977294e-03 1.45093803e+02] [ 5.04906758e-01 8.63170588e-01 -2.38760729e-03 3.36465116e+01] [ 4.94286516e-03 -1.25245135e-04 9.99987776e-01 1.28444228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181858064 meters 0.018649943272295178 Centerline is valid? [True, True] Translation: X:145.14, Y:33.68, Z:0.13 [[ 8.61781610e-01 -5.07262166e-01 -4.18943709e-03 1.45143945e+02] [ 5.07256917e-01 8.61791783e-01 -2.31154435e-03 3.36776875e+01] [ 4.78298145e-03 -1.33074527e-04 9.99988553e-01 1.28123073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24185806399998 meters 0.019189436960361066 Centerline is valid? [True, True] Translation: X:145.19, Y:33.71, Z:0.13 [[ 8.61643244e-01 -5.07501848e-01 -3.57698978e-03 1.45193412e+02] [ 5.07498021e-01 8.61650661e-01 -1.97427114e-03 3.37069886e+01] [ 4.08406186e-03 -1.14197843e-04 9.99991654e-01 1.29337828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.301858064 meters 0.018411994446206212 Centerline is valid? [True, True] Translation: X:145.24, Y:33.74, Z:0.13 [[ 8.62707338e-01 -5.05690259e-01 -3.66195422e-03 1.45243264e+02] [ 5.05686228e-01 8.62715104e-01 -2.02213618e-03 3.37393937e+01] [ 4.18179778e-03 -1.07288095e-04 9.99991250e-01 1.30156374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.361858064 meters 0.0175921861343055 Centerline is valid? [True, True] Translation: X:145.29, Y:33.77, Z:0.13 [[ 8.65035638e-01 -5.01693584e-01 -4.11001408e-03 1.45290946e+02] [ 5.01688457e-01 8.65045397e-01 -2.27010085e-03 3.37738754e+01] [ 4.69424379e-03 -9.82284843e-05 9.99988977e-01 1.30173783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421858064 meters 0.016103899643483226 Centerline is valid? [True, True] Translation: X:145.34, Y:33.81, Z:0.13 [[ 8.66848030e-01 -4.98550031e-01 -4.72863014e-03 1.45339526e+02] [ 4.98543191e-01 8.66860922e-01 -2.61305394e-03 3.38089287e+01] [ 5.40180280e-03 -9.23056993e-05 9.99985406e-01 1.29794684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481858064 meters 0.015691124143953288 Centerline is valid? [True, True] Translation: X:145.39, Y:33.84, Z:0.13 [[ 8.69119371e-01 -4.94573797e-01 -5.31769815e-03 1.45388079e+02] [ 4.94565068e-01 8.69135636e-01 -2.93934992e-03 3.38413459e+01] [ 6.07552642e-03 -7.53017909e-05 9.99981541e-01 1.29425057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541858064 meters 0.01509994649715405 Centerline is valid? [True, True] Translation: X:145.44, Y:33.88, Z:0.13 [[ 8.70218609e-01 -4.92631868e-01 -5.78056952e-03 1.45436378e+02] [ 4.92621499e-01 8.70237806e-01 -3.19690491e-03 3.38752543e+01] [ 6.60536737e-03 -6.56266841e-05 9.99978182e-01 1.29430070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601858064 meters 0.014803155573291371 Centerline is valid? [True, True] Translation: X:145.49, Y:33.91, Z:0.13 [[ 8.70787661e-01 -4.91631146e-01 -5.25981429e-03 1.45486059e+02] [ 4.91622533e-01 8.70803545e-01 -2.91055409e-03 3.39065760e+01] [ 6.01118397e-03 -5.13686330e-05 9.99981931e-01 1.30364709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661858064 meters 0.014322294346588204 Centerline is valid? [True, True] Translation: X:145.54, Y:33.94, Z:0.13 [[ 8.71637348e-01 -4.90133391e-01 -4.19440029e-03 1.45535260e+02] [ 4.90127891e-01 8.71647439e-01 -2.32230409e-03 3.39392265e+01] [ 4.79427705e-03 -3.15855871e-05 9.99988507e-01 1.32437977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721858064 meters 0.014261052851264427 Centerline is valid? [True, True] Translation: X:145.59, Y:33.97, Z:0.13 [[ 8.71897202e-01 -4.89671152e-01 -4.17513158e-03 1.45585004e+02] [ 4.89665689e-01 8.71907198e-01 -2.31314544e-03 3.39699117e+01] [ 4.77300787e-03 -2.75936483e-05 9.99988609e-01 1.32501475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781858064 meters 0.014390295844263533 Centerline is valid? [True, True] Translation: X:145.63, Y:34.00, Z:0.13 [[ 8.72258072e-01 -4.89013661e-01 -5.61207089e-03 1.45634375e+02] [ 4.89003771e-01 8.72276125e-01 -3.11018205e-03 3.40006046e+01] [ 6.41619696e-03 -3.14424321e-05 9.99979416e-01 1.30503767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841858064 meters 0.014296629138619512 Centerline is valid? [True, True] Translation: X:145.69, Y:34.03, Z:0.13 [[ 8.71628375e-01 -4.90125101e-01 -6.43132855e-03 1.45685262e+02] [ 4.90112129e-01 8.71652100e-01 -3.56611682e-03 3.40304200e+01] [ 7.35372440e-03 -4.37435165e-05 9.99972960e-01 1.32252346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901858064 meters 0.01446558265861926 Centerline is valid? [True, True] Translation: X:145.74, Y:34.06, Z:0.13 [[ 8.70617773e-01 -4.91916028e-01 -6.58136726e-03 1.45735179e+02] [ 4.91902489e-01 8.70642646e-01 -3.65021139e-03 3.40591703e+01] [ 7.52561650e-03 -5.94520224e-05 9.99971680e-01 1.32473911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961858064 meters 0.014404688607069715 Centerline is valid? [True, True] Translation: X:145.79, Y:34.09, Z:0.13 [[ 8.70015178e-01 -4.92979356e-01 -6.70408530e-03 1.45786457e+02] [ 4.92965323e-01 8.70041005e-01 -3.72027310e-03 3.40883122e+01] [ 7.66684695e-03 -6.81875090e-05 9.99970607e-01 1.32890139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02185806399999 meters 0.014396110096107237 Centerline is valid? [True, True] Translation: X:145.84, Y:34.12, Z:0.13 [[ 8.69561421e-01 -4.93782350e-01 -6.47509803e-03 1.45837549e+02] [ 4.93769264e-01 8.69585525e-01 -3.59553166e-03 3.41163919e+01] [ 7.40606159e-03 -7.06687693e-05 9.99972572e-01 1.33479068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.081858064 meters 0.0145415042872703 Centerline is valid? [True, True] Translation: X:145.89, Y:34.15, Z:0.13 [[ 8.69164914e-01 -4.94485029e-01 -6.07527230e-03 1.45887716e+02] [ 4.94473521e-01 8.69186143e-01 -3.37437335e-03 3.41456946e+01] [ 6.94911960e-03 -7.11743603e-05 9.99975852e-01 1.33424817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.141858064 meters 0.014576829017328635 Centerline is valid? [True, True] Translation: X:145.94, Y:34.18, Z:0.13 [[ 8.68766534e-01 -4.95188390e-01 -5.75913502e-03 1.45937974e+02] [ 4.95178052e-01 8.68785620e-01 -3.20068843e-03 3.41758010e+01] [ 6.58839744e-03 -7.11462707e-05 9.99978294e-01 1.33382635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201858064 meters 0.01450475170075142 Centerline is valid? [True, True] Translation: X:145.99, Y:34.20, Z:0.13 [[ 8.68492869e-01 -4.95661621e-01 -6.30034142e-03 1.45988067e+02] [ 4.95649243e-01 8.68515717e-01 -3.50384730e-03 3.42044168e+01] [ 7.20866818e-03 -7.96930614e-05 9.99974014e-01 1.33962699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261858064 meters 0.014633319200114644 Centerline is valid? [True, True] Translation: X:146.04, Y:34.23, Z:0.13 [[ 8.68165003e-01 -4.96231655e-01 -6.60846379e-03 1.46038226e+02] [ 4.96218045e-01 8.68190150e-01 -3.67617621e-03 3.42323575e+01] [ 7.56163817e-03 -8.77114534e-05 9.99971407e-01 1.33064476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321858064 meters 0.014571138932357529 Centerline is valid? [True, True] Translation: X:146.09, Y:34.26, Z:0.13 [[ 8.68326195e-01 -4.95954726e-01 -6.20711184e-03 1.46087716e+02] [ 4.95942698e-01 8.68348377e-01 -3.45498774e-03 3.42621527e+01] [ 7.10345299e-03 -7.83154292e-05 9.99974767e-01 1.31953109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381858064 meters 0.014386728109294533 Centerline is valid? [True, True] Translation: X:146.14, Y:34.29, Z:0.13 [[ 8.68884277e-01 -4.94981770e-01 -5.75845426e-03 1.46138330e+02] [ 4.94971384e-01 8.68903357e-01 -3.20711967e-03 3.42918765e+01] [ 6.59100601e-03 -6.36542168e-05 9.99978277e-01 1.32130776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441858064 meters 0.014316848752116682 Centerline is valid? [True, True] Translation: X:146.19, Y:34.32, Z:0.13 [[ 8.69451603e-01 -4.93982193e-01 -5.95835368e-03 1.46190461e+02] [ 4.93971037e-01 8.69472018e-01 -3.32034993e-03 3.43201235e+01] [ 6.82081554e-03 -5.63705826e-05 9.99976736e-01 1.32552227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501858064 meters 0.014136992767053682 Centerline is valid? [True, True] Translation: X:146.24, Y:34.35, Z:0.13 [[ 8.69919047e-01 -4.93171405e-01 -4.77672596e-03 1.46241794e+02] [ 4.93164215e-01 8.69932160e-01 -2.66336797e-03 3.43493803e+01] [ 5.46892445e-03 -3.87957854e-05 9.99985045e-01 1.33449008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561858064 meters 0.01398813632132992 Centerline is valid? [True, True] Translation: X:146.29, Y:34.38, Z:0.13 [[ 8.70375518e-01 -4.92364257e-01 -4.88838784e-03 1.46292249e+02] [ 4.92356704e-01 8.70389245e-01 -2.72740615e-03 3.43785774e+01] [ 5.59767750e-03 -3.29629863e-05 9.99984332e-01 1.32355437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621858064 meters 0.013979519227132748 Centerline is valid? [True, True] Translation: X:146.34, Y:34.41, Z:0.13 [[ 8.71109561e-01 -4.91061393e-01 -5.18074991e-03 1.46343271e+02] [ 4.91052875e-01 8.71124967e-01 -2.89246356e-03 3.44053981e+01] [ 5.93345778e-03 -2.43694755e-05 9.99982397e-01 1.31818271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681858064 meters 0.01393450645255454 Centerline is valid? [True, True] Translation: X:146.39, Y:34.43, Z:0.13 [[ 8.72525621e-01 -4.88538209e-01 -5.42757505e-03 1.46393691e+02] [ 4.88528806e-01 8.72542502e-01 -3.03109527e-03 3.44341873e+01] [ 6.21659577e-03 -6.81847204e-06 9.99980677e-01 1.30551190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74185806399998 meters 0.013932459610379254 Centerline is valid? [True, True] Translation: X:146.44, Y:34.46, Z:0.13 [[ 8.73659133e-01 -4.86501798e-01 -5.97657425e-03 1.46444311e+02] [ 4.86490335e-01 8.73679575e-01 -3.33974001e-03 3.44627593e+01] [ 6.84640037e-03 1.02487587e-05 9.99976563e-01 1.29418859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.801858064 meters 0.01407838570835002 Centerline is valid? [True, True] Translation: X:146.50, Y:34.49, Z:0.13 [[ 8.74899311e-01 -4.84269422e-01 -5.85852305e-03 1.46496348e+02] [ 4.84258342e-01 8.74918926e-01 -3.27596736e-03 3.44894806e+01] [ 6.71218351e-03 2.91029271e-05 9.99977473e-01 1.28638614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.861858064 meters 0.014240701901611296 Centerline is valid? [True, True] Translation: X:146.55, Y:34.52, Z:0.13 [[ 8.75049251e-01 -4.83999256e-01 -5.79041797e-03 1.46547872e+02] [ 4.83988412e-01 8.75068408e-01 -3.24005177e-03 3.45158695e+01] [ 6.63519448e-03 3.27096724e-05 9.99977986e-01 1.28667226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921858064 meters 0.014067455710260229 Centerline is valid? [True, True] Translation: X:146.60, Y:34.54, Z:0.13 [[ 8.74545682e-01 -4.84916943e-01 -5.04071281e-03 1.46600906e+02] [ 4.84908730e-01 8.74560208e-01 -2.82232103e-03 3.45410594e+01] [ 5.77699813e-03 2.39630189e-05 9.99983313e-01 1.29633584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981858064 meters 0.014167489092264401 Centerline is valid? [True, True] Translation: X:146.66, Y:34.56, Z:0.13 [[ 8.73327166e-01 -4.87116585e-01 -4.13454946e-03 1.46655328e+02] [ 4.87111078e-01 8.73336953e-01 -2.31629618e-03 3.45644128e+01] [ 4.73916111e-03 8.89953393e-06 9.99988770e-01 1.30427933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041858064 meters 0.014241936015498972 Centerline is valid? [True, True] Translation: X:146.71, Y:34.59, Z:0.13 [[ 8.71267968e-01 -4.90793611e-01 -3.70920521e-03 1.46708155e+02] [ 4.90789209e-01 8.71275864e-01 -2.07871162e-03 3.45877098e+01] [ 4.25195935e-03 -9.32304338e-06 9.99990960e-01 1.29561842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101858064 meters 0.014438003812952991 Centerline is valid? [True, True] Translation: X:146.76, Y:34.61, Z:0.13 [[ 8.69407832e-01 -4.94082292e-01 -3.56521269e-03 1.46762365e+02] [ 4.94078248e-01 8.69415141e-01 -1.99903870e-03 3.46120658e+01] [ 4.08733952e-03 -2.35141375e-05 9.99991647e-01 1.30035849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161858064 meters 0.015100701549007696 Centerline is valid? [True, True] Translation: X:146.82, Y:34.63, Z:0.13 [[ 8.66363842e-01 -4.99408453e-01 -2.21133030e-03 1.46818312e+02] [ 4.99406913e-01 8.66366664e-01 -1.24052033e-03 3.46333542e+01] [ 2.53534919e-03 -2.96116842e-05 9.99996786e-01 1.31510947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221858064 meters 0.015611911176654118 Centerline is valid? [True, True] Translation: X:146.87, Y:34.66, Z:0.13 [[ 8.64626075e-01 -5.02409638e-01 -2.51124566e-03 1.46871940e+02] [ 5.02407662e-01 8.64629721e-01 -1.40959649e-03 3.46581591e+01] [ 2.87949249e-03 -4.28951862e-05 9.99995853e-01 1.31644321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281858064 meters 0.01570562850551636 Centerline is valid? [True, True] Translation: X:146.92, Y:34.68, Z:0.13 [[ 8.63164223e-01 -5.04905248e-01 -4.26784349e-03 1.46924896e+02] [ 5.04899568e-01 8.63174770e-01 -2.39641880e-03 3.46830919e+01] [ 4.89385925e-03 -8.63293643e-05 9.99988021e-01 1.29943515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341858064 meters 0.01606725480020036 Centerline is valid? [True, True] Translation: X:146.98, Y:34.71, Z:0.13 [[ 8.62084916e-01 -5.06742829e-01 -4.61544188e-03 1.46979281e+02] [ 5.06736206e-01 8.62097265e-01 -2.59295827e-03 3.47072472e+01] [ 5.29292283e-03 -1.03461288e-04 9.99985987e-01 1.29009187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401858064 meters 0.01655353576392549 Centerline is valid? [True, True] Translation: X:147.03, Y:34.73, Z:0.13 [[ 8.61610496e-01 -5.07549837e-01 -4.52938105e-03 1.47031031e+02] [ 5.07543466e-01 8.61622395e-01 -2.54528741e-03 3.47328371e+01] [ 5.19447636e-03 -1.05811410e-04 9.99986503e-01 1.28262506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461858064 meters 0.01676327731574263 Centerline is valid? [True, True] Translation: X:147.08, Y:34.76, Z:0.13 [[ 8.61366019e-01 -5.07971749e-01 -3.64463582e-03 1.47084508e+02] [ 5.07967623e-01 8.61373725e-01 -2.04922397e-03 3.47568222e+01] [ 4.18034142e-03 -8.62250987e-05 9.99991259e-01 1.29872561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52185806399999 meters 0.016840549354587984 Centerline is valid? [True, True] Translation: X:147.14, Y:34.78, Z:0.13 [[ 8.61978804e-01 -5.06940464e-01 -1.97643936e-03 1.47137362e+02] [ 5.06939248e-01 8.61981069e-01 -1.11155305e-03 3.47815076e+01] [ 2.26714453e-03 -4.37995153e-05 9.99997429e-01 1.32483538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.581858064 meters 0.01593984657809677 Centerline is valid? [True, True] Translation: X:147.19, Y:34.81, Z:0.13 [[ 8.62928522e-01 -5.05324971e-01 -1.01967612e-03 1.47187862e+02] [ 5.05324646e-01 8.62929124e-01 -5.73596155e-04 3.48126815e+01] [ 1.16976068e-03 -2.02949899e-05 9.99999316e-01 1.31964623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.641858064 meters 0.015602329119598638 Centerline is valid? [True, True] Translation: X:147.24, Y:34.84, Z:0.13 [[ 8.65063066e-01 -5.01661313e-01 -1.34853055e-03 1.47238698e+02] [ 5.01660739e-01 8.65064117e-01 -7.59097516e-04 3.48412446e+01] [ 1.54737524e-03 -1.98376057e-05 9.99998803e-01 1.30620962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701858064 meters 0.014873099207800299 Centerline is valid? [True, True] Translation: X:147.29, Y:34.87, Z:0.13 [[ 8.66358887e-01 -4.99415331e-01 -2.57010641e-03 1.47289553e+02] [ 4.99413234e-01 8.66362699e-01 -1.44777630e-03 3.48711732e+01] [ 2.94968601e-03 -2.92512858e-05 9.99995649e-01 1.29737353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761858064 meters 0.014854201173617434 Centerline is valid? [True, True] Translation: X:147.34, Y:34.90, Z:0.13 [[ 8.66403564e-01 -4.99336412e-01 -2.83045099e-03 1.47340072e+02] [ 4.99333864e-01 8.66408187e-01 -1.59546645e-03 3.48994939e+01] [ 3.24900040e-03 -3.10222071e-05 9.99994722e-01 1.28322890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821858064 meters 0.014929757512562739 Centerline is valid? [True, True] Translation: X:147.39, Y:34.93, Z:0.13 [[ 8.66185561e-01 -4.99712701e-01 -3.12883180e-03 1.47390867e+02] [ 4.99709586e-01 8.66191212e-01 -1.76483443e-03 3.49270996e+01] [ 3.59207679e-03 -3.48331379e-05 9.99993548e-01 1.27634672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881858064 meters 0.01503327602647145 Centerline is valid? [True, True] Translation: X:147.44, Y:34.96, Z:0.13 [[ 8.65900498e-01 -5.00205226e-01 -3.32552343e-03 1.47441690e+02] [ 5.00201706e-01 8.65906883e-01 -1.87702275e-03 3.49557438e+01] [ 3.81849022e-03 -3.81175641e-05 9.99992709e-01 1.28026284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941858064 meters 0.015135714248998547 Centerline is valid? [True, True] Translation: X:147.49, Y:34.98, Z:0.13 [[ 8.65553822e-01 -5.00809083e-01 -2.61600309e-03 1.47492196e+02] [ 5.00806905e-01 8.65557775e-01 -1.47745571e-03 3.49844768e+01] [ 3.00422505e-03 -3.12949751e-05 9.99995487e-01 1.28467311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001858064 meters 0.015321589046120444 Centerline is valid? [True, True] Translation: X:147.54, Y:35.01, Z:0.13 [[ 8.64382574e-01 -5.02825134e-01 -3.10650384e-03 1.47542723e+02] [ 5.02822071e-01 8.64388155e-01 -1.75558571e-03 3.50145974e+01] [ 3.56797774e-03 -4.45209980e-05 9.99993634e-01 1.27813026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061858064 meters 0.015549732102481832 Centerline is valid? [True, True] Translation: X:147.59, Y:35.04, Z:0.13 [[ 8.63612664e-01 -5.04139944e-01 -4.01054306e-03 1.47593913e+02] [ 5.04134846e-01 8.63621974e-01 -2.26788475e-03 3.50431396e+01] [ 4.60692440e-03 -6.32805164e-05 9.99989386e-01 1.27516175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121858064 meters 0.01621859216295895 Centerline is valid? [True, True] Translation: X:147.64, Y:35.07, Z:0.13 [[ 8.62289506e-01 -5.06398057e-01 -4.22096012e-03 1.47643599e+02] [ 5.06392434e-01 8.62299833e-01 -2.38761481e-03 3.50717063e+01] [ 4.84881670e-03 -7.86470731e-05 9.99988241e-01 1.26446406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181858064 meters 0.0166521637979511 Centerline is valid? [True, True] Translation: X:147.70, Y:35.10, Z:0.13 [[ 8.60767144e-01 -5.08974056e-01 -5.03331548e-03 1.47695257e+02] [ 5.08966096e-01 8.60781853e-01 -2.84860676e-03 3.51008741e+01] [ 5.78245356e-03 -1.09799821e-04 9.99983275e-01 1.25830215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24185806399998 meters 0.017044023135098674 Centerline is valid? [True, True] Translation: X:147.75, Y:35.13, Z:0.13 [[ 8.59855671e-01 -5.10508225e-01 -5.43843763e-03 1.47747108e+02] [ 5.10498952e-01 8.59872860e-01 -3.07962907e-03 3.51296369e+01] [ 6.24854089e-03 -1.28280186e-04 9.99980469e-01 1.26368214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.301858064 meters 0.01717849311415692 Centerline is valid? [True, True] Translation: X:147.80, Y:35.16, Z:0.13 [[ 8.59514671e-01 -5.11077678e-01 -5.84275000e-03 1.47797223e+02] [ 5.11066975e-01 8.59534518e-01 -3.31043698e-03 3.51606212e+01] [ 6.71393575e-03 -1.40667416e-04 9.99977451e-01 1.25707216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.361858064 meters 0.016226896880069633 Centerline is valid? [True, True] Translation: X:147.85, Y:35.19, Z:0.13 [[ 8.60110797e-01 -5.10081586e-01 -5.11785928e-03 1.47846809e+02] [ 5.10073347e-01 8.60126016e-01 -2.90136255e-03 3.51933448e+01] [ 5.88193552e-03 -1.14990359e-04 9.99982695e-01 1.27080065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421858064 meters 0.01609829302523492 Centerline is valid? [True, True] Translation: X:147.90, Y:35.22, Z:0.13 [[ 8.61256014e-01 -5.08149733e-01 -4.68263658e-03 1.47896364e+02] [ 5.08142803e-01 8.61268738e-01 -2.65552555e-03 3.52227072e+01] [ 5.38241311e-03 -9.23607270e-05 9.99985510e-01 1.28325390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481858064 meters 0.015485059572555993 Centerline is valid? [True, True] Translation: X:147.95, Y:35.25, Z:0.13 [[ 8.62092820e-01 -5.06731491e-01 -4.37784169e-03 1.47946037e+02] [ 5.06725408e-01 8.62103932e-01 -2.48398873e-03 3.52545132e+01] [ 5.03286985e-03 -7.69347624e-05 9.99987332e-01 1.29869175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541858064 meters 0.015769732948525097 Centerline is valid? [True, True] Translation: X:148.00, Y:35.28, Z:0.13 [[ 8.62424730e-01 -5.06172108e-01 -3.65819034e-03 1.47996264e+02] [ 5.06167854e-01 8.62432486e-01 -2.07620110e-03 3.52836897e+01] [ 4.20585728e-03 -6.10911788e-05 9.99991153e-01 1.29976514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601858064 meters 0.015219360069512486 Centerline is valid? [True, True] Translation: X:148.05, Y:35.31, Z:0.13 [[ 8.63152025e-01 -5.04936163e-01 -2.83769825e-03 1.48045865e+02] [ 5.04933594e-01 8.63156689e-01 -1.61127114e-03 3.53149654e+01] [ 3.26296729e-03 -4.20772275e-05 9.99994676e-01 1.31548058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661858064 meters 0.015299423856715304 Centerline is valid? [True, True] Translation: X:148.10, Y:35.34, Z:0.13 [[ 8.63103737e-01 -5.05019299e-01 -2.72880881e-03 1.48096523e+02] [ 5.05016921e-01 8.63108050e-01 -1.55039543e-03 3.53439876e+01] [ 3.13823647e-03 -3.99425358e-05 9.99995075e-01 1.31753537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721858064 meters 0.015259842474433535 Centerline is valid? [True, True] Translation: X:148.15, Y:35.37, Z:0.13 [[ 8.63688220e-01 -5.04014448e-01 -3.47770879e-03 1.48147271e+02] [ 5.04010572e-01 8.63695221e-01 -1.97709917e-03 3.53741856e+01] [ 4.00016700e-03 -4.52047343e-05 9.99991998e-01 1.31662068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781858064 meters 0.01484223202223656 Centerline is valid? [True, True] Translation: X:148.20, Y:35.41, Z:0.13 [[ 8.64235672e-01 -5.03078723e-01 -2.91562767e-03 1.48197428e+02] [ 5.03075991e-01 8.64240590e-01 -1.65845061e-03 3.54057416e+01] [ 3.35413499e-03 -3.34901062e-05 9.99994374e-01 1.32392954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841858064 meters 0.01480666179308143 Centerline is valid? [True, True] Translation: X:148.25, Y:35.43, Z:0.13 [[ 8.63749570e-01 -5.03912167e-01 -3.03448744e-03 1.48247483e+02] [ 5.03909208e-01 8.63754900e-01 -1.72717297e-03 3.54347729e+01] [ 3.49139687e-03 -3.72612550e-05 9.99993904e-01 1.32729588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901858064 meters 0.015151173237555446 Centerline is valid? [True, True] Translation: X:148.30, Y:35.46, Z:0.13 [[ 8.62700833e-01 -5.05696781e-01 -4.24716232e-03 1.48298507e+02] [ 5.05691003e-01 8.62711285e-01 -2.41820647e-03 3.54619169e+01] [ 4.88695409e-03 -6.15630354e-05 9.99988057e-01 1.32022047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961858064 meters 0.015208534937338796 Centerline is valid? [True, True] Translation: X:148.35, Y:35.49, Z:0.13 [[ 8.61786909e-01 -5.07251459e-01 -4.39107386e-03 1.48349779e+02] [ 5.07245296e-01 8.61798092e-01 -2.50142547e-03 3.54912073e+01] [ 5.05307079e-03 -7.16558376e-05 9.99987231e-01 1.32043939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02185806399999 meters 0.016072656642089046 Centerline is valid? [True, True] Translation: X:148.40, Y:35.52, Z:0.13 [[ 8.60009053e-01 -5.10258838e-01 -4.51065901e-03 1.48400089e+02] [ 5.10252373e-01 8.60020878e-01 -2.57032034e-03 3.55189045e+01] [ 5.19078959e-03 -9.10756973e-05 9.99986524e-01 1.31669666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.081858064 meters 0.016256133649274595 Centerline is valid? [True, True] Translation: X:148.45, Y:35.55, Z:0.13 [[ 8.58860934e-01 -5.12198395e-01 -3.27119443e-03 1.48450537e+02] [ 5.12195007e-01 8.58867160e-01 -1.86440396e-03 3.55483846e+01] [ 3.76446619e-03 -7.42257222e-05 9.99992912e-01 1.33179295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.141858064 meters 0.016089569203342643 Centerline is valid? [True, True] Translation: X:148.50, Y:35.58, Z:0.13 [[ 8.58820415e-01 -5.12268641e-01 -2.88681070e-03 1.48500024e+02] [ 5.12266000e-01 8.58825265e-01 -1.64621208e-03 3.55789972e+01] [ 3.32256878e-03 -6.50144291e-05 9.99994478e-01 1.33456502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201858064 meters 0.016146761954712454 Centerline is valid? [True, True] Translation: X:148.55, Y:35.61, Z:0.13 [[ 8.59838476e-01 -5.10554536e-01 -3.44394216e-03 1.48548399e+02] [ 5.10550760e-01 8.59845370e-01 -1.96472167e-03 3.56106561e+01] [ 3.96435528e-03 -6.89640049e-05 9.99992140e-01 1.32869099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261858064 meters 0.015569170286630846 Centerline is valid? [True, True] Translation: X:148.60, Y:35.64, Z:0.13 [[ 8.61089876e-01 -5.08442996e-01 -3.15365660e-03 1.48597430e+02] [ 5.08439813e-01 8.61095649e-01 -1.79996544e-03 3.56445995e+01] [ 3.63077980e-03 -5.35125536e-05 9.99993407e-01 1.32954574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321858064 meters 0.015545358600202659 Centerline is valid? [True, True] Translation: X:148.65, Y:35.68, Z:0.13 [[ 8.61859582e-01 -5.07135900e-01 -3.35256107e-03 1.48647390e+02] [ 5.07132288e-01 8.61866101e-01 -1.91458047e-03 3.56761896e+01] [ 3.86041123e-03 -5.00924372e-05 9.99992547e-01 1.32297144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381858064 meters 0.015330633045565442 Centerline is valid? [True, True] Translation: X:148.70, Y:35.71, Z:0.13 [[ 8.62763110e-01 -5.05593055e-01 -3.93433909e-03 1.48697059e+02] [ 5.05588059e-01 8.62772079e-01 -2.24814737e-03 3.57088724e+01] [ 4.53108561e-03 -4.95362473e-05 9.99989733e-01 1.31297670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441858064 meters 0.015154239894654633 Centerline is valid? [True, True] Translation: X:148.75, Y:35.74, Z:0.13 [[ 8.63699153e-01 -5.03989531e-01 -4.28082500e-03 1.48746691e+02] [ 5.03983590e-01 8.63709760e-01 -2.44755061e-03 3.57410509e+01] [ 4.93093022e-03 -4.35181620e-05 9.99987842e-01 1.30265011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501858064 meters 0.015004866470733416 Centerline is valid? [True, True] Translation: X:148.80, Y:35.77, Z:0.13 [[ 8.65141311e-01 -5.01511583e-01 -4.07967000e-03 1.48795979e+02] [ 5.01506153e-01 8.65150930e-01 -2.33387801e-03 3.57738541e+01] [ 4.69999715e-03 -2.68453284e-05 9.99988955e-01 1.30608316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561858064 meters 0.015057764150167142 Centerline is valid? [True, True] Translation: X:148.84, Y:35.80, Z:0.13 [[ 8.65830174e-01 -5.00320654e-01 -4.16559693e-03 1.48844959e+02] [ 5.00314972e-01 8.65840195e-01 -2.38458990e-03 3.58047450e+01] [ 4.79980084e-03 -1.94606209e-05 9.99988481e-01 1.29845990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621858064 meters 0.015209949372184428 Centerline is valid? [True, True] Translation: X:148.90, Y:35.83, Z:0.13 [[ 8.65671376e-01 -5.00597791e-01 -3.86268773e-03 1.48895072e+02] [ 5.00592901e-01 8.65679994e-01 -2.21262512e-03 3.58336759e+01] [ 4.45148673e-03 -1.82278246e-05 9.99990092e-01 1.29651944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681858064 meters 0.01540420066815332 Centerline is valid? [True, True] Translation: X:148.95, Y:35.86, Z:0.13 [[ 8.64708827e-01 -5.02262849e-01 -3.26730841e-03 1.48945509e+02] [ 5.02259361e-01 8.64714999e-01 -1.87210994e-03 3.58615543e+01] [ 3.76558186e-03 -2.22062409e-05 9.99992910e-01 1.29435414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74185806399998 meters 0.015755576965536484 Centerline is valid? [True, True] Translation: X:149.00, Y:35.89, Z:0.13 [[ 8.63470680e-01 -5.04387650e-01 -3.38858346e-03 1.48997510e+02] [ 5.04383910e-01 8.63477329e-01 -1.94253334e-03 3.58894537e+01] [ 3.90575482e-03 -3.18263890e-05 9.99992372e-01 1.29041959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.801858064 meters 0.01605383874648731 Centerline is valid? [True, True] Translation: X:149.05, Y:35.92, Z:0.13 [[ 8.62071993e-01 -5.06775988e-01 -3.15854319e-03 1.49049463e+02] [ 5.06772751e-01 8.62077779e-01 -1.81167211e-03 3.59178414e+01] [ 3.64102182e-03 -3.88718322e-05 9.99993371e-01 1.28548188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.861858064 meters 0.016482492335946702 Centerline is valid? [True, True] Translation: X:149.10, Y:35.95, Z:0.13 [[ 8.60993938e-01 -5.08606697e-01 -2.94392700e-03 1.49101078e+02] [ 5.08603892e-01 8.60998970e-01 -1.68951434e-03 3.59455121e+01] [ 3.39401642e-03 -4.26311304e-05 9.99994239e-01 1.28197702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921858064 meters 0.01686427665789124 Centerline is valid? [True, True] Translation: X:149.15, Y:35.97, Z:0.13 [[ 8.60328758e-01 -5.09732989e-01 -2.58995998e-03 1.49152301e+02] [ 5.09730822e-01 8.60332656e-01 -1.48680125e-03 3.59734963e+01] [ 2.98609880e-03 -4.10445590e-05 9.99995541e-01 1.27647926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981858064 meters 0.016965103240230036 Centerline is valid? [True, True] Translation: X:149.20, Y:36.00, Z:0.13 [[ 8.60289075e-01 -5.09794916e-01 -3.44258431e-03 1.49203664e+02] [ 5.09791084e-01 8.60295961e-01 -1.97737719e-03 3.60009967e+01] [ 3.96969821e-03 -5.38827916e-05 9.99992119e-01 1.26875328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041858064 meters 0.0169083781848768 Centerline is valid? [True, True] Translation: X:149.25, Y:36.03, Z:0.13 [[ 8.60326783e-01 -5.09730195e-01 -3.59926956e-03 1.49253674e+02] [ 5.09726000e-01 8.60334310e-01 -2.06873895e-03 3.60296217e+01] [ 4.15107380e-03 -5.48497482e-05 9.99991383e-01 1.26260184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101858064 meters 0.017113970970421204 Centerline is valid? [True, True] Translation: X:149.31, Y:36.06, Z:0.13 [[ 8.60219213e-01 -5.09908528e-01 -4.02481948e-03 1.49305001e+02] [ 5.09903277e-01 8.60228626e-01 -2.31486047e-03 3.60571225e+01] [ 4.64263202e-03 -6.09811947e-05 9.99989221e-01 1.25777784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161858064 meters 0.01735988993469467 Centerline is valid? [True, True] Translation: X:149.36, Y:36.08, Z:0.12 [[ 8.60138852e-01 -5.10041951e-01 -4.28529225e-03 1.49355391e+02] [ 5.10035996e-01 8.60149524e-01 -2.46553063e-03 3.60835439e+01] [ 4.94351614e-03 -6.49546185e-05 9.99987779e-01 1.24306682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221858064 meters 0.01713599142433451 Centerline is valid? [True, True] Translation: X:149.41, Y:36.11, Z:0.12 [[ 8.60182942e-01 -5.09968800e-01 -4.13875913e-03 1.49405754e+02] [ 5.09963238e-01 8.60192896e-01 -2.38263860e-03 3.61124225e+01] [ 4.77520255e-03 -6.11099215e-05 9.99988597e-01 1.24954079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281858064 meters 0.01748997743529184 Centerline is valid? [True, True] Translation: X:149.46, Y:36.14, Z:0.13 [[ 8.60137519e-01 -5.10056342e-01 -2.44465645e-03 1.49457512e+02] [ 5.10054400e-01 8.60140992e-01 -1.40773198e-03 3.61378857e+01] [ 2.82077185e-03 -3.60646809e-05 9.99996021e-01 1.25609284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341858064 meters 0.0175361034732836 Centerline is valid? [True, True] Translation: X:149.51, Y:36.16, Z:0.13 [[ 8.60000342e-01 -5.10285782e-01 -2.79865052e-03 1.49508800e+02] [ 5.10283236e-01 8.60004895e-01 -1.61243822e-03 3.61647436e+01] [ 3.22965744e-03 -4.14070228e-05 9.99994784e-01 1.25632146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401858064 meters 0.017661378919480643 Centerline is valid? [True, True] Translation: X:149.56, Y:36.19, Z:0.13 [[ 8.59945784e-01 -5.10378557e-01 -2.64153639e-03 1.49560709e+02] [ 5.10376286e-01 8.59949840e-01 -1.52287813e-03 3.61903825e+01] [ 3.04883314e-03 -3.85849097e-05 9.99995352e-01 1.25484850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461858064 meters 0.017389272338111487 Centerline is valid? [True, True] Translation: X:149.61, Y:36.22, Z:0.13 [[ 8.60591817e-01 -5.09288211e-01 -2.69102623e-03 1.49612502e+02] [ 5.09285847e-01 8.60596024e-01 -1.55234600e-03 3.62186490e+01] [ 3.10647799e-03 -3.45653055e-05 9.99995174e-01 1.25237575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52185806399999 meters 0.017375680385272735 Centerline is valid? [True, True] Translation: X:149.66, Y:36.24, Z:0.12 [[ 8.61268896e-01 -5.08139931e-01 -3.11438049e-03 1.49664210e+02] [ 5.08136754e-01 8.61274526e-01 -1.79713530e-03 3.62448978e+01] [ 3.59553279e-03 -3.47144559e-05 9.99993535e-01 1.24882615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.581858064 meters 0.017398448778020197 Centerline is valid? [True, True] Translation: X:149.72, Y:36.27, Z:0.12 [[ 8.61041016e-01 -5.08520638e-01 -3.88962981e-03 1.49715731e+02] [ 5.08515681e-01 8.61049801e-01 -2.24579565e-03 3.62726320e+01] [ 4.49119841e-03 -4.42155810e-05 9.99989914e-01 1.23748845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.641858064 meters 0.017592592799648372 Centerline is valid? [True, True] Translation: X:149.77, Y:36.30, Z:0.12 [[ 8.60360016e-01 -5.09665057e-01 -4.70884999e-03 1.49768238e+02] [ 5.09657804e-01 8.60372900e-01 -2.71960655e-03 3.62971198e+01] [ 5.43745535e-03 -6.00614159e-05 9.99985215e-01 1.22752358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701858064 meters 0.0176035627235165 Centerline is valid? [True, True] Translation: X:149.82, Y:36.32, Z:0.12 [[ 8.60253971e-01 -5.09841005e-01 -5.02535852e-03 1.49819276e+02] [ 5.09832738e-01 8.60268647e-01 -2.90407377e-03 3.63247593e+01] [ 5.80377426e-03 -6.38513039e-05 9.99983156e-01 1.22692967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761858064 meters 0.01748956094236389 Centerline is valid? [True, True] Translation: X:149.87, Y:36.35, Z:0.12 [[ 8.60508984e-01 -5.09410142e-01 -5.05925459e-03 1.49870818e+02] [ 5.09401745e-01 8.60523854e-01 -2.92551932e-03 3.63515218e+01] [ 5.84389847e-03 -5.97574649e-05 9.99982922e-01 1.22462670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821858064 meters 0.017370303269251444 Centerline is valid? [True, True] Translation: X:149.92, Y:36.38, Z:0.12 [[ 8.60150970e-01 -5.10016460e-01 -4.84969606e-03 1.49922201e+02] [ 5.10008744e-01 8.60164639e-01 -2.80613953e-03 3.63788567e+01] [ 5.60271441e-03 -5.96837547e-05 9.99984303e-01 1.23562807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881858064 meters 0.017259309121303842 Centerline is valid? [True, True] Translation: X:149.97, Y:36.41, Z:0.12 [[ 8.60119772e-01 -5.10069966e-01 -4.75479656e-03 1.49973569e+02] [ 5.10062540e-01 8.60132912e-01 -2.75300457e-03 3.64067237e+01] [ 5.49398196e-03 -5.73299514e-05 9.99984906e-01 1.23949899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941858064 meters 0.01712364159095333 Centerline is valid? [True, True] Translation: X:150.02, Y:36.44, Z:0.12 [[ 8.61116457e-01 -5.08392767e-01 -3.90407199e-03 1.50024034e+02] [ 5.08387738e-01 8.61125306e-01 -2.26172070e-03 3.64369575e+01] [ 4.51173764e-03 -3.71774104e-05 9.99989821e-01 1.24850004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001858064 meters 0.016906956633485 Centerline is valid? [True, True] Translation: X:150.07, Y:36.47, Z:0.13 [[ 8.62073662e-01 -5.06768193e-01 -3.87290287e-03 1.50073910e+02] [ 5.06763221e-01 8.62082362e-01 -2.24493564e-03 3.64674178e+01] [ 4.47642323e-03 -2.73448440e-05 9.99989980e-01 1.25042480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061858064 meters 0.01684106391836923 Centerline is valid? [True, True] Translation: X:150.12, Y:36.50, Z:0.12 [[ 8.62904192e-01 -5.05348554e-01 -4.38111305e-03 1.50123139e+02] [ 5.05342165e-01 8.62915314e-01 -2.54115934e-03 3.64990022e+01] [ 5.06470074e-03 -2.11841093e-05 9.99987174e-01 1.24021375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121858064 meters 0.01652098087647471 Centerline is valid? [True, True] Translation: X:150.17, Y:36.53, Z:0.12 [[ 8.63353253e-01 -5.04579393e-01 -4.56036975e-03 1.50172807e+02] [ 5.04572451e-01 8.63365297e-01 -2.64683991e-03 3.65284982e+01] [ 5.27280586e-03 -1.58790988e-05 9.99986099e-01 1.23735809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181858064 meters 0.016532374315887412 Centerline is valid? [True, True] Translation: X:150.22, Y:36.56, Z:0.12 [[ 8.63046523e-01 -5.05099013e-01 -5.06817295e-03 1.50223721e+02] [ 5.05090436e-01 8.63061404e-01 -2.94345973e-03 3.65574562e+01] [ 5.86088307e-03 -1.95430039e-05 9.99982825e-01 1.23315411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24185806399998 meters 0.016428228556997188 Centerline is valid? [True, True] Translation: X:150.28, Y:36.59, Z:0.12 [[ 8.63108483e-01 -5.04972809e-01 -6.79775542e-03 1.50275304e+02] [ 5.04957358e-01 8.63135251e-01 -3.95029252e-03 3.65865788e+01] [ 7.86217264e-03 -2.30456298e-05 9.99969092e-01 1.22682773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.301858064 meters 0.016450072362947585 Centerline is valid? [True, True] Translation: X:150.33, Y:36.62, Z:0.12 [[ 8.63119177e-01 -5.04945791e-01 -7.41849696e-03 1.50325344e+02] [ 5.04927365e-01 8.63151057e-01 -4.31375318e-03 3.66154423e+01] [ 8.58149501e-03 -2.25190226e-05 9.99963178e-01 1.22362750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.361858064 meters 0.016353994913943754 Centerline is valid? [True, True] Translation: X:150.38, Y:36.64, Z:0.12 [[ 8.62707794e-01 -5.05663032e-01 -6.33726228e-03 1.50375663e+02] [ 5.05649598e-01 8.62731069e-01 -3.68590289e-03 3.66434177e+01] [ 7.33117789e-03 -2.45769802e-05 9.99973126e-01 1.23398576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421858064 meters 0.01606377885307916 Centerline is valid? [True, True] Translation: X:150.43, Y:36.67, Z:0.13 [[ 8.61867057e-01 -5.07106800e-01 -5.27919037e-03 1.50426843e+02] [ 5.07097494e-01 8.61883225e-01 -3.07228850e-03 3.66719124e+01] [ 6.10802401e-03 -2.91599546e-05 9.99981345e-01 1.26049233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481858064 meters 0.016171790252135228 Centerline is valid? [True, True] Translation: X:150.48, Y:36.70, Z:0.13 [[ 8.61271600e-01 -5.08117897e-01 -5.23762629e-03 1.50478412e+02] [ 5.08108751e-01 8.61287525e-01 -3.04890261e-03 3.66992935e+01] [ 6.06030417e-03 -3.53505261e-05 9.99981636e-01 1.27631285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541858064 meters 0.016189057026420112 Centerline is valid? [True, True] Translation: X:150.53, Y:36.73, Z:0.13 [[ 8.60789675e-01 -5.08927485e-01 -5.82670906e-03 1.50529310e+02] [ 5.08916172e-01 8.60809394e-01 -3.39356233e-03 3.67286468e+01] [ 6.74276304e-03 -4.41630587e-05 9.99977266e-01 1.27598257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601858064 meters 0.01609858492881381 Centerline is valid? [True, True] Translation: X:150.58, Y:36.76, Z:0.13 [[ 8.60237935e-01 -5.09851832e-01 -6.46563055e-03 1.50579310e+02] [ 5.09837913e-01 8.60262231e-01 -3.76785695e-03 3.67596553e+01] [ 7.48318653e-03 -5.51700993e-05 9.99971999e-01 1.26605493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661858064 meters 0.01637829017077758 Centerline is valid? [True, True] Translation: X:150.63, Y:36.79, Z:0.13 [[ 8.59078709e-01 -5.11784177e-01 -7.79277349e-03 1.50629650e+02] [ 5.11764024e-01 8.59114049e-01 -4.54253958e-03 3.67871940e+01] [ 9.01968106e-03 -8.56620782e-05 9.99959318e-01 1.26330916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721858064 meters 0.016503945516100398 Centerline is valid? [True, True] Translation: X:150.68, Y:36.82, Z:0.13 [[ 8.58479314e-01 -5.12786180e-01 -7.97502400e-03 1.50681075e+02] [ 5.12765094e-01 8.58516350e-01 -4.65124095e-03 3.68159494e+01] [ 9.23178058e-03 -9.63197923e-05 9.99957382e-01 1.26293843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781858064 meters 0.016768209118558832 Centerline is valid? [True, True] Translation: X:150.73, Y:36.84, Z:0.13 [[ 8.57031205e-01 -5.15193169e-01 -8.57395139e-03 1.50732668e+02] [ 5.15168889e-01 8.57074082e-01 -5.00340848e-03 3.68436448e+01] [ 9.92623339e-03 -1.28955814e-04 9.99950725e-01 1.27025720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841858064 meters 0.017565181985051 Centerline is valid? [True, True] Translation: X:150.78, Y:36.87, Z:0.13 [[ 8.55333816e-01 -5.18007333e-01 -8.51265919e-03 1.50783785e+02] [ 5.17983527e-01 8.55376161e-01 -4.96879106e-03 3.68715392e+01] [ 9.85539595e-03 -1.59442207e-04 9.99951422e-01 1.26624878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901858064 meters 0.017761270151818977 Centerline is valid? [True, True] Translation: X:150.83, Y:36.90, Z:0.13 [[ 8.54702374e-01 -5.19054468e-01 -8.14313039e-03 1.50834346e+02] [ 5.19032708e-01 8.54741150e-01 -4.75556037e-03 3.69010385e+01] [ 9.42866349e-03 -1.61962268e-04 9.99955536e-01 1.28194120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961858064 meters 0.01769853822764289 Centerline is valid? [True, True] Translation: X:150.88, Y:36.93, Z:0.13 [[ 8.54608148e-01 -5.19215438e-01 -7.76156152e-03 1.50883474e+02] [ 5.19195650e-01 8.54643379e-01 -4.53552014e-03 3.69317923e+01] [ 8.98827924e-03 -1.53676514e-04 9.99959593e-01 1.28716187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02185806399999 meters 0.017225314873677948 Centerline is valid? [True, True] Translation: X:150.93, Y:36.97, Z:0.13 [[ 8.54765829e-01 -5.18952277e-01 -7.99450291e-03 1.50931852e+02] [ 5.18931246e-01 8.54803200e-01 -4.67448746e-03 3.69651233e+01] [ 9.25956258e-03 -1.53005209e-04 9.99957118e-01 1.29551845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.081858064 meters 0.017550722597179345 Centerline is valid? [True, True] Translation: X:150.98, Y:37.00, Z:0.13 [[ 8.53926788e-01 -5.20328732e-01 -8.18849840e-03 1.50981779e+02] [ 5.20306705e-01 8.53966031e-01 -4.79061285e-03 3.69955793e+01] [ 9.48539299e-03 -1.69697980e-04 9.99954998e-01 1.29241306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.141858064 meters 0.01789387589773183 Centerline is valid? [True, True] Translation: X:151.03, Y:37.03, Z:0.13 [[ 8.52961380e-01 -5.21912749e-01 -7.99799620e-03 1.51032934e+02] [ 5.21891781e-01 8.52998857e-01 -4.68174157e-03 3.70253120e+01] [ 9.26574223e-03 -1.80743727e-04 9.99957056e-01 1.30184188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201858064 meters 0.017921488965288015 Centerline is valid? [True, True] Translation: X:151.08, Y:37.06, Z:0.13 [[ 8.51816234e-01 -5.23780094e-01 -7.96971167e-03 1.51082440e+02] [ 5.23759332e-01 8.51853493e-01 -4.66782219e-03 3.70581278e+01] [ 9.23393907e-03 -1.98084143e-04 9.99957347e-01 1.30514605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261858064 meters 0.01772881190347879 Centerline is valid? [True, True] Translation: X:151.13, Y:37.09, Z:0.13 [[ 8.51489296e-01 -5.24314190e-01 -7.78510431e-03 1.51131736e+02] [ 5.24294375e-01 8.51524862e-01 -4.56263532e-03 3.70888018e+01] [ 9.02146432e-03 -1.96651261e-04 9.99959286e-01 1.31287370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321858064 meters 0.018104374311560482 Centerline is valid? [True, True] Translation: X:151.18, Y:37.12, Z:0.13 [[ 8.51731046e-01 -5.23928600e-01 -7.28340027e-03 1.51180353e+02] [ 5.23911230e-01 8.51762167e-01 -4.27001693e-03 3.71195819e+01] [ 8.44090879e-03 -1.78949209e-04 9.99964359e-01 1.31599322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381858064 meters 0.01722109653426542 Centerline is valid? [True, True] Translation: X:151.23, Y:37.15, Z:0.13 [[ 8.53041062e-01 -5.21814838e-01 -5.49742796e-03 1.51228262e+02] [ 5.21804888e-01 8.53058767e-01 -3.22463248e-03 3.71547065e+01] [ 6.37229020e-03 -1.17840868e-04 9.99979690e-01 1.31992482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441858064 meters 0.016393815806934085 Centerline is valid? [True, True] Translation: X:151.28, Y:37.19, Z:0.13 [[ 8.55194109e-01 -5.18278328e-01 -5.53264270e-03 1.51276054e+02] [ 5.18268164e-01 8.55212001e-01 -3.24714023e-03 3.71895447e+01] [ 6.41450484e-03 -9.04573714e-05 9.99979423e-01 1.32256168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501858064 meters 0.016157567102227433 Centerline is valid? [True, True] Translation: X:151.32, Y:37.22, Z:0.13 [[ 8.56592409e-01 -5.15957691e-01 -6.09150764e-03 1.51324807e+02] [ 5.15945296e-01 8.56614064e-01 -3.57718452e-03 3.72221360e+01] [ 7.06374698e-03 -7.86956065e-05 9.99975048e-01 1.31491886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561858064 meters 0.01587971154668 Centerline is valid? [True, True] Translation: X:151.37, Y:37.26, Z:0.13 [[ 8.58844400e-01 -5.12196253e-01 -6.42609009e-03 1.51372399e+02] [ 5.12182338e-01 8.58868440e-01 -3.77578967e-03 3.72576798e+01] [ 7.45311128e-03 -4.85140296e-05 9.99972224e-01 1.29602881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621858064 meters 0.015734325202947267 Centerline is valid? [True, True] Translation: X:151.42, Y:37.29, Z:0.13 [[ 8.60835536e-01 -5.08850619e-01 -5.76429905e-03 1.51419202e+02] [ 5.08839342e-01 8.60854835e-01 -3.38773878e-03 3.72921669e+01] [ 6.68607769e-03 -1.68162143e-05 9.99977648e-01 1.29206221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681858064 meters 0.015710550677732783 Centerline is valid? [True, True] Translation: X:151.47, Y:37.32, Z:0.13 [[ 8.61384350e-01 -5.07922578e-01 -5.62635870e-03 1.51467972e+02] [ 5.07911802e-01 8.61402725e-01 -3.30856445e-03 3.73245528e+01] [ 6.52705529e-03 -7.74835224e-06 9.99978699e-01 1.29390227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74185806399998 meters 0.015644515114010032 Centerline is valid? [True, True] Translation: X:151.52, Y:37.36, Z:0.13 [[ 8.62018456e-01 -5.06851276e-01 -5.09566091e-03 1.51515858e+02] [ 5.06842407e-01 8.62033517e-01 -2.99841317e-03 3.73571169e+01] [ 5.91238004e-03 1.99045122e-06 9.99982522e-01 1.29742882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.801858064 meters 0.015686079498164005 Centerline is valid? [True, True] Translation: X:151.56, Y:37.39, Z:0.13 [[ 8.62483501e-01 -5.06058948e-01 -5.15293840e-03 1.51564677e+02] [ 5.06049852e-01 8.62498894e-01 -3.03410020e-03 3.73893406e+01] [ 5.97983722e-03 9.21764891e-06 9.99982121e-01 1.29266495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.861858064 meters 0.015644788454364244 Centerline is valid? [True, True] Translation: X:151.61, Y:37.42, Z:0.13 [[ 8.62464666e-01 -5.06096465e-01 -4.58994875e-03 1.51613484e+02] [ 5.06089240e-01 8.62476880e-01 -2.70423180e-03 3.74218866e+01] [ 5.32732683e-03 9.38069816e-06 9.99985810e-01 1.29225157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921858064 meters 0.01573639970631355 Centerline is valid? [True, True] Translation: X:151.66, Y:37.45, Z:0.13 [[ 8.61220565e-01 -5.08216882e-01 -3.83927599e-03 1.51662768e+02] [ 5.08211841e-01 8.61229122e-01 -2.26337058e-03 3.74535513e+01] [ 4.45677943e-03 -1.90423142e-06 9.99990069e-01 1.29888744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981858064 meters 0.015742743963842995 Centerline is valid? [True, True] Translation: X:151.71, Y:37.48, Z:0.13 [[ 8.60058684e-01 -5.10184890e-01 -3.23089957e-03 1.51711688e+02] [ 5.10181332e-01 8.60064752e-01 -1.90536383e-03 3.74820349e+01] [ 3.75087068e-03 -9.61993906e-06 9.99992965e-01 1.30810782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041858064 meters 0.015738536741919575 Centerline is valid? [True, True] Translation: X:151.76, Y:37.51, Z:0.13 [[ 8.58425801e-01 -5.12936253e-01 -1.24265637e-03 1.51760820e+02] [ 5.12935729e-01 8.58426701e-01 -7.33068303e-04 3.75130687e+01] [ 1.44274672e-03 -8.11810657e-06 9.99998959e-01 1.33248782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101858064 meters 0.015897005618612108 Centerline is valid? [True, True] Translation: X:151.81, Y:37.55, Z:0.13 [[ 8.57207325e-01 -5.14971416e-01 -2.06545558e-04 1.51810375e+02] [ 5.14971401e-01 8.57207350e-01 -1.21714323e-04 3.75458743e+01] [ 2.39731768e-04 -2.03064587e-06 9.99999971e-01 1.33805223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161858064 meters 0.016064456944580353 Centerline is valid? [True, True] Translation: X:151.86, Y:37.58, Z:0.13 [[ 8.56476363e-01 -5.16186231e-01 1.21413099e-04 1.51860490e+02] [ 5.16186226e-01 8.56476371e-01 7.19777705e-05 3.75766222e+01] [-1.41141385e-04 1.02451048e-06 9.99999990e-01 1.34721838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221858064 meters 0.01604761112936094 Centerline is valid? [True, True] Translation: X:151.91, Y:37.61, Z:0.14 [[ 8.55612865e-01 -5.17614882e-01 1.20774913e-03 1.51909003e+02] [ 5.17614390e-01 8.55613718e-01 7.14214475e-04 3.76096093e+01] [-1.40305477e-03 1.40572361e-05 9.99999016e-01 1.35735959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281858064 meters 0.016221369529624132 Centerline is valid? [True, True] Translation: X:151.96, Y:37.64, Z:0.13 [[ 8.55437831e-01 -5.17905325e-01 4.37217497e-04 1.51957133e+02] [ 5.17905261e-01 8.55437943e-01 2.58659411e-04 3.76405125e+01] [-5.07973522e-04 5.17019677e-06 9.99999871e-01 1.34919496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341858064 meters 0.016113027991685572 Centerline is valid? [True, True] Translation: X:152.01, Y:37.67, Z:0.13 [[ 8.55870908e-01 -5.17189509e-01 1.39120872e-05 1.52005944e+02] [ 5.17189509e-01 8.55870908e-01 8.47759131e-06 3.76732935e+01] [-1.62914719e-05 -6.05382321e-08 1.00000000e+00 1.34491283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401858064 meters 0.015982789026448188 Centerline is valid? [True, True] Translation: X:152.05, Y:37.71, Z:0.14 [[ 8.56345852e-01 -5.16400541e-01 1.50407182e-03 1.52054086e+02] [ 5.16399773e-01 8.56347173e-01 8.90723572e-04 3.77058776e+01] [-1.74797778e-03 1.39349085e-05 9.99998472e-01 1.35402194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461858064 meters 0.01590177286790985 Centerline is valid? [True, True] Translation: X:152.10, Y:37.74, Z:0.14 [[ 8.56485669e-01 -5.16166066e-01 2.21168896e-03 1.52102219e+02] [ 5.16164402e-01 8.56488524e-01 1.31048109e-03 3.77376941e+01] [-2.57071208e-03 1.91868358e-05 9.99996696e-01 1.35862448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52185806399999 meters 0.01572737843005491 Centerline is valid? [True, True] Translation: X:152.15, Y:37.77, Z:0.14 [[ 8.57069712e-01 -5.15190753e-01 3.16189586e-03 1.52150907e+02] [ 5.15187343e-01 8.57075544e-01 1.87458339e-03 3.77696096e+01] [-3.67575164e-03 2.23200877e-05 9.99993244e-01 1.37024532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.581858064 meters 0.015622128488932402 Centerline is valid? [True, True] Translation: X:152.20, Y:37.80, Z:0.14 [[ 8.57320056e-01 -5.14773968e-01 3.17544823e-03 1.52198975e+02] [ 5.14770522e-01 8.57325936e-01 1.88388001e-03 3.78019310e+01] [-3.69216652e-03 1.95390297e-05 9.99993184e-01 1.36011722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.641858064 meters 0.015636974241498677 Centerline is valid? [True, True] Translation: X:152.25, Y:37.83, Z:0.14 [[ 8.57268928e-01 -5.14859629e-01 3.08977781e-03 1.52246973e+02] [ 5.14856365e-01 8.57274496e-01 1.83341837e-03 3.78324697e+01] [-3.59274082e-03 1.90591719e-05 9.99993546e-01 1.35420887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701858064 meters 0.015492493817479741 Centerline is valid? [True, True] Translation: X:152.30, Y:37.87, Z:0.13 [[ 8.58135553e-01 -5.13416716e-01 2.57832080e-03 1.52295593e+02] [ 5.13414434e-01 8.58139426e-01 1.53093777e-03 3.78664308e+01] [-2.99856777e-03 9.99498607e-06 9.99995504e-01 1.33566376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761858064 meters 0.015507520467620942 Centerline is valid? [True, True] Translation: X:152.34, Y:37.90, Z:0.13 [[ 8.58906749e-01 -5.12127130e-01 2.23575896e-03 1.52344986e+02] [ 5.12125407e-01 8.58909659e-01 1.32846443e-03 3.78973502e+01] [-2.60065764e-03 3.96190423e-06 9.99996618e-01 1.33352116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821858064 meters 0.015516540423815738 Centerline is valid? [True, True] Translation: X:152.39, Y:37.93, Z:0.13 [[ 8.59933239e-01 -5.10406500e-01 1.67639365e-04 1.52392582e+02] [ 5.10406491e-01 8.59933256e-01 9.99397827e-05 3.79312360e+01] [-1.95168580e-04 -3.77320954e-07 9.99999981e-01 1.30547438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881858064 meters 0.015530373010815668 Centerline is valid? [True, True] Translation: X:152.44, Y:37.96, Z:0.13 [[ 8.60337184e-01 -5.09716672e-01 -2.97396582e-03 1.52441713e+02] [ 5.09713603e-01 8.60342324e-01 -1.76872849e-03 3.79631928e+01] [ 3.46017906e-03 5.83204844e-06 9.99994014e-01 1.27313950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941858064 meters 0.015411467685340928 Centerline is valid? [True, True] Translation: X:152.49, Y:37.99, Z:0.13 [[ 8.59191028e-01 -5.11626527e-01 -5.39202159e-03 1.52492716e+02] [ 5.11616463e-01 8.59207948e-01 -3.20892987e-03 3.79928252e+01] [ 6.27464145e-03 -1.56326018e-06 9.99980314e-01 1.25267041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001858064 meters 0.015564729247736603 Centerline is valid? [True, True] Translation: X:152.55, Y:38.02, Z:0.13 [[ 8.56345415e-01 -5.16365407e-01 -6.26870751e-03 1.52545917e+02] [ 5.16351916e-01 8.56368358e-01 -3.73281325e-03 3.80189934e+01] [ 7.29581839e-03 -4.02816216e-05 9.99973384e-01 1.25339909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061858064 meters 0.016027154217644262 Centerline is valid? [True, True] Translation: X:152.60, Y:38.05, Z:0.12 [[ 8.54020976e-01 -5.20192407e-01 -6.93052520e-03 1.52598586e+02] [ 5.20176024e-01 8.54049093e-01 -4.12922137e-03 3.80463201e+01] [ 8.06699836e-03 -7.86513729e-05 9.99967458e-01 1.24841908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121858064 meters 0.0165253163554585 Centerline is valid? [True, True] Translation: X:152.65, Y:38.07, Z:0.12 [[ 8.51552655e-01 -5.24216594e-01 -7.41874251e-03 1.52651989e+02] [ 5.24197952e-01 8.51584962e-01 -4.42260093e-03 3.80719905e+01] [ 8.63609035e-03 -1.22812065e-04 9.99962701e-01 1.24732927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181858064 meters 0.016947827477123513 Centerline is valid? [True, True] Translation: X:152.71, Y:38.10, Z:0.12 [[ 8.50504010e-01 -5.25911579e-01 -7.74205221e-03 1.52705078e+02] [ 5.25891324e-01 8.50539235e-01 -4.61791942e-03 3.80988176e+01] [ 9.01353646e-03 -1.43919094e-04 9.99959367e-01 1.24625800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24185806399998 meters 0.01681652898585302 Centerline is valid? [True, True] Translation: X:152.76, Y:38.13, Z:0.13 [[ 8.50452345e-01 -5.25990119e-01 -8.07493544e-03 1.52756258e+02] [ 5.25968059e-01 8.50490666e-01 -4.81954669e-03 3.81268733e+01] [ 9.40269116e-03 -1.48363338e-04 9.99955783e-01 1.25331904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.301858064 meters 0.016739302589015386 Centerline is valid? [True, True] Translation: X:152.81, Y:38.16, Z:0.13 [[ 8.50944579e-01 -5.25202956e-01 -7.42817246e-03 1.52807268e+02] [ 5.25184237e-01 8.50976991e-01 -4.43600397e-03 3.81555744e+01] [ 8.65100625e-03 -1.26365555e-04 9.99962571e-01 1.26661404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.361858064 meters 0.01680731736305508 Centerline is valid? [True, True] Translation: X:152.86, Y:38.18, Z:0.13 [[ 8.51705287e-01 -5.23976045e-01 -6.87088420e-03 1.52857554e+02] [ 5.23959982e-01 8.51732994e-01 -4.10414048e-03 3.81843509e+01] [ 8.00263007e-03 -1.04550218e-04 9.99967973e-01 1.27482858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421858064 meters 0.016771527568747387 Centerline is valid? [True, True] Translation: X:152.91, Y:38.21, Z:0.13 [[ 8.51951101e-01 -5.23584911e-01 -6.17766595e-03 1.52908179e+02] [ 5.23571902e-01 8.51973493e-01 -3.69189567e-03 3.82136093e+01] [ 7.19622851e-03 -8.91377324e-05 9.99974103e-01 1.28432321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481858064 meters 0.016503931719854405 Centerline is valid? [True, True] Translation: X:152.96, Y:38.24, Z:0.13 [[ 8.51786626e-01 -5.23840889e-01 -7.08994698e-03 1.52957205e+02] [ 5.23823741e-01 8.51816126e-01 -4.23982185e-03 3.82441549e+01] [ 8.26032322e-03 -1.02459003e-04 9.99965878e-01 1.28750107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541858064 meters 0.01665361310851605 Centerline is valid? [True, True] Translation: X:153.01, Y:38.27, Z:0.13 [[ 8.50915479e-01 -5.25230533e-01 -8.70260042e-03 1.53007127e+02] [ 5.25204738e-01 8.50959969e-01 -5.20722362e-03 3.82748558e+01] [ 1.01405574e-02 -1.39739790e-04 9.99948573e-01 1.27512924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601858064 meters 0.017597754569460902 Centerline is valid? [True, True] Translation: X:153.06, Y:38.30, Z:0.13 [[ 8.49097141e-01 -5.28152687e-01 -9.42252724e-03 1.53056838e+02] [ 5.28122613e-01 8.49149400e-01 -5.63928895e-03 3.83037970e+01] [ 1.09795390e-02 -1.87945583e-04 9.99939705e-01 1.25496549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661858064 meters 0.017958244786765172 Centerline is valid? [True, True] Translation: X:153.11, Y:38.33, Z:0.13 [[ 8.47667691e-01 -5.30449429e-01 -9.10430265e-03 1.53107059e+02] [ 5.30421474e-01 8.47716556e-01 -5.44989013e-03 3.83334856e+01] [ 1.06087592e-02 -2.09421846e-04 9.99943704e-01 1.25881793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721858064 meters 0.01900333909352573 Centerline is valid? [True, True] Translation: X:153.16, Y:38.36, Z:0.13 [[ 8.45794583e-01 -5.33430492e-01 -9.13417937e-03 1.53157278e+02] [ 5.33402515e-01 8.45843868e-01 -5.46881983e-03 3.83626212e+01] [ 1.06433249e-02 -2.46696065e-04 9.99943328e-01 1.25627703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781858064 meters 0.019444725227135338 Centerline is valid? [True, True] Translation: X:153.21, Y:38.39, Z:0.13 [[ 8.45205692e-01 -5.34378196e-01 -8.20253402e-03 1.53208386e+02] [ 5.34355656e-01 8.45245462e-01 -4.91345632e-03 3.83927211e+01] [ 9.55879858e-03 -2.30189200e-04 9.99954287e-01 1.26428761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841858064 meters 0.019194600164825857 Centerline is valid? [True, True] Translation: X:153.26, Y:38.42, Z:0.13 [[ 8.46045108e-01 -5.33072884e-01 -6.40119874e-03 1.53256878e+02] [ 5.33059114e-01 8.46069307e-01 -3.83523738e-03 3.84238375e+01] [ 7.46031884e-03 -1.67433500e-04 9.99972157e-01 1.28789142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901858064 meters 0.017979498711485936 Centerline is valid? [True, True] Translation: X:153.30, Y:38.46, Z:0.13 [[ 8.48791054e-01 -5.28691353e-01 -6.26102749e-03 1.53303847e+02] [ 5.28678056e-01 8.48814136e-01 -3.75181786e-03 3.84587361e+01] [ 7.29800230e-03 -1.25558406e-04 9.99973361e-01 1.28970803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961858064 meters 0.016958046223177745 Centerline is valid? [True, True] Translation: X:153.35, Y:38.49, Z:0.13 [[ 8.50984195e-01 -5.25156243e-01 -6.06790344e-03 1.53351773e+02] [ 5.25143652e-01 8.51005824e-01 -3.63775137e-03 3.84930719e+01] [ 7.07420901e-03 -9.08520465e-05 9.99974973e-01 1.28782692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02185806399999 meters 0.015758721773467703 Centerline is valid? [True, True] Translation: X:153.40, Y:38.53, Z:0.13 [[ 8.53409587e-01 -5.21200750e-01 -6.46957209e-03 1.53398352e+02] [ 5.21186306e-01 8.53434107e-01 -3.88069199e-03 3.85304159e+01] [ 7.54397305e-03 -6.00326235e-05 9.99971542e-01 1.29107496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.081858064 meters 0.01598829165616542 Centerline is valid? [True, True] Translation: X:153.45, Y:38.56, Z:0.13 [[ 8.54425156e-01 -5.19519460e-01 -7.56197230e-03 1.53447242e+02] [ 5.19499648e-01 8.54458617e-01 -4.53735616e-03 3.85604431e+01] [ 8.81863721e-03 -5.16107019e-05 9.99961114e-01 1.27119340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.141858064 meters 0.015514035393969424 Centerline is valid? [True, True] Translation: X:153.50, Y:38.59, Z:0.13 [[ 8.54881741e-01 -5.18763126e-01 -7.87586355e-03 1.53495775e+02] [ 5.18741576e-01 8.54918018e-01 -4.72862109e-03 3.85930482e+01] [ 9.18625191e-03 -4.31260415e-05 9.99957805e-01 1.29156072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201858064 meters 0.01563139105395082 Centerline is valid? [True, True] Translation: X:153.55, Y:38.62, Z:0.13 [[ 8.54679865e-01 -5.19091702e-01 -8.13225014e-03 1.53545366e+02] [ 5.19068730e-01 8.54718552e-01 -4.88374445e-03 3.86219187e+01] [ 9.48589628e-03 -4.71587026e-05 9.99955007e-01 1.28779871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261858064 meters 0.015690641704166584 Centerline is valid? [True, True] Translation: X:153.60, Y:38.65, Z:0.13 [[ 8.53403697e-01 -5.21177396e-01 -8.73219792e-03 1.53596982e+02] [ 5.21150990e-01 8.53448368e-01 -5.24683007e-03 3.86502400e+01] [ 1.01870093e-02 -7.31294025e-05 9.99948108e-01 1.29091833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321858064 meters 0.015881428371124686 Centerline is valid? [True, True] Translation: X:153.65, Y:38.68, Z:0.13 [[ 8.52724558e-01 -5.22293852e-01 -8.36418195e-03 1.53647798e+02] [ 5.22269668e-01 8.52765575e-01 -5.02684761e-03 3.86777212e+01] [ 9.75817803e-03 -8.18421211e-05 9.99952384e-01 1.30168564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381858064 meters 0.01580896887964197 Centerline is valid? [True, True] Translation: X:153.70, Y:38.71, Z:0.13 [[ 8.52805102e-01 -5.22161452e-01 -8.41872323e-03 1.53697538e+02] [ 5.22136916e-01 8.52846652e-01 -5.06259354e-03 3.87070862e+01] [ 9.82337111e-03 -7.83205826e-05 9.99951746e-01 1.30562973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441858064 meters 0.01568700403118313 Centerline is valid? [True, True] Translation: X:153.75, Y:38.74, Z:0.13 [[ 8.53316846e-01 -5.21328133e-01 -8.20593765e-03 1.53748263e+02] [ 5.21304756e-01 8.53356299e-01 -4.93741436e-03 3.87371991e+01] [ 9.57660159e-03 -6.46154763e-05 9.99954141e-01 1.32453680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501858064 meters 0.015817598919212666 Centerline is valid? [True, True] Translation: X:153.80, Y:38.77, Z:0.13 [[ 8.53255168e-01 -5.21418856e-01 -8.83146546e-03 1.53798179e+02] [ 5.21391771e-01 8.53300869e-01 -5.31501043e-03 3.87664879e+01] [ 1.03072438e-02 -6.95932967e-05 9.99946877e-01 1.31226815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561858064 meters 0.015820980134738937 Centerline is valid? [True, True] Translation: X:153.85, Y:38.79, Z:0.13 [[ 8.52889762e-01 -5.22013834e-01 -8.97839985e-03 1.53849151e+02] [ 5.21985840e-01 8.52937015e-01 -5.40664844e-03 3.87945364e+01] [ 1.04803548e-02 -7.53224820e-05 9.99945077e-01 1.32377996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621858064 meters 0.015782913204547465 Centerline is valid? [True, True] Translation: X:153.90, Y:38.82, Z:0.13 [[ 8.52489583e-01 -5.22674358e-01 -8.54552209e-03 1.53900287e+02] [ 5.22648999e-01 8.52532409e-01 -5.14926894e-03 3.88230159e+01] [ 9.97672538e-03 -7.66104349e-05 9.99950228e-01 1.34431636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681858064 meters 0.01605281724180102 Centerline is valid? [True, True] Translation: X:153.95, Y:38.85, Z:0.13 [[ 8.51927845e-01 -5.23570326e-01 -9.64680950e-03 1.53952247e+02] [ 5.23538029e-01 8.51982455e-01 -5.81621896e-03 3.88508103e+01] [ 1.12641121e-02 -9.54727502e-05 9.99936553e-01 1.33560068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74185806399998 meters 0.01611486839092412 Centerline is valid? [True, True] Translation: X:154.00, Y:38.88, Z:0.13 [[ 8.51632774e-01 -5.24049671e-01 -9.67266802e-03 1.54003579e+02] [ 5.24017189e-01 8.51687697e-01 -5.83549148e-03 3.88779170e+01] [ 1.12961797e-02 -9.89485163e-05 9.99936191e-01 1.33773521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.801858064 meters 0.01631114575235652 Centerline is valid? [True, True] Translation: X:154.05, Y:38.91, Z:0.13 [[ 8.51269573e-01 -5.24661223e-01 -8.40916818e-03 1.54054538e+02] [ 5.24636672e-01 8.51311102e-01 -5.07641803e-03 3.89050617e+01] [ 9.82221793e-03 -9.03577951e-05 9.99951757e-01 1.34874974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.861858064 meters 0.016510868960245992 Centerline is valid? [True, True] Translation: X:154.11, Y:38.93, Z:0.14 [[ 8.50586056e-01 -5.25781606e-01 -7.55407024e-03 1.54106399e+02] [ 5.25761813e-01 8.50619594e-01 -4.56309129e-03 3.89310403e+01] [ 8.82482963e-03 -9.03398445e-05 9.99961056e-01 1.35630469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921858064 meters 0.01674222476664918 Centerline is valid? [True, True] Translation: X:154.16, Y:38.96, Z:0.14 [[ 8.49785808e-01 -5.27078549e-01 -7.23076293e-03 1.54158934e+02] [ 5.27060440e-01 8.49816565e-01 -4.37023351e-03 3.89576587e+01] [ 8.44827845e-03 -9.72866808e-05 9.99964308e-01 1.35272763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981858064 meters 0.016687588946694386 Centerline is valid? [True, True] Translation: X:154.21, Y:38.98, Z:0.13 [[ 8.49721100e-01 -5.27176265e-01 -7.69660474e-03 1.54211164e+02] [ 5.27155725e-01 8.49755950e-01 -4.65470202e-03 3.89830695e+01] [ 8.99408410e-03 -1.02110730e-04 9.99959547e-01 1.34385071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041858064 meters 0.016403241476228292 Centerline is valid? [True, True] Translation: X:154.26, Y:39.01, Z:0.13 [[ 8.51069310e-01 -5.24991843e-01 -8.03700665e-03 1.54263366e+02] [ 5.24969323e-01 8.51107254e-01 -4.86330644e-03 3.90110659e+01] [ 9.39355087e-03 -8.01710835e-05 9.99955876e-01 1.33522945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101858064 meters 0.016325991781150757 Centerline is valid? [True, True] Translation: X:154.31, Y:39.04, Z:0.13 [[ 8.52208596e-01 -5.23150482e-01 -7.35407206e-03 1.54314364e+02] [ 5.23131546e-01 8.52240324e-01 -4.45143933e-03 3.90387393e+01] [ 8.59620939e-03 -5.35922257e-05 9.99963050e-01 1.32820108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161858064 meters 0.016057522772581226 Centerline is valid? [True, True] Translation: X:154.37, Y:39.07, Z:0.13 [[ 8.53779865e-01 -5.20580893e-01 -7.44823747e-03 1.54367167e+02] [ 5.20561350e-01 8.53812353e-01 -4.51080268e-03 3.90652879e+01] [ 8.70763484e-03 -2.60320470e-05 9.99962087e-01 1.32440543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221858064 meters 0.015976096516148966 Centerline is valid? [True, True] Translation: X:154.42, Y:39.09, Z:0.13 [[ 8.54221169e-01 -5.19864822e-01 -6.83818457e-03 1.54419275e+02] [ 5.19848306e-01 8.54248539e-01 -4.14391522e-03 3.90918619e+01] [ 7.99578493e-03 -1.49985646e-05 9.99968033e-01 1.33009016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281858064 meters 0.015826768807806375 Centerline is valid? [True, True] Translation: X:154.47, Y:39.12, Z:0.13 [[ 8.53774351e-01 -5.20610691e-01 -5.81947189e-03 1.54473681e+02] [ 5.20598731e-01 8.53794184e-01 -3.52878243e-03 3.91150260e+01] [ 6.80575311e-03 -1.68257518e-05 9.99976840e-01 1.34248472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341858064 meters 0.015891730188590865 Centerline is valid? [True, True] Translation: X:154.53, Y:39.14, Z:0.13 [[ 8.53518519e-01 -5.21028793e-01 -5.92737994e-03 1.54528533e+02] [ 5.21016381e-01 8.53539101e-01 -3.59649491e-03 3.91370799e+01] [ 6.93312795e-03 -1.85870325e-05 9.99975965e-01 1.34299526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401858064 meters 0.015739860246748113 Centerline is valid? [True, True] Translation: X:154.58, Y:39.16, Z:0.13 [[ 8.53537246e-01 -5.21002356e-01 -5.54214681e-03 1.54580726e+02] [ 5.20991490e-01 8.53555238e-01 -3.36486773e-03 3.91635538e+01] [ 6.48363245e-03 -1.53713841e-05 9.99978981e-01 1.33707122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461858064 meters 0.015663220930832108 Centerline is valid? [True, True] Translation: X:154.63, Y:39.19, Z:0.13 [[ 8.53732746e-01 -5.20681418e-01 -5.59109071e-03 1.54632667e+02] [ 5.20670345e-01 8.53751053e-01 -3.39567665e-03 3.91872583e+01] [ 6.54146531e-03 -1.21147776e-05 9.99978604e-01 1.32112890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52185806399999 meters 0.015668852170990556 Centerline is valid? [True, True] Translation: X:154.69, Y:39.21, Z:0.13 [[ 8.53337039e-01 -5.21325911e-01 -5.93230874e-03 1.54685421e+02] [ 5.21313447e-01 8.53357659e-01 -3.60503086e-03 3.92129421e+01] [ 6.94177710e-03 -1.62859547e-05 9.99975905e-01 1.31799416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.581858064 meters 0.015593484585887694 Centerline is valid? [True, True] Translation: X:154.74, Y:39.24, Z:0.13 [[ 8.52058542e-01 -5.23412228e-01 -5.99000506e-03 1.54740710e+02] [ 5.23399557e-01 8.52079596e-01 -3.64211420e-03 3.92356442e+01] [ 7.01028820e-03 -3.18714818e-05 9.99975427e-01 1.33343883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.641858064 meters 0.015387855175171446 Centerline is valid? [True, True] Translation: X:154.79, Y:39.27, Z:0.13 [[ 8.53034213e-01 -5.21825875e-01 -5.51243919e-03 1.54788255e+02] [ 5.21815098e-01 8.53052024e-01 -3.35378026e-03 3.92688083e+01] [ 6.45248673e-03 -1.55846900e-05 9.99979182e-01 1.32574812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701858064 meters 0.015300607102915548 Centerline is valid? [True, True] Translation: X:154.84, Y:39.30, Z:0.13 [[ 8.52695289e-01 -5.22372650e-01 -6.12852109e-03 1.54836858e+02] [ 5.22359335e-01 8.52717312e-01 -3.72967687e-03 3.92992901e+01] [ 7.17417722e-03 -2.10123056e-05 9.99974265e-01 1.31470700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761858064 meters 0.015430679301143483 Centerline is valid? [True, True] Translation: X:154.89, Y:39.33, Z:0.13 [[ 8.50452977e-01 -5.26035228e-01 -4.08330865e-03 1.54888048e+02] [ 5.26029354e-01 8.50462779e-01 -2.48621533e-03 3.93282767e+01] [ 4.78053887e-03 -3.35309847e-05 9.99988573e-01 1.34430214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821858064 meters 0.015939752548103103 Centerline is valid? [True, True] Translation: X:154.94, Y:39.36, Z:0.14 [[ 8.47228420e-01 -5.31219744e-01 -3.09649720e-03 1.54939076e+02] [ 5.31216397e-01 8.47234077e-01 -1.88636181e-03 3.93581095e+01] [ 3.62553059e-03 -4.67307564e-05 9.99993427e-01 1.35519015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881858064 meters 0.016601503466574904 Centerline is valid? [True, True] Translation: X:154.99, Y:39.39, Z:0.13 [[ 8.44443795e-01 -5.35632216e-01 -3.57858069e-03 1.54990755e+02] [ 5.35627779e-01 8.44451375e-01 -2.18129827e-03 3.93863796e+01] [ 4.19031101e-03 -7.48034383e-05 9.99991218e-01 1.34912117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941858064 meters 0.018131494964819087 Centerline is valid? [True, True] Translation: X:155.04, Y:39.42, Z:0.13 [[ 8.40991836e-01 -5.41031401e-01 -4.21376589e-03 1.55043088e+02] [ 5.41025311e-01 8.41002384e-01 -2.56976300e-03 3.94153572e+01] [ 4.93410963e-03 -1.18604295e-04 9.99987820e-01 1.34114103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001858064 meters 0.01942439334525908 Centerline is valid? [True, True] Translation: X:155.09, Y:39.45, Z:0.13 [[ 8.38820377e-01 -5.44387312e-01 -4.77811374e-03 1.55094538e+02] [ 5.44379528e-01 8.38833971e-01 -2.91533119e-03 3.94452443e+01] [ 5.59511343e-03 -1.55668094e-04 9.99984335e-01 1.34228500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061858064 meters 0.019791907054642958 Centerline is valid? [True, True] Translation: X:155.14, Y:39.48, Z:0.13 [[ 8.38622253e-01 -5.44693963e-01 -4.60465636e-03 1.55143734e+02] [ 5.44686730e-01 8.38634881e-01 -2.81113579e-03 3.94757734e+01] [ 5.39283413e-03 -1.50614182e-04 9.99985447e-01 1.34521021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121858064 meters 0.018566536431205274 Centerline is valid? [True, True] Translation: X:155.19, Y:39.51, Z:0.14 [[ 8.39122260e-01 -5.43927726e-01 -4.05737921e-03 1.55192567e+02] [ 5.43922094e-01 8.39132059e-01 -2.47837319e-03 3.95091530e+01] [ 4.75273287e-03 -1.27240085e-04 9.99988698e-01 1.35684876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181858064 meters 0.01731209339036421 Centerline is valid? [True, True] Translation: X:155.24, Y:39.54, Z:0.14 [[ 8.40571893e-01 -5.41678936e-01 -4.77735943e-03 1.55240404e+02] [ 5.41671083e-01 8.40585458e-01 -2.91983308e-03 3.95439763e+01] [ 5.59739094e-03 -1.33427843e-04 9.99984326e-01 1.35554302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24185806399998 meters 0.01671491818125403 Centerline is valid? [True, True] Translation: X:155.29, Y:39.58, Z:0.14 [[ 8.42723119e-01 -5.38332820e-01 -3.93959058e-03 1.55288204e+02] [ 5.38327440e-01 8.42732322e-01 -2.40839837e-03 3.95765016e+01] [ 4.61654020e-03 -9.11767254e-05 9.99989340e-01 1.37136979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.301858064 meters 0.016542549524758685 Centerline is valid? [True, True] Translation: X:155.34, Y:39.61, Z:0.14 [[ 8.44272329e-01 -5.35903783e-01 -3.37200243e-03 1.55336409e+02] [ 5.35899821e-01 8.44279060e-01 -2.06180146e-03 3.96085278e+01] [ 3.95183824e-03 -6.63335826e-05 9.99992189e-01 1.37555585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.361858064 meters 0.015802015856035967 Centerline is valid? [True, True] Translation: X:155.38, Y:39.64, Z:0.14 [[ 8.45717909e-01 -5.33609768e-01 -4.67273525e-03 1.55384879e+02] [ 5.33602117e-01 8.45730814e-01 -2.85856149e-03 3.96421130e+01] [ 5.47723252e-03 -7.58447709e-05 9.99984997e-01 1.36867749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421858064 meters 0.01587611084644375 Centerline is valid? [True, True] Translation: X:155.43, Y:39.67, Z:0.14 [[ 8.45723403e-01 -5.33598083e-01 -5.00119396e-03 1.55434640e+02] [ 5.33589307e-01 8.45738186e-01 -3.06137252e-03 3.96721155e+01] [ 5.86324321e-03 -7.95092318e-05 9.99982808e-01 1.36318352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481858064 meters 0.016496844761444633 Centerline is valid? [True, True] Translation: X:155.48, Y:39.70, Z:0.14 [[ 8.44582211e-01 -5.35398312e-01 -5.43465996e-03 1.55484995e+02] [ 5.35387981e-01 8.44599691e-01 -3.32755869e-03 3.97000805e+01] [ 6.37168143e-03 -9.92547423e-05 9.99979696e-01 1.36041851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541858064 meters 0.016262713482928088 Centerline is valid? [True, True] Translation: X:155.53, Y:39.73, Z:0.14 [[ 8.42805941e-01 -5.38167175e-01 -7.36460184e-03 1.55534583e+02] [ 5.38148300e-01 8.42838102e-01 -4.51016358e-03 3.97307395e+01] [ 8.63438903e-03 -1.62055295e-04 9.99962710e-01 1.35602064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601858064 meters 0.017605177742867992 Centerline is valid? [True, True] Translation: X:155.59, Y:39.76, Z:0.13 [[ 8.41795672e-01 -5.39733159e-01 -8.25611085e-03 1.55585616e+02] [ 5.39709503e-01 8.41836135e-01 -5.05714065e-03 3.97588649e+01] [ 9.67979895e-03 -1.98822374e-04 9.99953130e-01 1.33928869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661858064 meters 0.017539025367965297 Centerline is valid? [True, True] Translation: X:155.64, Y:39.79, Z:0.14 [[ 8.40197645e-01 -5.42224942e-01 -7.74787545e-03 1.55637312e+02] [ 5.42204193e-01 8.40233341e-01 -4.74825772e-03 3.97875056e+01] [ 9.08464704e-03 -2.11455603e-04 9.99958711e-01 1.35400639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721858064 meters 0.019316839614111108 Centerline is valid? [True, True] Translation: X:155.69, Y:39.81, Z:0.13 [[ 8.39418117e-01 -5.43421587e-01 -8.37876409e-03 1.55688545e+02] [ 5.43397369e-01 8.39459898e-01 -5.13606039e-03 3.98149492e+01] [ 9.82468253e-03 -2.41696222e-04 9.99951707e-01 1.33944979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781858064 meters 0.0178725070738513 Centerline is valid? [True, True] Translation: X:155.74, Y:39.85, Z:0.14 [[ 8.39624501e-01 -5.43108086e-01 -8.01899443e-03 1.55738321e+02] [ 5.43085866e-01 8.39662763e-01 -4.91802529e-03 3.98469837e+01] [ 9.40427032e-03 -2.25708000e-04 9.99955753e-01 1.35252036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841858064 meters 0.018103768467664667 Centerline is valid? [True, True] Translation: X:155.79, Y:39.88, Z:0.14 [[ 8.40492433e-01 -5.41768398e-01 -7.71188191e-03 1.55787902e+02] [ 5.41747777e-01 8.40527788e-01 -4.73111154e-03 3.98762397e+01] [ 9.04521776e-03 -2.01431440e-04 9.99959071e-01 1.35498342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901858064 meters 0.016681642222822923 Centerline is valid? [True, True] Translation: X:155.84, Y:39.91, Z:0.14 [[ 8.41119391e-01 -5.40796613e-01 -7.56257959e-03 1.55836864e+02] [ 5.40776722e-01 8.41153368e-01 -4.64193160e-03 3.99085390e+01] [ 8.87163018e-03 -1.85248326e-04 9.99960629e-01 1.36542149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96185806399998 meters 0.01605257599924105 Centerline is valid? [True, True] Translation: X:155.89, Y:39.94, Z:0.14 [[ 8.41739031e-01 -5.39842705e-01 -6.72737101e-03 1.55887066e+02] [ 5.39826917e-01 8.41765900e-01 -4.13153346e-03 3.99397864e+01] [ 7.89324971e-03 -1.53942979e-04 9.99968836e-01 1.37451052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02185806399999 meters 0.016490717279957417 Centerline is valid? [True, True] Translation: X:155.94, Y:39.97, Z:0.14 [[ 8.42026079e-01 -5.39404577e-01 -5.89787455e-03 1.55937886e+02] [ 5.39392426e-01 8.42046724e-01 -3.62294362e-03 3.99683961e+01] [ 6.92051831e-03 -1.30655852e-04 9.99976044e-01 1.38123506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.081858064 meters 0.017155888419220965 Centerline is valid? [True, True] Translation: X:155.99, Y:40.00, Z:0.14 [[ 8.41324306e-01 -5.40506411e-01 -5.12168743e-03 1.55988926e+02] [ 5.40497263e-01 8.41339887e-01 -3.14698405e-03 3.99962032e+01] [ 6.01004498e-03 -1.20623870e-04 9.99981932e-01 1.39324567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.141858064 meters 0.016393641572610623 Centerline is valid? [True, True] Translation: X:156.04, Y:40.03, Z:0.14 [[ 8.41082429e-01 -5.40887578e-01 -4.57995474e-03 1.56037637e+02] [ 5.40880260e-01 8.41094891e-01 -2.81570170e-03 4.00278496e+01] [ 5.37515460e-03 -1.08969887e-04 9.99985548e-01 1.39847064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201858064 meters 0.01615921163915373 Centerline is valid? [True, True] Translation: X:156.09, Y:40.06, Z:0.14 [[ 8.40967422e-01 -5.41067890e-01 -4.39687376e-03 1.56086900e+02] [ 5.41061140e-01 8.40978910e-01 -2.70483437e-03 4.00580322e+01] [ 5.16117713e-03 -1.04299933e-04 9.99986676e-01 1.39518830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261858064 meters 0.016425120277003304 Centerline is valid? [True, True] Translation: X:156.14, Y:40.09, Z:0.14 [[ 8.41432438e-01 -5.40338090e-01 -5.11861775e-03 1.56136071e+02] [ 5.40328922e-01 8.41447999e-01 -3.14968611e-03 4.00878781e+01] [ 6.00894604e-03 -1.15489148e-04 9.99981939e-01 1.37979460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321858064 meters 0.01594888938353848 Centerline is valid? [True, True] Translation: X:156.19, Y:40.12, Z:0.14 [[ 8.42175503e-01 -5.39180240e-01 -5.00914986e-03 1.56185307e+02] [ 5.39171431e-01 8.42190393e-01 -3.08382626e-03 4.01194686e+01] [ 5.88139607e-03 -1.03667568e-04 9.99982699e-01 1.37427411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381858064 meters 0.015323457275651157 Centerline is valid? [True, True] Translation: X:156.23, Y:40.15, Z:0.14 [[ 8.42678153e-01 -5.38402766e-01 -3.99893281e-03 1.56234374e+02] [ 5.38397137e-01 8.42687638e-01 -2.46320860e-03 4.01526645e+01] [ 4.69604957e-03 -7.73218987e-05 9.99988971e-01 1.37704330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441858064 meters 0.015633261832606368 Centerline is valid? [True, True] Translation: X:156.28, Y:40.18, Z:0.14 [[ 8.42523904e-01 -5.38645729e-01 -3.77501036e-03 1.56283698e+02] [ 5.38640711e-01 8.42532358e-01 -2.32602971e-03 4.01819866e+01] [ 4.43347435e-03 -7.36386389e-05 9.99990169e-01 1.37283846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501858064 meters 0.015778411772102333 Centerline is valid? [True, True] Translation: X:156.33, Y:40.21, Z:0.14 [[ 8.42282361e-01 -5.39028317e-01 -2.98285504e-03 1.56333167e+02] [ 5.39025184e-01 8.42287641e-01 -1.83887995e-03 4.02123826e+01] [ 3.50363030e-03 -5.89778452e-05 9.99993861e-01 1.37845122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561858064 meters 0.01567985266100895 Centerline is valid? [True, True] Translation: X:156.38, Y:40.24, Z:0.14 [[ 8.42347744e-01 -5.38930825e-01 -1.96059157e-03 1.56381335e+02] [ 5.38929470e-01 8.42350025e-01 -1.20932179e-03 4.02444745e+01] [ 2.30324515e-03 -3.79510991e-05 9.99997347e-01 1.37786224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621858064 meters 0.015154079856152771 Centerline is valid? [True, True] Translation: X:156.43, Y:40.28, Z:0.14 [[ 8.42823486e-01 -5.38186694e-01 -1.91182689e-03 1.56429241e+02] [ 5.38185401e-01 8.42825653e-01 -1.17992460e-03 4.02783907e+01] [ 2.24635647e-03 -3.44491541e-05 9.99997476e-01 1.37240044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681858064 meters 0.0155172936202439 Centerline is valid? [True, True] Translation: X:156.48, Y:40.31, Z:0.14 [[ 8.42297421e-01 -5.39010761e-01 -1.56667827e-03 1.56479326e+02] [ 5.39009893e-01 8.42298878e-01 -9.67401357e-04 4.03098712e+01] [ 1.84105109e-03 -2.96154185e-05 9.99998305e-01 1.36475780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74185806399998 meters 0.015908356361894024 Centerline is valid? [True, True] Translation: X:156.53, Y:40.34, Z:0.14 [[ 8.41085397e-01 -5.40901365e-01 -1.03314896e-03 1.56529080e+02] [ 5.40900989e-01 8.41086032e-01 -6.38221129e-04 4.03417061e+01] [ 1.21418184e-03 -2.20328233e-05 9.99999263e-01 1.35979866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.801858064 meters 0.016364731487497515 Centerline is valid? [True, True] Translation: X:156.58, Y:40.37, Z:0.14 [[ 8.40074012e-01 -5.42471733e-01 -2.70269764e-04 1.56578832e+02] [ 5.42471707e-01 8.40074056e-01 -1.66865300e-04 4.03733147e+01] [ 3.17566326e-04 -6.43449773e-06 9.99999950e-01 1.36767991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.861858064 meters 0.0166019818225555 Centerline is valid? [True, True] Translation: X:156.63, Y:40.41, Z:0.14 [[ 8.39413576e-01 -5.43492612e-01 7.92803912e-04 1.56626575e+02] [ 5.43492391e-01 8.39413951e-01 4.90728359e-04 4.04076742e+01] [-9.32197901e-04 1.89588462e-05 9.99999565e-01 1.36681900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921858064 meters 0.017066652911764648 Centerline is valid? [True, True] Translation: X:156.67, Y:40.44, Z:0.14 [[ 8.39056763e-01 -5.44043862e-01 1.55909293e-04 1.56674703e+02] [ 5.44043854e-01 8.39056777e-01 9.65615948e-05 4.04392546e+01] [-1.83350492e-04 3.80083332e-06 9.99999983e-01 1.35956414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981858064 meters 0.017251579344617955 Centerline is valid? [True, True] Translation: X:156.72, Y:40.47, Z:0.14 [[ 8.37982874e-01 -5.45696460e-01 -2.77246028e-04 1.56722832e+02] [ 5.45696433e-01 8.37982920e-01 -1.71399985e-04 4.04729321e+01] [ 3.25859801e-04 -7.66191654e-06 9.99999947e-01 1.35874568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041858064 meters 0.017625268396661457 Centerline is valid? [True, True] Translation: X:156.77, Y:40.51, Z:0.14 [[ 8.37619316e-01 -5.46254322e-01 -3.12015506e-04 1.56771358e+02] [ 5.46254288e-01 8.37619374e-01 -1.93032847e-04 4.05066679e+01] [ 3.66795260e-04 -8.75176664e-06 9.99999933e-01 1.35057716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101858064 meters 0.018260385094220375 Centerline is valid? [True, True] Translation: X:156.82, Y:40.54, Z:0.13 [[ 8.37447167e-01 -5.46515821e-01 -1.64333626e-03 1.56818141e+02] [ 5.46514874e-01 8.37448778e-01 -1.01806825e-03 4.05413545e+01] [ 1.93260034e-03 -4.55293399e-05 9.99998131e-01 1.32903172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161858064 meters 0.017956438687560868 Centerline is valid? [True, True] Translation: X:156.87, Y:40.58, Z:0.13 [[ 8.37039749e-01 -5.47137958e-01 -2.12444256e-03 1.56865362e+02] [ 5.47136376e-01 8.37042443e-01 -1.31668947e-03 4.05761473e+01] [ 2.49865938e-03 -6.02383842e-05 9.99996877e-01 1.32042883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221858064 meters 0.018518470013599388 Centerline is valid? [True, True] Translation: X:156.91, Y:40.61, Z:0.13 [[ 8.36133676e-01 -5.48518910e-01 -2.73505837e-03 1.56913021e+02] [ 5.48516294e-01 8.36138146e-01 -1.69610324e-03 4.06116319e+01] [ 3.21723134e-03 -8.20550438e-05 9.99994821e-01 1.31746737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281858064 meters 0.02028711179651876 Centerline is valid? [True, True] Translation: X:156.96, Y:40.64, Z:0.13 [[ 8.34572823e-01 -5.50882533e-01 -4.07901492e-03 1.56960687e+02] [ 5.50876739e-01 8.34582780e-01 -2.53025678e-03 4.06448949e+01] [ 4.79814987e-03 -1.35350886e-04 9.99988480e-01 1.30192953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341858064 meters 0.017712348397826757 Centerline is valid? [True, True] Translation: X:157.01, Y:40.68, Z:0.13 [[ 8.33804993e-01 -5.52040069e-01 -4.58214690e-03 1.57007665e+02] [ 5.52032767e-01 8.33817568e-01 -2.84378568e-03 4.06810603e+01] [ 5.39055823e-03 -1.58332531e-04 9.99985458e-01 1.30419719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401858064 meters 0.018991353797784365 Centerline is valid? [True, True] Translation: X:157.06, Y:40.71, Z:0.13 [[ 8.30815137e-01 -5.56521984e-01 -5.43035624e-03 1.57057333e+02] [ 5.56511817e-01 8.30832855e-01 -3.37126599e-03 4.07135965e+01] [ 6.38790201e-03 -2.21158602e-04 9.99979573e-01 1.30777524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46185806399998 meters 0.02066891948585886 Centerline is valid? [True, True] Translation: X:157.11, Y:40.75, Z:0.13 [[ 8.28932605e-01 -5.59324894e-01 -5.13801596e-03 1.57106958e+02] [ 5.59315843e-01 8.28948497e-01 -3.19020918e-03 4.07450000e+01] [ 6.04351402e-03 -2.29305320e-04 9.99981712e-01 1.31467694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52185806399999 meters 0.0217107990749428 Centerline is valid? [True, True] Translation: X:157.16, Y:40.78, Z:0.13 [[ 8.27147197e-01 -5.61965776e-01 -4.68837363e-03 1.57155705e+02] [ 5.61958275e-01 8.27160453e-01 -2.91221810e-03 4.07798110e+01] [ 5.51460416e-03 -2.25837320e-04 9.99984769e-01 1.32091985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.581858064 meters 0.02096885270436152 Centerline is valid? [True, True] Translation: X:157.20, Y:40.82, Z:0.13 [[ 8.26722328e-01 -5.62597540e-01 -3.76835258e-03 1.57202579e+02] [ 5.62592696e-01 8.26730896e-01 -2.34195379e-03 4.08168777e+01] [ 4.43299094e-03 -1.83902153e-04 9.99990157e-01 1.33214268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.641858064 meters 0.021312207978236526 Centerline is valid? [True, True] Translation: X:157.25, Y:40.85, Z:0.13 [[ 8.27074122e-01 -5.62079850e-01 -3.82616340e-03 1.57250731e+02] [ 5.62074844e-01 8.27082952e-01 -2.37918903e-03 4.08510734e+01] [ 4.50184873e-03 -1.82824513e-04 9.99989850e-01 1.32863061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701858064 meters 0.021435488718579327 Centerline is valid? [True, True] Translation: X:157.30, Y:40.89, Z:0.13 [[ 8.28991464e-01 -5.59239180e-01 -4.96920622e-03 1.57296010e+02] [ 5.59230680e-01 8.29006329e-01 -3.09089540e-03 4.08877411e+01] [ 5.84805321e-03 -2.16606664e-04 9.99982877e-01 1.31816414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761858064 meters 0.019707842660565283 Centerline is valid? [True, True] Translation: X:157.34, Y:40.92, Z:0.13 [[ 8.30578942e-01 -5.56865011e-01 -6.32309812e-03 1.57342105e+02] [ 5.56851174e-01 8.30602971e-01 -3.93370334e-03 4.09246097e+01] [ 7.44252583e-03 -2.53773456e-04 9.99972272e-01 1.31406458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821858064 meters 0.020123955222588485 Centerline is valid? [True, True] Translation: X:157.39, Y:40.96, Z:0.13 [[ 8.31055295e-01 -5.56139957e-01 -7.44618617e-03 1.57388041e+02] [ 5.56120732e-01 8.31088602e-01 -4.63327392e-03 4.09602313e+01] [ 8.76518921e-03 -2.90471685e-04 9.99961543e-01 1.30190062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881858064 meters 0.02049007258708216 Centerline is valid? [True, True] Translation: X:157.44, Y:40.99, Z:0.13 [[ 8.29956070e-01 -5.57785580e-01 -6.94037000e-03 1.57436709e+02] [ 5.57768919e-01 8.29985039e-01 -4.32068959e-03 4.09939823e+01] [ 8.17042161e-03 -2.85140121e-04 9.99966581e-01 1.31061540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941858064 meters 0.021474802509363726 Centerline is valid? [True, True] Translation: X:157.49, Y:41.03, Z:0.13 [[ 8.28211282e-01 -5.60389836e-01 -5.41321365e-03 1.57485182e+02] [ 5.60379746e-01 8.28228938e-01 -3.37155961e-03 4.10289459e+01] [ 6.37276793e-03 -2.41091586e-04 9.99979665e-01 1.32808657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001858064 meters 0.02276073889063595 Centerline is valid? [True, True] Translation: X:157.53, Y:41.06, Z:0.13 [[ 8.25898263e-01 -5.63794156e-01 -5.31117558e-03 1.57534188e+02] [ 5.63784508e-01 8.25915299e-01 -3.30874457e-03 4.10621806e+01] [ 6.25203202e-03 -2.61672112e-04 9.99980422e-01 1.33895190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061858064 meters 0.02331448531146287 Centerline is valid? [True, True] Translation: X:157.58, Y:41.10, Z:0.13 [[ 8.24504874e-01 -5.65835467e-01 -4.68375746e-03 1.57582751e+02] [ 5.65827989e-01 8.24518141e-01 -2.91914466e-03 4.10969337e+01] [ 5.51359858e-03 -2.43352068e-04 9.99984770e-01 1.34224564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121858064 meters 0.021834964062920497 Centerline is valid? [True, True] Translation: X:157.63, Y:41.13, Z:0.14 [[ 8.25094886e-01 -5.64977992e-01 -4.27744749e-03 1.57630304e+02] [ 5.64971738e-01 8.25105946e-01 -2.66723469e-03 4.11328868e+01] [ 5.03627626e-03 -2.15915243e-04 9.99987295e-01 1.35130389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181858064 meters 0.022568671746635106 Centerline is valid? [True, True] Translation: X:157.68, Y:41.17, Z:0.13 [[ 8.28167483e-01 -5.60458260e-01 -5.01591749e-03 1.57677457e+02] [ 5.60449572e-01 8.28182643e-01 -3.12839212e-03 4.11674017e+01] [ 5.90742901e-03 -2.20336180e-04 9.99982527e-01 1.34681142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24185806399998 meters 0.02004672673978662 Centerline is valid? [True, True] Translation: X:157.72, Y:41.21, Z:0.13 [[ 8.30806375e-01 -5.56539560e-01 -4.94825437e-03 1.57722422e+02] [ 5.56531032e-01 8.30821090e-01 -3.08665514e-03 4.12066712e+01] [ 5.82895978e-03 -1.89444345e-04 9.99982994e-01 1.34197547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.301858064 meters 0.0201208589765545 Centerline is valid? [True, True] Translation: X:157.77, Y:41.24, Z:0.13 [[ 8.31427232e-01 -5.55615471e-01 -4.49508574e-03 1.57771638e+02] [ 5.55608414e-01 8.31439367e-01 -2.80526459e-03 4.12397087e+01] [ 5.29603965e-03 -1.65134088e-04 9.99985962e-01 1.34547847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.361858064 meters 0.018431421263805595 Centerline is valid? [True, True] Translation: X:157.82, Y:41.28, Z:0.13 [[ 8.30795164e-01 -5.56562934e-01 -4.13477112e-03 1.57817800e+02] [ 5.56556971e-01 8.30805438e-01 -2.58104265e-03 4.12760738e+01] [ 4.87170300e-03 -1.56917941e-04 9.99988121e-01 1.34715817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421858064 meters 0.018864896023333647 Centerline is valid? [True, True] Translation: X:157.87, Y:41.31, Z:0.14 [[ 8.30411168e-01 -5.57142038e-01 -3.16876838e-03 1.57867375e+02] [ 5.57138537e-01 8.30417205e-01 -1.97894100e-03 4.13083220e+01] [ 3.73395100e-03 -1.22108274e-04 9.99993021e-01 1.35046839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481858064 meters 0.01905202898322567 Centerline is valid? [True, True] Translation: X:157.92, Y:41.34, Z:0.13 [[ 8.30526711e-01 -5.56965768e-01 -3.81002328e-03 1.57916862e+02] [ 5.56960699e-01 8.30535437e-01 -2.38069008e-03 4.13412086e+01] [ 4.49032223e-03 -1.44806531e-04 9.99989908e-01 1.34063045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541858064 meters 0.017569475991719694 Centerline is valid? [True, True] Translation: X:157.97, Y:41.37, Z:0.13 [[ 8.31193462e-01 -5.55965829e-01 -4.40734244e-03 1.57965061e+02] [ 5.55959024e-01 8.31205132e-01 -2.75549174e-03 4.13747122e+01] [ 5.19536490e-03 -1.59955082e-04 9.99986491e-01 1.33575477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601858064 meters 0.017371237436184225 Centerline is valid? [True, True] Translation: X:158.01, Y:41.41, Z:0.13 [[ 8.33347394e-01 -5.52727629e-01 -4.92834909e-03 1.58013881e+02] [ 5.52719058e-01 8.33361953e-01 -3.08203855e-03 4.14058300e+01] [ 5.81062648e-03 -1.55583670e-04 9.99983106e-01 1.32169069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661858064 meters 0.016451249438755675 Centerline is valid? [True, True] Translation: X:158.06, Y:41.44, Z:0.13 [[ 8.35185115e-01 -5.49953898e-01 -4.06612160e-03 1.58063495e+02] [ 5.49948028e-01 8.35195006e-01 -2.54345782e-03 4.14381766e+01] [ 4.79478900e-03 -1.11897441e-04 9.99988499e-01 1.33140116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721858064 meters 0.01573023001836535 Centerline is valid? [True, True] Translation: X:158.11, Y:41.47, Z:0.13 [[ 8.37132065e-01 -5.46989158e-01 -3.57290636e-03 1.58113141e+02] [ 5.46984595e-01 8.37139686e-01 -2.23596408e-03 4.14706147e+01] [ 4.21406981e-03 -8.25275095e-05 9.99991117e-01 1.32983960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781858064 meters 0.015717159060175283 Centerline is valid? [True, True] Translation: X:158.16, Y:41.50, Z:0.13 [[ 8.38124929e-01 -5.45471655e-01 -2.69749596e-03 1.58163755e+02] [ 5.45469045e-01 8.38129268e-01 -1.68854179e-03 4.14982286e+01] [ 3.18190200e-03 -5.61915816e-05 9.99994936e-01 1.34414828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841858064 meters 0.015613748441342412 Centerline is valid? [True, True] Translation: X:158.21, Y:41.53, Z:0.13 [[ 8.38342005e-01 -5.45140347e-01 -2.16436322e-03 1.58213872e+02] [ 5.45138664e-01 8.38344798e-01 -1.35537540e-03 4.15292544e+01] [ 2.55335246e-03 -4.36099431e-05 9.99996739e-01 1.34813805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901858064 meters 0.015243619048123373 Centerline is valid? [True, True] Translation: X:158.26, Y:41.56, Z:0.13 [[ 8.37660377e-01 -5.46187809e-01 -1.99243946e-03 1.58264691e+02] [ 5.46186384e-01 8.37662746e-01 -1.24838480e-03 4.15592976e+01] [ 2.35084487e-03 -4.25208209e-05 9.99997236e-01 1.34594878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96185806399998 meters 0.015553640215391927 Centerline is valid? [True, True] Translation: X:158.32, Y:41.59, Z:0.13 [[ 8.36598777e-01 -5.47812088e-01 -2.09835153e-03 1.58316087e+02] [ 5.47810510e-01 8.36601407e-01 -1.31550187e-03 4.15876482e+01] [ 2.47613167e-03 -4.89517705e-05 9.99996933e-01 1.34525541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02185806399999 meters 0.016316784062230204 Centerline is valid? [True, True] Translation: X:158.37, Y:41.61, Z:0.13 [[ 8.34771502e-01 -5.50590088e-01 -2.66350998e-03 1.58369664e+02] [ 5.50587557e-01 8.34775748e-01 -1.67082205e-03 4.16133493e+01] [ 3.14337160e-03 -7.17408229e-05 9.99995057e-01 1.34127974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.081858064 meters 0.017091342455145715 Centerline is valid? [True, True] Translation: X:158.42, Y:41.64, Z:0.13 [[ 8.34111089e-01 -5.51586313e-01 -3.35126815e-03 1.58419956e+02] [ 5.51582313e-01 8.34117815e-01 -2.10290215e-03 4.16415693e+01] [ 3.95528452e-03 -9.44462379e-05 9.99992173e-01 1.32320226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.141858064 meters 0.016859328537284064 Centerline is valid? [True, True] Translation: X:158.47, Y:41.67, Z:0.13 [[ 8.34574868e-01 -5.50885505e-01 -3.15436132e-03 1.58471545e+02] [ 5.50881952e-01 8.34580825e-01 -1.98025873e-03 4.16706560e+01] [ 3.72346530e-03 -8.50065575e-05 9.99993064e-01 1.31968623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201858064 meters 0.015585886658444993 Centerline is valid? [True, True] Translation: X:158.52, Y:41.70, Z:0.13 [[ 8.36397144e-01 -5.48117191e-01 -2.71334068e-03 1.58522565e+02] [ 5.48114545e-01 8.36401543e-01 -1.70425781e-03 4.17009738e+01] [ 3.20357533e-03 -6.17851273e-05 9.99994867e-01 1.33393457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261858064 meters 0.01591579266747804 Centerline is valid? [True, True] Translation: X:158.57, Y:41.73, Z:0.13 [[ 8.37477910e-01 -5.46466262e-01 -2.31830896e-03 1.58572327e+02] [ 5.46464323e-01 8.37481117e-01 -1.45653923e-03 4.17307441e+01] [ 2.73748953e-03 -4.70537066e-05 9.99996252e-01 1.33780935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321858064 meters 0.01468687234887753 Centerline is valid? [True, True] Translation: X:158.62, Y:41.76, Z:0.13 [[ 8.41434327e-01 -5.40357433e-01 -1.45554538e-03 1.58621351e+02] [ 5.40356659e-01 8.41435585e-01 -9.14766976e-04 4.17645437e+01] [ 1.71904882e-03 -1.67973050e-05 9.99998522e-01 1.33727944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381858064 meters 0.01415820452821913 Centerline is valid? [True, True] Translation: X:158.67, Y:41.80, Z:0.13 [[ 8.44265499e-01 -5.35922710e-01 -1.61743806e-03 1.58670149e+02] [ 5.35921744e-01 8.44267049e-01 -1.01707164e-03 4.17968384e+01] [ 1.91062145e-03 -8.14172893e-06 9.99998175e-01 1.33495470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441858064 meters 0.014333511821618098 Centerline is valid? [True, True] Translation: X:158.72, Y:41.83, Z:0.13 [[ 8.48663674e-01 -5.28931728e-01 -1.09372509e-03 1.58718689e+02] [ 5.28931280e-01 8.48664378e-01 -6.88070350e-04 4.18296368e+01] [ 1.29214776e-03 5.43489989e-06 9.99999165e-01 1.33600232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501858064 meters 0.01510005725872668 Centerline is valid? [True, True] Translation: X:158.77, Y:41.86, Z:0.13 [[ 8.52296948e-01 -5.23052559e-01 -2.43561107e-03 1.58766029e+02] [ 5.23050313e-01 8.52300428e-01 -1.53313992e-03 4.18627805e+01] [ 2.87778512e-03 3.27433430e-05 9.99995859e-01 1.31314453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561858064 meters 0.015116119631075384 Centerline is valid? [True, True] Translation: X:158.82, Y:41.89, Z:0.13 [[ 8.53283118e-01 -5.21434476e-01 -3.74270953e-03 1.58816872e+02] [ 5.21429152e-01 8.53291324e-01 -2.35713556e-03 4.18920586e+01] [ 4.42271332e-03 5.97461210e-05 9.99990218e-01 1.30538935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621858064 meters 0.014799469141873533 Centerline is valid? [True, True] Translation: X:158.87, Y:41.92, Z:0.13 [[ 8.51534523e-01 -5.24283857e-01 -3.92336539e-03 1.58869968e+02] [ 5.24278033e-01 8.51543560e-01 -2.47158809e-03 4.19167777e+01] [ 4.63673027e-03 4.77082977e-05 9.99989249e-01 1.31129101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681858064 meters 0.014259398495458871 Centerline is valid? [True, True] Translation: X:158.92, Y:41.94, Z:0.13 [[ 8.48409982e-01 -5.29330051e-01 -3.19366869e-03 1.58924096e+02] [ 5.29326224e-01 8.48415993e-01 -2.01282981e-03 4.19415606e+01] [ 3.77501090e-03 1.72123192e-05 9.99992874e-01 1.31775435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74185806399998 meters 0.014377979623117714 Centerline is valid? [True, True] Translation: X:158.98, Y:41.96, Z:0.13 [[ 8.42571779e-01 -5.38576413e-01 -2.87153865e-03 1.58980598e+02] [ 5.38573369e-01 8.42576671e-01 -1.81088359e-03 4.19610520e+01] [ 3.39479067e-03 -2.07348380e-05 9.99994237e-01 1.31474208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.801858064 meters 0.015648516940171185 Centerline is valid? [True, True] Translation: X:159.04, Y:41.98, Z:0.13 [[ 8.38195343e-01 -5.45365231e-01 -2.30891492e-03 1.59037262e+02] [ 5.45363287e-01 8.38198522e-01 -1.45659963e-03 4.19803169e+01] [ 2.72970787e-03 -3.82824042e-05 9.99996274e-01 1.32568990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.861858064 meters 0.01596177303384358 Centerline is valid? [True, True] Translation: X:159.09, Y:42.01, Z:0.13 [[ 8.36512934e-01 -5.47941836e-01 -2.41991551e-03 1.59089463e+02] [ 5.47939710e-01 8.36516432e-01 -1.52733986e-03 4.20073492e+01] [ 2.86119250e-03 -4.83282607e-05 9.99995906e-01 1.32788946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921858064 meters 0.01641843303910605 Centerline is valid? [True, True] Translation: X:159.14, Y:42.03, Z:0.13 [[ 8.35807645e-01 -5.49009417e-01 -3.77364493e-03 1.59142803e+02] [ 5.49004250e-01 8.35816160e-01 -2.38316762e-03 4.20332374e+01] [ 4.46245488e-03 -7.98773862e-05 9.99990040e-01 1.31726031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981858064 meters 0.01641484888829478 Centerline is valid? [True, True] Translation: X:159.19, Y:42.06, Z:0.13 [[ 8.35990775e-01 -5.48713323e-01 -5.75439898e-03 1.59194928e+02] [ 5.48701286e-01 8.36010572e-01 -3.63638585e-03 4.20588620e+01] [ 6.80607174e-03 -1.17461093e-04 9.99976832e-01 1.30364105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041858064 meters 0.016527141372349924 Centerline is valid? [True, True] Translation: X:159.25, Y:42.09, Z:0.13 [[ 8.35608850e-01 -5.49286076e-01 -6.53121865e-03 1.59246316e+02] [ 5.49270569e-01 8.35634363e-01 -4.12956664e-03 4.20872737e+01] [ 7.72602420e-03 -1.36703756e-04 9.99970144e-01 1.29737804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101858064 meters 0.016814081478315653 Centerline is valid? [True, True] Translation: X:159.30, Y:42.11, Z:0.13 [[ 8.34333431e-01 -5.51220297e-01 -6.62645077e-03 1.59299767e+02] [ 5.51204378e-01 8.34359731e-01 -4.19204603e-03 4.21134657e+01] [ 7.83958453e-03 -1.54964530e-04 9.99969258e-01 1.29988351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161858064 meters 0.0170814508572147 Centerline is valid? [True, True] Translation: X:159.35, Y:42.14, Z:0.13 [[ 8.33354705e-01 -5.52719169e-01 -4.63204913e-03 1.59352264e+02] [ 5.52711406e-01 8.33367570e-01 -2.93185355e-03 4.21403819e+01] [ 5.48069118e-03 -1.16912435e-04 9.99984974e-01 1.32738793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221858064 meters 0.018753289780320592 Centerline is valid? [True, True] Translation: X:159.41, Y:42.16, Z:0.13 [[ 8.33773663e-01 -5.52096584e-01 -3.29248781e-03 1.59405960e+02] [ 5.52092653e-01 8.33780160e-01 -2.08502154e-03 4.21648177e+01] [ 3.89634428e-03 -7.93222839e-05 9.99992406e-01 1.33558426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281858064 meters 0.016429599247284613 Centerline is valid? [True, True] Translation: X:159.46, Y:42.20, Z:0.13 [[ 8.35610987e-01 -5.49310043e-01 -3.57126959e-03 1.59455634e+02] [ 5.49305387e-01 8.35618616e-01 -2.26278393e-03 4.21961390e+01] [ 4.22718929e-03 -7.09105063e-05 9.99991063e-01 1.33895301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341858064 meters 0.015726676402177238 Centerline is valid? [True, True] Translation: X:159.51, Y:42.23, Z:0.13 [[ 8.37500948e-01 -5.46419114e-01 -4.27941499e-03 1.59506185e+02] [ 5.46412386e-01 8.37511879e-01 -2.71238844e-03 4.22271344e+01] [ 5.06616177e-03 -6.66974686e-05 9.99987165e-01 1.32850954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401858064 meters 0.01506820642258193 Centerline is valid? [True, True] Translation: X:159.56, Y:42.26, Z:0.13 [[ 8.40646436e-01 -5.41550057e-01 -6.09143129e-03 1.59556500e+02] [ 5.41536288e-01 8.40668504e-01 -3.86202335e-03 4.22586310e+01] [ 7.21235339e-03 -5.21349285e-05 9.99973989e-01 1.31027535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46185806399998 meters 0.014912103752333592 Centerline is valid? [True, True] Translation: X:159.61, Y:42.29, Z:0.13 [[ 8.41867670e-01 -5.39629275e-01 -7.68588361e-03 1.59607562e+02] [ 5.39607248e-01 8.41902752e-01 -4.87586930e-03 4.22873266e+01] [ 9.10192838e-03 -4.25217750e-05 9.99958576e-01 1.30615675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52185806399999 meters 0.015087954111567407 Centerline is valid? [True, True] Translation: X:159.66, Y:42.31, Z:0.13 [[ 8.41919594e-01 -5.39553844e-01 -7.28330236e-03 1.59658070e+02] [ 5.39534043e-01 8.41951096e-01 -4.62252058e-03 4.23136704e+01] [ 8.62628315e-03 -3.77989191e-05 9.99962792e-01 1.30149427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.581858064 meters 0.01527208026758334 Centerline is valid? [True, True] Translation: X:159.71, Y:42.34, Z:0.13 [[ 8.40475971e-01 -5.41817239e-01 -5.84988653e-03 1.59711631e+02] [ 5.41804505e-01 8.40496328e-01 -3.71492192e-03 4.23380377e+01] [ 6.92961689e-03 -4.71922659e-05 9.99975989e-01 1.32482488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.641858064 meters 0.015579171417456988 Centerline is valid? [True, True] Translation: X:159.76, Y:42.36, Z:0.14 [[ 8.38752230e-01 -5.44498430e-01 -4.01962782e-03 1.59763761e+02] [ 5.44492445e-01 8.38761860e-01 -2.55322952e-03 4.23648720e+01] [ 4.76173997e-03 -4.71300248e-05 9.99988662e-01 1.35089191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701858064 meters 0.0167803250290126 Centerline is valid? [True, True] Translation: X:159.82, Y:42.39, Z:0.13 [[ 8.36164878e-01 -5.48468684e-01 -3.22484537e-03 1.59815909e+02] [ 5.48464860e-01 8.36171095e-01 -2.04876301e-03 4.23911683e+01] [ 3.82020483e-03 -5.56106922e-05 9.99992701e-01 1.34845834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761858064 meters 0.01741811666802248 Centerline is valid? [True, True] Translation: X:159.86, Y:42.42, Z:0.13 [[ 8.35722124e-01 -5.49139608e-01 -3.77128778e-03 1.59864655e+02] [ 5.49134380e-01 8.35730630e-01 -2.39704214e-03 4.24235281e+01] [ 4.46809149e-03 -6.76826306e-05 9.99990016e-01 1.33291402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821858064 meters 0.018345083518218713 Centerline is valid? [True, True] Translation: X:159.92, Y:42.45, Z:0.13 [[ 8.35880212e-01 -5.48880406e-01 -5.87969893e-03 1.59915002e+02] [ 5.48867684e-01 8.35900885e-01 -3.73845958e-03 4.24528558e+01] [ 6.96681275e-03 -1.02272348e-04 9.99975726e-01 1.32038915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881858064 meters 0.017751755831492848 Centerline is valid? [True, True] Translation: X:159.96, Y:42.49, Z:0.13 [[ 8.35842327e-01 -5.48913761e-01 -7.82868615e-03 1.59962428e+02] [ 5.48891198e-01 8.35878977e-01 -4.97870835e-03 4.24869969e+01] [ 9.27671570e-03 -1.35681756e-04 9.99956961e-01 1.31020512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941858064 meters 0.018274766097646968 Centerline is valid? [True, True] Translation: X:160.01, Y:42.52, Z:0.13 [[ 8.35566752e-01 -5.49326153e-01 -8.30544115e-03 1.60010974e+02] [ 5.49300753e-01 8.35608016e-01 -5.28456174e-03 4.25199476e+01] [ 9.84304117e-03 -1.46580992e-04 9.99951545e-01 1.30225712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001858064 meters 0.01821097891583323 Centerline is valid? [True, True] Translation: X:160.06, Y:42.55, Z:0.13 [[ 8.35527186e-01 -5.49391101e-01 -7.98366118e-03 1.60058862e+02] [ 5.49367605e-01 8.35565317e-01 -5.08286106e-03 4.25530381e+01] [ 9.46334902e-03 -1.39096223e-04 9.99955212e-01 1.30187931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061858064 meters 0.01829984314504355 Centerline is valid? [True, True] Translation: X:160.11, Y:42.58, Z:0.13 [[ 8.34994066e-01 -5.50212166e-01 -7.17515820e-03 1.60107736e+02] [ 5.50193210e-01 8.35024883e-01 -4.56916854e-03 4.25849287e+01] [ 8.50544776e-03 -1.32494706e-04 9.99963819e-01 1.31835331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121858064 meters 0.0185689523523004 Centerline is valid? [True, True] Translation: X:160.16, Y:42.62, Z:0.13 [[ 8.33809843e-01 -5.52029692e-01 -4.93597387e-03 1.60156825e+02] [ 5.52020748e-01 8.33824447e-01 -3.14408000e-03 4.26165101e+01] [ 5.85136120e-03 -1.03195141e-04 9.99982875e-01 1.34301331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181858064 meters 0.018604449220371078 Centerline is valid? [True, True] Translation: X:160.21, Y:42.65, Z:0.13 [[ 8.33588709e-01 -5.52364766e-01 -4.79888327e-03 1.60205823e+02] [ 5.52356307e-01 8.33602517e-01 -3.05848101e-03 4.26475229e+01] [ 5.68975832e-03 -1.01178203e-04 9.99983808e-01 1.34878548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24185806399998 meters 0.018723748985863306 Centerline is valid? [True, True] Translation: X:160.25, Y:42.68, Z:0.13 [[ 8.34248841e-01 -5.51372169e-01 -4.19568579e-03 1.60253683e+02] [ 5.51365687e-01 8.34259387e-01 -2.67471216e-03 4.26805638e+01] [ 4.97505210e-03 -8.19816614e-05 9.99987621e-01 1.34828787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.301858064 meters 0.01820377551243126 Centerline is valid? [True, True] Translation: X:160.30, Y:42.72, Z:0.13 [[ 8.35569065e-01 -5.49360530e-01 -5.22931303e-03 1.60301170e+02] [ 5.49350412e-01 8.35585424e-01 -3.33527274e-03 4.27159950e+01] [ 6.20180495e-03 -8.58745424e-05 9.99980765e-01 1.33186932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.361858064 meters 0.017752987241564426 Centerline is valid? [True, True] Translation: X:160.35, Y:42.75, Z:0.13 [[ 8.35746803e-01 -5.49065562e-01 -7.36821222e-03 1.60350378e+02] [ 5.49045440e-01 8.35779274e-01 -4.70210520e-03 4.27489495e+01] [ 8.73996310e-03 -1.15713932e-04 9.99961799e-01 1.31911486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421858064 meters 0.017892261092221824 Centerline is valid? [True, True] Translation: X:160.40, Y:42.78, Z:0.13 [[ 8.35138159e-01 -5.49983926e-01 -7.87001056e-03 1.60399557e+02] [ 5.49960985e-01 8.35175229e-01 -5.02509162e-03 4.27818760e+01] [ 9.33655749e-03 -1.31552998e-04 9.99956405e-01 1.31897389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481858064 meters 0.01819594909087744 Centerline is valid? [True, True] Translation: X:160.45, Y:42.81, Z:0.13 [[ 8.33644666e-01 -5.52257630e-01 -6.93410572e-03 1.60448934e+02] [ 5.52239879e-01 8.33673492e-01 -4.42986596e-03 4.28143325e+01] [ 8.22720741e-03 -1.36355583e-04 9.99966147e-01 1.31519345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541858064 meters 0.019036295190089942 Centerline is valid? [True, True] Translation: X:160.50, Y:42.84, Z:0.13 [[ 8.30711360e-01 -5.56675363e-01 -5.58365338e-03 1.60499970e+02] [ 5.56663941e-01 8.30730112e-01 -3.56891539e-03 4.28442981e+01] [ 6.62523627e-03 -1.43479942e-04 9.99978043e-01 1.33178945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601858064 meters 0.020024181863762227 Centerline is valid? [True, True] Translation: X:160.55, Y:42.87, Z:0.13 [[ 8.29351893e-01 -5.58705576e-01 -4.84935605e-03 1.60550086e+02] [ 5.58696992e-01 8.29366059e-01 -3.10027363e-03 4.28735367e+01] [ 5.75403148e-03 -1.38102835e-04 9.99983436e-01 1.34343954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661858064 meters 0.02053144275429158 Centerline is valid? [True, True] Translation: X:160.60, Y:42.91, Z:0.13 [[ 8.28286871e-01 -5.60283256e-01 -4.85111303e-03 1.60599424e+02] [ 5.60274683e-01 8.28301063e-01 -3.10285984e-03 4.29065354e+01] [ 5.75666249e-03 -1.47897756e-04 9.99983419e-01 1.34142690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721858064 meters 0.020734004154665444 Centerline is valid? [True, True] Translation: X:160.65, Y:42.94, Z:0.13 [[ 8.28784171e-01 -5.59545115e-01 -5.10509265e-03 1.60647050e+02] [ 5.59535602e-01 8.28799881e-01 -3.26607994e-03 4.29390307e+01] [ 6.05861926e-03 -1.49605733e-04 9.99981635e-01 1.33260271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781858064 meters 0.01938717550101557 Centerline is valid? [True, True] Translation: X:160.70, Y:42.97, Z:0.13 [[ 8.30299536e-01 -5.57286440e-01 -5.87406867e-03 1.60695299e+02] [ 5.57273778e-01 8.30320300e-01 -3.75971767e-03 4.29738785e+01] [ 6.97259814e-03 -1.51772599e-04 9.99975680e-01 1.33836326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841858064 meters 0.01782785483817117 Centerline is valid? [True, True] Translation: X:160.74, Y:43.01, Z:0.13 [[ 8.31699466e-01 -5.55176178e-01 -7.44375531e-03 1.60741652e+02] [ 5.55155737e-01 8.31732760e-01 -4.76700476e-03 4.30100409e+01] [ 8.83774263e-03 -1.67728155e-04 9.99960932e-01 1.33152985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901858064 meters 0.017287601168111292 Centerline is valid? [True, True] Translation: X:160.79, Y:43.04, Z:0.13 [[ 8.32282668e-01 -5.54287462e-01 -8.42437788e-03 1.60790093e+02] [ 5.54261205e-01 8.32325284e-01 -5.39798361e-03 4.30436848e+01] [ 1.00038573e-02 -1.76657640e-04 9.99949945e-01 1.32610894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96185806399998 meters 0.017092110647603655 Centerline is valid? [True, True] Translation: X:160.84, Y:43.07, Z:0.13 [[ 8.32231173e-01 -5.54380913e-01 -7.28546523e-03 1.60839699e+02] [ 5.54361258e-01 8.32263048e-01 -4.67070536e-03 4.30749790e+01] [ 8.65277339e-03 -1.51673064e-04 9.99962553e-01 1.33540151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02185806399999 meters 0.017384292741129116 Centerline is valid? [True, True] Translation: X:160.89, Y:43.11, Z:0.14 [[ 8.31384603e-01 -5.55663450e-01 -6.14592970e-03 1.60889919e+02] [ 5.55649483e-01 8.31407307e-01 -3.94221445e-03 4.31057773e+01] [ 7.30031535e-03 -1.37486267e-04 9.99973343e-01 1.35147849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.081858064 meters 0.017536121736272413 Centerline is valid? [True, True] Translation: X:160.94, Y:43.14, Z:0.14 [[ 8.30132584e-01 -5.57548054e-01 -4.47885067e-03 1.60939981e+02] [ 5.57540656e-01 8.30144659e-01 -2.87436012e-03 4.31374499e+01] [ 5.32068786e-03 -1.11041349e-04 9.99985839e-01 1.37668313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.141858064 meters 0.017971391714870333 Centerline is valid? [True, True] Translation: X:160.99, Y:43.17, Z:0.14 [[ 8.29592061e-01 -5.58356088e-01 -3.93603225e-03 1.60990010e+02] [ 5.58350377e-01 8.29601392e-01 -2.52730403e-03 4.31685867e+01] [ 4.67647342e-03 -1.01053726e-04 9.99989060e-01 1.38474627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201858064 meters 0.0177642167671957 Centerline is valid? [True, True] Translation: X:161.04, Y:43.20, Z:0.14 [[ 8.28862951e-01 -5.59444843e-01 -2.77052413e-03 1.61038134e+02] [ 5.59442017e-01 8.28867578e-01 -1.77980890e-03 4.32021737e+01] [ 3.29210253e-03 -7.47299530e-05 9.99994578e-01 1.39382642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261858064 meters 0.017863377000307105 Centerline is valid? [True, True] Translation: X:161.09, Y:43.24, Z:0.14 [[ 8.27999938e-01 -5.60721989e-01 -2.63709181e-03 1.61086913e+02] [ 5.60719432e-01 8.28004134e-01 -1.69499329e-03 4.32359335e+01] [ 3.13394293e-03 -7.52142830e-05 9.99995086e-01 1.38567108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321858064 meters 0.01920388652709115 Centerline is valid? [True, True] Translation: X:161.14, Y:43.27, Z:0.14 [[ 8.27493135e-01 -5.61465466e-01 -3.41205309e-03 1.61136434e+02] [ 5.61461190e-01 8.27500163e-01 -2.19375805e-03 4.32667180e+01] [ 4.05519388e-03 -1.00415659e-04 9.99991773e-01 1.36901556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381858064 meters 0.018205384218714527 Centerline is valid? [True, True] Translation: X:161.18, Y:43.30, Z:0.14 [[ 8.27321910e-01 -5.61716668e-01 -3.58347155e-03 1.61183569e+02] [ 5.61711948e-01 8.27329664e-01 -2.30520075e-03 4.33013480e+01] [ 4.25958200e-03 -1.05735699e-04 9.99990922e-01 1.36621091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441858064 meters 0.01831783132189477 Centerline is valid? [True, True] Translation: X:161.23, Y:43.33, Z:0.14 [[ 8.27400810e-01 -5.61597613e-01 -4.00260727e-03 1.61230736e+02] [ 5.61591715e-01 8.27410483e-01 -2.57643943e-03 4.33348831e+01] [ 4.75872145e-03 -1.16083013e-04 9.99988670e-01 1.35436048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501858064 meters 0.018410466473043986 Centerline is valid? [True, True] Translation: X:161.28, Y:43.37, Z:0.13 [[ 8.27723963e-01 -5.61121153e-01 -4.01147417e-03 1.61278754e+02] [ 5.61115217e-01 8.27733676e-01 -2.58354643e-03 4.33681353e+01] [ 4.77011481e-03 -1.12435908e-04 9.99988617e-01 1.34912183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561858064 meters 0.017756848375796948 Centerline is valid? [True, True] Translation: X:161.33, Y:43.40, Z:0.14 [[ 8.27587185e-01 -5.61317996e-01 -4.64308285e-03 1.61326173e+02] [ 5.61310036e-01 8.27600199e-01 -2.99218523e-03 4.34011872e+01] [ 5.52218371e-03 -1.29914854e-04 9.99984744e-01 1.35428785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621858064 meters 0.01810920612949362 Centerline is valid? [True, True] Translation: X:161.37, Y:43.43, Z:0.14 [[ 8.27739877e-01 -5.61102646e-01 -3.24301377e-03 1.61373311e+02] [ 5.61098759e-01 8.27746225e-01 -2.09044027e-03 4.34340855e+01] [ 3.85734397e-03 -8.93102281e-05 9.99992556e-01 1.35268955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681858064 meters 0.01753716704312485 Centerline is valid? [True, True] Translation: X:161.42, Y:43.47, Z:0.14 [[ 8.28459084e-01 -5.60044615e-01 -2.36097861e-03 1.61421222e+02] [ 5.60042549e-01 8.28462446e-01 -1.52250767e-03 4.34690204e+01] [ 2.80865434e-03 -6.09131672e-05 9.99996054e-01 1.35407512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74185806399998 meters 0.0170085995571021 Centerline is valid? [True, True] Translation: X:161.47, Y:43.50, Z:0.14 [[ 8.29652099e-01 -5.58276206e-01 -2.25228761e-03 1.61469616e+02] [ 5.58274317e-01 8.29655154e-01 -1.45317853e-03 4.35030406e+01] [ 2.67989702e-03 -5.17617146e-05 9.99996408e-01 1.35176706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.801858064 meters 0.01683377261794849 Centerline is valid? [True, True] Translation: X:161.52, Y:43.54, Z:0.14 [[ 8.30009259e-01 -5.57745211e-01 -2.21576114e-03 1.61518732e+02] [ 5.57743379e-01 8.30012215e-01 -1.43036787e-03 4.35359494e+01] [ 2.63688964e-03 -4.86075319e-05 9.99996522e-01 1.35227082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.861858064 meters 0.016406555719536794 Centerline is valid? [True, True] Translation: X:161.57, Y:43.57, Z:0.14 [[ 8.29972286e-01 -5.57799897e-01 -2.29751842e-03 1.61566271e+02] [ 5.57797925e-01 8.29975465e-01 -1.48403536e-03 4.35696450e+01] [ 2.73467868e-03 -4.98427875e-05 9.99996260e-01 1.35083214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921858064 meters 0.01629909297239292 Centerline is valid? [True, True] Translation: X:161.61, Y:43.60, Z:0.13 [[ 8.29846774e-01 -5.57982848e-01 -3.07786947e-03 1.61614806e+02] [ 5.57979305e-01 8.29852479e-01 -1.98942801e-03 4.36010368e+01] [ 3.66424432e-03 -6.64670592e-05 9.99993284e-01 1.34857835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981858064 meters 0.016529775501721824 Centerline is valid? [True, True] Translation: X:161.66, Y:43.63, Z:0.14 [[ 8.29480582e-01 -5.58528480e-01 -2.81085455e-03 1.61663423e+02] [ 5.58525525e-01 8.29485342e-01 -1.81793783e-03 4.36324025e+01] [ 3.34693270e-03 -6.19898809e-05 9.99994397e-01 1.35167157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041858064 meters 0.017599475057558656 Centerline is valid? [True, True] Translation: X:161.71, Y:43.66, Z:0.14 [[ 8.29103608e-01 -5.59089756e-01 -2.41905545e-03 1.61712791e+02] [ 5.59087568e-01 8.29107135e-01 -1.56499649e-03 4.36618078e+01] [ 2.88062964e-03 -5.49195875e-05 9.99995849e-01 1.35541803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101858064 meters 0.01738463441301141 Centerline is valid? [True, True] Translation: X:161.76, Y:43.70, Z:0.14 [[ 8.28389206e-01 -5.60148968e-01 -2.11124041e-03 1.61761315e+02] [ 5.60147303e-01 8.28391895e-01 -1.36640685e-03 4.36951763e+01] [ 2.51432583e-03 -5.06889333e-05 9.99996838e-01 1.36133524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161858064 meters 0.017031985412232827 Centerline is valid? [True, True] Translation: X:161.81, Y:43.73, Z:0.14 [[ 8.28506479e-01 -5.59975735e-01 -2.04714696e-03 1.61809142e+02] [ 5.59974167e-01 8.28509007e-01 -1.32569324e-03 4.37282392e+01] [ 2.43843574e-03 -4.80039773e-05 9.99997026e-01 1.36835496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221858064 meters 0.016945969834200002 Centerline is valid? [True, True] Translation: X:161.86, Y:43.76, Z:0.14 [[ 8.29495190e-01 -5.58509077e-01 -2.31089285e-03 1.61857713e+02] [ 5.58507072e-01 8.29498408e-01 -1.49736417e-03 4.37620531e+01] [ 2.75317342e-03 -4.85936223e-05 9.99996209e-01 1.37146892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281858064 meters 0.016270058354603743 Centerline is valid? [True, True] Translation: X:161.90, Y:43.80, Z:0.14 [[ 8.31977857e-01 -5.54805165e-01 -2.01858872e-03 1.61904128e+02] [ 5.54803623e-01 8.31980305e-01 -1.30840356e-03 4.37997534e+01] [ 2.40533511e-03 -3.13575401e-05 9.99997107e-01 1.36632216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341858064 meters 0.015846629427458906 Centerline is valid? [True, True] Translation: X:161.95, Y:43.83, Z:0.14 [[ 8.33272537e-01 -5.52855969e-01 -2.67518416e-03 1.61952275e+02] [ 5.52853248e-01 8.33276831e-01 -1.73483645e-03 4.38344420e+01] [ 3.18828366e-03 -3.33926766e-05 9.99994917e-01 1.37016350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401858064 meters 0.015520804515173769 Centerline is valid? [True, True] Translation: X:162.00, Y:43.87, Z:0.14 [[ 8.34218926e-01 -5.51422136e-01 -3.52303042e-03 1.62000428e+02] [ 5.51417398e-01 8.34226364e-01 -2.28596491e-03 4.38688052e+01] [ 4.19953652e-03 -3.56650740e-05 9.99991181e-01 1.37503769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46185806399998 meters 0.015266397714401246 Centerline is valid? [True, True] Translation: X:162.05, Y:43.90, Z:0.14 [[ 8.34470565e-01 -5.51041054e-01 -3.55428609e-03 1.62048173e+02] [ 5.51036223e-01 8.34478134e-01 -2.30763647e-03 4.39020866e+01] [ 4.23757645e-03 -3.28856692e-05 9.99991021e-01 1.38144361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52185806399999 meters 0.0151909412861808 Centerline is valid? [True, True] Translation: X:162.10, Y:43.94, Z:0.14 [[ 8.34582157e-01 -5.50872468e-01 -3.48531597e-03 1.62096199e+02] [ 5.50867816e-01 8.34589434e-01 -2.26423669e-03 4.39354645e+01] [ 4.15611353e-03 -3.02568592e-05 9.99991363e-01 1.38992735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.581858064 meters 0.015013637542271908 Centerline is valid? [True, True] Translation: X:162.14, Y:43.97, Z:0.14 [[ 8.34369497e-01 -5.51197023e-01 -3.06353030e-03 1.62144077e+02] [ 5.51193426e-01 8.34375120e-01 -1.99139966e-03 4.39675817e+01] [ 3.65378703e-03 -2.70346346e-05 9.99993325e-01 1.40344575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.641858064 meters 0.014889120381374167 Centerline is valid? [True, True] Translation: X:162.19, Y:44.00, Z:0.14 [[ 8.33938912e-01 -5.51844204e-01 -3.72352565e-03 1.62192033e+02] [ 5.51838890e-01 8.33947224e-01 -2.42197982e-03 4.40002356e+01] [ 4.44177941e-03 -3.50030463e-05 9.99990135e-01 1.40595837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701858064 meters 0.01529151166423895 Centerline is valid? [True, True] Translation: X:162.24, Y:44.03, Z:0.14 [[ 8.33480010e-01 -5.52530838e-01 -4.55478867e-03 1.62240753e+02] [ 5.52522893e-01 8.33492454e-01 -2.96351226e-03 4.40319789e+01] [ 5.43381390e-03 -4.65967816e-05 9.99985236e-01 1.39544623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761858064 meters 0.01533208855319248 Centerline is valid? [True, True] Translation: X:162.29, Y:44.07, Z:0.14 [[ 8.31820007e-01 -5.55013090e-01 -5.99551019e-03 1.62288685e+02] [ 5.54999373e-01 8.31841610e-01 -3.90288047e-03 4.40655541e+01] [ 7.15346460e-03 -8.10103332e-05 9.99974410e-01 1.39082099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821858064 meters 0.016032675587893175 Centerline is valid? [True, True] Translation: X:162.34, Y:44.10, Z:0.14 [[ 8.29901796e-01 -5.57859981e-01 -7.43308051e-03 1.62338213e+02] [ 5.57839001e-01 8.29935073e-01 -4.83984342e-03 4.40960008e+01] [ 8.86892918e-03 -1.29867460e-04 9.99960662e-01 1.38160756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881858064 meters 0.016484635853321394 Centerline is valid? [True, True] Translation: X:162.39, Y:44.13, Z:0.14 [[ 8.28591724e-01 -5.59800530e-01 -7.68904553e-03 1.62388088e+02] [ 5.59778141e-01 8.28627385e-01 -5.00899339e-03 4.41277047e+01] [ 9.17539085e-03 -1.53749148e-04 9.99957893e-01 1.38035149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941858064 meters 0.016439262805084467 Centerline is valid? [True, True] Translation: X:162.44, Y:44.16, Z:0.14 [[ 8.28008151e-01 -5.60655148e-01 -8.26480687e-03 1.62436512e+02] [ 5.60629295e-01 8.28049379e-01 -5.38694300e-03 4.41609563e+01] [ 9.86388552e-03 -1.73060138e-04 9.99951336e-01 1.37906638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001858064 meters 0.016633882445996836 Centerline is valid? [True, True] Translation: X:162.48, Y:44.19, Z:0.14 [[ 8.27933704e-01 -5.60774207e-01 -7.62035205e-03 1.62484669e+02] [ 5.60752207e-01 8.27968758e-01 -4.96981880e-03 4.41928214e+01] [ 9.09635962e-03 -1.58448740e-04 9.99958615e-01 1.38431821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061858064 meters 0.016264353565118298 Centerline is valid? [True, True] Translation: X:162.53, Y:44.23, Z:0.14 [[ 8.28392703e-01 -5.60092757e-01 -7.85066424e-03 1.62534008e+02] [ 5.60069350e-01 8.28429889e-01 -5.12275387e-03 4.42253743e+01] [ 9.37294224e-03 -1.53264497e-04 9.99956061e-01 1.39145553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121858064 meters 0.016008991239195993 Centerline is valid? [True, True] Translation: X:162.58, Y:44.26, Z:0.14 [[ 8.28961565e-01 -5.59234155e-01 -8.93774687e-03 1.62581559e+02] [ 5.59203730e-01 8.29009731e-01 -5.83560400e-03 4.42580869e+01] [ 1.06729482e-02 -1.60529963e-04 9.99943030e-01 1.38648623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181858064 meters 0.015882424044032083 Centerline is valid? [True, True] Translation: X:162.63, Y:44.29, Z:0.14 [[ 8.29959862e-01 -5.57746602e-01 -9.23878854e-03 1.62629511e+02] [ 5.57713986e-01 8.30011269e-01 -6.03347981e-03 4.42898964e+01] [ 1.10334515e-02 -1.45055505e-04 9.99939119e-01 1.38456703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24185806399998 meters 0.01590463246782391 Centerline is valid? [True, True] Translation: X:162.68, Y:44.32, Z:0.14 [[ 8.30542424e-01 -5.56871159e-01 -9.68467841e-03 1.62679239e+02] [ 5.56835224e-01 8.30598876e-01 -6.32775010e-03 4.43220527e+01] [ 1.15678245e-02 -1.37305164e-04 9.99933081e-01 1.37550265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.301858064 meters 0.01590628007121411 Centerline is valid? [True, True] Translation: X:162.73, Y:44.35, Z:0.14 [[ 8.30606333e-01 -5.56778284e-01 -9.54261881e-03 1.62728289e+02] [ 5.56743349e-01 8.30661137e-01 -6.23848417e-03 4.43532454e+01] [ 1.14001351e-02 -1.31065090e-04 9.99935008e-01 1.38070575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.361858064 meters 0.015832535871944442 Centerline is valid? [True, True] Translation: X:162.78, Y:44.38, Z:0.14 [[ 8.30065317e-01 -5.57568268e-01 -1.04496842e-02 1.62778546e+02] [ 5.57526393e-01 8.30131076e-01 -6.83503518e-03 4.43839209e+01] [ 1.24856063e-02 -1.52449072e-04 9.99922040e-01 1.38269273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421858064 meters 0.01668128178475012 Centerline is valid? [True, True] Translation: X:162.83, Y:44.41, Z:0.14 [[ 8.29217982e-01 -5.58825183e-01 -1.05808086e-02 1.62829729e+02] [ 5.58782335e-01 8.29285467e-01 -6.92221012e-03 4.44121741e+01] [ 1.26428162e-02 -1.72347838e-04 9.99920062e-01 1.37346572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481858064 meters 0.015652577243831407 Centerline is valid? [True, True] Translation: X:162.88, Y:44.44, Z:0.14 [[ 8.27846660e-01 -5.60862982e-01 -1.01303365e-02 1.62879741e+02] [ 5.60823815e-01 8.27908618e-01 -6.63094260e-03 4.44430552e+01] [ 1.21060431e-02 -1.91930266e-04 9.99926701e-01 1.40967695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541858064 meters 0.015825818373007727 Centerline is valid? [True, True] Translation: X:162.93, Y:44.47, Z:0.14 [[ 8.27568838e-01 -5.61279436e-01 -9.75769417e-03 1.62931338e+02] [ 5.61243082e-01 8.27626341e-01 -6.39090941e-03 4.44711259e+01] [ 1.16628107e-02 -1.87520865e-04 9.99931970e-01 1.41141352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601858064 meters 0.01556128831082507 Centerline is valid? [True, True] Translation: X:162.98, Y:44.50, Z:0.14 [[ 8.28136380e-01 -5.60448304e-01 -9.37199439e-03 1.62981618e+02] [ 5.60414677e-01 8.28189393e-01 -6.14162958e-03 4.45013242e+01] [ 1.12038522e-02 -1.66096316e-04 9.99937221e-01 1.42238889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661858064 meters 0.01540562372508126 Centerline is valid? [True, True] Translation: X:163.03, Y:44.53, Z:0.14 [[ 8.30456033e-01 -5.56986166e-01 -1.04493186e-02 1.63030484e+02] [ 5.56944069e-01 8.30521760e-01 -6.84911313e-03 4.45330342e+01] [ 1.24932477e-02 -1.31798684e-04 9.99921948e-01 1.39940678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721858064 meters 0.014762572321575393 Centerline is valid? [True, True] Translation: X:163.08, Y:44.57, Z:0.14 [[ 8.33202225e-01 -5.52854982e-01 -1.11991899e-02 1.63079866e+02] [ 5.52806201e-01 8.33277483e-01 -7.34441714e-03 4.45657671e+01] [ 1.33924303e-02 -7.15969000e-05 9.99910315e-01 1.39570297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781858064 meters 0.014623189243274715 Centerline is valid? [True, True] Translation: X:163.13, Y:44.60, Z:0.14 [[ 8.33945790e-01 -5.51759785e-01 -9.77548259e-03 1.63129828e+02] [ 5.51722503e-01 8.34003080e-01 -6.41416153e-03 4.45964487e+01] [ 1.16918590e-02 -4.42907228e-05 9.99931647e-01 1.40611266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841858064 meters 0.014684707408758636 Centerline is valid? [True, True] Translation: X:163.18, Y:44.62, Z:0.14 [[ 8.33430755e-01 -5.52566992e-01 -7.93070785e-03 1.63180889e+02] [ 5.52542481e-01 8.33468486e-01 -5.20481503e-03 4.46243050e+01] [ 9.48600405e-03 -4.42000710e-05 9.99955006e-01 1.41687018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901858064 meters 0.01478114579934602 Centerline is valid? [True, True] Translation: X:163.23, Y:44.65, Z:0.14 [[ 8.32691888e-01 -5.53677320e-01 -8.10215722e-03 1.63231444e+02] [ 5.53651760e-01 8.32731303e-01 -5.32033098e-03 4.46534046e+01] [ 9.69266653e-03 -5.55771563e-05 9.99953023e-01 1.42428546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96185806399998 meters 0.014745575648250759 Centerline is valid? [True, True] Translation: X:163.28, Y:44.68, Z:0.14 [[ 8.32173644e-01 -5.54460773e-01 -7.76382754e-03 1.63281092e+02] [ 5.54437309e-01 8.32209858e-01 -5.10123046e-03 4.46841017e+01] [ 9.28956600e-03 -5.94461119e-05 9.99956849e-01 1.42319814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02185806399999 meters 0.014961185043646604 Centerline is valid? [True, True] Translation: X:163.33, Y:44.71, Z:0.14 [[ 8.31220685e-01 -5.55876932e-01 -8.54459357e-03 1.63333035e+02] [ 5.55848555e-01 8.31264597e-01 -5.61723110e-03 4.47121778e+01] [ 1.02253073e-02 -8.03413117e-05 9.99947717e-01 1.41180868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.081858064 meters 0.015195102717948952 Centerline is valid? [True, True] Translation: X:163.38, Y:44.74, Z:0.14 [[ 8.30077145e-01 -5.57601023e-01 -7.28236488e-03 1.63384790e+02] [ 5.57580454e-01 8.30109084e-01 -4.79019539e-03 4.47394285e+01] [ 8.71617509e-03 -8.42726010e-05 9.99962010e-01 1.42012510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.141858064 meters 0.015509569382235718 Centerline is valid? [True, True] Translation: X:163.44, Y:44.77, Z:0.14 [[ 8.29382494e-01 -5.58636513e-01 -7.06577125e-03 1.63435858e+02] [ 5.58617178e-01 8.29412586e-01 -4.64875253e-03 4.47672917e+01] [ 8.45740251e-03 -9.14672319e-05 9.99964231e-01 1.42172910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201858064 meters 0.01616334017799452 Centerline is valid? [True, True] Translation: X:163.49, Y:44.79, Z:0.14 [[ 8.28494067e-01 -5.59952951e-01 -7.09031158e-03 1.63487101e+02] [ 5.59933522e-01 8.28524400e-01 -4.66573007e-03 4.47940623e+01] [ 8.48708547e-03 -1.04573458e-04 9.99963979e-01 1.41412046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261858064 meters 0.015972339449675695 Centerline is valid? [True, True] Translation: X:163.54, Y:44.83, Z:0.14 [[ 8.28018916e-01 -5.60653216e-01 -7.25568741e-03 1.63537285e+02] [ 5.60632877e-01 8.28050698e-01 -4.77688135e-03 4.48251290e+01] [ 8.68625092e-03 -1.12428788e-04 9.99962267e-01 1.41090278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321858064 meters 0.01602244978486684 Centerline is valid? [True, True] Translation: X:163.59, Y:44.85, Z:0.14 [[ 8.27215810e-01 -5.61853753e-01 -5.86211919e-03 1.63587565e+02] [ 5.61840490e-01 8.27236575e-01 -3.86167815e-03 4.48537727e+01] [ 7.01905776e-03 -9.91347011e-05 9.99975361e-01 1.42190469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381858064 meters 0.01657338648527426 Centerline is valid? [True, True] Translation: X:163.64, Y:44.88, Z:0.14 [[ 8.26768594e-01 -5.62521578e-01 -4.81308361e-03 1.63637708e+02] [ 5.62512642e-01 8.26782599e-01 -3.17197520e-03 4.48814312e+01] [ 5.76367828e-03 -8.49309022e-05 9.99983386e-01 1.42855663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441858064 meters 0.01634819104931502 Centerline is valid? [True, True] Translation: X:163.69, Y:44.91, Z:0.14 [[ 8.26246638e-01 -5.63293006e-01 -4.18118084e-03 1.63687517e+02] [ 5.63286264e-01 8.26257214e-01 -2.75708444e-03 4.49109563e+01] [ 5.00777721e-03 -7.71699826e-05 9.99987458e-01 1.43529546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501858064 meters 0.016231506557186276 Centerline is valid? [True, True] Translation: X:163.74, Y:44.94, Z:0.14 [[ 8.27096128e-01 -5.62042676e-01 -4.47498782e-03 1.63738501e+02] [ 5.62034927e-01 8.27108230e-01 -2.95235854e-03 4.49414957e+01] [ 5.36065075e-03 -7.32151377e-05 9.99985629e-01 1.43657273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561858064 meters 0.016081321950374625 Centerline is valid? [True, True] Translation: X:163.79, Y:44.97, Z:0.14 [[ 8.27792244e-01 -5.61013330e-01 -4.90341970e-03 1.63788494e+02] [ 5.61003998e-01 8.27806764e-01 -3.23674369e-03 4.49730309e+01] [ 5.87494035e-03 -7.14867302e-05 9.99982740e-01 1.43322239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621858064 meters 0.016032927690685803 Centerline is valid? [True, True] Translation: X:163.84, Y:45.00, Z:0.14 [[ 8.28782861e-01 -5.59552483e-01 -4.47089278e-03 1.63839145e+02] [ 5.59544694e-01 8.28794918e-01 -2.95278580e-03 4.50039987e+01] [ 5.35769184e-03 -5.44460656e-05 9.99985646e-01 1.43361941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681858064 meters 0.01613925668661406 Centerline is valid? [True, True] Translation: X:163.89, Y:45.03, Z:0.14 [[ 8.28713406e-01 -5.59660790e-01 -3.72707352e-03 1.63888278e+02] [ 5.59655373e-01 8.28721785e-01 -2.46294470e-03 4.50345783e+01] [ 4.46712060e-03 -4.48014330e-05 9.99990021e-01 1.43417153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74185806399998 meters 0.016424276911286166 Centerline is valid? [True, True] Translation: X:163.94, Y:45.06, Z:0.14 [[ 8.28329624e-01 -5.60235033e-01 -2.59636769e-03 1.63937784e+02] [ 5.60232404e-01 8.28333693e-01 -1.71669187e-03 4.50642520e+01] [ 3.11240976e-03 -3.25825762e-05 9.99995156e-01 1.44102051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.801858064 meters 0.016448512638563256 Centerline is valid? [True, True] Translation: X:163.99, Y:45.10, Z:0.14 [[ 8.28016905e-01 -5.60695967e-01 -2.83514335e-03 1.63986911e+02] [ 5.60692830e-01 8.28021758e-01 -1.87572419e-03 4.50959216e+01] [ 3.39927137e-03 -3.65132058e-05 9.99994222e-01 1.44105651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.861858064 meters 0.016288168963366222 Centerline is valid? [True, True] Translation: X:164.04, Y:45.13, Z:0.14 [[ 8.28088997e-01 -5.60589986e-01 -2.73511797e-03 1.64035102e+02] [ 5.60587063e-01 8.28093513e-01 -1.81064767e-03 4.51285337e+01] [ 3.27996440e-03 -3.38943366e-05 9.99994620e-01 1.44139960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921858064 meters 0.016550945217194878 Centerline is valid? [True, True] Translation: X:164.08, Y:45.16, Z:0.14 [[ 8.27074519e-01 -5.62087870e-01 -2.22845105e-03 1.64083823e+02] [ 5.62085933e-01 8.27077521e-01 -1.47601704e-03 4.51613063e+01] [ 2.67275305e-03 -3.18049011e-05 9.99996428e-01 1.44847887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981858064 meters 0.016914655182385593 Centerline is valid? [True, True] Translation: X:164.13, Y:45.19, Z:0.15 [[ 8.24611764e-01 -5.65698339e-01 -9.09831390e-04 1.64133024e+02] [ 5.65698018e-01 8.24612266e-01 -6.02801875e-04 4.51936945e+01] [ 1.09126214e-03 -1.76122974e-05 9.99999404e-01 1.46452368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041858064 meters 0.017540711310603002 Centerline is valid? [True, True] Translation: X:164.18, Y:45.22, Z:0.15 [[ 8.22514532e-01 -5.68744067e-01 -1.74209609e-04 1.64183098e+02] [ 5.68744056e-01 8.22514551e-01 -1.15274643e-04 4.52249112e+01] [ 2.08851708e-04 -4.26561093e-06 9.99999978e-01 1.47516778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101858064 meters 0.018752327200143318 Centerline is valid? [True, True] Translation: X:164.23, Y:45.26, Z:0.15 [[ 8.19334099e-01 -5.73316328e-01 1.51735245e-04 1.64232601e+02] [ 5.73316319e-01 8.19334113e-01 1.00763744e-04 4.52561222e+01] [-1.82091362e-04 4.43312105e-06 9.99999983e-01 1.47596662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161858064 meters 0.019651674603041847 Centerline is valid? [True, True] Translation: X:164.28, Y:45.29, Z:0.15 [[ 8.18094399e-01 -5.75083856e-01 3.36276211e-04 1.64281601e+02] [ 5.75083813e-01 8.18094468e-01 2.23263438e-04 4.52878755e+01] [-4.03500906e-04 1.07364371e-05 9.99999919e-01 1.47229173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221858064 meters 0.020010504546157586 Centerline is valid? [True, True] Translation: X:164.33, Y:45.32, Z:0.15 [[ 8.17802679e-01 -5.75498652e-01 2.80185892e-04 1.64328061e+02] [ 5.75498622e-01 8.17802727e-01 1.86304660e-04 4.53227727e+01] [-3.36354868e-04 8.88614499e-06 9.99999943e-01 1.46431400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281858064 meters 0.019785445210771642 Centerline is valid? [True, True] Translation: X:164.37, Y:45.36, Z:0.15 [[ 8.19448438e-01 -5.73152639e-01 -5.55638478e-04 1.64374201e+02] [ 5.73152521e-01 8.19448627e-01 -3.68879858e-04 4.53582713e+01] [ 6.66741652e-04 -1.61875706e-05 9.99999778e-01 1.45395240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341858064 meters 0.01926674363230103 Centerline is valid? [True, True] Translation: X:164.42, Y:45.39, Z:0.15 [[ 8.20835910e-01 -5.71163941e-01 -4.01309038e-04 1.64421111e+02] [ 5.71163879e-01 8.20836008e-01 -2.66378386e-04 4.53937023e+01] [ 4.81554637e-04 -1.05602815e-05 9.99999884e-01 1.45695121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401858064 meters 0.018002482648586386 Centerline is valid? [True, True] Translation: X:164.47, Y:45.43, Z:0.15 [[ 8.22915116e-01 -5.68164336e-01 3.85717582e-07 1.64466070e+02] [ 5.68164336e-01 8.22915116e-01 4.92394663e-07 4.54323673e+01] [-5.97173871e-07 -1.86048030e-07 1.00000000e+00 1.46265096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46185806399998 meters 0.01718030665175541 Centerline is valid? [True, True] Translation: X:164.51, Y:45.47, Z:0.15 [[ 8.23933229e-01 -5.66686881e-01 1.14938179e-04 1.64512734e+02] [ 5.66686876e-01 8.23933237e-01 7.65631788e-05 4.54693155e+01] [-1.38088734e-04 2.05101027e-06 9.99999990e-01 1.46434068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52185806399999 meters 0.017313598179131275 Centerline is valid? [True, True] Translation: X:164.56, Y:45.50, Z:0.15 [[ 8.23695036e-01 -5.67032326e-01 9.10258002e-04 1.64559768e+02] [ 5.67032003e-01 8.23695539e-01 6.05435110e-04 4.55024503e+01] [-1.09307673e-03 1.74515238e-05 9.99999402e-01 1.47552465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.581858064 meters 0.017580566235519512 Centerline is valid? [True, True] Translation: X:164.61, Y:45.54, Z:0.15 [[ 8.22302329e-01 -5.69050799e-01 2.61903593e-04 1.64608711e+02] [ 5.69050772e-01 8.22302370e-01 1.74524013e-04 4.55350531e+01] [-3.14676975e-04 5.52493929e-06 9.99999950e-01 1.46598030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.641858064 meters 0.01777879700603436 Centerline is valid? [True, True] Translation: X:164.66, Y:45.57, Z:0.15 [[ 8.21354813e-01 -5.70417620e-01 -1.00893792e-04 1.64657961e+02] [ 5.70417617e-01 8.21354819e-01 -6.69109171e-05 4.55669052e+01] [ 1.21036769e-04 -2.59399275e-06 9.99999993e-01 1.46720286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701858064 meters 0.018187964936004303 Centerline is valid? [True, True] Translation: X:164.71, Y:45.60, Z:0.15 [[ 8.20863405e-01 -5.71124135e-01 -7.02367324e-04 1.64707437e+02] [ 5.71123944e-01 8.20863705e-01 -4.67585388e-04 4.55990744e+01] [ 8.43597144e-04 -1.73150631e-05 9.99999644e-01 1.45861127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761858064 meters 0.018000332523432135 Centerline is valid? [True, True] Translation: X:164.76, Y:45.63, Z:0.15 [[ 8.20502367e-01 -5.71641239e-01 -1.46918180e-03 1.64756027e+02] [ 5.71640402e-01 8.20503682e-01 -9.78872209e-04 4.56323432e+01] [ 1.76503280e-03 -3.66767110e-05 9.99998442e-01 1.45614369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821858064 meters 0.017988044942897543 Centerline is valid? [True, True] Translation: X:164.81, Y:45.67, Z:0.15 [[ 8.19672438e-01 -5.72830717e-01 -1.43660754e-03 1.64805046e+02] [ 5.72829918e-01 8.19673696e-01 -9.57674614e-04 4.56653425e+01] [ 1.72613485e-03 -3.79522938e-05 9.99998510e-01 1.45156090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881858064 meters 0.018537993918782466 Centerline is valid? [True, True] Translation: X:164.85, Y:45.70, Z:0.15 [[ 8.18573346e-01 -5.74401534e-01 -7.44534857e-04 1.64854833e+02] [ 5.74401320e-01 8.18573685e-01 -4.96465166e-04 4.56966870e+01] [ 8.94626994e-04 -2.12686524e-05 9.99999600e-01 1.45427988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941858064 meters 0.019554706875643407 Centerline is valid? [True, True] Translation: X:164.90, Y:45.73, Z:0.15 [[ 8.17122485e-01 -5.76464067e-01 1.56859384e-04 1.64904641e+02] [ 5.76464057e-01 8.17122500e-01 1.04780313e-04 4.57256156e+01] [-1.88575418e-04 4.80544688e-06 9.99999982e-01 1.47253372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001858064 meters 0.02025928340995306 Centerline is valid? [True, True] Translation: X:164.96, Y:45.75, Z:0.15 [[ 8.15124593e-01 -5.79285138e-01 7.92362662e-04 1.64955946e+02] [ 5.79284897e-01 8.15124977e-01 5.28993710e-04 4.57542870e+01] [-9.52312791e-04 2.78079404e-05 9.99999546e-01 1.48539406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061858064 meters 0.01982287121876383 Centerline is valid? [True, True] Translation: X:165.00, Y:45.79, Z:0.15 [[ 8.14459023e-01 -5.80220749e-01 6.18888358e-04 1.65004962e+02] [ 5.80220602e-01 8.14459258e-01 4.13564530e-04 4.57872419e+01] [-7.44018074e-04 2.22604123e-05 9.99999723e-01 1.47997664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121858064 meters 0.019670441212950224 Centerline is valid? [True, True] Translation: X:165.05, Y:45.82, Z:0.15 [[ 8.15912542e-01 -5.78175317e-01 -1.62988006e-04 1.65053180e+02] [ 5.78175307e-01 8.15912558e-01 -1.08665937e-04 4.58199242e+01] [ 1.95811923e-04 -5.57374000e-06 9.99999981e-01 1.47100766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181858064 meters 0.01919880358843141 Centerline is valid? [True, True] Translation: X:165.10, Y:45.85, Z:0.15 [[ 8.17040243e-01 -5.76579573e-01 -1.11213750e-03 1.65101948e+02] [ 5.76579095e-01 8.17040999e-01 -7.43207158e-04 4.58530544e+01] [ 1.33718000e-03 -3.40050788e-05 9.99999105e-01 1.45973033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24185806399998 meters 0.01892434366324292 Centerline is valid? [True, True] Translation: X:165.15, Y:45.89, Z:0.14 [[ 8.17280337e-01 -5.76238082e-01 -1.58872082e-03 1.65151539e+02] [ 5.76237104e-01 8.17281880e-01 -1.06235962e-03 4.58855060e+01] [ 1.91060481e-03 -4.72342552e-05 9.99998174e-01 1.44535965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.301858064 meters 0.01953762970618814 Centerline is valid? [True, True] Translation: X:165.20, Y:45.92, Z:0.15 [[ 8.15997921e-01 -5.78053674e-01 -1.15869182e-03 1.65201818e+02] [ 5.78053156e-01 8.15998743e-01 -7.75044940e-04 4.59153664e+01] [ 1.39350864e-03 -3.73504027e-05 9.99999028e-01 1.45318945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.361858064 meters 0.019753253023474904 Centerline is valid? [True, True] Translation: X:165.25, Y:45.95, Z:0.14 [[ 8.14250145e-01 -5.80512008e-01 -1.58424207e-03 1.65251014e+02] [ 5.80511042e-01 8.14251685e-01 -1.06012249e-03 4.59479681e+01] [ 1.90538561e-03 -5.64651246e-05 9.99998183e-01 1.44463684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421858064 meters 0.02013289554961584 Centerline is valid? [True, True] Translation: X:165.30, Y:45.98, Z:0.14 [[ 8.13286788e-01 -5.81859640e-01 -1.99005771e-03 1.65299753e+02] [ 5.81858119e-01 8.13289219e-01 -1.33244994e-03 4.59812552e+01] [ 2.39379132e-03 -7.42673038e-05 9.99997132e-01 1.43453778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481858064 meters 0.021284546250133658 Centerline is valid? [True, True] Translation: X:165.35, Y:46.01, Z:0.14 [[ 8.12713820e-01 -5.82653036e-01 -3.41846019e-03 1.65348316e+02] [ 5.82648552e-01 8.12720999e-01 -2.28961473e-03 4.60133356e+01] [ 4.11230535e-03 -1.30959347e-04 9.99991536e-01 1.41586357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541858064 meters 0.020205204033500835 Centerline is valid? [True, True] Translation: X:165.39, Y:46.05, Z:0.14 [[ 8.12786317e-01 -5.82537144e-01 -5.37388295e-03 1.65394231e+02] [ 5.82526047e-01 8.12804057e-01 -3.60133688e-03 4.60493328e+01] [ 6.46582636e-03 -2.03309450e-04 9.99979076e-01 1.40244549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601858064 meters 0.019238438575825918 Centerline is valid? [True, True] Translation: X:165.44, Y:46.09, Z:0.14 [[ 8.13504138e-01 -5.81514405e-01 -7.21211698e-03 1.65440098e+02] [ 5.81494354e-01 8.13536065e-01 -4.83596474e-03 4.60865128e+01] [ 8.67950042e-03 -2.59727979e-04 9.99962299e-01 1.38387158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661858064 meters 0.019328419716515582 Centerline is valid? [True, True] Translation: X:165.49, Y:46.12, Z:0.14 [[ 8.14878733e-01 -5.79560421e-01 -9.07571849e-03 1.65486722e+02] [ 5.79528512e-01 8.14929217e-01 -6.08885621e-03 4.61219353e+01] [ 1.09249282e-02 -2.97958197e-04 9.99940277e-01 1.36024617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721858064 meters 0.018555186134184474 Centerline is valid? [True, True] Translation: X:165.53, Y:46.16, Z:0.14 [[ 8.16018880e-01 -5.77940606e-01 -9.89153983e-03 1.65532682e+02] [ 5.77902541e-01 8.16078775e-01 -6.63973506e-03 4.61595793e+01] [ 1.19096482e-02 -2.98196835e-04 9.99929033e-01 1.35047700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781858064 meters 0.01810601522630682 Centerline is valid? [True, True] Translation: X:165.58, Y:46.20, Z:0.13 [[ 8.17762917e-01 -5.75451265e-01 -1.09386498e-02 1.65577932e+02] [ 5.75404440e-01 8.17836023e-01 -7.34651149e-03 4.61975459e+01] [ 1.31735812e-02 -2.86442998e-04 9.99913184e-01 1.33880630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841858064 meters 0.017604193135791056 Centerline is valid? [True, True] Translation: X:165.62, Y:46.23, Z:0.13 [[ 8.19466775e-01 -5.73015204e-01 -1.13040271e-02 1.65622544e+02] [ 5.72964936e-01 8.19544698e-01 -7.59410176e-03 4.62346928e+01] [ 1.36156912e-02 -2.53697062e-04 9.99907270e-01 1.33852742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901858064 meters 0.01722105085905973 Centerline is valid? [True, True] Translation: X:165.67, Y:46.27, Z:0.13 [[ 8.20675477e-01 -5.71288153e-01 -1.10275872e-02 1.65669209e+02] [ 5.71240113e-01 8.20749535e-01 -7.41180726e-03 4.62717540e+01] [ 1.32851647e-02 -2.16711693e-04 9.99911725e-01 1.34257344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96185806399998 meters 0.016488813232684914 Centerline is valid? [True, True] Translation: X:165.71, Y:46.31, Z:0.13 [[ 8.21731292e-01 -5.69775031e-01 -1.06816284e-02 1.65714128e+02] [ 5.69729784e-01 8.21800694e-01 -7.18279201e-03 4.63114402e+01] [ 1.28707452e-02 -1.83316878e-04 9.99917152e-01 1.34834255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02185806399999 meters 0.016437989246676943 Centerline is valid? [True, True] Translation: X:165.76, Y:46.35, Z:0.14 [[ 8.21469790e-01 -5.70148069e-01 -1.08886563e-02 1.65760771e+02] [ 5.70101026e-01 8.21541930e-01 -7.32642444e-03 4.63465759e+01] [ 1.31226345e-02 -1.89197809e-04 9.99913877e-01 1.35176905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.081858064 meters 0.01720874861577451 Centerline is valid? [True, True] Translation: X:165.81, Y:46.38, Z:0.14 [[ 8.19951140e-01 -5.72337758e-01 -1.04699237e-02 1.65807981e+02] [ 5.72294423e-01 8.20017954e-01 -7.04619380e-03 4.63806307e+01] [ 1.26183282e-02 -2.14344332e-04 9.99920363e-01 1.35384799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.141858064 meters 0.017917481219080555 Centerline is valid? [True, True] Translation: X:165.86, Y:46.42, Z:0.13 [[ 8.18232205e-01 -5.74786348e-01 -1.08033673e-02 1.65855421e+02] [ 5.74740373e-01 8.18303482e-01 -7.27424984e-03 4.64162807e+01] [ 1.30215725e-02 -2.57105846e-04 9.99915183e-01 1.34034402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201858064 meters 0.018648002729561953 Centerline is valid? [True, True] Translation: X:165.90, Y:46.45, Z:0.13 [[ 8.17233568e-01 -5.76199461e-01 -1.11120090e-02 1.65904092e+02] [ 5.76150901e-01 8.17309060e-01 -7.48595090e-03 4.64498178e+01] [ 1.33953465e-02 -2.84423638e-04 9.99910238e-01 1.33418032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261858064 meters 0.01920176647726837 Centerline is valid? [True, True] Translation: X:165.95, Y:46.48, Z:0.13 [[ 8.15952067e-01 -5.78021897e-01 -1.06259584e-02 1.65952299e+02] [ 5.77977599e-01 8.16021199e-01 -7.16218524e-03 4.64844023e+01] [ 1.28109072e-02 -2.97566079e-04 9.99917893e-01 1.33664969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321858064 meters 0.01977977170536383 Centerline is valid? [True, True] Translation: X:166.00, Y:46.52, Z:0.14 [[ 8.15537352e-01 -5.78619371e-01 -9.92220964e-03 1.65998527e+02] [ 5.78580759e-01 8.15597660e-01 -6.69053437e-03 4.65171406e+01] [ 1.19638038e-02 -2.84418896e-04 9.99928391e-01 1.35298088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381858064 meters 0.0198059977530128 Centerline is valid? [True, True] Translation: X:166.05, Y:46.55, Z:0.14 [[ 8.15614344e-01 -5.78527082e-01 -8.92510923e-03 1.66046373e+02] [ 5.78495803e-01 8.15663137e-01 -6.02112772e-03 4.65510854e+01] [ 1.07632680e-02 -2.52220091e-04 9.99942043e-01 1.36650564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441858064 meters 0.01828407072560356 Centerline is valid? [True, True] Translation: X:166.09, Y:46.59, Z:0.14 [[ 8.16351252e-01 -5.77488277e-01 -8.82737936e-03 1.66092856e+02] [ 5.77457586e-01 8.16398944e-01 -5.95831211e-03 4.65881497e+01] [ 1.06475186e-02 -2.33361621e-04 9.99943286e-01 1.38237719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501858064 meters 0.017945168951726334 Centerline is valid? [True, True] Translation: X:166.14, Y:46.62, Z:0.14 [[ 8.17324939e-01 -5.76100567e-01 -9.38516547e-03 1.66141116e+02] [ 5.76065745e-01 8.17378790e-01 -6.33813092e-03 4.66221077e+01] [ 1.13226360e-02 -2.26159868e-04 9.99935871e-01 1.38958979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561858064 meters 0.01754984175676905 Centerline is valid? [True, True] Translation: X:166.19, Y:46.66, Z:0.14 [[ 8.18611737e-01 -5.74276870e-01 -8.99443254e-03 1.66188807e+02] [ 5.74244743e-01 8.18661127e-01 -6.07741532e-03 4.66564231e+01] [ 1.08535113e-02 -1.89962089e-04 9.99941081e-01 1.39520944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621858064 meters 0.017104525993095917 Centerline is valid? [True, True] Translation: X:166.24, Y:46.69, Z:0.14 [[ 8.20739147e-01 -5.71242744e-01 -8.30542416e-03 1.66237197e+02] [ 5.71215180e-01 8.20781157e-01 -5.61343014e-03 4.66908084e+01] [ 1.00235669e-02 -1.37022491e-04 9.99949753e-01 1.40664773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681858064 meters 0.01666172854428546 Centerline is valid? [True, True] Translation: X:166.29, Y:46.72, Z:0.14 [[ 8.22155260e-01 -5.69203053e-01 -8.28325243e-03 1.66286178e+02] [ 5.69175504e-01 8.22196979e-01 -5.60123877e-03 4.67230135e+01] [ 9.99870733e-03 -1.09536452e-04 9.99950006e-01 1.41500929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74185806399998 meters 0.01648870556695646 Centerline is valid? [True, True] Translation: X:166.33, Y:46.76, Z:0.14 [[ 8.22565581e-01 -5.68606690e-01 -8.50277283e-03 1.66334224e+02] [ 5.68577594e-01 8.22609519e-01 -5.75309379e-03 4.67558340e+01] [ 1.02657095e-02 -1.02189181e-04 9.99947301e-01 1.41385599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.801858064 meters 0.016456092063902517 Centerline is valid? [True, True] Translation: X:166.38, Y:46.79, Z:0.14 [[ 8.22576992e-01 -5.68596175e-01 -8.09209975e-03 1.66382940e+02] [ 5.68569789e-01 8.22616789e-01 -5.47852074e-03 4.67880825e+01] [ 9.77176304e-03 -9.44183340e-05 9.99952251e-01 1.40853373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.861858064 meters 0.01658773655141378 Centerline is valid? [True, True] Translation: X:166.43, Y:46.82, Z:0.14 [[ 8.22150691e-01 -5.69230743e-01 -6.67850142e-03 1.66433062e+02] [ 5.69212770e-01 8.22177812e-01 -4.52417244e-03 4.68180136e+01] [ 8.06621372e-03 -8.19367936e-05 9.99967464e-01 1.42755683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921858064 meters 0.016645574502252278 Centerline is valid? [True, True] Translation: X:166.48, Y:46.85, Z:0.14 [[ 8.20948999e-01 -5.70963429e-01 -6.59568792e-03 1.66483589e+02] [ 5.70945946e-01 8.20975489e-01 -4.46912418e-03 4.68474442e+01] [ 7.96660458e-03 -9.68582564e-05 9.99968261e-01 1.43118237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981858064 meters 0.01704417730986296 Centerline is valid? [True, True] Translation: X:166.54, Y:46.88, Z:0.14 [[ 8.19224099e-01 -5.73422724e-01 -7.63253606e-03 1.66535240e+02] [ 5.73399395e-01 8.19259642e-01 -5.17425610e-03 4.68765910e+01] [ 9.22006479e-03 -1.37616264e-04 9.99957485e-01 1.41754590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041858064 meters 0.017328918729857444 Centerline is valid? [True, True] Translation: X:166.59, Y:46.91, Z:0.14 [[ 8.17934176e-01 -5.75255041e-01 -8.08218649e-03 1.66586469e+02] [ 5.75228943e-01 8.17974089e-01 -5.48198224e-03 4.69062286e+01] [ 9.76455705e-03 -1.65206967e-04 9.99952312e-01 1.41247199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101858064 meters 0.01794198235975273 Centerline is valid? [True, True] Translation: X:166.64, Y:46.93, Z:0.14 [[ 8.16335447e-01 -5.77519811e-01 -8.20403019e-03 1.66638812e+02] [ 5.77493006e-01 8.16376648e-01 -5.56752674e-03 4.69334564e+01] [ 9.91293565e-03 -1.92800623e-04 9.99950847e-01 1.41461483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161858064 meters 0.018120123977740904 Centerline is valid? [True, True] Translation: X:166.69, Y:46.96, Z:0.14 [[ 8.15746723e-01 -5.78350920e-01 -8.21564316e-03 1.66690063e+02] [ 5.78324052e-01 8.15788069e-01 -5.57831311e-03 4.69633805e+01] [ 9.92844618e-03 -2.00813398e-04 9.99950692e-01 1.41675570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221858064 meters 0.018052822470416275 Centerline is valid? [True, True] Translation: X:166.74, Y:46.99, Z:0.14 [[ 8.15808527e-01 -5.78259810e-01 -8.48760531e-03 1.66739540e+02] [ 5.78231094e-01 8.15852653e-01 -5.76637480e-03 4.69937239e+01] [ 1.02590981e-02 -2.03539574e-04 9.99947353e-01 1.42091557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281858064 meters 0.017540211441560042 Centerline is valid? [True, True] Translation: X:166.79, Y:47.03, Z:0.14 [[ 8.17107044e-01 -5.76424618e-01 -8.41063408e-03 1.66789614e+02] [ 5.76396306e-01 8.17150309e-01 -5.71580228e-03 4.70257366e+01] [ 1.01674814e-02 -1.77436110e-04 9.99948294e-01 1.43521673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341858064 meters 0.01687305054558332 Centerline is valid? [True, True] Translation: X:166.84, Y:47.06, Z:0.14 [[ 8.19546411e-01 -5.72955801e-01 -8.08271957e-03 1.66837904e+02] [ 5.72929458e-01 8.19586258e-01 -5.49562521e-03 4.70585340e+01] [ 9.77323623e-03 -1.26908221e-04 9.99952233e-01 1.43720739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401858064 meters 0.016075681948682977 Centerline is valid? [True, True] Translation: X:166.89, Y:47.09, Z:0.15 [[ 8.21132783e-01 -5.70679547e-01 -8.11214864e-03 1.66886257e+02] [ 5.70652872e-01 8.21172847e-01 -5.51854521e-03 4.70920253e+01] [ 9.81079708e-03 -9.77625273e-05 9.99951868e-01 1.45255023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46185806399998 meters 0.015700412793708204 Centerline is valid? [True, True] Translation: X:166.93, Y:47.13, Z:0.15 [[ 8.23016847e-01 -5.67966215e-01 -7.59266101e-03 1.66934844e+02] [ 5.67942707e-01 8.23051866e-01 -5.16785709e-03 4.71250564e+01] [ 9.18432205e-03 -5.89629979e-05 9.99957821e-01 1.45900833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52185806399999 meters 0.015758084991225194 Centerline is valid? [True, True] Translation: X:166.98, Y:47.16, Z:0.15 [[ 8.23014709e-01 -5.67978182e-01 -6.89734375e-03 1.66983903e+02] [ 5.67958760e-01 8.23043609e-01 -4.69737015e-03 4.71568037e+01] [ 8.34481845e-03 -5.14020749e-05 9.99965180e-01 1.46189406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.581858064 meters 0.0159306938891452 Centerline is valid? [True, True] Translation: X:167.04, Y:47.19, Z:0.15 [[ 8.21198407e-01 -5.70598681e-01 -7.09371191e-03 1.67035249e+02] [ 5.70578212e-01 8.21229042e-01 -4.83369697e-03 4.71858585e+01] [ 8.58366335e-03 -7.80932032e-05 9.99963157e-01 1.47386892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.641858064 meters 0.016355583465161565 Centerline is valid? [True, True] Translation: X:167.09, Y:47.22, Z:0.15 [[ 8.18392945e-01 -5.74628864e-01 -5.88704216e-03 1.67086496e+02] [ 5.74614855e-01 8.18414113e-01 -4.01356136e-03 4.72154282e+01] [ 7.12434658e-03 -9.81115798e-05 9.99974617e-01 1.48677694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701858064 meters 0.017139077650775242 Centerline is valid? [True, True] Translation: X:167.14, Y:47.25, Z:0.15 [[ 8.16324689e-01 -5.77567207e-01 -5.48845127e-03 1.67137456e+02] [ 5.77555085e-01 8.16343132e-01 -3.74377780e-03 4.72455493e+01] [ 6.64274278e-03 -1.13744687e-04 9.99977930e-01 1.48949246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761858064 meters 0.018284330036691054 Centerline is valid? [True, True] Translation: X:167.19, Y:47.28, Z:0.15 [[ 8.14851158e-01 -5.79643154e-01 -5.60401625e-03 1.67187550e+02] [ 5.79630558e-01 8.14870417e-01 -3.82349122e-03 4.72755427e+01] [ 6.78280756e-03 -1.32682822e-04 9.99976988e-01 1.48099309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821858064 meters 0.018976671818169394 Centerline is valid? [True, True] Translation: X:167.24, Y:47.31, Z:0.15 [[ 8.13107774e-01 -5.82065334e-01 -7.46286521e-03 1.67237959e+02] [ 5.82043076e-01 8.13141997e-01 -5.09422969e-03 4.73064577e+01] [ 9.03354363e-03 -2.01551255e-04 9.99959176e-01 1.47279828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881858064 meters 0.018794635896809447 Centerline is valid? [True, True] Translation: X:167.29, Y:47.34, Z:0.15 [[ 8.12838954e-01 -5.82415651e-01 -9.21111570e-03 1.67286955e+02] [ 5.82381728e-01 8.12891104e-01 -6.29091122e-03 4.73397035e+01] [ 1.11515592e-02 -2.50887787e-04 9.99937788e-01 1.45508900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941858064 meters 0.0189616271048738 Centerline is valid? [True, True] Translation: X:167.34, Y:47.37, Z:0.14 [[ 8.13450370e-01 -5.81546338e-01 -1.01169320e-02 1.67335188e+02] [ 5.81505324e-01 8.13513238e-01 -6.91158256e-03 4.73718321e+01] [ 1.22496636e-02 -2.60820406e-04 9.99924936e-01 1.43718909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001858064 meters 0.01891254199102473 Centerline is valid? [True, True] Translation: X:167.38, Y:47.40, Z:0.14 [[ 8.13853245e-01 -5.80993744e-01 -9.44273898e-03 1.67383883e+02] [ 5.80957941e-01 8.13907989e-01 -6.45410673e-03 4.74045551e+01] [ 1.14353163e-02 -2.33138497e-04 9.99934587e-01 1.43383602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061858064 meters 0.01763920066990099 Centerline is valid? [True, True] Translation: X:167.43, Y:47.44, Z:0.15 [[ 8.14711179e-01 -5.79792702e-01 -9.28001212e-03 1.67432176e+02] [ 5.79758006e-01 8.14764002e-01 -6.34624855e-03 4.74384758e+01] [ 1.12405284e-02 -2.09801689e-04 9.99936801e-01 1.45738818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121858064 meters 0.017683146017017353 Centerline is valid? [True, True] Translation: X:167.48, Y:47.47, Z:0.15 [[ 8.15269950e-01 -5.79010164e-01 -9.06304071e-03 1.67481015e+02] [ 5.78976987e-01 8.15320301e-01 -6.20116339e-03 4.74713248e+01] [ 1.09798177e-02 -1.91669843e-04 9.99939702e-01 1.46824797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181858064 meters 0.017819874207366738 Centerline is valid? [True, True] Translation: X:167.53, Y:47.50, Z:0.15 [[ 8.16236405e-01 -5.77631986e-01 -9.97094945e-03 1.67530263e+02] [ 5.77591685e-01 8.16297283e-01 -6.82576934e-03 4.75045668e+01] [ 1.20820416e-02 -1.87696065e-04 9.99926992e-01 1.47181462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24185806399998 meters 0.017565407829738734 Centerline is valid? [True, True] Translation: X:167.58, Y:47.54, Z:0.15 [[ 8.16531953e-01 -5.77203838e-01 -1.05498743e-02 1.67578894e+02] [ 5.77158630e-01 8.16600082e-01 -7.22643312e-03 4.75366256e+01] [ 1.27861532e-02 -1.88337463e-04 9.99918236e-01 1.47637038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.301858064 meters 0.017056986791980193 Centerline is valid? [True, True] Translation: X:167.63, Y:47.57, Z:0.15 [[ 8.16243915e-01 -5.77586235e-01 -1.18326554e-02 1.67627367e+02] [ 5.77529341e-01 8.16329649e-01 -8.10954619e-03 4.75707062e+01] [ 1.43433097e-02 -2.14337946e-04 9.99897106e-01 1.46882455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.361858064 meters 0.017310628550621772 Centerline is valid? [True, True] Translation: X:167.68, Y:47.60, Z:0.15 [[ 8.15610813e-01 -5.78474972e-01 -1.20709568e-02 1.67676194e+02] [ 5.78415835e-01 8.15700100e-01 -8.27460759e-03 4.76022403e+01] [ 1.46329340e-02 -2.33173111e-04 9.99892906e-01 1.46220578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421858064 meters 0.017206060207652574 Centerline is valid? [True, True] Translation: X:167.73, Y:47.63, Z:0.15 [[ 8.14314549e-01 -5.80297499e-01 -1.21089635e-02 1.67726475e+02] [ 5.80238129e-01 8.14404533e-01 -8.30488027e-03 4.76333635e+01] [ 1.46808960e-02 -2.63297463e-04 9.99892195e-01 1.48385424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481858064 meters 0.017910129208473687 Centerline is valid? [True, True] Translation: X:167.78, Y:47.66, Z:0.15 [[ 8.12020114e-01 -5.83502921e-01 -1.21521463e-02 1.67777045e+02] [ 5.83443420e-01 8.12110977e-01 -8.33885362e-03 4.76634335e+01] [ 1.47346368e-02 -3.18772914e-04 9.99891389e-01 1.48833276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541858064 meters 0.018680704566602854 Centerline is valid? [True, True] Translation: X:167.83, Y:47.70, Z:0.15 [[ 8.10443181e-01 -5.85670950e-01 -1.30915322e-02 1.67826640e+02] [ 5.85602101e-01 8.10548822e-01 -8.98812721e-03 4.76950791e+01] [ 1.58754110e-02 -3.82062383e-04 9.99873905e-01 1.47906885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601858064 meters 0.01924876836201909 Centerline is valid? [True, True] Translation: X:167.87, Y:47.73, Z:0.15 [[ 8.09619703e-01 -5.86845250e-01 -1.13397265e-02 1.67874350e+02] [ 5.86793681e-01 8.09699037e-01 -7.78747800e-03 4.77265766e+01] [ 1.37518101e-02 -3.49184224e-04 9.99905378e-01 1.48239672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661858064 meters 0.019089289838499956 Centerline is valid? [True, True] Translation: X:167.92, Y:47.76, Z:0.15 [[ 8.09263629e-01 -5.87343713e-01 -1.09426610e-02 1.67921360e+02] [ 5.87295682e-01 8.09337535e-01 -7.51904014e-03 4.77598987e+01] [ 1.32725673e-02 -3.41691878e-04 9.99911857e-01 1.48592732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721858064 meters 0.018534576192827508 Centerline is valid? [True, True] Translation: X:167.97, Y:47.80, Z:0.15 [[ 8.10126170e-01 -5.86184348e-01 -9.13773679e-03 1.67967739e+02] [ 5.86150746e-01 8.10177659e-01 -6.28203038e-03 4.77958975e+01] [ 1.10856181e-02 -2.66854020e-04 9.99938517e-01 1.47820341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781858064 meters 0.018085340034541614 Centerline is valid? [True, True] Translation: X:168.01, Y:47.83, Z:0.15 [[ 8.11102858e-01 -5.84852879e-01 -7.69833719e-03 1.68014359e+02] [ 5.84828945e-01 8.11139364e-01 -5.29514713e-03 4.78320420e+01] [ 9.34130637e-03 -2.07301447e-04 9.99956348e-01 1.48012380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841858064 meters 0.017219980611062422 Centerline is valid? [True, True] Translation: X:168.06, Y:47.87, Z:0.15 [[ 8.13495571e-01 -5.81551981e-01 -4.71698277e-03 1.68060239e+02] [ 5.81542932e-01 8.13509240e-01 -3.24570339e-03 4.78696894e+01] [ 5.72485430e-03 -1.02762660e-04 9.99983608e-01 1.49320942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901858064 meters 0.016139150428467253 Centerline is valid? [True, True] Translation: X:168.11, Y:47.91, Z:0.15 [[ 8.15627698e-01 -5.78570222e-01 -2.82075764e-03 1.68105588e+02] [ 5.78566965e-01 8.15632574e-01 -1.94180579e-03 4.79081915e+01] [ 3.42417282e-03 -4.82066046e-05 9.99994136e-01 1.49856394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96185806399998 meters 0.015717307404166332 Centerline is valid? [True, True] Translation: X:168.15, Y:47.94, Z:0.15 [[ 8.16662141e-01 -5.77114967e-01 -1.12316468e-03 1.68152756e+02] [ 5.77114449e-01 8.16662914e-01 -7.73434727e-04 4.79438344e+01] [ 1.36360770e-03 -1.65597080e-05 9.99999070e-01 1.50081929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02185806399999 meters 0.015446141439795356 Centerline is valid? [True, True] Translation: X:168.20, Y:47.98, Z:0.15 [[ 8.16409186e-01 -5.77473844e-01 -2.22043123e-05 1.68200325e+02] [ 5.77473844e-01 8.16409186e-01 -1.50068201e-05 4.79771635e+01] [ 2.67938507e-05 -5.70703793e-07 1.00000000e+00 1.50767925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.081858064 meters 0.01593103232236009 Centerline is valid? [True, True] Translation: X:168.25, Y:48.01, Z:0.15 [[ 8.14844107e-01 -5.79679013e-01 1.15034293e-03 1.68249907e+02] [ 5.79678470e-01 8.14844919e-01 7.93571296e-04 4.80095123e+01] [-1.39736772e-03 2.01921366e-05 9.99999023e-01 1.50162768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.141858064 meters 0.017025497056222548 Centerline is valid? [True, True] Translation: X:168.30, Y:48.04, Z:0.15 [[ 8.13068426e-01 -5.82166761e-01 1.26354305e-03 1.68299576e+02] [ 5.82166109e-01 8.13069407e-01 8.71756727e-04 4.80401729e+01] [-1.53485599e-03 2.67940735e-05 9.99998822e-01 1.49770943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201858064 meters 0.017269682419565398 Centerline is valid? [True, True] Translation: X:168.35, Y:48.07, Z:0.15 [[ 8.10517804e-01 -5.85706078e-01 3.04635633e-03 1.68348865e+02] [ 5.85702309e-01 8.10523525e-01 2.10277542e-03 4.80727393e+01] [-3.70075181e-03 7.99210209e-05 9.99993149e-01 1.50130884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261858064 meters 0.018485514304384283 Centerline is valid? [True, True] Translation: X:168.40, Y:48.10, Z:0.15 [[ 8.09436203e-01 -5.87199660e-01 3.09709551e-03 1.68397893e+02] [ 5.87195774e-01 8.09442123e-01 2.13802466e-03 4.81034753e+01] [-3.76236692e-03 8.80068380e-05 9.99992918e-01 1.49975955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321858064 meters 0.018183346099886154 Centerline is valid? [True, True] Translation: X:168.44, Y:48.14, Z:0.15 [[ 8.07645493e-01 -5.89660028e-01 3.13193556e-03 1.68444785e+02] [ 5.89656068e-01 8.07651559e-01 2.16338603e-03 4.81390779e+01] [-3.80517491e-03 9.95158319e-05 9.99992755e-01 1.47948323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381858064 meters 0.01862519876783387 Centerline is valid? [True, True] Translation: X:168.49, Y:48.17, Z:0.15 [[ 8.07232308e-01 -5.90232187e-01 1.40228448e-03 1.68492938e+02] [ 5.90231392e-01 8.07233525e-01 9.69383726e-04 4.81720412e+01] [-1.70413252e-03 4.51544577e-05 9.99998547e-01 1.46294854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441858064 meters 0.019009047987976573 Centerline is valid? [True, True] Translation: X:168.54, Y:48.21, Z:0.15 [[ 8.06919501e-01 -5.90660396e-01 1.10249775e-03 1.68540195e+02] [ 5.90659905e-01 8.06920253e-01 7.62666988e-04 4.82050311e+01] [-1.34010495e-03 3.57903514e-05 9.99999101e-01 1.45209095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501858064 meters 0.019401034359276027 Centerline is valid? [True, True] Translation: X:168.59, Y:48.24, Z:0.14 [[ 8.06941785e-01 -5.90630951e-01 1.85682802e-04 1.68587251e+02] [ 5.90630937e-01 8.06941807e-01 1.28767876e-04 4.82389895e+01] [-2.25889509e-04 5.76182757e-06 9.99999974e-01 1.44202164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561858064 meters 0.0192646296532264 Centerline is valid? [True, True] Translation: X:168.63, Y:48.27, Z:0.14 [[ 8.07072580e-01 -5.90452017e-01 -5.16385345e-04 1.68634661e+02] [ 5.90451909e-01 8.07072745e-01 -3.57218369e-04 4.82739724e+01] [ 6.27680844e-04 -1.65995619e-05 9.99999803e-01 1.44034249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621858064 meters 0.018734445687180596 Centerline is valid? [True, True] Translation: X:168.68, Y:48.31, Z:0.15 [[ 8.07034041e-01 -5.90503659e-01 1.21858333e-03 1.68681429e+02] [ 5.90503056e-01 8.07034960e-01 8.44389420e-04 4.83081371e+01] [-1.48205439e-03 3.81261761e-05 9.99998901e-01 1.46787729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681858064 meters 0.019452384614949487 Centerline is valid? [True, True] Translation: X:168.73, Y:48.34, Z:0.15 [[ 8.06536164e-01 -5.91183615e-01 1.16160038e-03 1.68728440e+02] [ 5.91183068e-01 8.06537000e-01 8.04860923e-04 4.83412533e+01] [-1.41269427e-03 3.75690328e-05 9.99999001e-01 1.47292509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74185806399998 meters 0.018574596660397884 Centerline is valid? [True, True] Translation: X:168.77, Y:48.38, Z:0.15 [[ 8.06361050e-01 -5.91423295e-01 5.85965590e-04 1.68774655e+02] [ 5.91423155e-01 8.06361263e-01 4.06514553e-04 4.83765423e+01] [-7.12922129e-04 1.87561161e-05 9.99999746e-01 1.47120242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.801858064 meters 0.018490275592383733 Centerline is valid? [True, True] Translation: X:168.82, Y:48.41, Z:0.15 [[ 8.07066484e-01 -5.90460503e-01 -2.91604188e-04 1.68820809e+02] [ 5.90460469e-01 8.07066536e-01 -2.01996454e-04 4.84125118e+01] [ 3.54614910e-04 -9.15617721e-06 9.99999937e-01 1.47033021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.861858064 meters 0.0181939091371726 Centerline is valid? [True, True] Translation: X:168.87, Y:48.45, Z:0.15 [[ 8.07675025e-01 -5.89627294e-01 -8.41775524e-04 1.68867122e+02] [ 5.89627005e-01 8.07675463e-01 -5.83901735e-04 4.84497224e+01] [ 1.02416584e-03 -2.47307337e-05 9.99999475e-01 1.45979739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921858064 meters 0.018472201207243636 Centerline is valid? [True, True] Translation: X:168.91, Y:48.48, Z:0.15 [[ 8.07944894e-01 -5.89255997e-01 -1.55516136e-03 1.68913993e+02] [ 5.89255010e-01 8.07946390e-01 -1.07933253e-03 4.84844052e+01] [ 1.89249017e-03 -4.43454185e-05 9.99998208e-01 1.46078993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981858064 meters 0.018396159284877037 Centerline is valid? [True, True] Translation: X:168.96, Y:48.52, Z:0.15 [[ 8.07779115e-01 -5.89483671e-01 -1.37942770e-03 1.68960592e+02] [ 5.89482894e-01 8.07780292e-01 -9.57722623e-04 4.85192355e+01] [ 1.67883636e-03 -3.95207028e-05 9.99998590e-01 1.47093914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041858064 meters 0.017985640808538407 Centerline is valid? [True, True] Translation: X:169.01, Y:48.56, Z:0.15 [[ 8.08362883e-01 -5.88681080e-01 -2.00888766e-03 1.69005997e+02] [ 5.88679428e-01 8.08365378e-01 -1.39564712e-03 4.85568735e+01] [ 2.44550628e-03 -5.44015080e-05 9.99997008e-01 1.46541830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101858064 meters 0.01803554791137053 Centerline is valid? [True, True] Translation: X:169.05, Y:48.59, Z:0.15 [[ 8.09410954e-01 -5.87238216e-01 -2.27723885e-03 1.69052190e+02] [ 5.87236086e-01 8.09414155e-01 -1.58266746e-03 4.85924704e+01] [ 2.77263218e-03 -5.62484516e-05 9.99996155e-01 1.45795782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161858064 meters 0.0171051006255971 Centerline is valid? [True, True] Translation: X:169.10, Y:48.63, Z:0.15 [[ 8.10977147e-01 -5.85075072e-01 -1.79645396e-03 1.69097365e+02] [ 5.85073740e-01 8.10979136e-01 -1.24902655e-03 4.86308673e+01] [ 2.18766098e-03 -3.81260537e-05 9.99997606e-01 1.46429195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221858064 meters 0.016730418756759066 Centerline is valid? [True, True] Translation: X:169.14, Y:48.67, Z:0.15 [[ 8.12784412e-01 -5.82554588e-01 -3.41353516e-03 1.69143143e+02] [ 5.82549750e-01 8.12791578e-01 -2.37481714e-03 4.86678903e+01] [ 4.15795325e-03 -5.83397032e-05 9.99991354e-01 1.45715645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281858064 meters 0.016470088072424977 Centerline is valid? [True, True] Translation: X:169.19, Y:48.71, Z:0.15 [[ 8.14234105e-01 -5.80526350e-01 -3.46106395e-03 1.69189406e+02] [ 5.80521353e-01 8.14241460e-01 -2.40916102e-03 4.87050747e+01] [ 4.21672321e-03 -4.76004609e-05 9.99991108e-01 1.46506325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341858064 meters 0.016380745791892103 Centerline is valid? [True, True] Translation: X:169.24, Y:48.74, Z:0.15 [[ 8.14868083e-01 -5.79637233e-01 -3.26896712e-03 1.69236795e+02] [ 5.79632763e-01 8.14874639e-01 -2.27656630e-03 4.87409739e+01] [ 3.98338100e-03 -3.96992270e-05 9.99992066e-01 1.47338023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401858064 meters 0.016442675145040792 Centerline is valid? [True, True] Translation: X:169.28, Y:48.78, Z:0.15 [[ 8.15621474e-01 -5.78576350e-01 -3.31939256e-03 1.69282382e+02] [ 5.78571730e-01 8.15628228e-01 -2.31226588e-03 4.87769646e+01] [ 4.04521262e-03 -3.45729919e-05 9.99991817e-01 1.47218120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46185806399998 meters 0.01649975764767796 Centerline is valid? [True, True] Translation: X:169.33, Y:48.81, Z:0.15 [[ 8.15345301e-01 -5.78966872e-01 -3.06622333e-03 1.69329597e+02] [ 5.78962929e-01 8.15351066e-01 -2.13692375e-03 4.88113275e+01] [ 3.73725652e-03 -3.28989021e-05 9.99993016e-01 1.47257306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52185806399999 meters 0.017065137222462903 Centerline is valid? [True, True] Translation: X:169.38, Y:48.84, Z:0.15 [[ 8.13517315e-01 -5.81538144e-01 -1.72177711e-03 1.69378417e+02] [ 5.81536906e-01 8.13519137e-01 -1.20045374e-03 4.88444484e+01] [ 2.09880827e-03 -2.46870328e-05 9.99997797e-01 1.48185412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.581858064 meters 0.01712375963213838 Centerline is valid? [True, True] Translation: X:169.43, Y:48.88, Z:0.15 [[ 8.12544448e-01 -5.82895758e-01 -2.01395580e-03 1.69425910e+02] [ 5.82894066e-01 8.12546943e-01 -1.40491936e-03 4.88785377e+01] [ 2.45535516e-03 -3.23634626e-05 9.99996985e-01 1.48022951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.641858064 meters 0.01818057600425698 Centerline is valid? [True, True] Translation: X:169.48, Y:48.91, Z:0.15 [[ 8.09431538e-01 -5.87204802e-01 -3.33257273e-03 1.69475289e+02] [ 5.87200199e-01 8.09438395e-01 -2.32612032e-03 4.89112925e+01] [ 4.06342134e-03 -7.40522254e-05 9.99991742e-01 1.46228594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701858064 meters 0.01897141843201321 Centerline is valid? [True, True] Translation: X:169.52, Y:48.94, Z:0.15 [[ 8.07673595e-01 -5.89619151e-01 -3.55262400e-03 1.69524220e+02] [ 5.89613938e-01 8.07681403e-01 -2.48097592e-03 4.89445054e+01] [ 4.33221925e-03 -9.08578854e-05 9.99990612e-01 1.46508316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761858064 meters 0.018839084438753047 Centerline is valid? [True, True] Translation: X:169.57, Y:48.98, Z:0.15 [[ 8.05963793e-01 -5.91952200e-01 -3.86736141e-03 1.69570322e+02] [ 5.91946043e-01 8.05973064e-01 -2.70219166e-03 4.89812296e+01] [ 4.71655742e-03 -1.11400648e-04 9.99988871e-01 1.46932325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821858064 meters 0.019124930795808442 Centerline is valid? [True, True] Translation: X:169.61, Y:49.02, Z:0.14 [[ 8.05504434e-01 -5.92562092e-01 -5.72491854e-03 1.69614859e+02] [ 5.92548608e-01 8.05524760e-01 -4.00112918e-03 4.90193565e+01] [ 6.98248111e-03 -1.69365215e-04 9.99975608e-01 1.44588923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881858064 meters 0.01897637689518111 Centerline is valid? [True, True] Translation: X:169.66, Y:49.06, Z:0.14 [[ 8.05310225e-01 -5.92825196e-01 -5.80763042e-03 1.69660844e+02] [ 5.92811310e-01 8.05331148e-01 -4.06114995e-03 4.90556706e+01] [ 7.08461768e-03 -1.72343410e-04 9.99974889e-01 1.44843945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941858064 meters 0.019318016173803035 Centerline is valid? [True, True] Translation: X:169.70, Y:49.09, Z:0.15 [[ 8.05184199e-01 -5.92998839e-01 -5.54820252e-03 1.69704140e+02] [ 5.92986162e-01 8.05203297e-01 -3.88088435e-03 4.90927918e+01] [ 6.76879088e-03 -1.65180561e-04 9.99977078e-01 1.45301068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001858064 meters 0.01865862706453364 Centerline is valid? [True, True] Translation: X:169.75, Y:49.13, Z:0.15 [[ 8.05555835e-01 -5.92495775e-01 -5.34345379e-03 1.69747787e+02] [ 5.92483994e-01 8.05573543e-01 -3.73948057e-03 4.91326705e+01] [ 6.52017144e-03 -1.53550451e-04 9.99978732e-01 1.45387520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061858064 meters 0.01885859869170047 Centerline is valid? [True, True] Translation: X:169.79, Y:49.17, Z:0.15 [[ 8.06498198e-01 -5.91216955e-01 -4.81338845e-03 1.69793382e+02] [ 5.91207368e-01 8.06512551e-01 -3.36928797e-03 4.91684068e+01] [ 5.87403837e-03 -1.28386043e-04 9.99982739e-01 1.45910235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121858064 meters 0.01794394142891692 Centerline is valid? [True, True] Translation: X:169.84, Y:49.21, Z:0.15 [[ 8.07908898e-01 -5.89294757e-01 -3.86023719e-03 1.69837097e+02] [ 5.89288564e-01 8.07918115e-01 -2.70331030e-03 4.92089319e+01] [ 4.71180214e-03 -9.07651824e-05 9.99988895e-01 1.47031185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181858064 meters 0.017695602646370545 Centerline is valid? [True, True] Translation: X:169.88, Y:49.25, Z:0.15 [[ 8.08800824e-01 -5.88066889e-01 -4.30823658e-03 1.69882828e+02] [ 5.88059148e-01 8.08812293e-01 -3.01862254e-03 4.92459776e+01] [ 5.25970667e-03 -9.20335361e-05 9.99986163e-01 1.46094413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24185806399998 meters 0.017049582974040037 Centerline is valid? [True, True] Translation: X:169.93, Y:49.28, Z:0.15 [[ 8.10816354e-01 -5.85285284e-01 -4.23977320e-03 1.69927577e+02] [ 5.85277746e-01 8.10827436e-01 -2.97134996e-03 4.92829669e+01] [ 5.17681184e-03 -7.22257617e-05 9.99986598e-01 1.46498616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.301858064 meters 0.016718587536420203 Centerline is valid? [True, True] Translation: X:169.97, Y:49.32, Z:0.15 [[ 8.12232920e-01 -5.83320425e-01 -3.86844533e-03 1.69973771e+02] [ 5.83314124e-01 8.12242130e-01 -2.71178396e-03 4.93204848e+01] [ 4.72395325e-03 -5.39185965e-05 9.99988841e-01 1.46304146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.361858064 meters 0.016236939073759424 Centerline is valid? [True, True] Translation: X:170.02, Y:49.36, Z:0.15 [[ 8.14446101e-01 -5.80225757e-01 -3.95225341e-03 1.70017584e+02] [ 5.80219141e-01 8.14455689e-01 -2.77106727e-03 4.93587923e+01] [ 4.82677988e-03 -3.62881450e-05 9.99988350e-01 1.45468830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421858064 meters 0.015984536024236228 Centerline is valid? [True, True] Translation: X:170.06, Y:49.40, Z:0.15 [[ 8.16298417e-01 -5.77618863e-01 -3.65299207e-03 1.70063803e+02] [ 5.77613179e-01 8.16306590e-01 -2.56232712e-03 4.93955054e+01] [ 4.46200998e-03 -1.83927926e-05 9.99990045e-01 1.45150376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481858064 meters 0.015783614952518815 Centerline is valid? [True, True] Translation: X:170.11, Y:49.43, Z:0.14 [[ 8.17181572e-01 -5.76362811e-01 -4.49308072e-03 1.70109811e+02] [ 5.76354185e-01 8.17193924e-01 -3.15335280e-03 4.94310477e+01] [ 5.48919354e-03 -1.27440775e-05 9.99984934e-01 1.44407111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541858064 meters 0.015853211202056593 Centerline is valid? [True, True] Translation: X:170.16, Y:49.47, Z:0.15 [[ 8.18897808e-01 -5.73925377e-01 -4.00524715e-03 1.70155263e+02] [ 5.73918486e-01 8.18907602e-01 -2.81257244e-03 4.94676545e+01] [ 4.89413404e-03 4.52402465e-06 9.99988024e-01 1.45373472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601858064 meters 0.015850135813142003 Centerline is valid? [True, True] Translation: X:170.20, Y:49.50, Z:0.15 [[ 8.20298265e-01 -5.71925059e-01 -3.53309420e-03 1.70201481e+02] [ 5.71919675e-01 8.20305874e-01 -2.48175663e-03 4.95021168e+01] [ 4.31759673e-03 1.51345680e-05 9.99990679e-01 1.45675700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661858064 meters 0.016347919943238132 Centerline is valid? [True, True] Translation: X:170.25, Y:49.54, Z:0.15 [[ 8.23002162e-01 -5.68027350e-01 -3.51712094e-03 1.70247092e+02] [ 5.68021977e-01 8.23009677e-01 -2.47100853e-03 4.95373124e+01] [ 4.29822500e-03 3.58433783e-05 9.99990762e-01 1.45213625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721858064 meters 0.017000076601482082 Centerline is valid? [True, True] Translation: X:170.30, Y:49.57, Z:0.15 [[ 8.24750315e-01 -5.65489736e-01 -2.87682789e-03 1.70295077e+02] [ 5.65486122e-01 8.24755332e-01 -2.02198075e-03 4.95718805e+01] [ 3.51608850e-03 4.08230142e-05 9.99993818e-01 1.45111825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781858064 meters 0.016641133122547683 Centerline is valid? [True, True] Translation: X:170.35, Y:49.60, Z:0.15 [[ 8.24833545e-01 -5.65370179e-01 -2.48686461e-03 1.70345281e+02] [ 5.65367475e-01 8.24837293e-01 -1.74886610e-03 4.96009839e+01] [ 3.04001541e-03 3.65310628e-05 9.99995378e-01 1.45104617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841858064 meters 0.016601775752288574 Centerline is valid? [True, True] Translation: X:170.40, Y:49.63, Z:0.14 [[ 8.23887755e-01 -5.66745842e-01 -2.84913073e-03 1.70395673e+02] [ 5.66742299e-01 8.23892681e-01 -2.00425510e-03 4.96294663e+01] [ 3.48328120e-03 3.65583287e-05 9.99993933e-01 1.44752788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901858064 meters 0.016440666876856108 Centerline is valid? [True, True] Translation: X:170.45, Y:49.66, Z:0.14 [[ 8.22575730e-01 -5.68649905e-01 -2.54027540e-03 1.70445571e+02] [ 5.68647097e-01 8.22579652e-01 -1.78730454e-03 4.96588080e+01] [ 3.10592941e-03 2.56731040e-05 9.99995176e-01 1.43910561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96185806399998 meters 0.015952919918775187 Centerline is valid? [True, True] Translation: X:170.50, Y:49.69, Z:0.14 [[ 8.20748210e-01 -5.71284206e-01 -2.59436795e-03 1.70498238e+02] [ 5.71281288e-01 8.20752310e-01 -1.82616772e-03 4.96855036e+01] [ 3.17259427e-03 1.67100266e-05 9.99994967e-01 1.44602220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02185806399999 meters 0.01587270413524312 Centerline is valid? [True, True] Translation: X:170.55, Y:49.71, Z:0.14 [[ 8.18286834e-01 -5.74807354e-01 -1.77837473e-03 1.70550050e+02] [ 5.74805991e-01 8.18288766e-01 -1.25211786e-03 4.97129433e+01] [ 2.17495061e-03 2.37111025e-06 9.99997635e-01 1.43865124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.081858064 meters 0.015938327100742094 Centerline is valid? [True, True] Translation: X:170.60, Y:49.74, Z:0.14 [[ 8.16540570e-01 -5.77284617e-01 -1.99205397e-03 1.70600474e+02] [ 5.77282912e-01 8.16543000e-01 -1.40320574e-03 4.97416026e+01] [ 2.43664682e-03 -4.20430144e-06 9.99997031e-01 1.43675019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.141858064 meters 0.015962781124556655 Centerline is valid? [True, True] Translation: X:170.65, Y:49.77, Z:0.14 [[ 8.15693176e-01 -5.78481542e-01 -1.93611896e-03 1.70648773e+02] [ 5.78479933e-01 8.15695473e-01 -1.36431255e-03 4.97717561e+01] [ 2.36851310e-03 -7.14552732e-06 9.99997195e-01 1.43795813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201858064 meters 0.01607808523622517 Centerline is valid? [True, True] Translation: X:170.70, Y:49.80, Z:0.14 [[ 8.14553633e-01 -5.80086850e-01 -1.27497162e-03 1.70699299e+02] [ 5.80086154e-01 8.14554631e-01 -8.98751808e-04 4.98013082e+01] [ 1.55988814e-03 -7.51183036e-06 9.99998783e-01 1.44896685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261858064 meters 0.016107529634244968 Centerline is valid? [True, True] Translation: X:170.75, Y:49.83, Z:0.14 [[ 8.15129504e-01 -5.79273049e-01 -2.57414442e-03 1.70749011e+02] [ 5.79270203e-01 8.15133568e-01 -1.81597015e-03 4.98321300e+01] [ 3.15021409e-03 -1.08743107e-05 9.99995038e-01 1.43754020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321858064 meters 0.016074748468556527 Centerline is valid? [True, True] Translation: X:170.80, Y:49.86, Z:0.14 [[ 8.15240321e-01 -5.79113312e-01 -3.31526025e-03 1.70798019e+02] [ 5.79108583e-01 8.15247062e-01 -2.34029996e-03 4.98630880e+01] [ 4.05805504e-03 -1.19887750e-05 9.99991766e-01 1.42423651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381858064 meters 0.016004174729516395 Centerline is valid? [True, True] Translation: X:170.85, Y:49.89, Z:0.14 [[ 8.14993740e-01 -5.79462038e-01 -2.99172019e-03 1.70848754e+02] [ 5.79458185e-01 8.14999231e-01 -2.11314164e-03 4.98912287e+01] [ 3.66273502e-03 -1.13795414e-05 9.99993292e-01 1.42830525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441858064 meters 0.015869833598454633 Centerline is valid? [True, True] Translation: X:170.90, Y:49.92, Z:0.14 [[ 8.14446519e-01 -5.80232190e-01 -2.73376225e-03 1.70898599e+02] [ 5.80228973e-01 8.14451107e-01 -1.93206752e-03 4.99214708e+01] [ 3.34756345e-03 -1.26423985e-05 9.99994397e-01 1.43333209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501858064 meters 0.0158992117546299 Centerline is valid? [True, True] Translation: X:170.95, Y:49.95, Z:0.14 [[ 8.14211414e-01 -5.80561922e-01 -2.76181423e-03 1.70946642e+02] [ 5.80558637e-01 8.14216098e-01 -1.95306804e-03 4.99545629e+01] [ 3.38259054e-03 -1.31848128e-05 9.99994279e-01 1.43475205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561858064 meters 0.015906736331016073 Centerline is valid? [True, True] Translation: X:171.00, Y:49.98, Z:0.15 [[ 8.14535521e-01 -5.80110440e-01 -1.93945754e-03 1.70996609e+02] [ 5.80108817e-01 8.14537830e-01 -1.37225634e-03 4.99847922e+01] [ 2.37582176e-03 -7.34489068e-06 9.99997178e-01 1.45130372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621858064 meters 0.015818355640470683 Centerline is valid? [True, True] Translation: X:171.05, Y:50.02, Z:0.15 [[ 8.15357046e-01 -5.78956124e-01 -1.64138251e-03 1.71045840e+02] [ 5.78954958e-01 8.15358698e-01 -1.16200969e-03 5.00158445e+01] [ 2.01106814e-03 -2.83375064e-06 9.99997978e-01 1.45925213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681858064 meters 0.015793375966788332 Centerline is valid? [True, True] Translation: X:171.09, Y:50.05, Z:0.15 [[ 8.15772681e-01 -5.78368577e-01 -2.17301458e-03 1.71093763e+02] [ 5.78366529e-01 8.15775575e-01 -1.53941918e-03 5.00483003e+01] [ 2.66304390e-03 -9.82785269e-07 9.99996454e-01 1.45195944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74185806399998 meters 0.015640455078269864 Centerline is valid? [True, True] Translation: X:171.14, Y:50.08, Z:0.14 [[ 8.16299036e-01 -5.77621106e-01 -3.12106706e-03 1.71142603e+02] [ 5.77616871e-01 8.16305003e-01 -2.21194060e-03 5.00772568e+01] [ 3.82540623e-03 2.82398658e-06 9.99992683e-01 1.44384064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.801858064 meters 0.015683478089275282 Centerline is valid? [True, True] Translation: X:171.19, Y:50.11, Z:0.15 [[ 8.15516121e-01 -5.78726990e-01 -2.92014931e-03 1.71191762e+02] [ 5.78723287e-01 8.15521349e-01 -2.07030667e-03 5.01059922e+01] [ 3.57958645e-03 -1.58994148e-06 9.99993593e-01 1.45024594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.861858064 meters 0.015733641728678846 Centerline is valid? [True, True] Translation: X:171.24, Y:50.14, Z:0.14 [[ 8.14730386e-01 -5.79832430e-01 -2.95813008e-03 1.71241167e+02] [ 5.79828633e-01 8.14735756e-01 -2.09837781e-03 5.01375315e+01] [ 3.62680185e-03 -5.59635294e-06 9.99993423e-01 1.44506179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921858064 meters 0.01578310744489228 Centerline is valid? [True, True] Translation: X:171.29, Y:50.17, Z:0.15 [[ 8.13438637e-01 -5.81637596e-01 -3.91026273e-03 1.71293369e+02] [ 5.81630975e-01 8.13448036e-01 -2.77534591e-03 5.01654768e+01] [ 4.79504106e-03 -1.67563334e-05 9.99988504e-01 1.45792500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981858064 meters 0.015745675080131902 Centerline is valid? [True, True] Translation: X:171.34, Y:50.20, Z:0.15 [[ 8.12350422e-01 -5.83150563e-01 -4.71293960e-03 1.71343811e+02] [ 5.83140960e-01 8.12364093e-01 -3.34684876e-03 5.01959616e+01] [ 5.78033965e-03 -2.94941180e-05 9.99983293e-01 1.45688244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041858064 meters 0.01591326553703828 Centerline is valid? [True, True] Translation: X:171.39, Y:50.23, Z:0.15 [[ 8.11411450e-01 -5.84456961e-01 -4.63882653e-03 1.71392556e+02] [ 5.84447668e-01 8.11424710e-01 -3.29612041e-03 5.02283142e+01] [ 5.69049899e-03 -3.66414989e-05 9.99983808e-01 1.45289365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101858064 meters 0.01602956594195686 Centerline is valid? [True, True] Translation: X:171.44, Y:50.26, Z:0.15 [[ 8.10211715e-01 -5.86111629e-01 -5.48956585e-03 1.71443511e+02] [ 5.86098638e-01 8.10230310e-01 -3.90271636e-03 5.02583440e+01] [ 6.73524008e-03 -5.54005528e-05 9.99977316e-01 1.45288093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161858064 meters 0.01592765094376219 Centerline is valid? [True, True] Translation: X:171.49, Y:50.29, Z:0.15 [[ 8.09796095e-01 -5.86679924e-01 -6.07877152e-03 1.71492920e+02] [ 5.86663994e-01 8.09818907e-01 -4.32384641e-03 5.02903051e+01] [ 7.45941799e-03 -6.47624439e-05 9.99972176e-01 1.45107297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221858064 meters 0.015926680644806807 Centerline is valid? [True, True] Translation: X:171.54, Y:50.32, Z:0.14 [[ 8.10327886e-01 -5.85938444e-01 -6.69756706e-03 1.71540932e+02] [ 5.85919057e-01 8.10355562e-01 -4.76675047e-03 5.03235575e+01] [ 8.22043307e-03 -6.16013496e-05 9.99966210e-01 1.43984098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281858064 meters 0.015835829973715528 Centerline is valid? [True, True] Translation: X:171.59, Y:50.36, Z:0.14 [[ 8.10330350e-01 -5.85932259e-01 -6.93628286e-03 1.71588591e+02] [ 5.85911441e-01 8.10360034e-01 -4.93949238e-03 5.03560771e+01] [ 8.51509434e-03 -6.14268992e-05 9.99963744e-01 1.43175750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341858064 meters 0.016013811619729125 Centerline is valid? [True, True] Translation: X:171.64, Y:50.39, Z:0.14 [[ 8.10400443e-01 -5.85839029e-01 -6.61468759e-03 1.71637117e+02] [ 5.85820083e-01 8.10427436e-01 -4.71178874e-03 5.03869459e+01] [ 8.12107405e-03 -5.65811503e-05 9.99967022e-01 1.44395023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401858064 meters 0.015803628284977434 Centerline is valid? [True, True] Translation: X:171.68, Y:50.42, Z:0.14 [[ 8.11185999e-01 -5.84741390e-01 -7.40152788e-03 1.71684218e+02] [ 5.84717596e-01 8.11219763e-01 -5.27528439e-03 5.04215701e+01] [ 9.08894282e-03 -4.85667570e-05 9.99958694e-01 1.44683741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46185806399998 meters 0.015606542076963397 Centerline is valid? [True, True] Translation: X:171.73, Y:50.46, Z:0.14 [[ 8.12523310e-01 -5.82881084e-01 -7.45070743e-03 1.71730078e+02] [ 5.82856883e-01 8.12557470e-01 -5.31152976e-03 5.04561560e+01] [ 9.15011819e-03 -2.69543667e-05 9.99958136e-01 1.44518077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52185806399999 meters 0.01585536183863412 Centerline is valid? [True, True] Translation: X:171.78, Y:50.49, Z:0.15 [[ 8.13004917e-01 -5.82205849e-01 -7.70425011e-03 1.71776393e+02] [ 5.82179914e-01 8.13041419e-01 -5.49528912e-03 5.04904214e+01] [ 9.46326391e-03 -1.75625902e-05 9.99955222e-01 1.45074287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.581858064 meters 0.01574094348425322 Centerline is valid? [True, True] Translation: X:171.82, Y:50.52, Z:0.15 [[ 8.12542848e-01 -5.82848196e-01 -7.88042577e-03 1.71823898e+02] [ 5.82821059e-01 8.12581061e-01 -5.62429240e-03 5.05245755e+01] [ 9.68159341e-03 -2.28995334e-05 9.99953132e-01 1.46148800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.641858064 meters 0.01574419706580171 Centerline is valid? [True, True] Translation: X:171.87, Y:50.56, Z:0.15 [[ 8.11811435e-01 -5.83866442e-01 -7.88494842e-03 1.71871092e+02] [ 5.83839290e-01 8.11849726e-01 -5.63087325e-03 5.05592832e+01] [ 9.68907114e-03 -3.23353980e-05 9.99953059e-01 1.45672450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701858064 meters 0.015843754550803373 Centerline is valid? [True, True] Translation: X:171.92, Y:50.59, Z:0.15 [[ 8.10060402e-01 -5.86278747e-01 -8.90931878e-03 1.71919612e+02] [ 5.86244190e-01 8.10109391e-01 -6.36578679e-03 5.05924879e+01] [ 1.09496483e-02 -6.63645709e-05 9.99940049e-01 1.45431581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761858064 meters 0.015824708778801013 Centerline is valid? [True, True] Translation: X:171.97, Y:50.63, Z:0.15 [[ 8.08740628e-01 -5.88085949e-01 -9.67025533e-03 1.71968365e+02] [ 5.88045323e-01 8.08798434e-01 -6.91306981e-03 5.06255722e+01] [ 1.18867666e-02 -9.56680024e-05 9.99929345e-01 1.45519226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821858064 meters 0.016063292230015815 Centerline is valid? [True, True] Translation: X:172.02, Y:50.66, Z:0.15 [[ 8.07704157e-01 -5.89487194e-01 -1.09014898e-02 1.72016686e+02] [ 5.89435670e-01 8.07777711e-01 -7.79486690e-03 5.06579385e+01] [ 1.34009547e-02 -1.29780522e-04 9.99910195e-01 1.45771792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881858064 meters 0.01599082615443702 Centerline is valid? [True, True] Translation: X:172.06, Y:50.69, Z:0.15 [[ 8.07211109e-01 -5.90148191e-01 -1.16334966e-02 1.72063745e+02] [ 5.90089525e-01 8.07294922e-01 -8.32231898e-03 5.06934278e+01] [ 1.43030643e-02 -1.46936182e-04 9.99897695e-01 1.45847685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941858064 meters 0.015980585601531913 Centerline is valid? [True, True] Translation: X:172.11, Y:50.73, Z:0.15 [[ 8.07499714e-01 -5.89739800e-01 -1.22955096e-02 1.72109011e+02] [ 5.89674141e-01 8.07593306e-01 -8.80108760e-03 5.07296544e+01] [ 1.51201229e-02 -1.43468321e-04 9.99885674e-01 1.45961837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001858064 meters 0.016052653842586383 Centerline is valid? [True, True] Translation: X:172.16, Y:50.76, Z:0.15 [[ 8.07072768e-01 -5.90337497e-01 -1.16269727e-02 1.72155562e+02] [ 5.90278775e-01 8.07156503e-01 -8.32754032e-03 5.07638657e+01] [ 1.43008460e-02 -1.42224199e-04 9.99897728e-01 1.47480908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061858064 meters 0.016462049882346133 Centerline is valid? [True, True] Translation: X:172.20, Y:50.80, Z:0.15 [[ 8.05439423e-01 -5.92600223e-01 -9.60786941e-03 1.72203417e+02] [ 5.92560238e-01 8.05496713e-01 -6.88547261e-03 5.07964772e+01] [ 1.18194398e-02 -1.47410304e-04 9.99930137e-01 1.50187890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121858064 meters 0.016390675688816456 Centerline is valid? [True, True] Translation: X:172.25, Y:50.83, Z:0.15 [[ 8.05027252e-01 -5.93180662e-01 -8.23567668e-03 1.72250063e+02] [ 5.93151282e-01 8.05069367e-01 -5.90518588e-03 5.08332318e+01] [ 1.01331331e-02 -1.31166623e-04 9.99948650e-01 1.51122242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181858064 meters 0.016358301854864487 Centerline is valid? [True, True] Translation: X:172.30, Y:50.87, Z:0.15 [[ 8.06424356e-01 -5.91304563e-01 -6.21864811e-03 1.72295033e+02] [ 5.91287749e-01 8.06448329e-01 -4.45985374e-03 5.08702394e+01] [ 7.65215025e-03 -8.04757629e-05 9.99970719e-01 1.52436145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24185806399998 meters 0.015723560936491854 Centerline is valid? [True, True] Translation: X:172.34, Y:50.91, Z:0.15 [[ 8.09235554e-01 -5.87451892e-01 -6.17198957e-03 1.72337995e+02] [ 5.87435201e-01 8.09259089e-01 -4.42853679e-03 5.09114990e+01] [ 7.59629097e-03 -4.19145062e-05 9.99971147e-01 1.52065626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.301858064 meters 0.015553109854630275 Centerline is valid? [True, True] Translation: X:172.38, Y:50.95, Z:0.15 [[ 8.11704185e-01 -5.84031197e-01 -6.62393555e-03 1.72382022e+02] [ 5.84011835e-01 8.11731212e-01 -4.75563851e-03 5.09498563e+01] [ 8.15429648e-03 -8.28507625e-06 9.99966753e-01 1.51356671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.361858064 meters 0.015544581586365876 Centerline is valid? [True, True] Translation: X:172.43, Y:50.99, Z:0.15 [[ 8.12661981e-01 -5.82701103e-01 -6.31891830e-03 1.72427818e+02] [ 5.82683422e-01 8.12686547e-01 -4.53933973e-03 5.09858739e+01] [ 7.78037817e-03 7.01987692e-06 9.99969732e-01 1.51501144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421858064 meters 0.015441871309073691 Centerline is valid? [True, True] Translation: X:172.47, Y:51.02, Z:0.15 [[ 8.14877248e-01 -5.79605274e-01 -5.72695278e-03 1.72471022e+02] [ 5.79590656e-01 8.14897371e-01 -4.11654636e-03 5.10249910e+01] [ 7.05285074e-03 3.51916488e-05 9.99975128e-01 1.52775634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481858064 meters 0.015643987802718487 Centerline is valid? [True, True] Translation: X:172.52, Y:51.06, Z:0.15 [[ 8.16078472e-01 -5.77910201e-01 -5.97722742e-03 1.72516189e+02] [ 5.77894215e-01 8.16100360e-01 -4.29874864e-03 5.10634700e+01] [ 7.36230813e-03 5.39110771e-05 9.99972896e-01 1.51909817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541858064 meters 0.015419693918811105 Centerline is valid? [True, True] Translation: X:172.56, Y:51.10, Z:0.15 [[ 8.14094300e-01 -5.80702758e-01 -5.89720438e-03 1.72564487e+02] [ 5.80687255e-01 8.14115659e-01 -4.24338996e-03 5.10978196e+01] [ 7.26515468e-03 3.00881541e-05 9.99973608e-01 1.51422856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601858064 meters 0.0153074269622871 Centerline is valid? [True, True] Translation: X:172.61, Y:51.13, Z:0.15 [[ 8.11560011e-01 -5.84243289e-01 -5.48888559e-03 1.72613791e+02] [ 5.84229925e-01 8.11578572e-01 -3.95161942e-03 5.11303646e+01] [ 6.76336906e-03 2.05082498e-07 9.99977128e-01 1.51509662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661858064 meters 0.015460760185964359 Centerline is valid? [True, True] Translation: X:172.66, Y:51.16, Z:0.15 [[ 8.08060383e-01 -5.89069693e-01 -5.94262353e-03 1.72663343e+02] [ 5.89054149e-01 8.08082233e-01 -4.27959864e-03 5.11603012e+01] [ 7.32311034e-03 -4.23529326e-05 9.99973185e-01 1.50941400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721858064 meters 0.015713504716522563 Centerline is valid? [True, True] Translation: X:172.71, Y:51.20, Z:0.15 [[ 8.06659357e-01 -5.90982685e-01 -6.33622274e-03 1.72710401e+02] [ 5.90965055e-01 8.06684239e-01 -4.56526632e-03 5.11952461e+01] [ 7.80932437e-03 -6.18714218e-05 9.99969505e-01 1.48950078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781858064 meters 0.01565687474877864 Centerline is valid? [True, True] Translation: X:172.76, Y:51.23, Z:0.15 [[ 8.06090042e-01 -5.91752317e-01 -6.93106325e-03 1.72757745e+02] [ 5.91731227e-01 8.06119836e-01 -4.99650732e-03 5.12300189e+01] [ 8.54396236e-03 -7.36917676e-05 9.99963497e-01 1.48422950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841858064 meters 0.015982542140484376 Centerline is valid? [True, True] Translation: X:172.81, Y:51.26, Z:0.15 [[ 8.04520547e-01 -5.93876667e-01 -7.56267721e-03 1.72806729e+02] [ 5.93851625e-01 8.04556085e-01 -5.45473939e-03 5.12623042e+01] [ 9.32404041e-03 -1.02658230e-04 9.99956525e-01 1.48333677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901858064 meters 0.0162161295140548 Centerline is valid? [True, True] Translation: X:172.85, Y:51.30, Z:0.15 [[ 8.03201577e-01 -5.95665027e-01 -7.09947431e-03 1.72854962e+02] [ 5.95643005e-01 8.03232944e-01 -5.12330215e-03 5.12957077e+01] [ 8.75430357e-03 -1.13707850e-04 9.99961674e-01 1.48128297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96185806399998 meters 0.01818713170832061 Centerline is valid? [True, True] Translation: X:172.90, Y:51.33, Z:0.15 [[ 8.01322684e-01 -5.98198829e-01 -6.33375247e-03 1.72903198e+02] [ 5.98181362e-01 8.01347706e-01 -4.57305195e-03 5.13291385e+01] [ 7.81113234e-03 -1.24242414e-04 9.99969485e-01 1.47690321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02185806399999 meters 0.01682550480698318 Centerline is valid? [True, True] Translation: X:172.95, Y:51.36, Z:0.15 [[ 8.00594766e-01 -5.99184961e-01 -5.04015918e-03 1.72950572e+02] [ 5.99173907e-01 8.00610624e-01 -3.64109459e-03 5.13621951e+01] [ 6.21689410e-03 -1.04890595e-04 9.99980669e-01 1.49589250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.081858064 meters 0.01696728103586594 Centerline is valid? [True, True] Translation: X:173.00, Y:51.40, Z:0.15 [[ 8.00092240e-01 -5.99854262e-01 -5.22225151e-03 1.72998503e+02] [ 5.99842397e-01 8.00109275e-01 -3.77462193e-03 5.13971611e+01] [ 6.44259492e-03 -1.12482146e-04 9.99979240e-01 1.49756722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.141858064 meters 0.016688052134134948 Centerline is valid? [True, True] Translation: X:173.04, Y:51.43, Z:0.15 [[ 8.01759797e-01 -5.97629106e-01 -4.54757612e-03 1.73043359e+02] [ 5.97620068e-01 8.01772689e-01 -3.28769698e-03 5.14335664e+01] [ 5.61094574e-03 -8.17794823e-05 9.99984255e-01 1.49479195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201858064 meters 0.016018350205992817 Centerline is valid? [True, True] Translation: X:173.09, Y:51.47, Z:0.15 [[ 8.03631890e-01 -5.95112957e-01 -4.04400074e-03 1.73088916e+02] [ 5.95105772e-01 8.03642063e-01 -2.92494227e-03 5.14711003e+01] [ 4.99060014e-03 -5.60312999e-05 9.99987545e-01 1.49362910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261858064 meters 0.015528133647182649 Centerline is valid? [True, True] Translation: X:173.13, Y:51.51, Z:0.15 [[ 8.04900338e-01 -5.93397477e-01 -3.85748037e-03 1.73134651e+02] [ 5.93390912e-01 8.04909580e-01 -2.79147061e-03 5.15078262e+01] [ 4.76137452e-03 -4.21381614e-05 9.99988664e-01 1.49148786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321858064 meters 0.01542208665413673 Centerline is valid? [True, True] Translation: X:173.18, Y:51.54, Z:0.15 [[ 8.06192430e-01 -5.91637095e-01 -4.39479662e-03 1.73181120e+02] [ 5.91628539e-01 8.06204408e-01 -3.18197665e-03 5.15439440e+01] [ 5.42567983e-03 -3.48016204e-05 9.99985280e-01 1.48258532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381858064 meters 0.015406272415168095 Centerline is valid? [True, True] Translation: X:173.23, Y:51.58, Z:0.15 [[ 8.06487173e-01 -5.91230118e-01 -5.03852526e-03 1.73228160e+02] [ 5.91218851e-01 8.06502911e-01 -3.65022526e-03 5.15787330e+01] [ 6.22170840e-03 -3.50112619e-05 9.99980644e-01 1.48237711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441858064 meters 0.015282780393249531 Centerline is valid? [True, True] Translation: X:173.27, Y:51.61, Z:0.15 [[ 8.06279156e-01 -5.91508405e-01 -5.63298481e-03 1.73273857e+02] [ 5.91494311e-01 8.06298831e-01 -4.08337484e-03 5.16147159e+01] [ 6.95721961e-03 -3.95384523e-05 9.99975797e-01 1.47253015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501858064 meters 0.015264060024495513 Centerline is valid? [True, True] Translation: X:173.32, Y:51.65, Z:0.15 [[ 8.05729491e-01 -5.92252736e-01 -6.05675910e-03 1.73321143e+02] [ 5.92236444e-01 8.05752254e-01 -4.39320406e-03 5.16480762e+01] [ 7.48213442e-03 -4.72994011e-05 9.99972007e-01 1.46676947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561858064 meters 0.0154630073690607 Centerline is valid? [True, True] Translation: X:173.37, Y:51.68, Z:0.15 [[ 8.03874305e-01 -5.94769028e-01 -5.99204509e-03 1.73370530e+02] [ 5.94753135e-01 8.03896634e-01 -4.34855358e-03 5.16803630e+01] [ 7.40336987e-03 -6.80971209e-05 9.99972592e-01 1.46775943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621858064 meters 0.015804543724687023 Centerline is valid? [True, True] Translation: X:173.42, Y:51.71, Z:0.15 [[ 8.01995931e-01 -5.97300290e-01 -5.90680809e-03 1.73418901e+02] [ 5.97284898e-01 8.02017678e-01 -4.28889486e-03 5.17134058e+01] [ 7.29912265e-03 -8.83710483e-05 9.99973357e-01 1.46871256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681858064 meters 0.01625069316463104 Centerline is valid? [True, True] Translation: X:173.47, Y:51.75, Z:0.15 [[ 8.00132438e-01 -5.99793443e-01 -5.99226174e-03 1.73467809e+02] [ 5.99777665e-01 8.00154869e-01 -4.35190654e-03 5.17453620e+01] [ 7.40498241e-03 -1.11923165e-04 9.99972576e-01 1.47831752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74185806399998 meters 0.016587812251315354 Centerline is valid? [True, True] Translation: X:173.52, Y:51.78, Z:0.15 [[ 7.99122030e-01 -6.01136087e-01 -6.27589846e-03 1.73516956e+02] [ 6.01118805e-01 7.99146663e-01 -4.56004909e-03 5.17781926e+01] [ 7.75657338e-03 -1.28524901e-04 9.99969909e-01 1.48458295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.801858064 meters 0.016512612266193164 Centerline is valid? [True, True] Translation: X:173.56, Y:51.81, Z:0.15 [[ 7.99142364e-01 -6.01117459e-01 -5.41131740e-03 1.73564572e+02] [ 6.01104597e-01 7.99160678e-01 -3.93381600e-03 5.18130258e+01] [ 6.68919756e-03 -1.09088745e-04 9.99977621e-01 1.49234650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.861858064 meters 0.016089760116375695 Centerline is valid? [True, True] Translation: X:173.61, Y:51.85, Z:0.15 [[ 8.01139966e-01 -5.98452529e-01 -5.41533857e-03 1.73611669e+02] [ 5.98439573e-01 8.01158264e-01 -3.93873630e-03 5.18485691e+01] [ 6.69568994e-03 -8.52738349e-05 9.99977580e-01 1.48983901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921858064 meters 0.015776569400203694 Centerline is valid? [True, True] Translation: X:173.66, Y:51.88, Z:0.15 [[ 8.02979066e-01 -5.95982253e-01 -5.45653522e-03 1.73658240e+02] [ 5.95969036e-01 8.02997603e-01 -3.96957656e-03 5.18834867e+01] [ 6.74738188e-03 -6.44391593e-05 9.99977234e-01 1.48537760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981858064 meters 0.015385896586252154 Centerline is valid? [True, True] Translation: X:173.70, Y:51.92, Z:0.15 [[ 8.06050424e-01 -5.91813342e-01 -6.29936563e-03 1.73703999e+02] [ 5.91795582e-01 8.06075038e-01 -4.58487696e-03 5.19212639e+01] [ 7.79115275e-03 -3.22947288e-05 9.99969648e-01 1.47154983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041858064 meters 0.0153647230481778 Centerline is valid? [True, True] Translation: X:173.75, Y:51.96, Z:0.15 [[ 8.08296869e-01 -5.88734734e-01 -6.89822264e-03 1.73749332e+02] [ 5.88713299e-01 8.08326304e-01 -5.02370687e-03 5.19578686e+01] [ 8.53364554e-03 -4.28880517e-07 9.99963588e-01 1.46630580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101858064 meters 0.015614157440597666 Centerline is valid? [True, True] Translation: X:173.80, Y:51.99, Z:0.15 [[ 8.11222995e-01 -5.84707902e-01 -5.82413667e-03 1.73795251e+02] [ 5.84692501e-01 8.11243901e-01 -4.24399862e-03 5.19933059e+01] [ 7.20629489e-03 3.75002397e-05 9.99974034e-01 1.48535724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161858064 meters 0.016100449241827384 Centerline is valid? [True, True] Translation: X:173.84, Y:52.03, Z:0.15 [[ 8.13346286e-01 -5.81756771e-01 -5.18442314e-03 1.73841253e+02] [ 5.81744501e-01 8.13362807e-01 -3.77872630e-03 5.20286728e+01] [ 6.41511657e-03 5.74033463e-05 9.99979421e-01 1.48783503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221858064 meters 0.016277691610128563 Centerline is valid? [True, True] Translation: X:173.89, Y:52.06, Z:0.15 [[ 8.14468350e-01 -5.80182114e-01 -5.47929976e-03 1.73888924e+02] [ 5.80168368e-01 8.14486777e-01 -3.99440062e-03 5.20624291e+01] [ 6.78029699e-03 7.43964788e-05 9.99977011e-01 1.48231008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281858064 meters 0.016452441196666424 Centerline is valid? [True, True] Translation: X:173.94, Y:52.10, Z:0.15 [[ 8.14654401e-01 -5.79922006e-01 -5.35471550e-03 1.73936589e+02] [ 5.79908859e-01 8.14671996e-01 -3.90567642e-03 5.20958572e+01] [ 6.62732447e-03 7.65295331e-05 9.99978036e-01 1.48012043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341858064 meters 0.01643888202889873 Centerline is valid? [True, True] Translation: X:173.98, Y:52.13, Z:0.15 [[ 8.14385601e-01 -5.80296528e-01 -5.65977629e-03 1.73984440e+02] [ 5.80281832e-01 8.14405264e-01 -4.13064075e-03 5.21281834e+01] [ 7.00634809e-03 7.96689984e-05 9.99975452e-01 1.48201538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401858064 meters 0.016469744652261337 Centerline is valid? [True, True] Translation: X:174.03, Y:52.16, Z:0.15 [[ 8.14350449e-01 -5.80338148e-01 -6.40158243e-03 1.74033543e+02] [ 5.80319329e-01 8.14375605e-01 -4.67452419e-03 5.21606564e+01] [ 7.92609727e-03 9.17388595e-05 9.99968584e-01 1.47661861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46185806399998 meters 0.016757857908289427 Centerline is valid? [True, True] Translation: X:174.08, Y:52.19, Z:0.15 [[ 8.14509476e-01 -5.80111345e-01 -6.71872396e-03 1.74082944e+02] [ 5.80090586e-01 8.14537180e-01 -4.90863102e-03 5.21930731e+01] [ 8.32020301e-03 1.00657961e-04 9.99965381e-01 1.46565971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52185806399999 meters 0.01685554324247801 Centerline is valid? [True, True] Translation: X:174.13, Y:52.23, Z:0.15 [[ 8.14600394e-01 -5.79985851e-01 -6.52765704e-03 1.74130878e+02] [ 5.79966230e-01 8.14626542e-01 -4.77175345e-03 5.22261655e+01] [ 8.08515216e-03 1.01251599e-04 9.99967309e-01 1.46004167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.581858064 meters 0.01634330291433993 Centerline is valid? [True, True] Translation: X:174.18, Y:52.26, Z:0.15 [[ 8.13334452e-01 -5.81754438e-01 -6.98875213e-03 1.74182701e+02] [ 5.81731989e-01 8.13364473e-01 -5.11154569e-03 5.22554721e+01] [ 8.65806708e-03 9.18155410e-05 9.99962514e-01 1.46092743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.641858064 meters 0.01597936999320459 Centerline is valid? [True, True] Translation: X:174.23, Y:52.28, Z:0.15 [[ 8.10797093e-01 -5.85289392e-01 -6.66346523e-03 1.74233930e+02] [ 5.85269082e-01 8.10824472e-01 -4.87614313e-03 5.22844124e+01] [ 8.25685553e-03 5.36424941e-05 9.99965910e-01 1.45906352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701858064 meters 0.015692282594906924 Centerline is valid? [True, True] Translation: X:174.29, Y:52.31, Z:0.15 [[ 8.08941048e-01 -5.87851685e-01 -6.69162186e-03 1.74285335e+02] [ 5.87831270e-01 8.08968723e-01 -4.89925251e-03 5.23140635e+01] [ 8.29334664e-03 2.96618794e-05 9.99965609e-01 1.46739094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761858064 meters 0.015686397624761265 Centerline is valid? [True, True] Translation: X:174.34, Y:52.34, Z:0.15 [[ 8.05854368e-01 -5.92071665e-01 -7.06262496e-03 1.74336843e+02] [ 5.92049059e-01 8.05885316e-01 -5.17383899e-03 5.23414427e+01] [ 8.75494922e-03 -1.20597110e-05 9.99961675e-01 1.45989769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821858064 meters 0.015855432016854434 Centerline is valid? [True, True] Translation: X:174.39, Y:52.37, Z:0.15 [[ 8.04778029e-01 -5.93548102e-01 -5.74237615e-03 1.74385659e+02] [ 5.93533178e-01 8.04798516e-01 -4.20903536e-03 5.23732269e+01] [ 7.11972075e-03 -2.09515856e-05 9.99974654e-01 1.48746077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881858064 meters 0.015970003591880305 Centerline is valid? [True, True] Translation: X:174.43, Y:52.41, Z:0.15 [[ 8.04073277e-01 -5.94507831e-01 -5.15783190e-03 1.74433666e+02] [ 5.94495798e-01 8.04089820e-01 -3.78269634e-03 5.24057425e+01] [ 6.39620272e-03 -2.47443449e-05 9.99979544e-01 1.49888647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941858064 meters 0.016246791540074565 Centerline is valid? [True, True] Translation: X:174.48, Y:52.44, Z:0.15 [[ 8.01509819e-01 -5.97967000e-01 -4.18068921e-03 1.74482278e+02] [ 5.97959133e-01 8.01520721e-01 -3.06756216e-03 5.24392071e+01] [ 5.18520997e-03 -4.12001031e-05 9.99986556e-01 1.50674808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001858064 meters 0.016763793284916496 Centerline is valid? [True, True] Translation: X:174.53, Y:52.47, Z:0.15 [[ 7.99727659e-01 -6.00352524e-01 -3.53801058e-03 1.74530300e+02] [ 6.00346911e-01 7.99735484e-01 -2.59657269e-03 5.24713355e+01] [ 4.38833157e-03 -4.74827203e-05 9.99990370e-01 1.50450485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061858064 meters 0.01757289024877384 Centerline is valid? [True, True] Translation: X:174.58, Y:52.50, Z:0.15 [[ 7.97107200e-01 -6.03826080e-01 -3.76523348e-03 1.74579205e+02] [ 6.03819756e-01 7.97116090e-01 -2.76450432e-03 5.25036578e+01] [ 4.67060800e-03 -6.99160630e-05 9.99989090e-01 1.51011703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121858064 meters 0.018563874783333083 Centerline is valid? [True, True] Translation: X:174.63, Y:52.54, Z:0.15 [[ 7.95816673e-01 -6.05518726e-01 -4.78492271e-03 1.74626427e+02] [ 6.05508538e-01 7.95831051e-01 -3.51399600e-03 5.25371867e+01] [ 5.93578045e-03 -1.00814955e-04 9.99982378e-01 1.50228195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181858064 meters 0.018477117479816688 Centerline is valid? [True, True] Translation: X:174.67, Y:52.57, Z:0.15 [[ 7.96218298e-01 -6.04984113e-01 -5.53570632e-03 1.74672430e+02] [ 6.04970452e-01 7.96237534e-01 -4.06725678e-03 5.25734124e+01] [ 6.86836288e-03 -1.10514482e-04 9.99976406e-01 1.50225460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24185806399998 meters 0.018199687891206524 Centerline is valid? [True, True] Translation: X:174.72, Y:52.61, Z:0.15 [[ 7.97759340e-01 -6.02940758e-01 -6.51756185e-03 1.74716392e+02] [ 6.02921743e-01 7.97785955e-01 -4.78965944e-03 5.26109898e+01] [ 8.08750020e-03 -1.08584199e-04 9.99967290e-01 1.49329554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.301858064 meters 0.01720282917784104 Centerline is valid? [True, True] Translation: X:174.76, Y:52.65, Z:0.15 [[ 7.98005174e-01 -6.02618244e-01 -6.24452106e-03 1.74760486e+02] [ 6.02600763e-01 7.98029600e-01 -4.59115269e-03 5.26505571e+01] [ 7.75002501e-03 -9.91895555e-05 9.99969963e-01 1.50785497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.361858064 meters 0.017515957852403993 Centerline is valid? [True, True] Translation: X:174.81, Y:52.69, Z:0.15 [[ 7.97666112e-01 -6.03077982e-01 -5.07170163e-03 1.74805819e+02] [ 6.03066447e-01 7.97682231e-01 -3.73091972e-03 5.26865848e+01] [ 6.29564181e-03 -8.25448569e-05 9.99980179e-01 1.52857794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421858064 meters 0.017498774773417165 Centerline is valid? [True, True] Translation: X:174.85, Y:52.72, Z:0.16 [[ 7.97119168e-01 -6.03809611e-01 -3.87128975e-03 1.74850361e+02] [ 6.03802891e-01 7.97128565e-01 -2.84944237e-03 5.27245237e+01] [ 4.80643633e-03 -6.61508053e-05 9.99988447e-01 1.55027611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481858064 meters 0.017320478927508643 Centerline is valid? [True, True] Translation: X:174.90, Y:52.76, Z:0.15 [[ 7.97216538e-01 -6.03678505e-01 -4.24894891e-03 1.74895165e+02] [ 6.03670399e-01 7.97227858e-01 -3.12928291e-03 5.27612202e+01] [ 5.27646127e-03 -7.02485931e-05 9.99986077e-01 1.54714547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541858064 meters 0.017258951348724384 Centerline is valid? [True, True] Translation: X:174.94, Y:52.80, Z:0.15 [[ 7.97752064e-01 -6.02957601e-01 -5.81172224e-03 1.74940338e+02] [ 6.02942397e-01 7.97773228e-01 -4.28285623e-03 5.27983722e+01] [ 7.21881713e-03 -8.74763362e-05 9.99973940e-01 1.53452890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601858064 meters 0.018276969078744324 Centerline is valid? [True, True] Translation: X:174.99, Y:52.84, Z:0.15 [[ 7.98406551e-01 -6.02085167e-01 -6.35852660e-03 1.74985319e+02] [ 6.02066920e-01 7.98431866e-01 -4.68827756e-03 5.28369546e+01] [ 7.89959264e-03 -8.51070049e-05 9.99968794e-01 1.52087889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661858064 meters 0.016922391907290064 Centerline is valid? [True, True] Translation: X:175.03, Y:52.87, Z:0.15 [[ 7.98992164e-01 -6.01312670e-01 -5.88175018e-03 1.75030714e+02] [ 6.01297019e-01 7.99013810e-01 -4.33893675e-03 5.28748621e+01] [ 7.30865726e-03 -6.99023881e-05 9.99973289e-01 1.53444144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721858064 meters 0.01688185837928344 Centerline is valid? [True, True] Translation: X:175.08, Y:52.91, Z:0.15 [[ 7.99934455e-01 -6.00052745e-01 -6.44758268e-03 1.75076004e+02] [ 6.00033878e-01 7.99960436e-01 -4.75877888e-03 5.29128334e+01] [ 8.01332938e-03 -6.20568493e-05 9.99967891e-01 1.53172288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781858064 meters 0.01661869352618893 Centerline is valid? [True, True] Translation: X:175.12, Y:52.95, Z:0.15 [[ 8.01038699e-01 -5.98580791e-01 -6.16754393e-03 1.75120837e+02] [ 5.98563474e-01 8.01062441e-01 -4.55346462e-03 5.29520864e+01] [ 7.66620425e-03 -4.41651491e-05 9.99970613e-01 1.53322074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841858064 meters 0.016488187009795173 Centerline is valid? [True, True] Translation: X:175.16, Y:52.99, Z:0.15 [[ 8.01914519e-01 -5.97407558e-01 -6.10844408e-03 1.75164624e+02] [ 5.97390517e-01 8.01937783e-01 -4.51233647e-03 5.29901044e+01] [ 7.59429602e-03 -3.06184415e-05 9.99971162e-01 1.53770890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901858064 meters 0.016417733225421602 Centerline is valid? [True, True] Translation: X:175.21, Y:53.03, Z:0.15 [[ 8.02634253e-01 -5.96441062e-01 -6.02620876e-03 1.75208664e+02] [ 5.96424431e-01 8.02656875e-01 -4.45420299e-03 5.30284816e+01] [ 7.49364746e-03 -1.90822397e-05 9.99971922e-01 1.54237424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96185806399998 meters 0.016450869081241104 Centerline is valid? [True, True] Translation: X:175.25, Y:53.06, Z:0.16 [[ 8.02596014e-01 -5.96501635e-01 -5.04361532e-03 1.75253854e+02] [ 5.96489973e-01 8.02611861e-01 -3.73006557e-03 5.30642353e+01] [ 6.27305569e-03 -1.47302036e-05 9.99980324e-01 1.55912214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02185806399999 meters 0.016721485717248394 Centerline is valid? [True, True] Translation: X:175.30, Y:53.10, Z:0.16 [[ 8.02878864e-01 -5.96117408e-01 -5.43739407e-03 1.75298039e+02] [ 5.96103829e-01 8.02897276e-01 -4.02365349e-03 5.31027339e+01] [ 6.76423878e-03 -1.07450802e-05 9.99977122e-01 1.55894451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.081858064 meters 0.01664132061672832 Centerline is valid? [True, True] Translation: X:175.34, Y:53.14, Z:0.16 [[ 8.03238895e-01 -5.95626185e-01 -6.06014658e-03 1.75342786e+02] [ 5.95609283e-01 8.03261756e-01 -4.48714849e-03 5.31406056e+01] [ 7.54054712e-03 -5.22736297e-06 9.99971570e-01 1.55519127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.141858064 meters 0.016858306492731207 Centerline is valid? [True, True] Translation: X:175.39, Y:53.18, Z:0.16 [[ 8.04331859e-01 -5.94144614e-01 -6.51445920e-03 1.75385910e+02] [ 5.94125011e-01 8.04358239e-01 -4.82635807e-03 5.31792082e+01] [ 8.10751359e-03 1.15904056e-05 9.99967134e-01 1.55728211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201858064 meters 0.016914324364360835 Centerline is valid? [True, True] Translation: X:175.43, Y:53.22, Z:0.16 [[ 8.04618144e-01 -5.93752580e-01 -6.89311614e-03 1.75431314e+02] [ 5.93730592e-01 8.04647670e-01 -5.10985083e-03 5.32152322e+01] [ 8.58051696e-03 1.88247580e-05 9.99963187e-01 1.55670779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261858064 meters 0.016811620421426157 Centerline is valid? [True, True] Translation: X:175.48, Y:53.25, Z:0.16 [[ 8.04690194e-01 -5.93670406e-01 -5.39827595e-03 1.75475996e+02] [ 5.93656905e-01 8.04708301e-01 -4.00378846e-03 5.32542820e+01] [ 6.72096818e-03 1.70855255e-05 9.99977414e-01 1.57418230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321858064 meters 0.016685734976325535 Centerline is valid? [True, True] Translation: X:175.52, Y:53.29, Z:0.16 [[ 8.03926675e-01 -5.94708694e-01 -4.84461154e-03 1.75521812e+02] [ 5.94697827e-01 8.03941272e-01 -3.59524076e-03 5.32904378e+01] [ 6.03290410e-03 9.22999725e-06 9.99981802e-01 1.57829886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381858064 meters 0.01668127412712754 Centerline is valid? [True, True] Translation: X:175.57, Y:53.33, Z:0.16 [[ 8.01882692e-01 -5.97466850e-01 -4.18464466e-03 1.75567169e+02] [ 5.97458774e-01 8.01893611e-01 -3.10640941e-03 5.33252242e+01] [ 5.21161646e-03 -9.17672415e-06 9.99986419e-01 1.58328686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441858064 meters 0.016637103961910038 Centerline is valid? [True, True] Translation: X:175.61, Y:53.36, Z:0.16 [[ 8.00571507e-01 -5.99227025e-01 -3.49771079e-03 1.75612324e+02] [ 5.99221394e-01 8.00579148e-01 -2.59784919e-03 5.33614322e+01] [ 4.35689577e-03 -1.61390883e-05 9.99990509e-01 1.59786594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501858064 meters 0.01667689233848315 Centerline is valid? [True, True] Translation: X:175.66, Y:53.40, Z:0.16 [[ 8.00407418e-01 -5.99445790e-01 -3.56499209e-03 1.75656241e+02] [ 5.99439936e-01 8.00415357e-01 -2.64942035e-03 5.34001416e+01] [ 4.44165830e-03 -1.63829324e-05 9.99990136e-01 1.60144993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561858064 meters 0.016663255635678373 Centerline is valid? [True, True] Translation: X:175.70, Y:53.44, Z:0.16 [[ 8.00725265e-01 -5.99018131e-01 -4.04075250e-03 1.75700493e+02] [ 5.99010595e-01 8.00735461e-01 -3.00482167e-03 5.34371267e+01] [ 5.03551647e-03 -1.44169288e-05 9.99987322e-01 1.60045517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621858064 meters 0.01679527181000557 Centerline is valid? [True, True] Translation: X:175.74, Y:53.48, Z:0.16 [[ 8.00896388e-01 -5.98787726e-01 -4.27025461e-03 1.75744662e+02] [ 5.98779295e-01 8.00907772e-01 -3.17742945e-03 5.34755707e+01] [ 5.32268586e-03 -1.21482809e-05 9.99985834e-01 1.59963987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681858064 meters 0.01664372461586482 Centerline is valid? [True, True] Translation: X:175.79, Y:53.51, Z:0.16 [[ 8.00481562e-01 -5.99342341e-01 -4.24575372e-03 1.75789069e+02] [ 5.99334010e-01 8.00492822e-01 -3.16020591e-03 5.35121540e+01] [ 5.29274058e-03 -1.49380362e-05 9.99985993e-01 1.60689227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74185806399998 meters 0.016707539942313297 Centerline is valid? [True, True] Translation: X:175.84, Y:53.55, Z:0.16 [[ 7.99441516e-01 -6.00733899e-01 -3.47067867e-03 1.75835442e+02] [ 6.00728339e-01 7.99449049e-01 -2.58462413e-03 5.35474157e+01] [ 4.32730209e-03 -1.86792036e-05 9.99990637e-01 1.61242545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.801858064 meters 0.016848253181444704 Centerline is valid? [True, True] Translation: X:175.88, Y:53.58, Z:0.16 [[ 7.98601299e-01 -6.01854573e-01 -2.65290149e-03 1.75881177e+02] [ 6.01851329e-01 7.98605705e-01 -1.97643269e-03 5.35817639e+01] [ 3.30814732e-03 -1.82705755e-05 9.99994528e-01 1.61868174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.861858064 meters 0.016924147629786408 Centerline is valid? [True, True] Translation: X:175.93, Y:53.62, Z:0.16 [[ 7.98299750e-01 -6.02257327e-01 -1.90285646e-03 1.75926380e+02] [ 6.02255657e-01 7.98302018e-01 -1.41833604e-03 5.36183501e+01] [ 2.37325743e-03 -1.37487672e-05 9.99997184e-01 1.61885899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921858064 meters 0.01690219131487745 Centerline is valid? [True, True] Translation: X:175.97, Y:53.65, Z:0.16 [[ 7.98449598e-01 -6.02059327e-01 -1.67515665e-03 1.75972359e+02] [ 6.02058031e-01 7.98451355e-01 -1.24932932e-03 5.36534303e+01] [ 2.08970147e-03 -1.10150183e-05 9.99997817e-01 1.62048196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981858064 meters 0.016904461683604054 Centerline is valid? [True, True] Translation: X:176.02, Y:53.69, Z:0.16 [[ 7.98641891e-01 -6.01803914e-01 -1.78320082e-03 1.76017509e+02] [ 6.01802443e-01 7.98643881e-01 -1.33044811e-03 5.36875769e+01] [ 2.22481130e-03 -1.05830188e-05 9.99997525e-01 1.61270991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041858064 meters 0.016831587426398738 Centerline is valid? [True, True] Translation: X:176.06, Y:53.72, Z:0.16 [[ 7.98825863e-01 -6.01553215e-01 -3.31202358e-03 1.76064224e+02] [ 6.01548134e-01 7.98832729e-01 -2.47251687e-03 5.37216418e+01] [ 4.13310331e-03 -1.72311850e-05 9.99991459e-01 1.59988324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101858064 meters 0.016797219514125064 Centerline is valid? [True, True] Translation: X:176.11, Y:53.76, Z:0.16 [[ 7.98607553e-01 -6.01842445e-01 -3.41267968e-03 1.76111882e+02] [ 6.01837047e-01 7.98614845e-01 -2.54919282e-03 5.37554205e+01] [ 4.25962909e-03 -1.80724206e-05 9.99990928e-01 1.59766944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161858064 meters 0.016954016974978094 Centerline is valid? [True, True] Translation: X:176.16, Y:53.79, Z:0.16 [[ 7.97881855e-01 -6.02803136e-01 -3.59511251e-03 1.76159295e+02] [ 6.02797148e-01 7.97889954e-01 -2.68707007e-03 5.37881675e+01] [ 4.48827843e-03 -2.31591132e-05 9.99989927e-01 1.59160013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221858064 meters 0.017115292265676728 Centerline is valid? [True, True] Translation: X:176.21, Y:53.82, Z:0.16 [[ 7.95558470e-01 -6.05854981e-01 -5.14428649e-03 1.76210257e+02] [ 6.05842769e-01 7.95575100e-01 -3.84711414e-03 5.38179032e+01] [ 6.42345950e-03 -5.60245348e-05 9.99979368e-01 1.57658756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281858064 meters 0.017453107760593146 Centerline is valid? [True, True] Translation: X:176.26, Y:53.85, Z:0.16 [[ 7.93656721e-01 -6.08345690e-01 -4.95284209e-03 1.76259736e+02] [ 6.08334410e-01 7.93672172e-01 -3.70521234e-03 5.38475932e+01] [ 6.18498289e-03 -7.23175946e-05 9.99980870e-01 1.58010720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341858064 meters 0.018072141750059806 Centerline is valid? [True, True] Translation: X:176.31, Y:53.88, Z:0.16 [[ 7.91562449e-01 -6.11070620e-01 -4.64606260e-03 1.76311121e+02] [ 6.11060732e-01 7.91576080e-01 -3.47739650e-03 5.38766673e+01] [ 5.80264686e-03 -8.64499219e-05 9.99983161e-01 1.58868451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401858064 meters 0.017709335880789993 Centerline is valid? [True, True] Translation: X:176.36, Y:53.91, Z:0.16 [[ 7.91722532e-01 -6.10868496e-01 -3.88745733e-03 1.76362129e+02] [ 6.10861564e-01 7.91732073e-01 -2.91105940e-03 5.39065142e+01] [ 4.85609913e-03 -6.99469492e-05 9.99988207e-01 1.60715574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46185806399998 meters 0.0174678100434868 Centerline is valid? [True, True] Translation: X:176.41, Y:53.94, Z:0.16 [[ 7.92920063e-01 -6.09313126e-01 -3.90995060e-03 1.76410909e+02] [ 6.09306087e-01 7.92929701e-01 -2.92939035e-03 5.39398814e+01] [ 4.88523195e-03 -5.95843227e-05 9.99988065e-01 1.60868110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52185806399999 meters 0.01708831819277249 Centerline is valid? [True, True] Translation: X:176.46, Y:53.97, Z:0.16 [[ 7.95000447e-01 -6.06596683e-01 -3.84114002e-03 1.76460235e+02] [ 6.06589850e-01 7.95009725e-01 -2.87930257e-03 5.39729240e+01] [ 4.80031906e-03 -4.09497158e-05 9.99988478e-01 1.61476764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.581858064 meters 0.016975866534344717 Centerline is valid? [True, True] Translation: X:176.51, Y:54.00, Z:0.16 [[ 7.96444558e-01 -6.04692880e-01 -4.75253827e-03 1.76510352e+02] [ 6.04682376e-01 7.96458737e-01 -3.56435679e-03 5.40041416e+01] [ 5.94054180e-03 -3.49635651e-05 9.99982354e-01 1.61037833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.641858064 meters 0.016938338357597588 Centerline is valid? [True, True] Translation: X:176.56, Y:54.04, Z:0.16 [[ 7.96310169e-01 -6.04863592e-01 -5.49087931e-03 1.76559712e+02] [ 6.04849558e-01 7.96329099e-01 -4.12048243e-03 5.40355359e+01] [ 6.86487677e-03 -3.99738672e-05 9.99976436e-01 1.61094734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701858064 meters 0.016886899212528127 Centerline is valid? [True, True] Translation: X:176.61, Y:54.06, Z:0.16 [[ 7.95926822e-01 -6.05363527e-01 -5.95773247e-03 1.76610898e+02] [ 6.05347000e-01 7.95949118e-01 -4.47348081e-03 5.40645204e+01] [ 7.45013403e-03 -4.59321135e-05 9.99972246e-01 1.62741651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761858064 meters 0.016773743813596576 Centerline is valid? [True, True] Translation: X:176.66, Y:54.09, Z:0.16 [[ 7.96165469e-01 -6.05049431e-01 -5.97772493e-03 1.76660664e+02] [ 6.05032763e-01 7.96187908e-01 -4.49112198e-03 5.40947121e+01] [ 7.47674311e-03 -4.10431996e-05 9.99972048e-01 1.62711785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821858064 meters 0.01767990441719717 Centerline is valid? [True, True] Translation: X:176.71, Y:54.13, Z:0.16 [[ 7.96751881e-01 -6.04268292e-01 -6.80230798e-03 1.76709427e+02] [ 6.04246655e-01 7.96780917e-01 -5.11369943e-03 5.41260344e+01] [ 8.50999561e-03 -3.59222025e-05 9.99963789e-01 1.62070535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881858064 meters 0.01676373328986616 Centerline is valid? [True, True] Translation: X:176.76, Y:54.16, Z:0.16 [[ 7.98047185e-01 -6.02548936e-01 -7.44775971e-03 1.76758670e+02] [ 6.02522901e-01 7.98081938e-01 -5.60128337e-03 5.41560600e+01] [ 9.31896984e-03 -1.73573632e-05 9.99956577e-01 1.62136950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941858064 meters 0.01664730712917021 Centerline is valid? [True, True] Translation: X:176.81, Y:54.19, Z:0.16 [[ 7.98102377e-01 -6.02470056e-01 -7.90107906e-03 1.76807276e+02] [ 6.02440728e-01 7.98141486e-01 -5.94459537e-03 5.41871997e+01] [ 9.88761969e-03 -1.55361233e-05 9.99951116e-01 1.62346451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001858064 meters 0.016656852198053265 Centerline is valid? [True, True] Translation: X:176.86, Y:54.22, Z:0.16 [[ 7.97905417e-01 -6.02735163e-01 -7.56759483e-03 1.76858474e+02] [ 6.02708239e-01 7.97941303e-01 -5.69696861e-03 5.42157306e+01] [ 9.47225978e-03 -1.54096369e-05 9.99955137e-01 1.63990924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061858064 meters 0.016551555913520807 Centerline is valid? [True, True] Translation: X:176.91, Y:54.25, Z:0.17 [[ 7.98067955e-01 -6.02525342e-01 -7.12398975e-03 1.76907770e+02] [ 6.02501446e-01 7.98099751e-01 -5.36615282e-03 5.42471601e+01] [ 8.91889751e-03 -9.65951875e-06 9.99960226e-01 1.65436279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121858064 meters 0.016530102905256916 Centerline is valid? [True, True] Translation: X:176.96, Y:54.28, Z:0.17 [[ 7.98938874e-01 -6.01371630e-01 -6.98848740e-03 1.76956049e+02] [ 6.01348563e-01 7.98969438e-01 -5.26714165e-03 5.42801013e+01] [ 8.75109741e-03 5.60735562e-06 9.99961708e-01 1.66489430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181858064 meters 0.016675690788612658 Centerline is valid? [True, True] Translation: X:177.00, Y:54.31, Z:0.17 [[ 8.00635209e-01 -5.99112176e-01 -6.91827285e-03 1.77002935e+02] [ 5.99089460e-01 8.00665098e-01 -5.21726637e-03 5.43142159e+01] [ 8.66494742e-03 3.24628075e-05 9.99962458e-01 1.66633872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24185806399998 meters 0.017172083919007316 Centerline is valid? [True, True] Translation: X:177.05, Y:54.35, Z:0.17 [[ 8.03703288e-01 -5.94992678e-01 -6.68857505e-03 1.77047614e+02] [ 5.94971291e-01 8.03731116e-01 -5.04531519e-03 5.43502559e+01] [ 8.37774149e-03 7.54262722e-05 9.99964903e-01 1.66835209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.301858064 meters 0.01741685044597626 Centerline is valid? [True, True] Translation: X:177.09, Y:54.39, Z:0.17 [[ 8.04538113e-01 -5.93851088e-01 -7.70131738e-03 1.77094605e+02] [ 5.93822654e-01 8.04574966e-01 -5.81205621e-03 5.43851311e+01] [ 9.64778307e-03 1.02804009e-04 9.99953454e-01 1.67377275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.361858064 meters 0.017397424901736572 Centerline is valid? [True, True] Translation: X:177.14, Y:54.42, Z:0.17 [[ 8.03910610e-01 -5.94688623e-01 -8.55412061e-03 1.77140964e+02] [ 5.94653552e-01 8.03956112e-01 -6.45935105e-03 5.44195473e+01] [ 1.07184401e-02 1.06002632e-04 9.99942550e-01 1.66011472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421858064 meters 0.017094353798431227 Centerline is valid? [True, True] Translation: X:177.19, Y:54.45, Z:0.17 [[ 8.02175608e-01 -5.97033538e-01 -8.07766830e-03 1.77187902e+02] [ 5.97002371e-01 8.02216273e-01 -6.10083869e-03 5.44534279e+01] [ 1.01224423e-02 7.15568603e-05 9.99948764e-01 1.66278289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481858064 meters 0.016655633384854353 Centerline is valid? [True, True] Translation: X:177.24, Y:54.49, Z:0.17 [[ 7.99985753e-01 -5.99962086e-01 -8.26374149e-03 1.77236525e+02] [ 5.99929591e-01 8.00028433e-01 -6.24439763e-03 5.44865225e+01] [ 1.03576300e-02 3.77660950e-05 9.99946358e-01 1.67809322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541858064 meters 0.01653851685626374 Centerline is valid? [True, True] Translation: X:177.28, Y:54.52, Z:0.17 [[ 7.95885623e-01 -6.05384386e-01 -8.70750207e-03 1.77284670e+02] [ 6.05348588e-01 7.95933254e-01 -6.58351859e-03 5.45194507e+01] [ 1.09161498e-02 -3.13462884e-05 9.99940417e-01 1.68923395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601858064 meters 0.01691649940628851 Centerline is valid? [True, True] Translation: X:177.33, Y:54.55, Z:0.17 [[ 7.92394564e-01 -6.09949689e-01 -8.49890140e-03 1.77332916e+02] [ 6.09915833e-01 7.92440136e-01 -6.42715835e-03 5.45525052e+01] [ 1.06551138e-02 -9.07691854e-05 9.99943229e-01 1.69462338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661858064 meters 0.017898817433682653 Centerline is valid? [True, True] Translation: X:177.38, Y:54.59, Z:0.17 [[ 7.87678872e-01 -6.16030810e-01 -8.24840570e-03 1.77381612e+02] [ 6.15999221e-01 7.87722041e-01 -6.24066282e-03 5.45865601e+01] [ 1.03418915e-02 -1.65373234e-04 9.99946508e-01 1.70403622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721858064 meters 0.01946355257340581 Centerline is valid? [True, True] Translation: X:177.43, Y:54.62, Z:0.17 [[ 7.83918700e-01 -6.20802527e-01 -8.70027272e-03 1.77428409e+02] [ 6.20767655e-01 7.83966941e-01 -6.58435225e-03 5.46203117e+01] [ 1.09083087e-02 -2.39251036e-04 9.99940474e-01 1.69819476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781858064 meters 0.019449685439117726 Centerline is valid? [True, True] Translation: X:177.47, Y:54.66, Z:0.17 [[ 7.82792865e-01 -6.22203227e-01 -9.92347483e-03 1.77474017e+02] [ 6.22157954e-01 7.82855707e-01 -7.51147470e-03 5.46568410e+01] [ 1.24423127e-02 -2.94039998e-04 9.99922548e-01 1.69621326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841858064 meters 0.019136050358256076 Centerline is valid? [True, True] Translation: X:177.52, Y:54.70, Z:0.17 [[ 7.82600707e-01 -6.22433359e-01 -1.06229048e-02 1.77518402e+02] [ 6.22381448e-01 7.82672737e-01 -8.04482491e-03 5.46954696e+01] [ 1.33216254e-02 -3.15613209e-04 9.99911213e-01 1.69986377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901858064 meters 0.018338939712508013 Centerline is valid? [True, True] Translation: X:177.56, Y:54.74, Z:0.17 [[ 7.84353491e-01 -6.20217119e-01 -1.09693867e-02 1.77560519e+02] [ 6.20161490e-01 7.84430140e-01 -8.31149119e-03 5.47370452e+01] [ 1.37596467e-02 -2.83644103e-04 9.99905291e-01 1.69147388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96185806399998 meters 0.018063219495520626 Centerline is valid? [True, True] Translation: X:177.60, Y:54.78, Z:0.17 [[ 7.85995019e-01 -6.18140343e-01 -1.06932842e-02 1.77604692e+02] [ 6.18087232e-01 7.86067719e-01 -8.10642744e-03 5.47757259e+01] [ 1.34165554e-02 -2.37770861e-04 9.99909966e-01 1.68567537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02185806399999 meters 0.017533462897025762 Centerline is valid? [True, True] Translation: X:177.65, Y:54.82, Z:0.17 [[ 7.88500389e-01 -6.14942697e-01 -1.06120548e-02 1.77647721e+02] [ 6.14890069e-01 7.88571777e-01 -8.04709183e-03 5.48150619e+01] [ 1.33168673e-02 -1.80112074e-04 9.99911310e-01 1.68736239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.081858064 meters 0.01710422797553712 Centerline is valid? [True, True] Translation: X:177.69, Y:54.85, Z:0.17 [[ 7.90288485e-01 -6.12629199e-01 -1.13831137e-02 1.77692001e+02] [ 6.12568345e-01 7.90370446e-01 -8.63596926e-03 5.48547682e+01] [ 1.42875236e-02 -1.48028070e-04 9.99897917e-01 1.67806963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.141858064 meters 0.0164745486801727 Centerline is valid? [True, True] Translation: X:177.73, Y:54.90, Z:0.17 [[ 7.93122330e-01 -6.08941007e-01 -1.21581025e-02 1.77734627e+02] [ 6.08871079e-01 7.93215509e-01 -9.22856855e-03 5.48962552e+01] [ 1.52636493e-02 -8.33332081e-05 9.99883500e-01 1.66889123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201858064 meters 0.016352268495658743 Centerline is valid? [True, True] Translation: X:177.78, Y:54.93, Z:0.17 [[ 7.94662076e-01 -6.06917155e-01 -1.27965655e-02 1.77778017e+02] [ 6.06839336e-01 7.94765100e-01 -9.71881233e-03 5.49346120e+01] [ 1.60687776e-02 -4.22877123e-05 9.99870888e-01 1.67203883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261858064 meters 0.01607373713536207 Centerline is valid? [True, True] Translation: X:177.82, Y:54.97, Z:0.17 [[ 7.96052802e-01 -6.05095314e-01 -1.26331923e-02 1.77820536e+02] [ 6.05019152e-01 7.96153038e-01 -9.60025630e-03 5.49742639e+01] [ 1.58670245e-02 -1.01235808e-06 9.99874111e-01 1.66619707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321858064 meters 0.016142990945457007 Centerline is valid? [True, True] Translation: X:177.87, Y:55.01, Z:0.17 [[ 7.96097354e-01 -6.05035536e-01 -1.26886551e-02 1.77865272e+02] [ 6.04958606e-01 7.96198468e-01 -9.64807715e-03 5.50117470e+01] [ 1.59401173e-02 4.69758362e-06 9.99872948e-01 1.66109015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381858064 meters 0.01586716993648838 Centerline is valid? [True, True] Translation: X:177.91, Y:55.05, Z:0.17 [[ 7.94686461e-01 -6.06889928e-01 -1.25715568e-02 1.77912021e+02] [ 6.06814553e-01 7.94785892e-01 -9.56472211e-03 5.50463301e+01] [ 1.57964295e-02 -2.76484317e-05 9.99875228e-01 1.66888629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441858064 meters 0.015764757808798296 Centerline is valid? [True, True] Translation: X:177.96, Y:55.08, Z:0.17 [[ 7.92711884e-01 -6.09478070e-01 -1.20146379e-02 1.77958249e+02] [ 6.09409441e-01 7.92802925e-01 -9.14636908e-03 5.50809327e+01] [ 1.50997514e-02 -7.13983087e-05 9.99885990e-01 1.66760865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501858064 meters 0.01607821099455882 Centerline is valid? [True, True] Translation: X:178.01, Y:55.11, Z:0.17 [[ 7.91299245e-01 -6.11295064e-01 -1.28003532e-02 1.78005548e+02] [ 6.11217370e-01 7.91402762e-01 -9.74649901e-03 5.51148415e+01] [ 1.60882216e-02 -1.11400906e-04 9.99870570e-01 1.65642040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561858064 meters 0.016345314563558165 Centerline is valid? [True, True] Translation: X:178.05, Y:55.15, Z:0.17 [[ 7.88969422e-01 -6.14283213e-01 -1.35419633e-02 1.78054464e+02] [ 6.14196608e-01 7.89085611e-01 -1.03162172e-02 5.51474529e+01] [ 1.70228475e-02 -1.78248057e-04 9.99855085e-01 1.65724472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621858064 meters 0.016553922713002597 Centerline is valid? [True, True] Translation: X:178.10, Y:55.18, Z:0.17 [[ 7.86994217e-01 -6.16825012e-01 -1.29230996e-02 1.78102579e+02] [ 6.16746402e-01 7.87100284e-01 -9.84983836e-03 5.51814812e+01] [ 1.62474020e-02 -2.18509342e-04 9.99867978e-01 1.66814585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681858064 meters 0.01695719411448961 Centerline is valid? [True, True] Translation: X:178.15, Y:55.21, Z:0.16 [[ 7.86476802e-01 -6.17489878e-01 -1.26684526e-02 1.78150217e+02] [ 6.17414382e-01 7.86578794e-01 -9.65825214e-03 5.52137690e+01] [ 1.59286091e-02 -2.25693559e-04 9.99873106e-01 1.64937113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74185806399998 meters 0.016601266048991443 Centerline is valid? [True, True] Translation: X:178.20, Y:55.25, Z:0.17 [[ 7.86416546e-01 -6.17552984e-01 -1.33164891e-02 1.78198045e+02] [ 6.17469490e-01 7.86529248e-01 -1.01573247e-02 5.52489955e+01] [ 1.67464943e-02 -2.34637524e-04 9.99859740e-01 1.65641284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.801858064 meters 0.01639718057869636 Centerline is valid? [True, True] Translation: X:178.25, Y:55.28, Z:0.17 [[ 7.86679152e-01 -6.17227435e-01 -1.28920940e-02 1.78245413e+02] [ 6.17149054e-01 7.86784753e-01 -9.83859737e-03 5.52833366e+01] [ 1.62159552e-02 -2.16524212e-04 9.99868489e-01 1.66880227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.861858064 meters 0.01636001530340304 Centerline is valid? [True, True] Translation: X:178.29, Y:55.32, Z:0.17 [[ 7.87607165e-01 -6.16060186e-01 -1.20333713e-02 1.78292897e+02] [ 6.15991736e-01 7.87699064e-01 -9.18505659e-03 5.53163668e+01] [ 1.51372230e-02 -1.78240899e-04 9.99885410e-01 1.68166963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921858064 meters 0.016090263173421018 Centerline is valid? [True, True] Translation: X:178.34, Y:55.35, Z:0.17 [[ 7.88563857e-01 -6.14839993e-01 -1.17824220e-02 1.78339968e+02] [ 6.14774169e-01 7.88651863e-01 -8.99776861e-03 5.53510804e+01] [ 1.48244170e-02 -1.48213555e-04 9.99890101e-01 1.69002168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981858064 meters 0.015838598902607373 Centerline is valid? [True, True] Translation: X:178.39, Y:55.39, Z:0.17 [[ 7.89404273e-01 -6.13761228e-01 -1.17493792e-02 1.78386514e+02] [ 6.13695589e-01 7.89491697e-01 -8.97693528e-03 5.53869644e+01] [ 1.47857321e-02 -1.24111091e-04 9.99890677e-01 1.68788889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041858064 meters 0.01547606865941151 Centerline is valid? [True, True] Translation: X:178.43, Y:55.42, Z:0.17 [[ 7.89998497e-01 -6.12998590e-01 -1.16233821e-02 1.78433276e+02] [ 6.12934203e-01 7.90083994e-01 -8.88510695e-03 5.54223527e+01] [ 1.46300062e-02 -1.05147312e-04 9.99892970e-01 1.69316447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101858064 meters 0.015165485584799753 Centerline is valid? [True, True] Translation: X:178.48, Y:55.46, Z:0.17 [[ 7.91435986e-01 -6.11156129e-01 -1.08290023e-02 1.78479246e+02] [ 6.11100047e-01 7.91510065e-01 -8.27947858e-03 5.54567834e+01] [ 1.36313183e-02 -6.49264953e-05 9.99907087e-01 1.70270159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161858064 meters 0.014648623510070383 Centerline is valid? [True, True] Translation: X:178.53, Y:55.49, Z:0.17 [[ 7.92145827e-01 -6.10238419e-01 -1.06799087e-02 1.78526042e+02] [ 6.10183731e-01 7.92217817e-01 -8.16977622e-03 5.54920154e+01] [ 1.34463253e-02 -4.50523651e-05 9.99909593e-01 1.72530780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221858064 meters 0.014539085508893232 Centerline is valid? [True, True] Translation: X:178.57, Y:55.53, Z:0.17 [[ 7.93176776e-01 -6.08896846e-01 -1.07346821e-02 1.78570794e+02] [ 6.08841442e-01 7.93249413e-01 -8.21390246e-03 5.55266538e+01] [ 1.35166996e-02 -2.06426839e-05 9.99908645e-01 1.72652678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281858064 meters 0.014473326863304586 Centerline is valid? [True, True] Translation: X:178.62, Y:55.56, Z:0.17 [[ 7.93732075e-01 -6.08168566e-01 -1.09721434e-02 1.78617086e+02] [ 6.08110549e-01 7.93807908e-01 -8.40025778e-03 5.55612984e+01] [ 1.38185469e-02 -4.72210967e-06 9.99904519e-01 1.72278055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341858064 meters 0.014433447698535292 Centerline is valid? [True, True] Translation: X:178.66, Y:55.60, Z:0.17 [[ 7.93578974e-01 -6.08353068e-01 -1.17879640e-02 1.78664450e+02] [ 6.08286096e-01 7.93666520e-01 -9.02667476e-03 5.55952723e+01] [ 1.48471176e-02 -7.07528873e-06 9.99889775e-01 1.72870502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401858064 meters 0.01409313981456737 Centerline is valid? [True, True] Translation: X:178.71, Y:55.63, Z:0.17 [[ 7.92881986e-01 -6.09267376e-01 -1.14638914e-02 1.78710364e+02] [ 6.09204060e-01 7.92964857e-01 -8.78344326e-03 5.56302628e+01] [ 1.44419284e-02 -1.96152213e-05 9.99895710e-01 1.74899859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46185806399998 meters 0.01399152960385707 Centerline is valid? [True, True] Translation: X:178.76, Y:55.66, Z:0.18 [[ 7.92254253e-01 -6.10089290e-01 -1.11470508e-02 1.78756415e+02] [ 6.10029475e-01 7.92332668e-01 -8.54300062e-03 5.56634875e+01] [ 1.40441657e-02 -3.18009441e-05 9.99901375e-01 1.75850445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52185806399999 meters 0.013772822912879219 Centerline is valid? [True, True] Translation: X:178.80, Y:55.70, Z:0.18 [[ 7.91602158e-01 -6.10916520e-01 -1.21255502e-02 1.78804188e+02] [ 6.10845768e-01 7.91695019e-01 -9.29756865e-03 5.56983405e+01] [ 1.52797760e-02 -4.68656252e-05 9.99883256e-01 1.77096586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.581858064 meters 0.013679311076682622 Centerline is valid? [True, True] Translation: X:178.85, Y:55.73, Z:0.18 [[ 7.90916507e-01 -6.11788846e-01 -1.28641361e-02 1.78850676e+02] [ 6.11709244e-01 7.91021115e-01 -9.86897661e-03 5.57337953e+01] [ 1.62135330e-02 -6.35744356e-05 9.99868550e-01 1.76376729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.641858064 meters 0.013621449654177864 Centerline is valid? [True, True] Translation: X:178.90, Y:55.77, Z:0.18 [[ 7.89628214e-01 -6.13459124e-01 -1.24574033e-02 1.78897897e+02] [ 6.13384598e-01 7.89726469e-01 -9.56242539e-03 5.57678690e+01] [ 1.57040982e-02 -9.04184327e-05 9.99876679e-01 1.76771438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701858064 meters 0.01383155155116269 Centerline is valid? [True, True] Translation: X:178.95, Y:55.80, Z:0.18 [[ 7.87663422e-01 -6.15985733e-01 -1.21618583e-02 1.78946153e+02] [ 6.15914929e-01 7.87757297e-01 -9.34028849e-03 5.58012760e+01] [ 1.53340771e-02 -1.33666504e-04 9.99882417e-01 1.77450174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761858064 meters 0.013930743081610152 Centerline is valid? [True, True] Translation: X:178.99, Y:55.84, Z:0.18 [[ 7.86304425e-01 -6.17717756e-01 -1.22525569e-02 1.78993745e+02] [ 6.17646028e-01 7.86399864e-01 -9.41477323e-03 5.58359456e+01] [ 1.54510817e-02 -1.64865272e-04 9.99880611e-01 1.78418195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821858064 meters 0.01449045569978398 Centerline is valid? [True, True] Translation: X:179.04, Y:55.87, Z:0.18 [[ 7.84812305e-01 -6.19607524e-01 -1.24964620e-02 1.79040532e+02] [ 6.19533120e-01 7.84911762e-01 -9.60409947e-03 5.58695488e+01] [ 1.57593923e-02 -2.04556620e-04 9.99875792e-01 1.77725928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881858064 meters 0.014581401110752321 Centerline is valid? [True, True] Translation: X:179.09, Y:55.91, Z:0.18 [[ 7.84117477e-01 -6.20491198e-01 -1.22660007e-02 1.79085942e+02] [ 6.20419542e-01 7.84213381e-01 -9.43213054e-03 5.59058048e+01] [ 1.54717158e-02 -2.14168112e-04 9.99880283e-01 1.76657778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941858064 meters 0.014750198622649013 Centerline is valid? [True, True] Translation: X:179.13, Y:55.94, Z:0.18 [[ 7.83978824e-01 -6.20667123e-01 -1.22280942e-02 1.79131459e+02] [ 6.20595848e-01 7.84074153e-01 -9.40828174e-03 5.59421583e+01] [ 1.54271438e-02 -2.12810853e-04 9.99880972e-01 1.75645614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001858064 meters 0.015167599945689088 Centerline is valid? [True, True] Translation: X:179.18, Y:55.98, Z:0.17 [[ 7.83891043e-01 -6.20782518e-01 -1.19957664e-02 1.79175351e+02] [ 6.20713903e-01 7.83982794e-01 -9.23193262e-03 5.59778595e+01] [ 1.51354968e-02 -2.09109684e-04 9.99885430e-01 1.73487021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061858064 meters 0.015413162996637945 Centerline is valid? [True, True] Translation: X:179.22, Y:56.01, Z:0.17 [[ 7.83890912e-01 -6.20804758e-01 -1.07931239e-02 1.79221163e+02] [ 6.20749195e-01 7.83965189e-01 -8.30781502e-03 5.60133482e+01] [ 1.36189645e-02 -1.87402274e-04 9.99907240e-01 1.73300751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121858064 meters 0.015564831902419014 Centerline is valid? [True, True] Translation: X:179.27, Y:56.05, Z:0.17 [[ 7.83574201e-01 -6.21234794e-01 -8.87711255e-03 1.79267831e+02] [ 6.21197201e-01 7.83624468e-01 -6.83605034e-03 5.60491564e+01] [ 1.12031149e-02 -1.57884785e-04 9.99937231e-01 1.74001074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181858064 meters 0.014747407046581442 Centerline is valid? [True, True] Translation: X:179.31, Y:56.09, Z:0.18 [[ 7.83005379e-01 -6.21968353e-01 -7.61209210e-03 1.79312260e+02] [ 6.21940714e-01 7.83042366e-01 -5.86522232e-03 5.60863632e+01] [ 9.60857327e-03 -1.41769373e-04 9.99953827e-01 1.75730049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24185806399998 meters 0.014886187854835656 Centerline is valid? [True, True] Translation: X:179.36, Y:56.12, Z:0.18 [[ 7.82576727e-01 -6.22530475e-01 -5.42891665e-03 1.79359124e+02] [ 6.22516416e-01 7.82595551e-01 -4.18511799e-03 5.61220337e+01] [ 6.85400951e-03 -1.04413796e-04 9.99976506e-01 1.76052968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.301858064 meters 0.01481264557036477 Centerline is valid? [True, True] Translation: X:179.41, Y:56.16, Z:0.18 [[ 7.82556134e-01 -6.22567747e-01 -3.91121766e-03 1.79405942e+02] [ 6.22560443e-01 7.82565905e-01 -3.01658001e-03 5.61579059e+01] [ 4.93881101e-03 -7.43262066e-05 9.99987801e-01 1.75840042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.361858064 meters 0.01444835339949781 Centerline is valid? [True, True] Translation: X:179.45, Y:56.19, Z:0.18 [[ 7.82831690e-01 -6.22223765e-01 -3.48294213e-03 1.79451858e+02] [ 6.22217964e-01 7.82839436e-01 -2.68762916e-03 5.61948041e+01] [ 4.39889118e-03 -6.31878779e-05 9.99990323e-01 1.75577119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421858064 meters 0.014613959002177867 Centerline is valid? [True, True] Translation: X:179.50, Y:56.23, Z:0.17 [[ 7.83420922e-01 -6.21484835e-01 -2.87394745e-03 1.79498106e+02] [ 6.21480878e-01 7.83426192e-01 -2.21823188e-03 5.62296350e+01] [ 3.63012318e-03 -4.82941153e-05 9.99993410e-01 1.74704490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481858064 meters 0.014262075650899271 Centerline is valid? [True, True] Translation: X:179.54, Y:56.27, Z:0.17 [[ 7.83673877e-01 -6.21168610e-01 -2.19392631e-03 1.79542984e+02] [ 6.21166301e-01 7.83676947e-01 -1.69411975e-03 5.62658321e+01] [ 2.77166348e-03 -3.51556979e-05 9.99996158e-01 1.74834752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541858064 meters 0.01493674488480697 Centerline is valid? [True, True] Translation: X:179.59, Y:56.30, Z:0.17 [[ 7.83764205e-01 -6.21057919e-01 -8.55880293e-04 1.79589409e+02] [ 6.21057567e-01 7.83764672e-01 -6.61053340e-04 5.62996920e+01] [ 1.08136115e-03 -1.34409867e-05 9.99999415e-01 1.73959659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601858064 meters 0.014635872847106338 Centerline is valid? [True, True] Translation: X:179.64, Y:56.34, Z:0.17 [[ 7.83510049e-01 -6.21379106e-01 9.96763164e-05 1.79635833e+02] [ 6.21379101e-01 7.83510055e-01 7.73483430e-05 5.63352314e+01] [-1.26160040e-04 1.33357590e-06 9.99999992e-01 1.74642736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661858064 meters 0.014441721847259758 Centerline is valid? [True, True] Translation: X:179.68, Y:56.37, Z:0.17 [[ 7.83821100e-01 -6.20984352e-01 1.70822203e-03 1.79681025e+02] [ 6.20982946e-01 7.83822961e-01 1.32146635e-03 5.63725175e+01] [-2.15955358e-03 2.49835382e-05 9.99997668e-01 1.74694557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721858064 meters 0.014435333081097514 Centerline is valid? [True, True] Translation: X:179.73, Y:56.41, Z:0.17 [[ 7.84679761e-01 -6.19898139e-01 1.99256024e-03 1.79726020e+02] [ 6.19896223e-01 7.84682291e-01 1.54143736e-03 5.64085659e+01] [-2.51906089e-03 2.56458672e-05 9.99996827e-01 1.74704396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781858064 meters 0.014204877432909322 Centerline is valid? [True, True] Translation: X:179.77, Y:56.45, Z:0.17 [[ 7.85584119e-01 -6.18751282e-01 2.10762602e-03 1.79771710e+02] [ 6.18749132e-01 7.85586946e-01 1.63144065e-03 5.64450262e+01] [-2.66517948e-03 2.24579003e-05 9.99996448e-01 1.74031025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841858064 meters 0.014257361300619194 Centerline is valid? [True, True] Translation: X:179.82, Y:56.48, Z:0.17 [[ 7.85862631e-01 -6.18398592e-01 1.76277820e-03 1.79817176e+02] [ 6.18397086e-01 7.85864607e-01 1.36474172e-03 5.64797593e+01] [-2.22925935e-03 1.75973805e-05 9.99997515e-01 1.74012617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901858064 meters 0.014212242274756258 Centerline is valid? [True, True] Translation: X:179.86, Y:56.52, Z:0.17 [[ 7.86178254e-01 -6.17997369e-01 1.73335170e-03 1.79862584e+02] [ 6.17995910e-01 7.86180165e-01 1.34291400e-03 5.65165791e+01] [-2.19264404e-03 1.54344764e-05 9.99997596e-01 1.73713683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96185806399998 meters 0.01432823770147521 Centerline is valid? [True, True] Translation: X:179.91, Y:56.55, Z:0.17 [[ 7.86039448e-01 -6.18172787e-01 2.09557443e-03 1.79909067e+02] [ 6.18170653e-01 7.86042241e-01 1.62441489e-03 5.65520100e+01] [-2.65137910e-03 1.85684289e-05 9.99996485e-01 1.73908773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02185806399999 meters 0.014451055643779775 Centerline is valid? [True, True] Translation: X:179.96, Y:56.59, Z:0.17 [[ 7.85424589e-01 -6.18952471e-01 2.46028247e-03 1.79955810e+02] [ 6.18949530e-01 7.85428442e-01 1.90815645e-03 5.65862211e+01] [-3.11343398e-03 2.40776783e-05 9.99995153e-01 1.74101562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.081858064 meters 0.01463806230303241 Centerline is valid? [True, True] Translation: X:180.00, Y:56.62, Z:0.17 [[ 7.85148267e-01 -6.19307034e-01 9.98420099e-04 1.80002803e+02] [ 6.19306549e-01 7.85148902e-01 7.74992676e-04 5.66207387e+01] [-1.26386686e-03 9.84394897e-06 9.99999201e-01 1.72635336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.141858064 meters 0.014612211799055436 Centerline is valid? [True, True] Translation: X:180.05, Y:56.65, Z:0.17 [[ 7.85122988e-01 -6.19339879e-01 -9.18882277e-05 1.80049238e+02] [ 6.19339875e-01 7.85122993e-01 -7.10288466e-05 5.66549867e+01] [ 1.16134558e-04 -1.14366314e-06 9.99999993e-01 1.71134295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201858064 meters 0.01472686708434473 Centerline is valid? [True, True] Translation: X:180.10, Y:56.69, Z:0.17 [[ 7.85698187e-01 -6.18608938e-01 -1.15784132e-03 1.80095701e+02] [ 6.18608285e-01 7.85699040e-01 -8.98991472e-04 5.66890014e+01] [ 1.46583897e-03 -9.91426297e-06 9.99998926e-01 1.70116507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261858064 meters 0.014758985218839563 Centerline is valid? [True, True] Translation: X:180.14, Y:56.72, Z:0.17 [[ 7.86004233e-01 -6.18218839e-01 -1.67722059e-03 1.80142751e+02] [ 6.18217466e-01 7.86006023e-01 -1.30287415e-03 5.67232280e+01] [ 2.12376683e-03 -1.28224628e-05 9.99997745e-01 1.69614363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321858064 meters 0.014918420212611208 Centerline is valid? [True, True] Translation: X:180.19, Y:56.76, Z:0.17 [[ 7.86192082e-01 -6.17978443e-01 -2.15743293e-03 1.80191010e+02] [ 6.17976168e-01 7.86195042e-01 -1.67692501e-03 5.67558820e+01] [ 2.73246658e-03 -1.48569699e-05 9.99996267e-01 1.69508901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381858064 meters 0.014998029907277275 Centerline is valid? [True, True] Translation: X:180.24, Y:56.79, Z:0.17 [[ 7.86187018e-01 -6.17980366e-01 -3.20005171e-03 1.80238680e+02] [ 6.17975354e-01 7.86193530e-01 -2.48888594e-03 5.67888275e+01] [ 4.05394260e-03 -2.08232737e-05 9.99991783e-01 1.70201247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441858064 meters 0.015080426425812803 Centerline is valid? [True, True] Translation: X:180.29, Y:56.82, Z:0.17 [[ 7.86121502e-01 -6.18054699e-01 -4.62303407e-03 1.80286015e+02] [ 6.18044228e-01 7.86135095e-01 -3.59781189e-03 5.68229759e+01] [ 5.85797387e-03 -2.89222279e-05 9.99982842e-01 1.68679775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501858064 meters 0.015113819403470247 Centerline is valid? [True, True] Translation: X:180.33, Y:56.86, Z:0.17 [[ 7.85881175e-01 -6.18354376e-01 -5.35211794e-03 1.80334197e+02] [ 6.18340332e-01 7.85899399e-01 -4.16763435e-03 5.68563659e+01] [ 6.78330121e-03 -3.41650085e-05 9.99976993e-01 1.68992120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561858064 meters 0.01522388816747931 Centerline is valid? [True, True] Translation: X:180.38, Y:56.89, Z:0.17 [[ 7.84243155e-01 -6.20423844e-01 -6.07675691e-03 1.80382467e+02] [ 6.20405783e-01 7.84266696e-01 -4.73437880e-03 5.68897762e+01] [ 7.70311956e-03 -5.71509611e-05 9.99970329e-01 1.69395979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621858064 meters 0.015391788870126613 Centerline is valid? [True, True] Translation: X:180.43, Y:56.93, Z:0.17 [[ 7.84757709e-01 -6.19768687e-01 -6.48945325e-03 1.80427827e+02] [ 6.19748043e-01 7.84784538e-01 -5.05880236e-03 5.69253218e+01] [ 8.22810987e-03 -5.18918044e-05 9.99966147e-01 1.70857484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681858064 meters 0.015498159054868132 Centerline is valid? [True, True] Translation: X:180.47, Y:56.96, Z:0.17 [[ 7.85017487e-01 -6.19416284e-01 -8.42686610e-03 1.80473935e+02] [ 6.19381416e-01 7.85062713e-01 -6.57254822e-03 5.69613343e+01] [ 1.06867618e-02 -5.98789646e-05 9.99942893e-01 1.70606106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74185806399998 meters 0.015565865502550744 Centerline is valid? [True, True] Translation: X:180.52, Y:57.00, Z:0.17 [[ 7.85639863e-01 -6.18606528e-01 -9.79636452e-03 1.80518905e+02] [ 6.18559294e-01 7.85700936e-01 -7.64454795e-03 5.69992074e+01] [ 1.24259800e-02 -5.37707103e-05 9.99922793e-01 1.69361554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.801858064 meters 0.015668022304072275 Centerline is valid? [True, True] Translation: X:180.57, Y:57.04, Z:0.17 [[ 7.85310411e-01 -6.19017764e-01 -1.02257667e-02 1.80565083e+02] [ 6.18966282e-01 7.85376982e-01 -7.98363608e-03 5.70359409e+01] [ 1.29730944e-02 -5.97722705e-05 9.99915844e-01 1.69413916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.861858064 meters 0.015822213828767164 Centerline is valid? [True, True] Translation: X:180.61, Y:57.07, Z:0.17 [[ 7.83394933e-01 -6.21435167e-01 -1.05219811e-02 1.80611502e+02] [ 6.21380854e-01 7.83465585e-01 -8.21653331e-03 5.70712672e+01] [ 1.33496528e-02 -1.01367018e-04 9.99910884e-01 1.69303585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921858064 meters 0.015945443005712406 Centerline is valid? [True, True] Translation: X:180.66, Y:57.11, Z:0.17 [[ 7.81519960e-01 -6.23791999e-01 -1.04925329e-02 1.80658040e+02] [ 6.23738150e-01 7.81590380e-01 -8.19742920e-03 5.71071594e+01] [ 1.33143536e-02 -1.38138539e-04 9.99911351e-01 1.70793533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981858064 meters 0.016407071527066285 Centerline is valid? [True, True] Translation: X:180.70, Y:57.14, Z:0.17 [[ 7.78462547e-01 -6.27627186e-01 -8.95421607e-03 1.80704425e+02] [ 6.27588183e-01 7.78514024e-01 -6.99907158e-03 5.71428178e+01] [ 1.13637904e-02 -1.71045103e-04 9.99935415e-01 1.72648995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041858064 meters 0.01784335604473854 Centerline is valid? [True, True] Translation: X:180.75, Y:57.18, Z:0.17 [[ 7.76108555e-01 -6.30551244e-01 -7.78715622e-03 1.80751446e+02] [ 6.30521880e-01 7.76147599e-01 -6.08805063e-03 5.71759959e+01] [ 9.88281049e-03 -1.84984202e-04 9.99951147e-01 1.72571205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101858064 meters 0.020042377216095544 Centerline is valid? [True, True] Translation: X:180.80, Y:57.21, Z:0.17 [[ 7.72931867e-01 -6.34441795e-01 -7.74194388e-03 1.80799690e+02] [ 6.34412943e-01 7.72970604e-01 -6.05500110e-03 5.72083041e+01] [ 9.82584081e-03 -2.31486092e-04 9.99951698e-01 1.72887894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161858064 meters 0.018708777873052158 Centerline is valid? [True, True] Translation: X:180.84, Y:57.25, Z:0.17 [[ 7.71445994e-01 -6.36246381e-01 -7.84996552e-03 1.80843097e+02] [ 6.36216780e-01 7.71485890e-01 -6.14251351e-03 5.72478194e+01] [ 9.96428962e-03 -2.55662353e-04 9.99950323e-01 1.74138852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221858064 meters 0.018609786031643174 Centerline is valid? [True, True] Translation: X:180.89, Y:57.28, Z:0.17 [[ 7.72407895e-01 -6.35076330e-01 -8.00621333e-03 1.80887750e+02] [ 6.35045464e-01 7.72449348e-01 -6.26605685e-03 5.72847297e+01] [ 1.01638187e-02 -2.44357682e-04 9.99948317e-01 1.74787350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281858064 meters 0.018053794262919285 Centerline is valid? [True, True] Translation: X:180.93, Y:57.32, Z:0.17 [[ 7.73693536e-01 -6.33503954e-01 -8.42924876e-03 1.80932213e+02] [ 6.33469613e-01 7.73739417e-01 -6.60021905e-03 5.73230220e+01] [ 1.07033069e-02 -2.33126140e-04 9.99942691e-01 1.74553595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341858064 meters 0.01674554992568299 Centerline is valid? [True, True] Translation: X:180.98, Y:57.36, Z:0.18 [[ 7.76315043e-01 -6.30291384e-01 -8.22953129e-03 1.80975990e+02] [ 6.30258440e-01 7.76358640e-01 -6.44669147e-03 5.73631234e+01] [ 1.04523618e-02 -1.82067995e-04 9.99945356e-01 1.75109102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401858064 meters 0.015982073792653134 Centerline is valid? [True, True] Translation: X:181.02, Y:57.40, Z:0.18 [[ 7.78025100e-01 -6.28192335e-01 -7.16484480e-03 1.81020329e+02] [ 6.28167250e-01 7.78058078e-01 -5.61540725e-03 5.74025570e+01] [ 9.10222116e-03 -1.31793066e-04 9.99958565e-01 1.75693843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46185806399998 meters 0.01576324214838031 Centerline is valid? [True, True] Translation: X:181.07, Y:57.44, Z:0.18 [[ 7.78938046e-01 -6.27069664e-01 -6.25763016e-03 1.81065524e+02] [ 6.27050474e-01 7.78963174e-01 -4.90677158e-03 5.74401611e+01] [ 7.95135105e-03 -1.01778892e-04 9.99968382e-01 1.76356925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52185806399999 meters 0.01528081826134811 Centerline is valid? [True, True] Translation: X:181.11, Y:57.48, Z:0.18 [[ 7.80862052e-01 -6.24681345e-01 -5.26048989e-03 1.81109433e+02] [ 6.24667716e-01 7.80879769e-01 -4.12685486e-03 5.74787646e+01] [ 6.68577937e-03 -6.35538556e-05 9.99977648e-01 1.76311450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.581858064 meters 0.014977743099753677 Centerline is valid? [True, True] Translation: X:181.15, Y:57.52, Z:0.18 [[ 7.82012690e-01 -6.23247004e-01 -4.39591411e-03 1.81154667e+02] [ 6.23237455e-01 7.82025045e-01 -3.45021607e-03 5.75167642e+01] [ 5.58805176e-03 -4.15855702e-05 9.99984386e-01 1.76473094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.641858064 meters 0.014808744691724334 Centerline is valid? [True, True] Translation: X:181.20, Y:57.55, Z:0.18 [[ 7.82978135e-01 -6.22035300e-01 -4.16245796e-03 1.81198451e+02] [ 6.22026718e-01 7.82989198e-01 -3.26768985e-03 5.75546542e+01] [ 5.29177806e-03 -3.06303592e-05 9.99985998e-01 1.76202885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701858064 meters 0.014666656927192911 Centerline is valid? [True, True] Translation: X:181.24, Y:57.59, Z:0.18 [[ 7.82863514e-01 -6.22178404e-01 -4.33029142e-03 1.81242980e+02] [ 6.22169109e-01 7.82875490e-01 -3.40120391e-03 5.75917745e+01] [ 5.50623464e-03 -3.14951083e-05 9.99984840e-01 1.75881801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761858064 meters 0.014976172290015433 Centerline is valid? [True, True] Translation: X:181.29, Y:57.63, Z:0.17 [[ 7.81165842e-01 -6.24307192e-01 -4.52296795e-03 1.81289558e+02] [ 6.24297082e-01 7.81178934e-01 -3.55340601e-03 5.76261892e+01] [ 5.75166422e-03 -4.78762957e-05 9.99983458e-01 1.74777880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821858064 meters 0.015219264845973753 Centerline is valid? [True, True] Translation: X:181.34, Y:57.66, Z:0.17 [[ 7.80096053e-01 -6.25642254e-01 -4.68157160e-03 1.81336722e+02] [ 6.25631436e-01 7.80110099e-01 -3.67964243e-03 5.76614966e+01] [ 5.95428107e-03 -5.84638218e-05 9.99982271e-01 1.74049881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881858064 meters 0.015806033446330695 Centerline is valid? [True, True] Translation: X:181.39, Y:57.70, Z:0.17 [[ 7.77269532e-01 -6.29153228e-01 -4.27676463e-03 1.81385089e+02] [ 6.29144243e-01 7.77281294e-01 -3.36312536e-03 5.76951735e+01] [ 5.44017032e-03 -7.66469769e-05 9.99985199e-01 1.73936116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941858064 meters 0.016341876163815425 Centerline is valid? [True, True] Translation: X:181.43, Y:57.73, Z:0.17 [[ 7.75143242e-01 -6.31774223e-01 -3.77950126e-03 1.81432378e+02] [ 6.31767231e-01 7.75152452e-01 -2.97356406e-03 5.77309374e+01] [ 4.80831080e-03 -8.28269585e-05 9.99988437e-01 1.74255502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001858064 meters 0.01703887796863857 Centerline is valid? [True, True] Translation: X:181.48, Y:57.77, Z:0.17 [[ 7.74483804e-01 -6.32578124e-01 -4.44468804e-03 1.81478532e+02] [ 6.32568460e-01 7.74496551e-01 -3.49801122e-03 5.77652344e+01] [ 5.65516093e-03 -1.02416437e-04 9.99984004e-01 1.73362257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061858064 meters 0.016851061760583097 Centerline is valid? [True, True] Translation: X:181.52, Y:57.80, Z:0.17 [[ 7.74102540e-01 -6.33049956e-01 -3.60701498e-03 1.81522756e+02] [ 6.33043591e-01 7.74110939e-01 -2.84017705e-03 5.78025209e+01] [ 4.59020371e-03 -8.48094459e-05 9.99989461e-01 1.73593400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121858064 meters 0.016967775590954436 Centerline is valid? [True, True] Translation: X:181.57, Y:57.84, Z:0.17 [[ 7.73920953e-01 -6.33274759e-01 -3.07226745e-03 1.81567182e+02] [ 6.33270137e-01 7.73927047e-01 -2.42043798e-03 5.78399904e+01] [ 3.91051315e-03 -7.23475647e-05 9.99992351e-01 1.73619989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18185806399998 meters 0.0174490938871041 Centerline is valid? [True, True] Translation: X:181.61, Y:57.87, Z:0.17 [[ 7.73916636e-01 -6.33278900e-01 -3.29775367e-03 1.81613100e+02] [ 6.33273572e-01 7.73923658e-01 -2.59890974e-03 5.78745401e+01] [ 4.19804429e-03 -7.70407661e-05 9.99991185e-01 1.73596407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24185806399998 meters 0.017240913304578807 Centerline is valid? [True, True] Translation: X:181.66, Y:57.91, Z:0.17 [[ 7.74800392e-01 -6.32197169e-01 -3.33046913e-03 1.81658190e+02] [ 6.32191720e-01 7.74807547e-01 -2.62581801e-03 5.79130582e+01] [ 4.24050733e-03 -7.10101851e-05 9.99991006e-01 1.73396724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.301858064 meters 0.016590767374458918 Centerline is valid? [True, True] Translation: X:181.70, Y:57.95, Z:0.17 [[ 7.76265792e-01 -6.30398029e-01 -3.12171670e-03 1.81702051e+02] [ 6.30393222e-01 7.76272067e-01 -2.46239143e-03 5.79522134e+01] [ 3.97558818e-03 -5.64388142e-05 9.99992096e-01 1.72693425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.361858064 meters 0.01553983615256696 Centerline is valid? [True, True] Translation: X:181.75, Y:57.99, Z:0.17 [[ 7.78646410e-01 -6.27455027e-01 -3.15548558e-03 1.81745292e+02] [ 6.27450086e-01 7.78652803e-01 -2.49028631e-03 5.79926729e+01] [ 4.01957035e-03 -4.08572003e-05 9.99991921e-01 1.73027755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421858064 meters 0.015451808590927261 Centerline is valid? [True, True] Translation: X:181.79, Y:58.03, Z:0.17 [[ 7.79973188e-01 -6.25806432e-01 -2.85236057e-03 1.81789671e+02] [ 6.25802382e-01 7.79978403e-01 -2.25176976e-03 5.80293299e+01] [ 3.63395164e-03 -2.86940036e-05 9.99993397e-01 1.73471509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481858064 meters 0.01530244063066286 Centerline is valid? [True, True] Translation: X:181.83, Y:58.07, Z:0.17 [[ 7.80743268e-01 -6.24849151e-01 -1.86779903e-03 1.81834205e+02] [ 6.24847410e-01 7.80745502e-01 -1.47508133e-03 5.80682671e+01] [ 2.37997901e-03 -1.54295663e-05 9.99997168e-01 1.73985427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541858064 meters 0.015324384407125864 Centerline is valid? [True, True] Translation: X:181.88, Y:58.10, Z:0.17 [[ 7.79569781e-01 -6.26313689e-01 -1.45574078e-03 1.81880331e+02] [ 6.26312633e-01 7.79571140e-01 -1.15018285e-03 5.81044487e+01] [ 1.85522876e-03 -1.51010509e-05 9.99998279e-01 1.73960326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601858064 meters 0.015716497921819877 Centerline is valid? [True, True] Translation: X:181.93, Y:58.14, Z:0.17 [[ 7.77998430e-01 -6.28263764e-01 -1.75683357e-03 1.81927104e+02] [ 6.28262230e-01 7.78000413e-01 -1.38855860e-03 5.81387229e+01] [ 2.23919830e-03 -2.34557687e-05 9.99997493e-01 1.73026702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661858064 meters 0.016136043441298237 Centerline is valid? [True, True] Translation: X:181.97, Y:58.17, Z:0.17 [[ 7.75633196e-01 -6.31174424e-01 -3.46293481e-03 1.81974021e+02] [ 6.31168487e-01 7.75640924e-01 -2.73830311e-03 5.81746126e+01] [ 4.41434084e-03 -6.17765290e-05 9.99990255e-01 1.71670102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721858064 meters 0.016962723962597934 Centerline is valid? [True, True] Translation: X:182.02, Y:58.21, Z:0.17 [[ 7.73510667e-01 -6.33770974e-01 -3.94991853e-03 1.82021064e+02] [ 6.33763279e-01 7.73520747e-01 -3.12414054e-03 5.82088687e+01] [ 5.03533352e-03 -8.67572922e-05 9.99987319e-01 1.70741592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781858064 meters 0.017217568510939408 Centerline is valid? [True, True] Translation: X:182.07, Y:58.24, Z:0.17 [[ 7.71763475e-01 -6.35898434e-01 -3.78426334e-03 1.82068240e+02] [ 6.35891391e-01 7.71772747e-01 -2.99442685e-03 5.82448623e+01] [ 4.82474266e-03 -9.53912103e-05 9.99988356e-01 1.71326071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841858064 meters 0.017452452785115185 Centerline is valid? [True, True] Translation: X:182.11, Y:58.28, Z:0.17 [[ 7.69315978e-01 -6.38860537e-01 -3.18434601e-03 1.82114907e+02] [ 6.38855570e-01 7.69322563e-01 -2.52096917e-03 5.82805965e+01] [ 4.06033695e-03 -9.49153237e-05 9.99991752e-01 1.72072719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901858064 meters 0.018573551408848497 Centerline is valid? [True, True] Translation: X:182.16, Y:58.31, Z:0.17 [[ 7.68401734e-01 -6.39962041e-01 -2.71328076e-03 1.82162038e+02] [ 6.39958440e-01 7.68406520e-01 -2.14856536e-03 5.83142919e+01] [ 3.45990289e-03 -8.54255734e-05 9.99994011e-01 1.72132563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96185806399998 meters 0.018242790196985714 Centerline is valid? [True, True] Translation: X:182.21, Y:58.35, Z:0.17 [[ 7.69212499e-01 -6.38987772e-01 -2.59968312e-03 1.82207646e+02] [ 6.38984458e-01 7.69216888e-01 -2.05939851e-03 5.83522650e+01] [ 3.31565062e-03 -7.70420365e-05 9.99994500e-01 1.72925630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02185806399999 meters 0.017003190939696405 Centerline is valid? [True, True] Translation: X:182.25, Y:58.39, Z:0.17 [[ 7.72549572e-01 -6.34946594e-01 -3.15922773e-03 1.82250881e+02] [ 6.34941662e-01 7.72556029e-01 -2.50370643e-03 5.83926773e+01] [ 4.03040030e-03 -7.16879734e-05 9.99991875e-01 1.72634504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.081858064 meters 0.016309473733030374 Centerline is valid? [True, True] Translation: X:182.29, Y:58.43, Z:0.17 [[ 7.75394867e-01 -6.31468695e-01 -3.17597624e-03 1.82294507e+02] [ 6.31463677e-01 7.75401370e-01 -2.51815085e-03 5.84319544e+01] [ 4.05278976e-03 -5.29523866e-05 9.99991786e-01 1.72651838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.141858064 meters 0.015355708656898824 Centerline is valid? [True, True] Translation: X:182.34, Y:58.47, Z:0.17 [[ 7.79120515e-01 -6.26862070e-01 -3.89455963e-03 1.82337238e+02] [ 6.26854458e-01 7.79130248e-01 -3.08952908e-03 5.84732224e+01] [ 4.97107781e-03 -3.42065801e-05 9.99987644e-01 1.72642395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201858064 meters 0.015227370093294152 Centerline is valid? [True, True] Translation: X:182.38, Y:58.51, Z:0.17 [[ 7.80666751e-01 -6.24930173e-01 -4.65861419e-03 1.82381619e+02] [ 6.24919240e-01 7.80680651e-01 -3.69656898e-03 5.85099878e+01] [ 5.94698745e-03 -2.54691419e-05 9.99982316e-01 1.72364649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261858064 meters 0.015155639065956288 Centerline is valid? [True, True] Translation: X:182.43, Y:58.55, Z:0.17 [[ 7.80653328e-01 -6.24947506e-01 -4.58223614e-03 1.82428163e+02] [ 6.24936918e-01 7.80666775e-01 -3.63782865e-03 5.85454116e+01] [ 5.85065145e-03 -2.37254941e-05 9.99982885e-01 1.72912769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321858064 meters 0.01531593032943595 Centerline is valid? [True, True] Translation: X:182.47, Y:58.58, Z:0.17 [[ 7.80228522e-01 -6.25480467e-01 -4.19974473e-03 1.82474419e+02] [ 6.25471571e-01 7.80239825e-01 -3.33602673e-03 5.85801334e+01] [ 5.36342765e-03 -2.39577327e-05 9.99985616e-01 1.73417348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381858064 meters 0.015319360372146085 Centerline is valid? [True, True] Translation: X:182.52, Y:58.61, Z:0.17 [[ 7.79564888e-01 -6.26307628e-01 -4.16410801e-03 1.82519420e+02] [ 6.26298889e-01 7.79576009e-01 -3.30868312e-03 5.86145123e+01] [ 5.31849218e-03 -2.86430348e-05 9.99985856e-01 1.73202761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441858064 meters 0.015383602753552026 Centerline is valid? [True, True] Translation: X:182.57, Y:58.65, Z:0.17 [[ 7.79317163e-01 -6.26609443e-01 -5.03634535e-03 1.82566390e+02] [ 6.26596661e-01 7.79333436e-01 -4.00248420e-03 5.86488477e+01] [ 6.43298672e-03 -3.65525541e-05 9.99979307e-01 1.73189564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501858064 meters 0.015545565531668732 Centerline is valid? [True, True] Translation: X:182.61, Y:58.68, Z:0.17 [[ 7.78925748e-01 -6.27090159e-01 -5.71065148e-03 1.82612621e+02] [ 6.27073723e-01 7.78946680e-01 -4.54035510e-03 5.86849029e+01] [ 7.29550501e-03 -4.43999926e-05 9.99973386e-01 1.72237594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561858064 meters 0.01605960195403527 Centerline is valid? [True, True] Translation: X:182.66, Y:58.72, Z:0.17 [[ 7.77212863e-01 -6.29200033e-01 -6.89084249e-03 1.82659630e+02] [ 6.29176175e-01 7.77243406e-01 -5.47981124e-03 5.87183338e+01] [ 8.80375930e-03 -7.65741442e-05 9.99961243e-01 1.70648049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621858064 meters 0.017100103454426002 Centerline is valid? [True, True] Translation: X:182.71, Y:58.75, Z:0.17 [[ 7.74439670e-01 -6.32600312e-01 -7.74873584e-03 1.82709077e+02] [ 6.32570298e-01 7.74478424e-01 -6.16351347e-03 5.87489835e+01] [ 9.90026927e-03 -1.28350799e-04 9.99950983e-01 1.70264769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68185806399998 meters 0.01790997135480216 Centerline is valid? [True, True] Translation: X:182.76, Y:58.78, Z:0.17 [[ 7.72767621e-01 -6.34642984e-01 -7.64767244e-03 1.82757883e+02] [ 6.34613823e-01 7.72805448e-01 -6.08574489e-03 5.87820692e+01] [ 9.77243822e-03 -1.50452041e-04 9.99952237e-01 1.70564158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74185806399998 meters 0.018448290129262645 Centerline is valid? [True, True] Translation: X:182.81, Y:58.82, Z:0.17 [[ 7.71711010e-01 -6.35933816e-01 -7.09218861e-03 1.82805302e+02] [ 6.35908769e-01 7.71743583e-01 -5.64620742e-03 5.88167308e+01] [ 9.06396528e-03 -1.52744499e-04 9.99958910e-01 1.71690380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.801858064 meters 0.016461796961257588 Centerline is valid? [True, True] Translation: X:182.85, Y:58.85, Z:0.17 [[ 7.71337022e-01 -6.36391089e-01 -6.75132879e-03 1.82849409e+02] [ 6.36368382e-01 7.71366554e-01 -5.37786450e-03 5.88545192e+01] [ 8.63017426e-03 -1.48186192e-04 9.99962748e-01 1.74087722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.861858064 meters 0.016134328337405135 Centerline is valid? [True, True] Translation: X:182.90, Y:58.89, Z:0.18 [[ 7.71187603e-01 -6.36577388e-01 -6.23775062e-03 1.82896629e+02] [ 6.36557988e-01 7.71212818e-01 -4.97167349e-03 5.88888749e+01] [ 7.97548816e-03 -1.36597021e-04 9.99968186e-01 1.75097656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921858064 meters 0.018365545673281646 Centerline is valid? [True, True] Translation: X:182.95, Y:58.92, Z:0.17 [[ 7.71888492e-01 -6.35737858e-01 -5.05286840e-03 1.82947163e+02] [ 6.35725097e-01 7.71905024e-01 -4.02931841e-03 5.89191078e+01] [ 6.46192476e-03 -1.02050739e-04 9.99979116e-01 1.73730738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981858064 meters 0.015583893430069145 Centerline is valid? [True, True] Translation: X:182.99, Y:58.96, Z:0.18 [[ 7.72870045e-01 -6.34544012e-01 -5.07847425e-03 1.82990451e+02] [ 6.34531082e-01 7.72886725e-01 -4.05179489e-03 5.89592117e+01] [ 6.49612751e-03 -9.09388659e-05 9.99978896e-01 1.75670180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041858064 meters 0.014872438013974051 Centerline is valid? [True, True] Translation: X:183.04, Y:59.00, Z:0.18 [[ 7.74976771e-01 -6.31973686e-01 -4.50161582e-03 1.83037081e+02] [ 6.31963473e-01 7.74989843e-01 -3.59335323e-03 5.89956349e+01] [ 5.75961123e-03 -6.00914795e-05 9.99983411e-01 1.75874297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101858064 meters 0.01579570151135896 Centerline is valid? [True, True] Translation: X:183.08, Y:59.03, Z:0.18 [[ 7.76388939e-01 -6.30239782e-01 -4.24645872e-03 1.83083080e+02] [ 6.30230659e-01 7.76400550e-01 -3.39137389e-03 5.90329322e+01] [ 5.43433163e-03 -4.32233048e-05 9.99985233e-01 1.75327755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161858064 meters 0.014317577897977206 Centerline is valid? [True, True] Translation: X:183.13, Y:59.07, Z:0.18 [[ 7.78224261e-01 -6.27977667e-01 -3.32415413e-03 1.83128539e+02] [ 6.27972050e-01 7.78231360e-01 -2.65607915e-03 5.90699981e+01] [ 4.25491937e-03 -2.04506481e-05 9.99990948e-01 1.76713653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221858064 meters 0.014331429347323918 Centerline is valid? [True, True] Translation: X:183.17, Y:59.11, Z:0.18 [[ 7.78842447e-01 -6.27214570e-01 -2.51505789e-03 1.83173680e+02] [ 6.27211349e-01 7.78846508e-01 -2.01015396e-03 5.91054542e+01] [ 3.21964191e-03 -1.18796291e-05 9.99994817e-01 1.76739541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281858064 meters 0.014265192158211799 Centerline is valid? [True, True] Translation: X:183.22, Y:59.14, Z:0.18 [[ 7.78467987e-01 -6.27680879e-01 -2.07550490e-03 1.83220103e+02] [ 6.27678685e-01 7.78470754e-01 -1.65958133e-03 5.91410593e+01] [ 2.65740733e-03 -1.08192509e-05 9.99996469e-01 1.76958920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341858064 meters 0.014391777764818342 Centerline is valid? [True, True] Translation: X:183.27, Y:59.18, Z:0.18 [[ 7.77612900e-01 -6.28740841e-01 -1.76973403e-03 1.83266729e+02] [ 6.28739247e-01 7.77614914e-01 -1.41583885e-03 5.91765161e+01] [ 2.26636729e-03 -1.17266865e-05 9.99997432e-01 1.76911636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401858064 meters 0.01449755681158678 Centerline is valid? [True, True] Translation: X:183.31, Y:59.21, Z:0.18 [[ 7.77553585e-01 -6.28813425e-01 -2.02455162e-03 1.83310496e+02] [ 6.28811336e-01 7.77556221e-01 -1.62066959e-03 5.92140374e+01] [ 2.59330150e-03 -1.29035572e-05 9.99996637e-01 1.75472012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46185806399998 meters 0.0146045049016598 Centerline is valid? [True, True] Translation: X:183.36, Y:59.25, Z:0.17 [[ 7.76943448e-01 -6.29564717e-01 -2.67323708e-03 1.83355139e+02] [ 6.29561076e-01 7.76948046e-01 -2.14128376e-03 5.92505719e+01] [ 3.42504304e-03 -1.93096257e-05 9.99994134e-01 1.74811257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52185806399999 meters 0.014947493874215569 Centerline is valid? [True, True] Translation: X:183.40, Y:59.29, Z:0.18 [[ 7.74911566e-01 -6.32065871e-01 -2.19058872e-03 1.83401647e+02] [ 6.32063434e-01 7.74914662e-01 -1.75554469e-03 5.92861279e+01] [ 2.80713920e-03 -2.41991478e-05 9.99996060e-01 1.75272574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.581858064 meters 0.01518207195526404 Centerline is valid? [True, True] Translation: X:183.45, Y:59.32, Z:0.18 [[ 7.73292490e-01 -6.34047787e-01 -1.45945880e-03 1.83447983e+02] [ 6.34046707e-01 7.73293867e-01 -1.17011562e-03 5.93226043e+01] [ 1.87049976e-03 -2.05234209e-05 9.99998250e-01 1.76065377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.641858064 meters 0.01593536544964096 Centerline is valid? [True, True] Translation: X:183.49, Y:59.36, Z:0.18 [[ 7.70445227e-01 -6.37505614e-01 -8.62716774e-04 1.83493716e+02] [ 6.37505239e-01 7.70445710e-01 -6.91869931e-04 5.93575102e+01] [ 1.10574740e-03 -1.69385767e-05 9.99999389e-01 1.75730488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701858064 meters 0.016915932916532855 Centerline is valid? [True, True] Translation: X:183.54, Y:59.39, Z:0.18 [[ 7.67763744e-01 -6.40732851e-01 -4.96335813e-04 1.83540167e+02] [ 6.40732728e-01 7.67763905e-01 -3.98075139e-04 5.93929246e+01] [ 6.36128540e-04 -1.23909400e-05 9.99999798e-01 1.75239129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761858064 meters 0.016749441819935925 Centerline is valid? [True, True] Translation: X:183.58, Y:59.43, Z:0.17 [[ 7.66929629e-01 -6.41730772e-01 -7.48264988e-04 1.83584790e+02] [ 6.41730492e-01 7.66929994e-01 -6.00282978e-04 5.94305883e+01] [ 9.59086922e-04 -1.98096572e-05 9.99999540e-01 1.74853133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821858064 meters 0.01689116819157168 Centerline is valid? [True, True] Translation: X:183.63, Y:59.47, Z:0.17 [[ 7.65979267e-01 -6.42862695e-01 -1.82129969e-03 1.83629263e+02] [ 6.42861035e-01 7.65981431e-01 -1.46180742e-03 5.94695605e+01] [ 2.33482320e-03 -5.11284290e-05 9.99997273e-01 1.73708761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881858064 meters 0.01703243495982878 Centerline is valid? [True, True] Translation: X:183.67, Y:59.51, Z:0.17 [[ 7.66012411e-01 -6.42823180e-01 -1.82890964e-03 1.83673682e+02] [ 6.42821505e-01 7.66014593e-01 -1.46871723e-03 5.95077676e+01] [ 2.34509695e-03 -5.06068166e-05 9.99997249e-01 1.73347355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941858064 meters 0.01692702617986625 Centerline is valid? [True, True] Translation: X:183.72, Y:59.55, Z:0.17 [[ 7.67500857e-01 -6.41041093e-01 -2.95846448e-03 1.83717379e+02] [ 6.41036689e-01 7.67506555e-01 -2.37714977e-03 5.95480836e+01] [ 3.79449157e-03 -7.20197946e-05 9.99992798e-01 1.72811481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001858064 meters 0.01656458633810801 Centerline is valid? [True, True] Translation: X:183.76, Y:59.59, Z:0.17 [[ 7.68521722e-01 -6.39816361e-01 -3.06387155e-03 1.83761417e+02] [ 6.39811624e-01 7.68527826e-01 -2.46304201e-03 5.95876331e+01] [ 3.93056511e-03 -6.73993465e-05 9.99992273e-01 1.72937526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061858064 meters 0.01582179741108198 Centerline is valid? [True, True] Translation: X:183.80, Y:59.63, Z:0.17 [[ 7.69763256e-01 -6.38323310e-01 -2.80727970e-03 1.83803505e+02] [ 6.38319319e-01 7.69768373e-01 -2.25787242e-03 5.96288593e+01] [ 3.60220773e-03 -5.39136400e-05 9.99993511e-01 1.74185961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121858064 meters 0.015586490476910096 Centerline is valid? [True, True] Translation: X:183.85, Y:59.67, Z:0.17 [[ 7.70808872e-01 -6.37058203e-01 -3.24488110e-03 1.83846971e+02] [ 6.37052857e-01 7.70815700e-01 -2.61051184e-03 5.96675946e+01] [ 4.16425328e-03 -5.49550877e-05 9.99991328e-01 1.73724801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18185806399998 meters 0.015009245958769516 Centerline is valid? [True, True] Translation: X:183.89, Y:59.71, Z:0.17 [[ 7.72032442e-01 -6.35560163e-01 -5.40253055e-03 1.83890216e+02] [ 6.35545292e-01 7.72051341e-01 -4.34838424e-03 5.97076338e+01] [ 6.93469075e-03 -7.64591503e-05 9.99975952e-01 1.72314300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24185806399998 meters 0.014673332262797857 Centerline is valid? [True, True] Translation: X:183.93, Y:59.75, Z:0.17 [[ 7.73100007e-01 -6.34257301e-01 -5.83571709e-03 1.83934260e+02] [ 6.34239896e-01 7.73122029e-01 -4.69925442e-03 5.97476224e+01] [ 7.49225787e-03 -6.82509733e-05 9.99971930e-01 1.72254579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.301858064 meters 0.014584672294767403 Centerline is valid? [True, True] Translation: X:183.98, Y:59.79, Z:0.17 [[ 7.74396647e-01 -6.32676018e-01 -5.55784605e-03 1.83977807e+02] [ 6.32660184e-01 7.74416589e-01 -4.47642083e-03 5.97856397e+01] [ 7.13621229e-03 -4.97026251e-05 9.99974536e-01 1.72979537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.361858064 meters 0.014572619238070392 Centerline is valid? [True, True] Translation: X:184.02, Y:59.82, Z:0.17 [[ 7.74633284e-01 -6.32386253e-01 -5.55898761e-03 1.84022701e+02] [ 6.32370388e-01 7.74653229e-01 -4.47960134e-03 5.98231216e+01] [ 7.13912600e-03 -4.52908538e-05 9.99974515e-01 1.73469688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421858064 meters 0.014853884599921957 Centerline is valid? [True, True] Translation: X:184.07, Y:59.86, Z:0.17 [[ 7.73593668e-01 -6.33651613e-01 -6.20248577e-03 1.84067288e+02] [ 6.33631895e-01 7.73618530e-01 -4.99923963e-03 5.98594611e+01] [ 7.96613418e-03 -6.27126882e-05 9.99968268e-01 1.71811803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481858064 meters 0.015346515988462782 Centerline is valid? [True, True] Translation: X:184.11, Y:59.90, Z:0.17 [[ 7.71979765e-01 -6.35611112e-01 -6.76435009e-03 1.84113920e+02] [ 6.35587713e-01 7.72009396e-01 -5.45451275e-03 5.98955592e+01] [ 8.68909074e-03 -8.85643295e-05 9.99962245e-01 1.70828576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541858064 meters 0.01653711919308505 Centerline is valid? [True, True] Translation: X:184.16, Y:59.93, Z:0.17 [[ 7.69265354e-01 -6.38887539e-01 -7.31632889e-03 1.84160157e+02] [ 6.38860303e-01 7.69300133e-01 -5.90076969e-03 5.99308520e+01] [ 9.39838101e-03 -1.34854403e-04 9.99955825e-01 1.68968571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601858064 meters 0.015806652822867216 Centerline is valid? [True, True] Translation: X:184.20, Y:59.97, Z:0.17 [[ 7.68371714e-01 -6.39959766e-01 -7.51037504e-03 1.84204939e+02] [ 6.39931090e-01 7.68408404e-01 -6.06011607e-03 5.99695943e+01] [ 9.64926577e-03 -1.49700713e-04 9.99953434e-01 1.70214716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661858064 meters 0.01686520195976011 Centerline is valid? [True, True] Translation: X:184.25, Y:60.01, Z:0.17 [[ 7.66488575e-01 -6.42216061e-01 -7.33456516e-03 1.84249743e+02] [ 6.42188801e-01 7.66523647e-01 -5.91965170e-03 6.00055136e+01] [ 9.42381304e-03 -1.72830213e-04 9.99955580e-01 1.69393430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721858064 meters 0.01675103204892729 Centerline is valid? [True, True] Translation: X:184.29, Y:60.04, Z:0.17 [[ 7.65545978e-01 -6.43342629e-01 -7.04393918e-03 1.84294057e+02] [ 6.43317510e-01 7.65578364e-01 -5.68777290e-03 6.00448245e+01] [ 9.05187419e-03 -1.77237744e-04 9.99959015e-01 1.68563617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781858064 meters 0.01710823654995886 Centerline is valid? [True, True] Translation: X:184.34, Y:60.08, Z:0.17 [[ 7.65545681e-01 -6.43348754e-01 -6.49547347e-03 1.84337621e+02] [ 6.43327384e-01 7.65573219e-01 -5.24626294e-03 6.00811871e+01] [ 8.34793727e-03 -1.62462017e-04 9.99965142e-01 1.68194694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841858064 meters 0.016991743285920426 Centerline is valid? [True, True] Translation: X:184.38, Y:60.12, Z:0.17 [[ 7.65618410e-01 -6.43270932e-01 -5.56394522e-03 1.84382109e+02] [ 6.43255235e-01 7.65638615e-01 -4.49591961e-03 6.01201692e+01] [ 7.15206571e-03 -1.36878071e-04 9.99974414e-01 1.68515278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901858064 meters 0.017099876263454925 Centerline is valid? [True, True] Translation: X:184.43, Y:60.16, Z:0.17 [[ 7.65738972e-01 -6.43130124e-01 -5.24119759e-03 1.84427556e+02] [ 6.43116179e-01 7.65756898e-01 -4.23714292e-03 6.01579983e+01] [ 6.73851746e-03 -1.26153499e-04 9.99977288e-01 1.68370853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96185806399998 meters 0.016862615970435636 Centerline is valid? [True, True] Translation: X:184.47, Y:60.20, Z:0.17 [[ 7.66199359e-01 -6.42584660e-01 -4.84741387e-03 1.84472742e+02] [ 6.42572708e-01 7.66214685e-01 -3.92064474e-03 6.01956342e+01] [ 6.23350586e-03 -1.10820375e-04 9.99980565e-01 1.67779198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02185806399999 meters 0.015773454137350477 Centerline is valid? [True, True] Translation: X:184.52, Y:60.24, Z:0.17 [[ 7.67199795e-01 -6.41393986e-01 -4.26950972e-03 1.84516563e+02] [ 6.41384687e-01 7.67211670e-01 -3.45490635e-03 6.02351679e+01] [ 5.49157384e-03 -8.77947073e-05 9.99984917e-01 1.68073314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.081858064 meters 0.015736636102825302 Centerline is valid? [True, True] Translation: X:184.56, Y:60.27, Z:0.17 [[ 7.67597468e-01 -6.40918488e-01 -4.19742920e-03 1.84562003e+02] [ 6.40909485e-01 7.67608940e-01 -3.39824365e-03 6.02719527e+01] [ 5.39998136e-03 -8.16889584e-05 9.99985417e-01 1.67273874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.141858064 meters 0.015773098665785325 Centerline is valid? [True, True] Translation: X:184.61, Y:60.31, Z:0.17 [[ 7.67351409e-01 -6.41211241e-01 -4.46756911e-03 1.84607806e+02] [ 6.41201034e-01 7.67364409e-01 -3.61895872e-03 6.03080388e+01] [ 5.74877054e-03 -8.75968624e-05 9.99983472e-01 1.66558160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201858064 meters 0.01546814768860474 Centerline is valid? [True, True] Translation: X:184.65, Y:60.34, Z:0.17 [[ 7.66208896e-01 -6.42576302e-01 -4.42987023e-03 1.84653582e+02] [ 6.42566284e-01 7.66221696e-01 -3.58928125e-03 6.03442145e+01] [ 5.70064975e-03 -9.63460301e-05 9.99983747e-01 1.66209296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261858064 meters 0.017203737799130592 Centerline is valid? [True, True] Translation: X:184.70, Y:60.38, Z:0.17 [[ 7.64831066e-01 -6.44218302e-01 -4.02732573e-03 1.84701848e+02] [ 6.44210042e-01 7.64841663e-01 -3.26370068e-03 6.03765848e+01] [ 5.18280222e-03 -9.82640045e-05 9.99986564e-01 1.65383580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321858064 meters 0.016529013256960122 Centerline is valid? [True, True] Translation: X:184.75, Y:60.41, Z:0.17 [[ 7.63027427e-01 -6.46359574e-01 -2.90647850e-03 1.84748506e+02] [ 6.46355286e-01 7.63032958e-01 -2.35577279e-03 6.04118331e+01] [ 3.74041518e-03 -8.10984870e-05 9.99993001e-01 1.66333720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381858064 meters 0.016694290857795214 Centerline is valid? [True, True] Translation: X:184.79, Y:60.45, Z:0.17 [[ 7.62854049e-01 -6.46567120e-01 -2.15870655e-03 1.84794783e+02] [ 6.46564753e-01 7.62857101e-01 -1.75043982e-03 6.04462294e+01] [ 2.77856145e-03 -6.04134620e-05 9.99996138e-01 1.66425270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441858064 meters 0.016206958232691773 Centerline is valid? [True, True] Translation: X:184.84, Y:60.48, Z:0.17 [[ 7.64034243e-01 -6.45171702e-01 -2.26923163e-03 1.84840960e+02] [ 6.45169078e-01 7.64037611e-01 -1.84102351e-03 6.04829972e+01] [ 2.92155459e-03 -5.74330746e-05 9.99995731e-01 1.66459508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501858064 meters 0.015636527773699723 Centerline is valid? [True, True] Translation: X:184.89, Y:60.52, Z:0.17 [[ 7.65635455e-01 -6.43269925e-01 -2.48061234e-03 1.84886311e+02] [ 6.43266776e-01 7.65639472e-01 -2.01352557e-03 6.05208797e+01] [ 3.19449517e-03 -5.40689395e-05 9.99994896e-01 1.66304848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561858064 meters 0.014548230291350836 Centerline is valid? [True, True] Translation: X:184.93, Y:60.56, Z:0.17 [[ 7.68566651e-01 -6.39764345e-01 -2.62385190e-03 1.84931333e+02] [ 6.39760798e-01 7.68571129e-01 -2.13087237e-03 6.05593668e+01] [ 3.37987299e-03 -4.09201394e-05 9.99994287e-01 1.66460952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621858064 meters 0.01431715970596231 Centerline is valid? [True, True] Translation: X:184.98, Y:60.60, Z:0.17 [[ 7.69927099e-01 -6.38127320e-01 -2.40529295e-03 1.84976821e+02] [ 6.38124328e-01 7.69930856e-01 -1.95432668e-03 6.05974961e+01] [ 3.09901850e-03 -3.01868794e-05 9.99995198e-01 1.66511247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68185806399998 meters 0.014003111417090732 Centerline is valid? [True, True] Translation: X:185.02, Y:60.63, Z:0.17 [[ 7.70894812e-01 -6.36959991e-01 -1.77709316e-03 1.85022825e+02] [ 6.36958354e-01 7.70896860e-01 -1.44456742e-03 6.06336512e+01] [ 2.29008719e-03 -1.83248015e-05 9.99997378e-01 1.66734159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74185806399998 meters 0.014270116626567537 Centerline is valid? [True, True] Translation: X:185.07, Y:60.67, Z:0.17 [[ 7.69540618e-01 -6.38596661e-01 -1.24198794e-03 1.85070910e+02] [ 6.38595862e-01 7.69541620e-01 -1.01001979e-03 6.06681532e+01] [ 1.60075668e-03 -1.58771057e-05 9.99998719e-01 1.67369414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.801858064 meters 0.01473349863122146 Centerline is valid? [True, True] Translation: X:185.12, Y:60.70, Z:0.17 [[ 7.68045294e-01 -6.40393469e-01 -1.62199192e-03 1.85118828e+02] [ 6.40392110e-01 7.68047006e-01 -1.31979651e-03 6.07026039e+01] [ 2.09095510e-03 -2.50473278e-05 9.99997814e-01 1.67172556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.861858064 meters 0.015066092277123792 Centerline is valid? [True, True] Translation: X:185.17, Y:60.73, Z:0.17 [[ 7.66579675e-01 -6.42143358e-01 -2.74041433e-03 1.85167858e+02] [ 6.42139486e-01 7.66584571e-01 -2.23060410e-03 6.07349226e+01] [ 3.53312695e-03 -4.97924851e-05 9.99993757e-01 1.66482529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921858064 meters 0.015143326008988817 Centerline is valid? [True, True] Translation: X:185.22, Y:60.77, Z:0.17 [[ 7.66047006e-01 -6.42778076e-01 -2.88601428e-03 1.85215324e+02] [ 6.42773783e-01 7.66052440e-01 -2.35011366e-03 6.07693817e+01] [ 3.72143982e-03 -5.47567846e-05 9.99993074e-01 1.65971488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981858064 meters 0.01529334335267452 Centerline is valid? [True, True] Translation: X:185.26, Y:60.80, Z:0.16 [[ 7.66195560e-01 -6.42597842e-01 -3.51823576e-03 1.85261535e+02] [ 6.42591451e-01 7.66203634e-01 -2.86657536e-03 6.08045528e+01] [ 4.53774017e-03 -6.44309105e-05 9.99989702e-01 1.64977033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041858064 meters 0.015291562809518863 Centerline is valid? [True, True] Translation: X:185.31, Y:60.84, Z:0.16 [[ 7.66664115e-01 -6.42031202e-01 -4.69786112e-03 1.85307344e+02] [ 6.42019787e-01 7.66678504e-01 -3.82936495e-03 6.08384231e+01] [ 6.06032092e-03 -8.02831036e-05 9.99981633e-01 1.64003249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101858064 meters 0.014886312122916533 Centerline is valid? [True, True] Translation: X:185.35, Y:60.88, Z:0.16 [[ 7.67206890e-01 -6.41384824e-01 -4.36985740e-03 1.85353025e+02] [ 6.41374928e-01 7.67219331e-01 -3.56366116e-03 6.08758760e+01] [ 5.63831725e-03 -6.86515802e-05 9.99984102e-01 1.64659176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161858064 meters 0.014706886661355187 Centerline is valid? [True, True] Translation: X:185.40, Y:60.91, Z:0.17 [[ 7.68259511e-01 -6.40123301e-01 -4.41408141e-03 1.85397477e+02] [ 6.40113172e-01 7.68272189e-01 -3.60149551e-03 6.09147977e+01] [ 5.69661718e-03 -5.86284749e-05 9.99983772e-01 1.65163397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221858064 meters 0.014472729938647679 Centerline is valid? [True, True] Translation: X:185.44, Y:60.95, Z:0.16 [[ 7.69182945e-01 -6.39012570e-01 -4.53119923e-03 1.85441072e+02] [ 6.39001866e-01 7.69196290e-01 -3.69891828e-03 6.09542583e+01] [ 5.84903691e-03 -5.02999043e-05 9.99982893e-01 1.64940010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281858064 meters 0.01470857640936199 Centerline is valid? [True, True] Translation: X:185.48, Y:60.99, Z:0.17 [[ 7.69596391e-01 -6.38513583e-01 -4.66894760e-03 1.85484497e+02] [ 6.38502203e-01 7.69610552e-01 -3.81245480e-03 6.09912520e+01] [ 6.02757552e-03 -4.70818688e-05 9.99981833e-01 1.65409632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341858064 meters 0.015078913443593595 Centerline is valid? [True, True] Translation: X:185.53, Y:61.03, Z:0.17 [[ 7.68195684e-01 -6.40195756e-01 -4.97845007e-03 1.85529459e+02] [ 6.40182847e-01 7.68211813e-01 -4.06593431e-03 6.10280738e+01] [ 6.42749804e-03 -6.36851473e-05 9.99979341e-01 1.65028801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401858064 meters 0.015937952605350622 Centerline is valid? [True, True] Translation: X:185.58, Y:61.06, Z:0.16 [[ 7.65788430e-01 -6.43071403e-01 -5.22029158e-03 1.85576252e+02] [ 6.43057264e-01 7.65806217e-01 -4.26532304e-03 6.10642036e+01] [ 6.74063902e-03 -9.06113873e-05 9.99977278e-01 1.64922912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46185806399998 meters 0.01655583726804845 Centerline is valid? [True, True] Translation: X:185.62, Y:61.10, Z:0.16 [[ 7.64334398e-01 -6.44798673e-01 -5.25352561e-03 1.85623132e+02] [ 6.44784381e-01 7.64352445e-01 -4.29450545e-03 6.11003601e+01] [ 6.78463656e-03 -1.04953019e-04 9.99976979e-01 1.64735361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52185806399999 meters 0.017372073268809504 Centerline is valid? [True, True] Translation: X:185.67, Y:61.14, Z:0.16 [[ 7.62735686e-01 -6.46690116e-01 -5.11540652e-03 1.85670261e+02] [ 6.46676594e-01 7.62752831e-01 -4.18354394e-03 6.11362475e+01] [ 6.60724732e-03 -1.17075410e-04 9.99978165e-01 1.64842624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.581858064 meters 0.017843973150223215 Centerline is valid? [True, True] Translation: X:185.72, Y:61.17, Z:0.16 [[ 7.61861526e-01 -6.47712797e-01 -5.92848686e-03 1.85716747e+02] [ 6.47694649e-01 7.61884579e-01 -4.85078551e-03 6.11730940e+01] [ 7.65873857e-03 -1.44222360e-04 9.99970661e-01 1.64126077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.641858064 meters 0.01652011226936082 Centerline is valid? [True, True] Translation: X:185.76, Y:61.21, Z:0.16 [[ 7.61988901e-01 -6.47566373e-01 -5.54133702e-03 1.85759977e+02] [ 6.47550498e-01 7.62009039e-01 -4.53621605e-03 6.12133474e+01] [ 7.16004987e-03 -1.31749269e-04 9.99974358e-01 1.64569958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701858064 meters 0.015877051545355236 Centerline is valid? [True, True] Translation: X:185.80, Y:61.25, Z:0.17 [[ 7.62423857e-01 -6.47058107e-01 -5.06640221e-03 1.85804762e+02] [ 6.47044812e-01 7.62440682e-01 -4.14951396e-03 6.12522019e+01] [ 6.54780780e-03 -1.14500825e-04 9.99978556e-01 1.65894977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761858064 meters 0.01589255073494071 Centerline is valid? [True, True] Translation: X:185.85, Y:61.29, Z:0.17 [[ 7.63197480e-01 -6.46146874e-01 -4.88082286e-03 1.85849963e+02] [ 6.46134511e-01 7.63213080e-01 -3.99840902e-03 6.12884374e+01] [ 6.30866734e-03 -1.02092402e-04 9.99980095e-01 1.66112551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821858064 meters 0.015795561414408688 Centerline is valid? [True, True] Translation: X:185.90, Y:61.33, Z:0.17 [[ 7.64205025e-01 -6.44962558e-01 -3.73863571e-03 1.85895175e+02] [ 6.44955284e-01 7.64214167e-01 -3.06404442e-03 6.13265714e+01] [ 4.83331230e-03 -6.96947162e-05 9.99988317e-01 1.66215854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881858064 meters 0.01585279300711022 Centerline is valid? [True, True] Translation: X:185.94, Y:61.36, Z:0.17 [[ 7.64949534e-01 -6.44081182e-01 -3.41201652e-03 1.85939379e+02] [ 6.44075111e-01 7.64957141e-01 -2.79700098e-03 6.13634168e+01] [ 4.41154210e-03 -5.80303215e-05 9.99990267e-01 1.66282166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941858064 meters 0.01575696809821539 Centerline is valid? [True, True] Translation: X:185.98, Y:61.40, Z:0.17 [[ 7.65725368e-01 -6.43162044e-01 -2.69174782e-03 1.85983660e+02] [ 6.43158258e-01 7.65730098e-01 -2.20744920e-03 6.14017744e+01] [ 3.48089986e-03 -4.09199867e-05 9.99993941e-01 1.67632644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001858064 meters 0.015512769489734238 Centerline is valid? [True, True] Translation: X:186.03, Y:61.44, Z:0.17 [[ 7.66251249e-01 -6.42538333e-01 -1.87466326e-03 1.86027290e+02] [ 6.42536493e-01 7.66253542e-01 -1.53805377e-03 6.14415033e+01] [ 2.42472587e-03 -2.60039349e-05 9.99997060e-01 1.67275849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061858064 meters 0.015296064719697178 Centerline is valid? [True, True] Translation: X:186.07, Y:61.48, Z:0.17 [[ 7.66077137e-01 -6.42743511e-01 -2.56874717e-03 1.86071370e+02] [ 6.42740053e-01 7.66081443e-01 -2.10878945e-03 6.14792193e+01] [ 3.32328028e-03 -3.55413117e-05 9.99994477e-01 1.67099323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121858064 meters 0.015840884743181138 Centerline is valid? [True, True] Translation: X:186.12, Y:61.51, Z:0.17 [[ 7.65050439e-01 -6.43963176e-01 -3.04197433e-03 1.86116514e+02] [ 6.43958332e-01 7.65056486e-01 -2.49817829e-03 6.15148684e+01] [ 3.93601702e-03 -4.76723186e-05 9.99992253e-01 1.66353335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18185806399998 meters 0.015780694980319934 Centerline is valid? [True, True] Translation: X:186.16, Y:61.55, Z:0.17 [[ 7.63271590e-01 -6.46071898e-01 -2.75376157e-03 1.86161627e+02] [ 6.46067938e-01 7.63276556e-01 -2.26247778e-03 6.15530073e+01] [ 3.56360496e-03 -5.22320524e-05 9.99993649e-01 1.67211181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24185806399998 meters 0.015961014620801833 Centerline is valid? [True, True] Translation: X:186.21, Y:61.59, Z:0.17 [[ 7.62309285e-01 -6.47208773e-01 -2.31470544e-03 1.86206827e+02] [ 6.47205978e-01 7.62312798e-01 -1.90265500e-03 6.15915006e+01] [ 2.99594459e-03 -4.76796255e-05 9.99995511e-01 1.67617752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.301858064 meters 0.01655709995949931 Centerline is valid? [True, True] Translation: X:186.25, Y:61.63, Z:0.17 [[ 7.60230466e-01 -6.49650458e-01 -1.98028755e-03 1.86252593e+02] [ 6.49648419e-01 7.60233043e-01 -1.62829000e-03 6.16278104e+01] [ 2.56329938e-03 -4.86150077e-05 9.99996714e-01 1.68164195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.361858064 meters 0.017747740825920393 Centerline is valid? [True, True] Translation: X:186.30, Y:61.66, Z:0.17 [[ 7.58651122e-01 -6.51493577e-01 -2.14343818e-03 1.86298651e+02] [ 6.51491195e-01 7.58654147e-01 -1.76285386e-03 6.16620402e+01] [ 2.77461624e-03 -5.90400390e-05 9.99996149e-01 1.68050229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421858064 meters 0.017677484410008576 Centerline is valid? [True, True] Translation: X:186.34, Y:61.70, Z:0.17 [[ 7.57506608e-01 -6.52826500e-01 -1.14009285e-03 1.86343483e+02] [ 6.52825827e-01 7.57507465e-01 -9.37910179e-04 6.16999614e+01] [ 1.47592147e-03 -3.38089011e-05 9.99998910e-01 1.68508129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481858064 meters 0.01742169162333997 Centerline is valid? [True, True] Translation: X:186.39, Y:61.74, Z:0.17 [[ 7.59002468e-01 -6.51085159e-01 -1.83553682e-03 1.86387236e+02] [ 6.51083407e-01 7.59004686e-01 -1.51091714e-03 6.17386017e+01] [ 2.37691677e-03 -4.82977266e-05 9.99997174e-01 1.66599103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541858064 meters 0.016806922805390083 Centerline is valid? [True, True] Translation: X:186.43, Y:61.78, Z:0.17 [[ 7.60914718e-01 -6.48848738e-01 -2.02662226e-03 1.86431213e+02] [ 6.48846593e-01 7.60917415e-01 -1.66902422e-03 6.17781192e+01] [ 2.62503643e-03 -4.49818571e-05 9.99996554e-01 1.66088516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601858064 meters 0.015234434273165204 Centerline is valid? [True, True] Translation: X:186.47, Y:61.82, Z:0.17 [[ 7.63946818e-01 -6.45278770e-01 -7.53814024e-04 1.86472806e+02] [ 6.45278472e-01 7.63947189e-01 -6.20933170e-04 6.18202586e+01] [ 9.76549098e-04 -1.20600423e-05 9.99999523e-01 1.66436949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661858064 meters 0.014754144772218055 Centerline is valid? [True, True] Translation: X:186.52, Y:61.86, Z:0.17 [[ 7.66092727e-01 -6.42729747e-01 -6.36962730e-04 1.86516686e+02] [ 6.42729533e-01 7.66092992e-01 -5.24893646e-04 6.18600052e+01] [ 8.25337444e-04 -7.27755332e-06 9.99999659e-01 1.66207098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721858064 meters 0.014767089687357278 Centerline is valid? [True, True] Translation: X:186.56, Y:61.90, Z:0.17 [[ 7.66337620e-01 -6.42438027e-01 -1.83353645e-04 1.86561116e+02] [ 6.42438010e-01 7.66337642e-01 -1.50947305e-04 6.18969044e+01] [ 2.37485089e-04 -2.11675273e-06 9.99999972e-01 1.66344930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781858064 meters 0.014777886185321477 Centerline is valid? [True, True] Translation: X:186.61, Y:61.93, Z:0.17 [[ 7.66184210e-01 -6.42620941e-01 2.85707546e-04 1.86605784e+02] [ 6.42620898e-01 7.66184264e-01 2.36154031e-04 6.19338639e+01] [-3.70662151e-04 2.66414938e-06 9.99999931e-01 1.66819450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841858064 meters 0.014776285982947186 Centerline is valid? [True, True] Translation: X:186.65, Y:61.97, Z:0.17 [[ 7.66313898e-01 -6.42466246e-01 3.63137279e-04 1.86649950e+02] [ 6.42466176e-01 7.66313985e-01 3.00233418e-04 6.19712027e+01] [-4.71167012e-04 3.23037793e-06 9.99999889e-01 1.66077486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901858064 meters 0.014869139982732912 Centerline is valid? [True, True] Translation: X:186.69, Y:62.01, Z:0.16 [[ 7.66916384e-01 -6.41746848e-01 4.92455974e-04 1.86694335e+02] [ 6.41746719e-01 7.66916543e-01 4.07266913e-04 6.20086717e+01] [-6.39034891e-04 3.69233648e-06 9.99999796e-01 1.64873654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96185806399998 meters 0.014876499659102895 Centerline is valid? [True, True] Translation: X:186.74, Y:62.04, Z:0.16 [[ 7.65402070e-01 -6.43552150e-01 -5.49334514e-04 1.86740712e+02] [ 6.43551990e-01 7.65402267e-01 -4.53907147e-04 6.20447509e+01] [ 7.12574803e-04 -6.10384947e-06 9.99999746e-01 1.63066198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02185806399999 meters 0.015162760724311207 Centerline is valid? [True, True] Translation: X:186.79, Y:62.08, Z:0.16 [[ 7.63010059e-01 -6.46386329e-01 -6.02924212e-04 1.86788349e+02] [ 6.46386137e-01 7.63010297e-01 -4.98461876e-04 6.20793491e+01] [ 7.82236324e-04 -9.39042681e-06 9.99999694e-01 1.62939808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.081858064 meters 0.015325848413390679 Centerline is valid? [True, True] Translation: X:186.83, Y:62.12, Z:0.16 [[ 7.61230641e-01 -6.48481083e-01 -4.43525517e-04 1.86834996e+02] [ 6.48480979e-01 7.61230770e-01 -3.66787958e-04 6.21156116e+01] [ 5.75480323e-04 -8.40762962e-06 9.99999834e-01 1.63679690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.141858064 meters 0.015917968661604096 Centerline is valid? [True, True] Translation: X:186.88, Y:62.15, Z:0.17 [[ 7.58924839e-01 -6.51177403e-01 1.03820927e-03 1.86882249e+02] [ 6.51176836e-01 7.58925549e-01 8.59936830e-04 6.21507389e+01] [-1.34789497e-03 2.34304064e-05 9.99999091e-01 1.65407667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201858064 meters 0.015861158487189525 Centerline is valid? [True, True] Translation: X:186.93, Y:62.19, Z:0.17 [[ 7.58337999e-01 -6.51858287e-01 2.06214643e-03 1.86927638e+02] [ 6.51856050e-01 7.58340801e-01 1.70864332e-03 6.21888280e+01] [-2.67760308e-03 4.84934676e-05 9.99996414e-01 1.65966877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261858064 meters 0.01694233421524659 Centerline is valid? [True, True] Translation: X:186.97, Y:62.23, Z:0.17 [[ 7.57923936e-01 -6.52335343e-01 3.14762350e-03 1.86972776e+02] [ 6.52330134e-01 7.57930468e-01 2.60817602e-03 6.22256860e+01] [-4.08708515e-03 7.64906237e-05 9.99991645e-01 1.65915392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321858064 meters 0.016042556214246894 Centerline is valid? [True, True] Translation: X:187.02, Y:62.27, Z:0.16 [[ 7.58356955e-01 -6.51829773e-01 3.56049367e-03 1.87015908e+02] [ 6.51823093e-01 7.58365308e-01 2.95194317e-03 6.22665478e+01] [-4.62431933e-03 8.21853648e-05 9.99989304e-01 1.64403218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381858064 meters 0.015808019917682346 Centerline is valid? [True, True] Translation: X:187.06, Y:62.31, Z:0.16 [[ 7.58960987e-01 -6.51124676e-01 3.85692147e-03 1.87059687e+02] [ 6.51116822e-01 7.58970783e-01 3.19929738e-03 6.23053497e+01] [-5.01043218e-03 8.31645462e-05 9.99987444e-01 1.63709344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441858064 meters 0.015770174185565908 Centerline is valid? [True, True] Translation: X:187.10, Y:62.34, Z:0.16 [[ 7.59139168e-01 -6.50915732e-01 4.05392335e-03 1.87103875e+02] [ 6.50907041e-01 7.59149987e-01 3.36466839e-03 6.23432099e+01] [-5.26765144e-03 8.44756922e-05 9.99986122e-01 1.63440116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501858064 meters 0.015463757418526035 Centerline is valid? [True, True] Translation: X:187.15, Y:62.38, Z:0.16 [[ 7.60761007e-01 -6.49012262e-01 5.07681001e-03 1.87147195e+02] [ 6.48998576e-01 7.60777941e-01 4.21564620e-03 6.23835683e+01] [-6.59833114e-03 8.77432213e-05 9.99978227e-01 1.62974670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561858064 meters 0.015296470418462372 Centerline is valid? [True, True] Translation: X:187.19, Y:62.42, Z:0.16 [[ 7.62220447e-01 -6.47297359e-01 5.11068484e-03 1.87190503e+02] [ 6.47283448e-01 7.62237577e-01 4.24434286e-03 6.24214291e+01] [-6.64290796e-03 7.29367977e-05 9.99977933e-01 1.63044269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621858064 meters 0.015169185937243944 Centerline is valid? [True, True] Translation: X:187.23, Y:62.46, Z:0.16 [[ 7.63605382e-01 -6.45660966e-01 5.36080772e-03 1.87233291e+02] [ 6.45645603e-01 7.63624196e-01 4.45445277e-03 6.24614515e+01] [-6.96970877e-03 5.97378266e-05 9.99975709e-01 1.61566765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68185806399998 meters 0.015013945422520065 Centerline is valid? [True, True] Translation: X:187.28, Y:62.50, Z:0.16 [[ 7.63363483e-01 -6.45947659e-01 5.27392724e-03 1.87277509e+02] [ 6.45932779e-01 7.63381699e-01 4.38482237e-03 6.24993081e+01] [-6.85838528e-03 5.93892020e-05 9.99976479e-01 1.60557738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74185806399998 meters 0.015192798997128377 Centerline is valid? [True, True] Translation: X:187.32, Y:62.54, Z:0.16 [[ 7.62288401e-01 -6.47214613e-01 5.44414151e-03 1.87324090e+02] [ 6.47198774e-01 7.62307838e-01 4.52852203e-03 6.25352510e+01] [-7.08103737e-03 7.14018943e-05 9.99974927e-01 1.60830295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.801858064 meters 0.015516573111931855 Centerline is valid? [True, True] Translation: X:187.37, Y:62.57, Z:0.16 [[ 7.61101631e-01 -6.48616538e-01 4.57094240e-03 1.87370091e+02] [ 6.48605387e-01 7.61115353e-01 3.80407166e-03 6.25719988e+01] [-5.94639823e-03 6.94527175e-05 9.99982318e-01 1.59191021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.861858064 meters 0.015791804783452556 Centerline is valid? [True, True] Translation: X:187.42, Y:62.61, Z:0.16 [[ 7.59797011e-01 -6.50146793e-01 4.20126077e-03 1.87416105e+02] [ 6.50137386e-01 7.59808622e-01 3.49811508e-03 6.26090767e+01] [-5.46644246e-03 7.35393194e-05 9.99985056e-01 1.58412610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921858064 meters 0.016605864355516305 Centerline is valid? [True, True] Translation: X:187.46, Y:62.64, Z:0.16 [[ 7.57458023e-01 -6.52869165e-01 4.38147314e-03 1.87463873e+02] [ 6.52858970e-01 7.57470689e-01 3.64988206e-03 6.26443605e+01] [-5.70173293e-03 9.58515905e-05 9.99983740e-01 1.58871365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981858064 meters 0.017098983673544364 Centerline is valid? [True, True] Translation: X:187.51, Y:62.68, Z:0.16 [[ 7.56311554e-01 -6.54201582e-01 3.62255413e-03 1.87508935e+02] [ 6.54194626e-01 7.56320225e-01 3.01806581e-03 6.26814041e+01] [-4.71423438e-03 8.72574054e-05 9.99988884e-01 1.57611187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041858064 meters 0.017248955152471507 Centerline is valid? [True, True] Translation: X:187.55, Y:62.72, Z:0.16 [[ 7.56672941e-01 -6.53788891e-01 2.47932429e-03 1.87553262e+02] [ 6.53785629e-01 7.56677000e-01 2.06597485e-03 6.27179422e+01] [-3.22675907e-03 5.76793272e-05 9.99994792e-01 1.56927666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101858064 meters 0.016674083713095672 Centerline is valid? [True, True] Translation: X:187.60, Y:62.76, Z:0.16 [[ 7.56767450e-01 -6.53682829e-01 1.33638648e-03 1.87597312e+02] [ 6.53681880e-01 7.56768629e-01 1.11433110e-03 6.27572132e+01] [-1.73975447e-03 3.02821259e-05 9.99998486e-01 1.55904268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161858064 meters 0.01580904089718156 Centerline is valid? [True, True] Translation: X:187.64, Y:62.80, Z:0.16 [[ 7.56570878e-01 -6.53910914e-01 1.01148204e-03 1.87640593e+02] [ 6.53910370e-01 7.56571554e-01 8.44014724e-04 6.27957975e+01] [-1.31716898e-03 2.28616332e-05 9.99999132e-01 1.56013663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221858064 meters 0.015869991565489988 Centerline is valid? [True, True] Translation: X:187.69, Y:62.83, Z:0.16 [[ 7.55755065e-01 -6.54853709e-01 9.49876992e-04 1.87686722e+02] [ 6.54853229e-01 7.55755661e-01 7.92988368e-04 6.28331920e+01] [-1.23716629e-03 2.27250404e-05 9.99999234e-01 1.56351137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281858064 meters 0.01695963682832373 Centerline is valid? [True, True] Translation: X:187.73, Y:62.87, Z:0.16 [[ 7.55394604e-01 -6.55268505e-01 1.47597416e-03 1.87733356e+02] [ 6.55267347e-01 7.55396045e-01 1.23223145e-03 6.28676705e+01] [-1.92238750e-03 3.63366823e-05 9.99998152e-01 1.57768531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341858064 meters 0.016119529486496427 Centerline is valid? [True, True] Translation: X:187.78, Y:62.91, Z:0.16 [[ 7.56295040e-01 -6.54228006e-01 1.87837499e-03 1.87776539e+02] [ 6.54226126e-01 7.56297372e-01 1.56903042e-03 6.29077134e+01] [-2.44711371e-03 4.22320628e-05 9.99997005e-01 1.58272469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401858064 meters 0.015243169352736249 Centerline is valid? [True, True] Translation: X:187.82, Y:62.95, Z:0.16 [[ 7.58536278e-01 -6.51627731e-01 2.00372535e-03 1.87819416e+02] [ 6.51625580e-01 7.58538924e-01 1.67456655e-03 6.29478947e+01] [-2.61109767e-03 3.54592202e-05 9.99996590e-01 1.58583263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46185806399998 meters 0.014630376581829658 Centerline is valid? [True, True] Translation: X:187.86, Y:62.99, Z:0.16 [[ 7.61328648e-01 -6.48366024e-01 4.34572342e-04 1.87862312e+02] [ 6.48365922e-01 7.61328772e-01 3.63586246e-04 6.29885385e+01] [-5.66589396e-04 4.95327254e-06 9.99999839e-01 1.56912663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52185806399999 meters 0.01444907276853051 Centerline is valid? [True, True] Translation: X:187.91, Y:63.03, Z:0.16 [[ 7.63174312e-01 -6.46191066e-01 -1.44086904e-03 1.87905098e+02] [ 6.46189943e-01 7.63175672e-01 -1.20469237e-03 6.30270298e+01] [ 1.87809764e-03 -1.16848111e-05 9.99998236e-01 1.55019796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.581858064 meters 0.014388236127081839 Centerline is valid? [True, True] Translation: X:187.95, Y:63.06, Z:0.15 [[ 7.63755666e-01 -6.45499860e-01 -2.68585649e-03 1.87949346e+02] [ 6.45495950e-01 7.63760388e-01 -2.24675541e-03 6.30646532e+01] [ 3.50163110e-03 -1.77373138e-05 9.99993869e-01 1.54307539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.641858064 meters 0.014815899243241318 Centerline is valid? [True, True] Translation: X:188.00, Y:63.10, Z:0.16 [[ 7.61198481e-01 -6.48514828e-01 -2.32163245e-03 1.87995739e+02] [ 6.48511919e-01 7.61202021e-01 -1.94259252e-03 6.30989873e+01] [ 3.02703137e-03 -2.69078340e-05 9.99995418e-01 1.55794478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701858064 meters 0.015442484305765686 Centerline is valid? [True, True] Translation: X:188.04, Y:63.13, Z:0.16 [[ 7.58614500e-01 -6.51535420e-01 -2.37406980e-03 1.88042702e+02] [ 6.51532391e-01 7.58618214e-01 -1.98726126e-03 6.31341090e+01] [ 3.09578369e-03 -3.92181610e-05 9.99995207e-01 1.56971672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761858064 meters 0.016910528745773375 Centerline is valid? [True, True] Translation: X:188.09, Y:63.17, Z:0.16 [[ 7.55200611e-01 -6.55487067e-01 -2.95661749e-03 1.88089904e+02] [ 6.55482396e-01 7.55206396e-01 -2.47562462e-03 6.31683196e+01] [ 3.85559636e-03 -6.84174831e-05 9.99992565e-01 1.57539438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821858064 meters 0.017410440460651523 Centerline is valid? [True, True] Translation: X:188.14, Y:63.21, Z:0.16 [[ 7.53566051e-01 -6.57364009e-01 -3.28110419e-03 1.88135573e+02] [ 6.57358269e-01 7.53573190e-01 -2.74849075e-03 6.32060449e+01] [ 4.27931105e-03 -8.56916476e-05 9.99990840e-01 1.57584837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881858064 meters 0.01803590862788512 Centerline is valid? [True, True] Translation: X:188.18, Y:63.24, Z:0.16 [[ 7.52103452e-01 -6.59024350e-01 -5.22540638e-03 1.88180504e+02] [ 6.59009823e-01 7.52121589e-01 -4.37824324e-03 6.32434532e+01] [ 6.81550985e-03 -1.50702281e-04 9.99976763e-01 1.56290216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941858064 meters 0.016791764891407004 Centerline is valid? [True, True] Translation: X:188.22, Y:63.28, Z:0.16 [[ 7.51303569e-01 -6.59925409e-01 -6.43438583e-03 1.88223642e+02] [ 6.59903394e-01 7.51331097e-01 -5.39377103e-03 6.32843330e+01] [ 8.39384072e-03 -1.93713617e-04 9.99964752e-01 1.56728633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001858064 meters 0.017076377263523384 Centerline is valid? [True, True] Translation: X:188.27, Y:63.32, Z:0.16 [[ 7.50846491e-01 -6.60435061e-01 -7.42136273e-03 1.88267654e+02] [ 6.60405769e-01 7.50883132e-01 -6.22430302e-03 6.33234843e+01] [ 9.68332404e-03 -2.27614676e-04 9.99953090e-01 1.57137635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061858064 meters 0.016725121652725362 Centerline is valid? [True, True] Translation: X:188.31, Y:63.36, Z:0.16 [[ 7.51312296e-01 -6.59904895e-01 -7.44074511e-03 1.88311692e+02] [ 6.59875393e-01 7.51349108e-01 -6.24372260e-03 6.33631331e+01] [ 9.71086031e-03 -2.18979037e-04 9.99952825e-01 1.58560217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121858064 meters 0.016799939289024183 Centerline is valid? [True, True] Translation: X:188.36, Y:63.40, Z:0.16 [[ 7.51811630e-01 -6.59336979e-01 -7.34990143e-03 1.88356768e+02] [ 6.59308136e-01 7.51847528e-01 -6.17058103e-03 6.34010583e+01] [ 9.59449748e-03 -2.06735226e-04 9.99953950e-01 1.59393072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18185806399998 meters 0.01634438579723942 Centerline is valid? [True, True] Translation: X:188.40, Y:63.44, Z:0.16 [[ 7.52461677e-01 -6.58594882e-01 -7.36252367e-03 1.88400366e+02] [ 6.58565874e-01 7.52497670e-01 -6.18430518e-03 6.34404949e+01] [ 9.61323365e-03 -1.95254199e-04 9.99953773e-01 1.60649414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24185806399998 meters 0.01622795768935866 Centerline is valid? [True, True] Translation: X:188.44, Y:63.48, Z:0.16 [[ 7.53665612e-01 -6.57203028e-01 -8.50442748e-03 1.88443756e+02] [ 6.57164195e-01 7.53713566e-01 -7.14708706e-03 6.34804216e+01] [ 1.11069896e-02 -2.02291497e-04 9.99938295e-01 1.60346473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.301858064 meters 0.016003499341583637 Centerline is valid? [True, True] Translation: X:188.49, Y:63.52, Z:0.16 [[ 7.54109298e-01 -6.56683859e-01 -9.24538072e-03 1.88487285e+02] [ 6.56637872e-01 7.54165941e-01 -7.77418755e-03 6.35193275e+01] [ 1.20777347e-02 -2.08280013e-04 9.99927040e-01 1.60238079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.361858064 meters 0.01618114209672388 Centerline is valid? [True, True] Translation: X:188.53, Y:63.56, Z:0.16 [[ 7.54128714e-01 -6.56656204e-01 -9.61835491e-03 1.88530821e+02] [ 6.56606373e-01 7.54190019e-01 -8.09238012e-03 6.35577409e+01] [ 1.25679789e-02 -2.12776920e-04 9.99920997e-01 1.59226950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421858064 meters 0.016463835558874557 Centerline is valid? [True, True] Translation: X:188.58, Y:63.60, Z:0.16 [[ 7.53442614e-01 -6.57444062e-01 -9.56733837e-03 1.88575502e+02] [ 6.57394772e-01 7.53503322e-01 -8.05342836e-03 6.35963044e+01] [ 1.25036999e-02 -2.21722110e-04 9.99921801e-01 1.59323531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481858064 meters 0.016900670066933843 Centerline is valid? [True, True] Translation: X:188.62, Y:63.63, Z:0.16 [[ 7.51359118e-01 -6.59817969e-01 -9.98615653e-03 1.88621272e+02] [ 6.59764424e-01 7.51425429e-01 -8.41011749e-03 6.36339436e+01] [ 1.30529986e-02 -2.69492348e-04 9.99914770e-01 1.60301299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541858064 meters 0.01771505050988677 Centerline is valid? [True, True] Translation: X:188.67, Y:63.67, Z:0.16 [[ 7.49509128e-01 -6.61922290e-01 -9.74417975e-03 1.88666926e+02] [ 6.61871434e-01 7.49572408e-01 -8.21032647e-03 6.36713701e+01] [ 1.27385664e-02 -2.95679592e-04 9.99918817e-01 1.60595924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601858064 meters 0.01911396461154048 Centerline is valid? [True, True] Translation: X:188.71, Y:63.71, Z:0.16 [[ 7.47337285e-01 -6.64377982e-01 -9.42759844e-03 1.88711392e+02] [ 6.64330552e-01 7.47396676e-01 -7.94521276e-03 6.37085329e+01] [ 1.23247802e-02 -3.25287943e-04 9.99923994e-01 1.60298064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661858064 meters 0.01804873984922761 Centerline is valid? [True, True] Translation: X:188.75, Y:63.75, Z:0.16 [[ 7.46701684e-01 -6.65102679e-01 -8.66148607e-03 1.88753443e+02] [ 6.65062649e-01 7.46751854e-01 -7.30349345e-03 6.37483083e+01] [ 1.13255538e-02 -3.06900014e-04 9.99935817e-01 1.61080158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721858064 meters 0.019758018036376772 Centerline is valid? [True, True] Translation: X:188.80, Y:63.78, Z:0.16 [[ 7.47426964e-01 -6.64291018e-01 -8.38904577e-03 1.88798276e+02] [ 6.64253400e-01 7.47473988e-01 -7.07521280e-03 6.37845907e+01] [ 1.09705938e-02 -2.84247344e-04 9.99939781e-01 1.59814914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781858064 meters 0.016770755663752083 Centerline is valid? [True, True] Translation: X:188.84, Y:63.83, Z:0.16 [[ 7.49375478e-01 -6.62091135e-01 -8.46886023e-03 1.88837462e+02] [ 6.62052620e-01 7.49423288e-01 -7.14582501e-03 6.38294183e+01] [ 1.10779485e-02 -2.51925079e-04 9.99938606e-01 1.59432952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841858064 meters 0.016195610819087873 Centerline is valid? [True, True] Translation: X:188.88, Y:63.87, Z:0.16 [[ 7.50766074e-01 -6.60519585e-01 -8.01125741e-03 1.88880456e+02] [ 6.60484996e-01 7.50808785e-01 -6.76305831e-03 6.38694233e+01] [ 1.04820549e-02 -2.13840578e-04 9.99945039e-01 1.59510968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901858064 meters 0.015882522609159875 Centerline is valid? [True, True] Translation: X:188.92, Y:63.91, Z:0.16 [[ 7.52695466e-01 -6.58329086e-01 -7.23532573e-03 1.88922891e+02] [ 6.58300760e-01 7.52730222e-01 -6.10924383e-03 6.39090461e+01] [ 9.46814125e-03 -1.64620300e-04 9.99955163e-01 1.59026705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96185806399998 meters 0.0156330569930411 Centerline is valid? [True, True] Translation: X:188.97, Y:63.95, Z:0.16 [[ 7.54227443e-01 -6.56579646e-01 -6.64320734e-03 1.88966203e+02] [ 6.56555676e-01 7.54256688e-01 -5.61187498e-03 6.39493328e+01] [ 8.69532645e-03 -1.29005363e-04 9.99962187e-01 1.58281173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02185806399999 meters 0.01519977495930835 Centerline is valid? [True, True] Translation: X:189.01, Y:63.99, Z:0.16 [[ 7.55460342e-01 -6.55174377e-01 -5.11927979e-03 1.89009617e+02] [ 6.55160096e-01 7.55477683e-01 -4.32665516e-03 6.39886566e+01] [ 6.70221523e-03 -8.53314453e-05 9.99977536e-01 1.58446243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.081858064 meters 0.014888422870587345 Centerline is valid? [True, True] Translation: X:189.05, Y:64.03, Z:0.16 [[ 7.58046690e-01 -6.52185821e-01 -4.34404301e-03 1.89051178e+02] [ 6.52175484e-01 7.58059135e-01 -3.67224459e-03 6.40286937e+01] [ 5.68802734e-03 -4.93454959e-05 9.99983822e-01 1.57606866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.141858064 meters 0.01449905277003931 Centerline is valid? [True, True] Translation: X:189.09, Y:64.07, Z:0.16 [[ 7.60774196e-01 -6.49005161e-01 -3.86302217e-03 1.89094488e+02] [ 6.48996939e-01 7.60784004e-01 -3.26696407e-03 6.40694912e+01] [ 5.05920202e-03 -2.16676011e-05 9.99987202e-01 1.56779990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201858064 meters 0.014367648442034251 Centerline is valid? [True, True] Translation: X:189.14, Y:64.11, Z:0.16 [[ 7.61958906e-01 -6.47615251e-01 -3.62100756e-03 1.89138277e+02] [ 6.47608003e-01 7.61967510e-01 -3.06396973e-03 6.41079257e+01] [ 4.74336364e-03 -1.03744520e-05 9.99988750e-01 1.56961762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261858064 meters 0.014422207278096996 Centerline is valid? [True, True] Translation: X:189.18, Y:64.15, Z:0.16 [[ 7.62779722e-01 -6.46651781e-01 -2.92725195e-03 1.89181312e+02] [ 6.46647032e-01 7.62785339e-01 -2.47829211e-03 6.41473502e+01] [ 3.83545688e-03 -2.50782231e-06 9.99992645e-01 1.56636096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321858064 meters 0.014287818371064126 Centerline is valid? [True, True] Translation: X:189.23, Y:64.18, Z:0.16 [[ 7.62318949e-01 -6.47196949e-01 -2.43476822e-03 1.89225706e+02] [ 6.47193663e-01 7.62322838e-01 -2.06245499e-03 6.41847576e+01] [ 3.19089399e-03 -3.51803987e-06 9.99994909e-01 1.56722244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381858064 meters 0.014466135473458501 Centerline is valid? [True, True] Translation: X:189.27, Y:64.22, Z:0.16 [[ 7.60425570e-01 -6.49420502e-01 -2.44208200e-03 1.89272102e+02] [ 6.49417203e-01 7.60429492e-01 -2.06984477e-03 6.42200400e+01] [ 3.20123081e-03 -1.19671726e-05 9.99994876e-01 1.56074863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441858064 meters 0.014582993848929611 Centerline is valid? [True, True] Translation: X:189.32, Y:64.26, Z:0.15 [[ 7.58035930e-01 -6.52208394e-01 -2.39570866e-03 1.89317944e+02] [ 6.52205232e-01 7.58039715e-01 -2.03112219e-03 6.42550053e+01] [ 3.14075725e-03 -2.28301272e-05 9.99995068e-01 1.54691192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501858064 meters 0.015383394906861822 Centerline is valid? [True, True] Translation: X:189.37, Y:64.29, Z:0.15 [[ 7.54327598e-01 -6.56491959e-01 -2.86048441e-03 1.89366516e+02] [ 6.56487480e-01 7.54333020e-01 -2.42561242e-03 6.42877310e+01] [ 3.75015289e-03 -4.81658141e-05 9.99992967e-01 1.53929127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561858064 meters 0.01602924033773649 Centerline is valid? [True, True] Translation: X:189.42, Y:64.32, Z:0.16 [[ 7.50747723e-01 -6.60586703e-01 -1.75040180e-03 1.89415742e+02] [ 6.60585036e-01 7.50749763e-01 -1.48481085e-03 6.43212217e+01] [ 2.29496004e-03 -4.15708682e-05 9.99997366e-01 1.55951763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621858064 meters 0.01623188073582432 Centerline is valid? [True, True] Translation: X:189.46, Y:64.36, Z:0.16 [[ 7.49729780e-01 -6.61742884e-01 -1.27020609e-03 1.89461645e+02] [ 6.61742007e-01 7.49730855e-01 -1.07793569e-03 6.43579577e+01] [ 1.66562896e-03 -3.23882400e-05 9.99998612e-01 1.56440298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68185806399998 meters 0.016251385120190875 Centerline is valid? [True, True] Translation: X:189.51, Y:64.39, Z:0.16 [[ 7.50108082e-01 -6.61315171e-01 -3.30165471e-04 1.89506717e+02] [ 6.61315112e-01 7.50108155e-01 -2.80212055e-04 6.43949176e+01] [ 4.32968295e-04 -8.15408795e-06 9.99999906e-01 1.56316827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74185806399998 meters 0.016216016830629752 Centerline is valid? [True, True] Translation: X:189.55, Y:64.43, Z:0.16 [[ 7.49801622e-01 -6.61662679e-01 1.63006873e-04 1.89551889e+02] [ 6.61662664e-01 7.49801640e-01 1.38791396e-04 6.44321300e+01] [-2.14055908e-04 3.78954834e-06 9.99999977e-01 1.57584829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.801858064 meters 0.016823599013959405 Centerline is valid? [True, True] Translation: X:189.60, Y:64.47, Z:0.16 [[ 7.49037642e-01 -6.62526883e-01 8.60244186e-04 1.89596281e+02] [ 6.62526480e-01 7.49038136e-01 7.30989070e-04 6.44687742e+01] [-1.12865561e-03 2.23962228e-05 9.99999363e-01 1.58331771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.861858064 meters 0.016663325464645114 Centerline is valid? [True, True] Translation: X:189.64, Y:64.51, Z:0.16 [[ 7.48920952e-01 -6.62657936e-01 1.36651071e-03 1.89639589e+02] [ 6.62656918e-01 7.48922198e-01 1.16199094e-03 6.45074703e+01] [-1.79341272e-03 3.52884189e-05 9.99998391e-01 1.58680155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921858064 meters 0.01629909720630976 Centerline is valid? [True, True] Translation: X:189.68, Y:64.55, Z:0.16 [[ 7.49095373e-01 -6.62460519e-01 1.47723759e-03 1.89683308e+02] [ 6.62459328e-01 7.49096829e-01 1.25677255e-03 6.45464774e+01] [-1.93915619e-03 3.71673148e-05 9.99998119e-01 1.58628955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981858064 meters 0.01631465691140809 Centerline is valid? [True, True] Translation: X:189.73, Y:64.59, Z:0.16 [[ 7.49759188e-01 -6.61709864e-01 1.10245744e-03 1.89726858e+02] [ 6.61709199e-01 7.49759998e-01 9.38435680e-04 6.45862629e+01] [-1.44755064e-03 2.59054584e-05 9.99998952e-01 1.58243701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041858064 meters 0.01622446061058157 Centerline is valid? [True, True] Translation: X:189.77, Y:64.63, Z:0.16 [[ 7.49910240e-01 -6.61537036e-01 1.83895339e-03 1.89769816e+02] [ 6.61535183e-01 7.49912494e-01 1.56610753e-03 6.46256027e+01] [-2.41509226e-03 4.20923001e-05 9.99997083e-01 1.58481375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101858064 meters 0.016186673181107204 Centerline is valid? [True, True] Translation: X:189.81, Y:64.66, Z:0.16 [[ 7.49997846e-01 -6.61438022e-01 1.72466764e-03 1.89813362e+02] [ 6.61436390e-01 7.49999828e-01 1.46964262e-03 6.46644196e+01] [-2.26557794e-03 3.85291396e-05 9.99997433e-01 1.58090775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161858064 meters 0.016076868718956645 Centerline is valid? [True, True] Translation: X:189.86, Y:64.70, Z:0.16 [[ 7.49994491e-01 -6.61442993e-01 1.19592141e-03 1.89857098e+02] [ 6.61442207e-01 7.49995444e-01 1.01975518e-03 6.47029162e+01] [-1.57144553e-03 2.62221285e-05 9.99998765e-01 1.58020279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221858064 meters 0.01623240797687441 Centerline is valid? [True, True] Translation: X:189.90, Y:64.74, Z:0.16 [[ 7.50360101e-01 -6.61028280e-01 1.15401127e-03 1.89901143e+02] [ 6.61027547e-01 7.50360989e-01 9.84465443e-04 6.47416964e+01] [-1.51668453e-03 2.41296464e-05 9.99998850e-01 1.57871069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281858064 meters 0.015780108586275987 Centerline is valid? [True, True] Translation: X:189.94, Y:64.78, Z:0.16 [[ 7.51004919e-01 -6.60295964e-01 9.22718331e-04 1.89944311e+02] [ 6.60295495e-01 7.51005486e-01 7.87609812e-04 6.47814811e+01] [-1.21302211e-03 1.77679137e-05 9.99999264e-01 1.57989190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341858064 meters 0.01616210279093345 Centerline is valid? [True, True] Translation: X:189.99, Y:64.82, Z:0.16 [[ 7.50803678e-01 -6.60525398e-01 -1.87364201e-04 1.89987672e+02] [ 6.60525379e-01 7.50803702e-01 -1.59772904e-04 6.48185799e+01] [ 2.46207796e-04 -3.80072609e-06 9.99999970e-01 1.57170873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401858064 meters 0.015861172956383347 Centerline is valid? [True, True] Translation: X:190.03, Y:64.86, Z:0.16 [[ 7.50301580e-01 -6.61095421e-01 -6.19587331e-04 1.90031652e+02] [ 6.61095210e-01 7.50301835e-01 -5.28785719e-04 6.48570200e+01] [ 8.14455329e-04 -1.28574567e-05 9.99999668e-01 1.56948946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46185806399998 meters 0.016440545622338792 Centerline is valid? [True, True] Translation: X:190.08, Y:64.89, Z:0.16 [[ 7.49395099e-01 -6.62121893e-01 -1.25916019e-03 1.90076278e+02] [ 6.62121020e-01 7.49396156e-01 -1.07536533e-03 6.48940378e+01] [ 1.65563274e-03 -2.78429243e-05 9.99998629e-01 1.56930286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52185806399999 meters 0.016955371723736182 Centerline is valid? [True, True] Translation: X:190.12, Y:64.93, Z:0.16 [[ 7.47019631e-01 -6.64794654e-01 -3.12051554e-03 1.90121389e+02] [ 6.64789313e-01 7.47026145e-01 -2.66629560e-03 6.49318824e+01] [ 4.10364575e-03 -8.27102227e-05 9.99991577e-01 1.55721521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.581858064 meters 0.01732168708413743 Centerline is valid? [True, True] Translation: X:190.17, Y:64.97, Z:0.16 [[ 7.44544462e-01 -6.67561711e-01 -3.86077993e-03 1.90166959e+02] [ 6.67553563e-01 7.44554462e-01 -3.30050004e-03 6.49697890e+01] [ 5.07784838e-03 -1.19908373e-04 9.99987100e-01 1.55748038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.641858064 meters 0.018344297420197653 Centerline is valid? [True, True] Translation: X:190.21, Y:65.01, Z:0.16 [[ 7.40727452e-01 -6.71794635e-01 -3.84837819e-03 1.90213474e+02] [ 6.71786588e-01 7.40737434e-01 -3.29141543e-03 6.50069711e+01] [ 5.06179301e-03 -1.47247094e-04 9.99987178e-01 1.56719427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701858064 meters 0.0205441642853641 Centerline is valid? [True, True] Translation: X:190.26, Y:65.04, Z:0.16 [[ 7.38550393e-01 -6.74186438e-01 -3.99553545e-03 1.90258339e+02] [ 6.74177793e-01 7.38561181e-01 -3.41829409e-03 6.50430861e+01] [ 5.25551490e-03 -1.69118829e-04 9.99986175e-01 1.56818706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761858064 meters 0.020785110320100983 Centerline is valid? [True, True] Translation: X:190.30, Y:65.08, Z:0.16 [[ 7.37424417e-01 -6.75419627e-01 -3.68193686e-03 1.90301137e+02] [ 6.75412295e-01 7.37433591e-01 -3.15138712e-03 6.50833920e+01] [ 4.84369263e-03 -1.62915616e-04 9.99988256e-01 1.57932133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821858064 meters 0.020937335493750955 Centerline is valid? [True, True] Translation: X:190.34, Y:65.12, Z:0.16 [[ 7.38443680e-01 -6.74301207e-01 -4.33752484e-03 1.90343580e+02] [ 6.74291001e-01 7.38456396e-01 -3.71432701e-03 6.51238535e+01] [ 5.70764815e-03 -1.81932666e-04 9.99983695e-01 1.58435202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881858064 meters 0.01769607568840752 Centerline is valid? [True, True] Translation: X:190.38, Y:65.17, Z:0.16 [[ 7.42958101e-01 -6.69291443e-01 -7.88822452e-03 1.90380997e+02] [ 6.69257371e-01 7.42999931e-01 -6.75827004e-03 6.51713728e+01] [ 1.03842026e-02 -2.58140925e-04 9.99946049e-01 1.57270485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941858064 meters 0.017836304264895467 Centerline is valid? [True, True] Translation: X:190.42, Y:65.21, Z:0.16 [[ 7.46970714e-01 -6.64792094e-01 -9.28574145e-03 1.90422183e+02] [ 6.64744492e-01 7.47028393e-01 -7.95863725e-03 6.52129954e+01] [ 1.22275516e-02 -2.27776535e-04 9.99925215e-01 1.56179112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001858064 meters 0.015368637945855508 Centerline is valid? [True, True] Translation: X:190.46, Y:65.26, Z:0.16 [[ 7.51981735e-01 -6.59104525e-01 -1.02320478e-02 1.90460727e+02] [ 6.59046151e-01 7.52051330e-01 -8.77315364e-03 6.52587298e+01] [ 1.34774504e-02 -1.46140411e-04 9.99909164e-01 1.60224466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061858064 meters 0.014718756157338695 Centerline is valid? [True, True] Translation: X:190.50, Y:65.30, Z:0.16 [[ 7.54467690e-01 -6.56263816e-01 -9.81363959e-03 1.90501471e+02] [ 6.56209826e-01 7.54531507e-01 -8.41836797e-03 6.53016762e+01] [ 1.29293706e-02 -8.84200860e-05 9.99916408e-01 1.62340725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121858064 meters 0.014253619589388833 Centerline is valid? [True, True] Translation: X:190.54, Y:65.35, Z:0.16 [[ 7.57280135e-01 -6.53014516e-01 -9.94182420e-03 1.90541092e+02] [ 6.52958772e-01 7.57345391e-01 -8.53236120e-03 6.53466027e+01] [ 1.31011505e-02 -3.02136849e-05 9.99914176e-01 1.62874730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18185806399998 meters 0.014038193281354 Centerline is valid? [True, True] Translation: X:190.58, Y:65.39, Z:0.16 [[ 7.57559015e-01 -6.52672605e-01 -1.10819216e-02 1.90582949e+02] [ 6.52603238e-01 7.57640066e-01 -9.51546074e-03 6.53884248e+01] [ 1.46065884e-02 -2.35748605e-05 9.99893318e-01 1.63533352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24185806399998 meters 0.014425144618383283 Centerline is valid? [True, True] Translation: X:190.62, Y:65.43, Z:0.16 [[ 7.57996784e-01 -6.52139607e-01 -1.24422206e-02 1.90623949e+02] [ 6.52052058e-01 7.58098894e-01 -1.06855068e-02 6.54298830e+01] [ 1.64008758e-02 -1.33957876e-05 9.99865496e-01 1.60953936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.301858064 meters 0.014125113986933903 Centerline is valid? [True, True] Translation: X:190.67, Y:65.47, Z:0.16 [[ 7.58778739e-01 -6.51212389e-01 -1.33135216e-02 1.90665233e+02] [ 6.51111911e-01 7.58895529e-01 -1.14391784e-02 6.54717815e+01] [ 1.75529067e-02 1.12128610e-05 9.99845936e-01 1.62187656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.361858064 meters 0.014090375284386546 Centerline is valid? [True, True] Translation: X:190.71, Y:65.51, Z:0.16 [[ 7.58960565e-01 -6.50989469e-01 -1.38409107e-02 1.90707154e+02] [ 6.50880730e-01 7.59086761e-01 -1.18981117e-02 6.55130136e+01] [ 1.82519975e-02 2.14155302e-05 9.99833418e-01 1.61243951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421858064 meters 0.014138709248731991 Centerline is valid? [True, True] Translation: X:190.75, Y:65.55, Z:0.16 [[ 7.57454906e-01 -6.52724805e-01 -1.45737311e-02 1.90753164e+02] [ 6.52604447e-01 7.57595095e-01 -1.25342758e-02 6.55501162e+01] [ 1.92224200e-02 -1.67330607e-05 9.99815232e-01 1.62442977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481858064 meters 0.01458578827034893 Centerline is valid? [True, True] Translation: X:190.80, Y:65.59, Z:0.16 [[ 7.53063235e-01 -6.57799041e-01 -1.40066143e-02 1.90800581e+02] [ 6.57688630e-01 7.53193470e-01 -1.20524972e-02 6.55859186e+01] [ 1.84778116e-02 -1.35698431e-04 9.99829261e-01 1.62768339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541858064 meters 0.01570516044213781 Centerline is valid? [True, True] Translation: X:190.85, Y:65.62, Z:0.16 [[ 7.48586812e-01 -6.62922611e-01 -1.23043808e-02 1.90847617e+02] [ 6.62838011e-01 7.48687893e-01 -1.05929004e-02 6.56215025e+01] [ 1.62344142e-02 -2.26105763e-04 9.99868188e-01 1.62571859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601858064 meters 0.015839938195178906 Centerline is valid? [True, True] Translation: X:190.89, Y:65.66, Z:0.16 [[ 7.45639277e-01 -6.66259308e-01 -1.09819557e-02 1.90892940e+02] [ 6.66192207e-01 7.45720099e-01 -9.45922035e-03 6.56593428e+01] [ 1.44917587e-02 -2.62927065e-04 9.99894954e-01 1.63831093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661858064 meters 0.01785955175120103 Centerline is valid? [True, True] Translation: X:190.94, Y:65.69, Z:0.16 [[ 7.41881544e-01 -6.70455721e-01 -1.00449321e-02 1.90940156e+02] [ 6.70399937e-01 7.41949478e-01 -8.65427495e-03 6.56939583e+01] [ 1.32551403e-02 -3.13674979e-04 9.99912098e-01 1.61895576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721858064 meters 0.017852699575951 Centerline is valid? [True, True] Translation: X:190.98, Y:65.73, Z:0.16 [[ 7.39342785e-01 -6.73276754e-01 -8.40589527e-03 1.90984317e+02] [ 6.73237832e-01 7.39390507e-01 -7.24563386e-03 6.57330720e+01] [ 1.10935560e-02 -3.02159593e-04 9.99938419e-01 1.61679304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781858064 meters 0.018837212463032802 Centerline is valid? [True, True] Translation: X:191.03, Y:65.77, Z:0.16 [[ 7.38531078e-01 -6.74178282e-01 -7.44919175e-03 1.91028895e+02] [ 6.74147749e-01 7.38568593e-01 -6.42227431e-03 6.57692761e+01] [ 9.83149693e-03 -2.78806676e-04 9.99951631e-01 1.61440381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841858064 meters 0.01857819654096276 Centerline is valid? [True, True] Translation: X:191.07, Y:65.81, Z:0.16 [[ 7.38498186e-01 -6.74239821e-01 -4.59271739e-03 1.91071650e+02] [ 6.74228206e-01 7.38512447e-01 -3.96132930e-03 6.58103843e+01] [ 6.06266492e-03 -1.71105102e-04 9.99981607e-01 1.62075300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901858064 meters 0.018057285947916252 Centerline is valid? [True, True] Translation: X:191.11, Y:65.85, Z:0.16 [[ 7.39569492e-01 -6.73069720e-01 -3.75741941e-03 1.91114017e+02] [ 6.73061923e-01 7.39579025e-01 -3.24233402e-03 6.58523092e+01] [ 4.96122544e-03 -1.31044610e-04 9.99987684e-01 1.61552143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96185806399998 meters 0.017204138260936926 Centerline is valid? [True, True] Translation: X:191.15, Y:65.90, Z:0.16 [[ 7.41746836e-01 -6.70677462e-01 -1.83639943e-03 1.91153794e+02] [ 6.70675591e-01 7.41749108e-01 -1.58522877e-03 6.58959869e+01] [ 2.42532485e-03 -5.57898437e-05 9.99997057e-01 1.60655002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02185806399999 meters 0.01754675382074514 Centerline is valid? [True, True] Translation: X:191.19, Y:65.94, Z:0.16 [[ 7.42802631e-01 -6.69509969e-01 8.08640362e-04 1.91194354e+02] [ 6.69509605e-01 7.42803070e-01 6.98372348e-04 6.59371817e+01] [-1.06822779e-03 2.26396715e-05 9.99999429e-01 1.60431809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.081858064 meters 0.017185108843895652 Centerline is valid? [True, True] Translation: X:191.23, Y:65.98, Z:0.16 [[ 7.42367139e-01 -6.69986457e-01 3.02962148e-03 1.91233829e+02] [ 6.69981349e-01 7.42373316e-01 2.61772100e-03 6.59820960e+01] [-4.00294776e-03 8.64798364e-05 9.99991984e-01 1.58983566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.141858064 meters 0.017057201904947666 Centerline is valid? [True, True] Translation: X:191.28, Y:66.02, Z:0.16 [[ 7.42571147e-01 -6.69759034e-01 3.30571853e-03 1.91276204e+02] [ 6.69752943e-01 7.42578499e-01 2.85794016e-03 6.60212721e+01] [-4.36888675e-03 9.17908161e-05 9.99990452e-01 1.58904737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201858064 meters 0.01677532145935877 Centerline is valid? [True, True] Translation: X:191.32, Y:66.06, Z:0.16 [[ 7.43510355e-01 -6.68706342e-01 4.91733861e-03 1.91316446e+02] [ 6.68692828e-01 7.43526605e-01 4.25321741e-03 6.60646804e+01] [-6.50032554e-03 1.25877873e-04 9.99978865e-01 1.58385468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261858064 meters 0.016566595030146063 Centerline is valid? [True, True] Translation: X:191.36, Y:66.11, Z:0.16 [[ 7.44855820e-01 -6.67201043e-01 5.70760115e-03 1.91356642e+02] [ 6.67182773e-01 7.44877676e-01 4.93918702e-03 6.61076195e+01] [-7.54689541e-03 1.29030961e-04 9.99971513e-01 1.57241052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321858064 meters 0.016123576994210263 Centerline is valid? [True, True] Translation: X:191.39, Y:66.15, Z:0.16 [[ 7.48704562e-01 -6.62865799e-01 7.10008917e-03 1.91394641e+02] [ 6.62837303e-01 7.48738220e-01 6.14717671e-03 6.61539407e+01] [-9.39086133e-03 1.03784711e-04 9.99955900e-01 1.56393971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381858064 meters 0.015922241190118813 Centerline is valid? [True, True] Translation: X:191.43, Y:66.20, Z:0.16 [[ 7.52823806e-01 -6.58154808e-01 9.41096392e-03 1.91432870e+02] [ 6.58104323e-01 7.52882624e-01 8.15190065e-03 6.61999196e+01] [-1.24505638e-02 5.64511733e-05 9.99922487e-01 1.56464952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441858064 meters 0.016097143835754724 Centerline is valid? [True, True] Translation: X:191.47, Y:66.24, Z:0.16 [[ 7.55453558e-01 -6.55119422e-01 1.04145851e-02 1.91473362e+02] [ 6.55057245e-01 7.55525342e-01 9.02571080e-03 6.62434143e+01] [-1.37814014e-02 3.64409971e-06 9.99905032e-01 1.56350698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501858064 meters 0.01627412494384246 Centerline is valid? [True, True] Translation: X:191.51, Y:66.29, Z:0.15 [[ 7.58006197e-01 -6.52161433e-01 1.05863363e-02 1.91513421e+02] [ 6.52096834e-01 7.58080116e-01 9.17919633e-03 6.62876624e+01] [-1.40116088e-02 -5.45713426e-05 9.99901831e-01 1.54019062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561858064 meters 0.016223834693257923 Centerline is valid? [True, True] Translation: X:191.56, Y:66.33, Z:0.15 [[ 7.59442969e-01 -6.50502262e-01 9.65322867e-03 1.91555266e+02] [ 6.50448352e-01 7.59504313e-01 8.37501445e-03 6.63285394e+01] [-1.27796346e-02 -8.14191568e-05 9.99918334e-01 1.53128063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621858064 meters 0.016352972475677227 Centerline is valid? [True, True] Translation: X:191.60, Y:66.37, Z:0.15 [[ 7.59517494e-01 -6.50420781e-01 9.27276638e-03 1.91597461e+02] [ 6.50371009e-01 7.59574092e-01 8.04675151e-03 6.63673985e+01] [-1.22771275e-02 -8.09101162e-05 9.99924630e-01 1.52980065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68185806399998 meters 0.016031880900011383 Centerline is valid? [True, True] Translation: X:191.64, Y:66.40, Z:0.15 [[ 7.57637419e-01 -6.52624060e-01 8.20841680e-03 1.91643074e+02] [ 6.52585147e-01 7.57681882e-01 7.12685820e-03 6.64042006e+01] [-1.08705278e-02 -4.28835669e-05 9.99940913e-01 1.50680054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74185806399998 meters 0.015852441669178742 Centerline is valid? [True, True] Translation: X:191.69, Y:66.44, Z:0.15 [[ 7.53068289e-01 -6.57912387e-01 6.28034550e-03 1.91691492e+02] [ 6.57889779e-01 7.53094477e-01 5.45418813e-03 6.64363433e+01] [-8.31807144e-03 2.43989909e-05 9.99965404e-01 1.49458502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.801858064 meters 0.01613703327123871 Centerline is valid? [True, True] Translation: X:191.74, Y:66.47, Z:0.15 [[ 7.49566963e-01 -6.61908056e-01 5.20511346e-03 1.91740030e+02] [ 6.61892606e-01 7.49585034e-01 4.52276926e-03 6.64695779e+01] [-6.89533256e-03 5.51076903e-05 9.99976225e-01 1.48875494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.861858064 meters 0.016937269851594695 Centerline is valid? [True, True] Translation: X:191.79, Y:66.50, Z:0.15 [[ 7.46079009e-01 -6.65852045e-01 2.67704807e-03 1.91789917e+02] [ 6.65847983e-01 7.46083810e-01 2.32646513e-03 6.65003019e+01] [-3.54638379e-03 4.67802624e-05 9.99993710e-01 1.47770572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921858064 meters 0.017100572030518887 Centerline is valid? [True, True] Translation: X:191.84, Y:66.53, Z:0.15 [[ 7.45327701e-01 -6.66697796e-01 8.16699578e-04 1.91837636e+02] [ 6.66697418e-01 7.45328148e-01 7.10429599e-04 6.65337538e+01] [-1.08235103e-03 1.49886402e-05 9.99999414e-01 1.47247950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981858064 meters 0.01731771446521753 Centerline is valid? [True, True] Translation: X:191.88, Y:66.57, Z:0.15 [[ 7.45881476e-01 -6.66078267e-01 7.52132985e-04 1.91884283e+02] [ 6.66077946e-01 7.45881855e-01 6.54181312e-04 6.65676714e+01] [-9.96738301e-04 1.30374709e-05 9.99999503e-01 1.48656260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041858064 meters 0.016951871844495172 Centerline is valid? [True, True] Translation: X:191.93, Y:66.60, Z:0.15 [[ 7.47705144e-01 -6.64030103e-01 1.01972281e-03 1.91929394e+02] [ 6.64029511e-01 7.47705839e-01 8.87028346e-04 6.66037286e+01] [-1.35146622e-03 1.38903796e-05 9.99999087e-01 1.50861017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101858064 meters 0.01668250707428579 Centerline is valid? [True, True] Translation: X:191.97, Y:66.64, Z:0.15 [[ 7.49147667e-01 -6.62402862e-01 4.71708777e-04 1.91974354e+02] [ 6.62402734e-01 7.49147815e-01 4.10727787e-04 6.66415994e+01] [-6.25446861e-04 4.76542021e-06 9.99999804e-01 1.51597970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161858064 meters 0.016259960359485078 Centerline is valid? [True, True] Translation: X:192.02, Y:66.68, Z:0.15 [[ 7.51464497e-01 -6.59773292e-01 5.59854111e-04 1.92018641e+02] [ 6.59773112e-01 7.51464705e-01 4.87701670e-04 6.66799244e+01] [-7.42483141e-04 2.88619883e-06 9.99999724e-01 1.52929506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221858064 meters 0.01628277236523833 Centerline is valid? [True, True] Translation: X:192.06, Y:66.72, Z:0.15 [[ 7.53521794e-01 -6.57422749e-01 4.83504031e-04 1.92063286e+02] [ 6.57422614e-01 7.53521950e-01 4.21506462e-04 6.67167222e+01] [-6.41438837e-04 2.52178168e-07 9.99999794e-01 1.54457887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281858064 meters 0.01636799827761768 Centerline is valid? [True, True] Translation: X:192.11, Y:66.76, Z:0.15 [[ 7.54786445e-01 -6.55970324e-01 5.97756116e-04 1.92106718e+02] [ 6.55970116e-01 7.54786682e-01 5.21325849e-04 6.67557523e+01] [-7.93152641e-04 -1.37953517e-06 9.99999685e-01 1.54734008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341858064 meters 0.016501981714605703 Centerline is valid? [True, True] Translation: X:192.15, Y:66.79, Z:0.16 [[ 7.55718644e-01 -6.54896357e-01 -3.02610656e-04 1.92151633e+02] [ 6.54896304e-01 7.55718705e-01 -2.63579241e-04 6.67928862e+01] [ 4.01305618e-04 1.01314647e-06 9.99999919e-01 1.55115257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401858064 meters 0.016559385222625404 Centerline is valid? [True, True] Translation: X:192.20, Y:66.83, Z:0.16 [[ 7.54754701e-01 -6.56007095e-01 -1.77141912e-04 1.92196065e+02] [ 6.56007077e-01 7.54754722e-01 -1.54245410e-04 6.68296814e+01] [ 2.34884778e-04 2.11100302e-07 9.99999972e-01 1.55770177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46185806399998 meters 0.016718706176159167 Centerline is valid? [True, True] Translation: X:192.24, Y:66.87, Z:0.16 [[ 7.51820650e-01 -6.59367541e-01 -3.95538307e-04 1.92240387e+02] [ 6.59367450e-01 7.51820754e-01 -3.45091066e-04 6.68655351e+01] [ 5.24915756e-04 -1.35849505e-06 9.99999862e-01 1.56156543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52185806399999 meters 0.017253448903865706 Centerline is valid? [True, True] Translation: X:192.29, Y:66.90, Z:0.16 [[ 7.48620791e-01 -6.62996057e-01 -1.77176404e-03 1.92285775e+02] [ 6.62994254e-01 7.48622888e-01 -1.54659318e-03 6.69016530e+01] [ 2.35176829e-03 -1.68575735e-05 9.99997234e-01 1.55605904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.581858064 meters 0.017860694341849306 Centerline is valid? [True, True] Translation: X:192.33, Y:66.94, Z:0.15 [[ 7.46513791e-01 -6.65363264e-01 -2.98090004e-03 1.92329293e+02] [ 6.65358173e-01 7.46519742e-01 -2.60322924e-03 6.69408138e+01] [ 3.95739383e-03 -4.00196792e-05 9.99992169e-01 1.54699127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.641858064 meters 0.018493414847974537 Centerline is valid? [True, True] Translation: X:192.37, Y:66.98, Z:0.15 [[ 7.44881699e-01 -6.67183591e-01 -4.16048907e-03 1.92372596e+02] [ 6.67173691e-01 7.44893315e-01 -3.63525204e-03 6.69806773e+01] [ 5.52450100e-03 -6.79361328e-05 9.99984738e-01 1.54069160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701858064 meters 0.01879433307116898 Centerline is valid? [True, True] Translation: X:192.42, Y:67.02, Z:0.15 [[ 7.43174247e-01 -6.69087433e-01 -3.74774841e-03 1.92415306e+02] [ 6.69079416e-01 7.43183693e-01 -3.27621210e-03 6.70216691e+01] [ 4.97733785e-03 -7.27448602e-05 9.99987610e-01 1.54415785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761858064 meters 0.019129518869074706 Centerline is valid? [True, True] Translation: X:192.46, Y:67.06, Z:0.16 [[ 7.42653622e-01 -6.69667616e-01 -3.29869873e-03 1.92458152e+02] [ 6.69661408e-01 7.42660945e-01 -2.88431430e-03 6.70601781e+01] [ 4.38134660e-03 -6.69647747e-05 9.99990400e-01 1.55005431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821858064 meters 0.019291990628698377 Centerline is valid? [True, True] Translation: X:192.50, Y:67.10, Z:0.15 [[ 7.41836779e-01 -6.70570611e-01 -3.63989771e-03 1.92499319e+02] [ 6.70563057e-01 7.41845704e-01 -3.18404023e-03 6.71023529e+01] [ 4.83536628e-03 -7.87427814e-05 9.99988306e-01 1.54477883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881858064 meters 0.02155617853303941 Centerline is valid? [True, True] Translation: X:192.54, Y:67.14, Z:0.15 [[ 7.41136195e-01 -6.71342020e-01 -4.12705471e-03 1.92543133e+02] [ 6.71332310e-01 7.41147680e-01 -3.61197767e-03 6.71423382e+01] [ 5.48362941e-03 -9.36577837e-05 9.99984960e-01 1.52959806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941858064 meters 0.019884596191631992 Centerline is valid? [True, True] Translation: X:192.59, Y:67.18, Z:0.15 [[ 7.40191150e-01 -6.72382538e-01 -4.33404203e-03 1.92585077e+02] [ 6.72371836e-01 7.40203831e-01 -3.79496943e-03 6.71836103e+01] [ 5.75974569e-03 -1.05085015e-04 9.99983407e-01 1.53393679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001858064 meters 0.01999304304750119 Centerline is valid? [True, True] Translation: X:192.63, Y:67.22, Z:0.15 [[ 7.40553316e-01 -6.71981638e-01 -4.63297155e-03 1.92627391e+02] [ 6.71969396e-01 7.40567800e-01 -4.05762706e-03 6.72236104e+01] [ 6.15768042e-03 -1.08325918e-04 9.99981035e-01 1.52797034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061858064 meters 0.019695640667945942 Centerline is valid? [True, True] Translation: X:192.67, Y:67.27, Z:0.15 [[ 7.41522426e-01 -6.70913427e-01 -4.43457838e-03 1.92668617e+02] [ 6.70902183e-01 7.41535680e-01 -3.88542833e-03 6.72665652e+01] [ 5.89518413e-03 -9.40360736e-05 9.99982619e-01 1.52327271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121858064 meters 0.018777347319576088 Centerline is valid? [True, True] Translation: X:192.71, Y:67.31, Z:0.15 [[ 7.43750365e-01 -6.68439004e-01 -4.96913997e-03 1.92707862e+02] [ 6.68424816e-01 7.43766961e-01 -4.35593086e-03 6.73105416e+01] [ 6.60755622e-03 -8.17713015e-05 9.99978167e-01 1.52244043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18185806399998 meters 0.018697965332155442 Centerline is valid? [True, True] Translation: X:192.75, Y:67.35, Z:0.15 [[ 7.45068017e-01 -6.66970822e-01 -4.85520719e-03 1.92749825e+02] [ 6.66957233e-01 7.45083833e-01 -4.25811992e-03 6.73515324e+01] [ 6.45757813e-03 -6.56265878e-05 9.99979147e-01 1.52737337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24185806399998 meters 0.01849828078392873 Centerline is valid? [True, True] Translation: X:192.79, Y:67.39, Z:0.15 [[ 7.46979403e-01 -6.64830933e-01 -4.64770971e-03 1.92790074e+02] [ 6.64818432e-01 7.46993861e-01 -4.07729423e-03 6.73931038e+01] [ 6.18252195e-03 -4.42282742e-05 9.99980887e-01 1.53371455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.301858064 meters 0.018417124406442376 Centerline is valid? [True, True] Translation: X:192.83, Y:67.43, Z:0.15 [[ 7.48117730e-01 -6.63553203e-01 -4.12416738e-03 1.92833526e+02] [ 6.63543332e-01 7.48129097e-01 -3.61947117e-03 6.74335704e+01] [ 5.48712131e-03 -2.87732048e-05 9.99984945e-01 1.54457409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.361858064 meters 0.018360622920544054 Centerline is valid? [True, True] Translation: X:192.88, Y:67.47, Z:0.16 [[ 7.49337153e-01 -6.62180980e-01 -3.19070751e-03 1.92876323e+02] [ 6.62175057e-01 7.49343946e-01 -2.80080796e-03 6.74723068e+01] [ 4.24557912e-03 -1.40574664e-05 9.99990987e-01 1.55854470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421858064 meters 0.01840567856197557 Centerline is valid? [True, True] Translation: X:192.92, Y:67.51, Z:0.16 [[ 7.49602352e-01 -6.61883125e-01 -2.65395263e-03 1.92919814e+02] [ 6.61879022e-01 7.49607050e-01 -2.33064870e-03 6.75101753e+01] [ 3.53203864e-03 -9.53582295e-06 9.99993762e-01 1.56296403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481858064 meters 0.018403039788748316 Centerline is valid? [True, True] Translation: X:192.96, Y:67.55, Z:0.16 [[ 7.51293123e-01 -6.59963817e-01 -2.53040423e-03 1.92963125e+02] [ 6.59960074e-01 7.51297384e-01 -2.22281277e-03 6.75471559e+01] [ 3.36806208e-03 1.81815842e-08 9.99994328e-01 1.55214399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541858064 meters 0.018786406178450628 Centerline is valid? [True, True] Translation: X:193.01, Y:67.58, Z:0.15 [[ 7.54037703e-01 -6.56824659e-01 -2.91713822e-03 1.93007405e+02] [ 6.56819658e-01 7.54043346e-01 -2.56316204e-03 6.75847868e+01] [ 3.88319670e-03 1.66870932e-05 9.99992460e-01 1.54806985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601858064 meters 0.018884427182545606 Centerline is valid? [True, True] Translation: X:193.05, Y:67.62, Z:0.16 [[ 7.55241171e-01 -6.55440447e-01 -2.93146522e-03 1.93054563e+02] [ 6.55435382e-01 7.55246860e-01 -2.57680494e-03 6.76207054e+01] [ 3.90292209e-03 2.47231535e-05 9.99992383e-01 1.55325666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661858064 meters 0.018807580097734946 Centerline is valid? [True, True] Translation: X:193.10, Y:67.66, Z:0.16 [[ 7.55339573e-01 -6.55325165e-01 -3.32537691e-03 1.93100780e+02] [ 6.55318639e-01 7.55346892e-01 -2.92465978e-03 6.76555564e+01] [ 4.42841627e-03 2.99297947e-05 9.99990194e-01 1.55584241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721858064 meters 0.018815870853600657 Centerline is valid? [True, True] Translation: X:193.15, Y:67.69, Z:0.16 [[ 7.55963343e-01 -6.54604724e-01 -3.47541213e-03 1.93148596e+02] [ 6.54597582e-01 7.55971331e-01 -3.05816525e-03 6.76904167e+01] [ 4.62920135e-03 3.68644512e-05 9.99989285e-01 1.55524017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781858064 meters 0.018852714438104688 Centerline is valid? [True, True] Translation: X:193.20, Y:67.72, Z:0.16 [[ 7.55299466e-01 -6.55370345e-01 -3.52524041e-03 1.93196308e+02] [ 6.55362999e-01 7.55307692e-01 -3.10325329e-03 6.77228208e+01] [ 4.69642137e-03 3.35734263e-05 9.99988971e-01 1.55146252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841858064 meters 0.018718837028986357 Centerline is valid? [True, True] Translation: X:193.24, Y:67.76, Z:0.16 [[ 7.54181302e-01 -6.56657394e-01 -3.41041331e-03 1.93242914e+02] [ 6.56650525e-01 7.54189012e-01 -3.00370035e-03 6.77571995e+01] [ 4.54449829e-03 2.58849503e-05 9.99989673e-01 1.55250346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901858064 meters 0.018437074195792737 Centerline is valid? [True, True] Translation: X:193.29, Y:67.79, Z:0.16 [[ 7.51255055e-01 -6.60007357e-01 -2.47604420e-03 1.93294276e+02] [ 6.60003751e-01 7.51259135e-01 -2.18179251e-03 6.77886590e+01] [ 3.30014993e-03 4.88419075e-06 9.99994554e-01 1.56819119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96185806399998 meters 0.018396777623321314 Centerline is valid? [True, True] Translation: X:193.34, Y:67.82, Z:0.16 [[ 7.48960518e-01 -6.62609987e-01 -2.47949730e-03 1.93342553e+02] [ 6.62606381e-01 7.48964622e-01 -2.18605755e-03 6.78219162e+01] [ 3.30555932e-03 -5.65993126e-06 9.99994537e-01 1.57344047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02185806399999 meters 0.0182859742764147 Centerline is valid? [True, True] Translation: X:193.39, Y:67.85, Z:0.16 [[ 7.46915641e-01 -6.64912660e-01 -2.86000939e-03 1.93391924e+02] [ 6.64907876e-01 7.46921116e-01 -2.52226744e-03 6.78538742e+01] [ 3.81328896e-03 -1.77217664e-05 9.99992729e-01 1.57090345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.081858064 meters 0.018109051974246785 Centerline is valid? [True, True] Translation: X:193.44, Y:67.89, Z:0.16 [[ 7.46396085e-01 -6.65492755e-01 -3.50396516e-03 1.93439724e+02] [ 6.65485573e-01 7.46404309e-01 -3.09172322e-03 6.78881191e+01] [ 4.67289410e-03 -2.41881559e-05 9.99989082e-01 1.56660179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.141858064 meters 0.01799254945295195 Centerline is valid? [True, True] Translation: X:193.48, Y:67.92, Z:0.16 [[ 7.47194302e-01 -6.64593961e-01 -3.94231833e-03 1.93484909e+02] [ 6.64584847e-01 7.47204702e-01 -3.48052093e-03 6.79249395e+01] [ 5.25885198e-03 -1.93796191e-05 9.99986172e-01 1.56316567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201858064 meters 0.017970891743546352 Centerline is valid? [True, True] Translation: X:193.53, Y:67.96, Z:0.16 [[ 7.48732217e-01 -6.62859660e-01 -4.13990388e-03 1.93530609e+02] [ 6.62849572e-01 7.48743662e-01 -3.65704099e-03 6.79612974e+01] [ 5.52383174e-03 -5.98910788e-06 9.99984744e-01 1.56409749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261858064 meters 0.01795072181462901 Centerline is valid? [True, True] Translation: X:193.58, Y:68.00, Z:0.16 [[ 7.49367726e-01 -6.62141058e-01 -4.15103260e-03 1.93576837e+02] [ 6.62130893e-01 7.49379223e-01 -3.66899034e-03 6.79962706e+01] [ 5.54008673e-03 8.96025660e-07 9.99984654e-01 1.57266141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321858064 meters 0.01790082167765997 Centerline is valid? [True, True] Translation: X:193.62, Y:68.03, Z:0.16 [[ 7.49977806e-01 -6.61450991e-01 -3.98466389e-03 1.93622162e+02] [ 6.61441604e-01 7.49988391e-01 -3.52397253e-03 6.80327273e+01] [ 5.31938679e-03 7.27871192e-06 9.99985852e-01 1.57811183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381858064 meters 0.017886881690687525 Centerline is valid? [True, True] Translation: X:193.67, Y:68.07, Z:0.16 [[ 7.51186839e-01 -6.60079192e-01 -3.71394867e-03 1.93667954e+02] [ 6.60071015e-01 7.51196020e-01 -3.28554274e-03 6.80673713e+01] [ 4.95862185e-03 1.65865973e-05 9.99987706e-01 1.58074783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441858064 meters 0.0179256328472686 Centerline is valid? [True, True] Translation: X:193.72, Y:68.10, Z:0.16 [[ 7.52748473e-01 -6.58290087e-01 -4.88855156e-03 1.93715293e+02] [ 6.58275869e-01 7.52764345e-01 -4.32670740e-03 6.81031878e+01] [ 6.52815590e-03 3.89068585e-05 9.99978691e-01 1.57222001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501858064 meters 0.018121698934266215 Centerline is valid? [True, True] Translation: X:193.76, Y:68.14, Z:0.16 [[ 7.53534257e-01 -6.57386936e-01 -5.34232066e-03 1.93760154e+02] [ 6.57369926e-01 7.53553192e-01 -4.72936157e-03 6.81402430e+01] [ 7.13474330e-03 5.18550129e-05 9.99974546e-01 1.56511500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561858064 meters 0.018121420632325795 Centerline is valid? [True, True] Translation: X:193.81, Y:68.18, Z:0.16 [[ 7.53829314e-01 -6.57043665e-01 -5.91500038e-03 1.93806963e+02] [ 6.57022783e-01 7.53852518e-01 -5.23867470e-03 6.81757518e+01] [ 7.90107595e-03 6.27765438e-05 9.99968784e-01 1.55283391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621858064 meters 0.018052477699484357 Centerline is valid? [True, True] Translation: X:193.86, Y:68.21, Z:0.16 [[ 7.52363066e-01 -6.58718891e-01 -6.26409988e-03 1.93857478e+02] [ 6.58695508e-01 7.52389141e-01 -5.55049490e-03 6.82077416e+01] [ 8.36925657e-03 4.98529102e-05 9.99964976e-01 1.55441540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68185806399998 meters 0.01779847425917264 Centerline is valid? [True, True] Translation: X:193.91, Y:68.24, Z:0.15 [[ 7.49112595e-01 -6.62402773e-01 -7.27230363e-03 1.93906287e+02] [ 6.62371406e-01 7.49147894e-01 -6.44628964e-03 6.82387475e+01] [ 9.71807108e-03 1.20307850e-05 9.99952778e-01 1.53147261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74185806399998 meters 0.017722393010208524 Centerline is valid? [True, True] Translation: X:193.95, Y:68.27, Z:0.15 [[ 7.46659812e-01 -6.65160602e-01 -7.77812393e-03 1.93953912e+02] [ 6.65124828e-01 7.46700324e-01 -6.89851707e-03 6.82725730e+01] [ 1.03965494e-02 -2.25778837e-05 9.99945954e-01 1.53652912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.801858064 meters 0.0177083602293595 Centerline is valid? [True, True] Translation: X:194.00, Y:68.31, Z:0.15 [[ 7.43357672e-01 -6.68853768e-01 -7.34903510e-03 1.94003353e+02] [ 6.68821980e-01 7.43393996e-01 -6.52121853e-03 6.83058153e+01] [ 9.82497015e-03 -6.75983770e-05 9.99951732e-01 1.54784058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.861858064 meters 0.018133623057335135 Centerline is valid? [True, True] Translation: X:194.05, Y:68.34, Z:0.16 [[ 7.39877834e-01 -6.72709284e-01 -6.55824013e-03 1.94054192e+02] [ 6.72684095e-01 7.39906892e-01 -5.82234149e-03 6.83372853e+01] [ 8.76923025e-03 -1.03802421e-04 9.99961544e-01 1.56655250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921858064 meters 0.018195082028247003 Centerline is valid? [True, True] Translation: X:194.10, Y:68.37, Z:0.16 [[ 7.38728539e-01 -6.73980605e-01 -5.50365451e-03 1.94101049e+02] [ 6.73962881e-01 7.38749034e-01 -4.88880117e-03 6.83716771e+01] [ 7.36077662e-03 -9.77619031e-05 9.99972904e-01 1.58439230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981858064 meters 0.01831415935135143 Centerline is valid? [True, True] Translation: X:194.15, Y:68.41, Z:0.16 [[ 7.38983107e-01 -6.73705080e-01 -5.04308696e-03 1.94145986e+02] [ 6.73690177e-01 7.39000309e-01 -4.48191619e-03 6.84090124e+01] [ 6.74633253e-03 -8.54177980e-05 9.99977240e-01 1.58962854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041858064 meters 0.017688677117544845 Centerline is valid? [True, True] Translation: X:194.19, Y:68.45, Z:0.16 [[ 7.42032838e-01 -6.70350137e-01 -4.23810852e-03 1.94188953e+02] [ 6.70339547e-01 7.42044939e-01 -3.76831715e-03 6.84488436e+01] [ 5.67095889e-03 -4.47566750e-05 9.99983919e-01 1.61441822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101858064 meters 0.01752798244246255 Centerline is valid? [True, True] Translation: X:194.23, Y:68.49, Z:0.16 [[ 7.45327466e-01 -6.66678003e-01 -5.23540879e-03 1.94230631e+02] [ 6.66661734e-01 7.45345853e-01 -4.65743502e-03 6.84899637e+01] [ 7.00719970e-03 -1.89324679e-05 9.99975449e-01 1.60457139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161858064 meters 0.017565785712834195 Centerline is valid? [True, True] Translation: X:194.27, Y:68.53, Z:0.16 [[ 7.46368699e-01 -6.65511010e-01 -5.37210767e-03 1.94273525e+02] [ 6.65493832e-01 7.46388033e-01 -4.78173980e-03 6.85288692e+01] [ 7.19197736e-03 -6.16360588e-06 9.99974137e-01 1.60284689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221858064 meters 0.017475360889884776 Centerline is valid? [True, True] Translation: X:194.32, Y:68.57, Z:0.16 [[ 7.46643151e-01 -6.65210157e-01 -4.41046889e-03 1.94316985e+02] [ 6.65198560e-01 7.46656177e-01 -3.92797331e-03 6.85676673e+01] [ 5.90603159e-03 -1.04318615e-06 9.99982559e-01 1.61210720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281858064 meters 0.017436322290085713 Centerline is valid? [True, True] Translation: X:194.36, Y:68.61, Z:0.16 [[ 7.46104246e-01 -6.65819787e-01 -3.53074150e-03 1.94361006e+02] [ 6.65812356e-01 7.46112600e-01 -3.14565766e-03 6.86062729e+01] [ 4.72877183e-03 -3.82277612e-06 9.99988819e-01 1.62474447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341858064 meters 0.019320824268980928 Centerline is valid? [True, True] Translation: X:194.40, Y:68.64, Z:0.16 [[ 7.44957268e-01 -6.67103426e-01 -3.41879858e-03 1.94404857e+02] [ 6.67096465e-01 7.44965112e-01 -3.04754993e-03 6.86448799e+01] [ 4.57991667e-03 -1.03739810e-05 9.99989512e-01 1.61818586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401858064 meters 0.017320875867010144 Centerline is valid? [True, True] Translation: X:194.45, Y:68.68, Z:0.16 [[ 7.44512071e-01 -6.67603783e-01 -2.63907070e-03 1.94447552e+02] [ 6.67599636e-01 7.44516748e-01 -2.35319173e-03 6.86829403e+01] [ 3.53583204e-03 -9.86298913e-06 9.99993749e-01 1.63221561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46185806399998 meters 0.01736706540754556 Centerline is valid? [True, True] Translation: X:194.49, Y:68.72, Z:0.16 [[ 7.42804313e-01 -6.69501115e-01 -3.16376835e-03 1.94491887e+02] [ 6.69495166e-01 7.42811051e-01 -2.82232926e-03 6.87216433e+01] [ 4.23963468e-03 -2.16892662e-05 9.99991012e-01 1.62347199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52185806399999 meters 0.01743554986539869 Centerline is valid? [True, True] Translation: X:194.54, Y:68.76, Z:0.16 [[ 7.41450477e-01 -6.70998713e-01 -3.45213140e-03 1.94536382e+02] [ 6.70991640e-01 7.41458513e-01 -3.08110408e-03 6.87604425e+01] [ 4.62702908e-03 -3.18652240e-05 9.99989295e-01 1.62899197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.581858064 meters 0.017614851632461362 Centerline is valid? [True, True] Translation: X:194.58, Y:68.80, Z:0.16 [[ 7.39920424e-01 -6.72685195e-01 -3.52049281e-03 1.94579308e+02] [ 6.72677851e-01 7.39928798e-01 -3.14365452e-03 6.88002916e+01] [ 4.71960386e-03 -4.21033483e-05 9.99988862e-01 1.63506532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.641858064 meters 0.017941363740014506 Centerline is valid? [True, True] Translation: X:194.62, Y:68.84, Z:0.16 [[ 7.38081714e-01 -6.74699640e-01 -3.97218981e-03 1.94623340e+02] [ 6.74690315e-01 7.38092400e-01 -3.54782878e-03 6.88385331e+01] [ 5.32556191e-03 -6.14104426e-05 9.99985817e-01 1.63607314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701858064 meters 0.018548625483108053 Centerline is valid? [True, True] Translation: X:194.67, Y:68.88, Z:0.16 [[ 7.33892738e-01 -6.79247451e-01 -4.93452670e-03 1.94668588e+02] [ 6.79233150e-01 7.33909318e-01 -4.40933415e-03 6.88763263e+01] [ 6.61652411e-03 -1.15715802e-04 9.99978104e-01 1.63330817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761858064 meters 0.019599500911464837 Centerline is valid? [True, True] Translation: X:194.71, Y:68.91, Z:0.16 [[ 7.30225464e-01 -6.83183748e-01 -5.54422741e-03 1.94714415e+02] [ 6.83165790e-01 7.30246491e-01 -4.95631249e-03 6.89129848e+01] [ 7.43472475e-03 -1.68400914e-04 9.99972348e-01 1.63413173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821858064 meters 0.019497031976296472 Centerline is valid? [True, True] Translation: X:194.76, Y:68.95, Z:0.16 [[ 7.29514666e-01 -6.83940243e-01 -5.83924380e-03 1.94756946e+02] [ 6.83920327e-01 7.29538012e-01 -5.22260456e-03 6.89533715e+01] [ 7.83189974e-03 -1.83610909e-04 9.99969313e-01 1.63804273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881858064 meters 0.01954912829103333 Centerline is valid? [True, True] Translation: X:194.80, Y:68.99, Z:0.16 [[ 7.31057532e-01 -6.82287739e-01 -6.19089209e-03 1.94799240e+02] [ 6.82265280e-01 7.31083724e-01 -5.53869183e-03 6.89933900e+01] [ 8.30504197e-03 -1.74728341e-04 9.99965497e-01 1.62873188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941858064 meters 0.018386832595043735 Centerline is valid? [True, True] Translation: X:194.84, Y:69.04, Z:0.16 [[ 7.33955459e-01 -6.79168111e-01 -6.32937641e-03 1.94838750e+02] [ 6.79144498e-01 7.33982736e-01 -5.66519342e-03 6.90377426e+01] [ 8.49327173e-03 -1.40561532e-04 9.99963922e-01 1.62265356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001858064 meters 0.017905921258681432 Centerline is valid? [True, True] Translation: X:194.88, Y:69.08, Z:0.16 [[ 7.35081273e-01 -6.77946751e-01 -6.61245172e-03 1.94880313e+02] [ 6.77920903e-01 7.35111003e-01 -5.92144366e-03 6.90798989e+01] [ 8.87530950e-03 -1.29976890e-04 9.99960605e-01 1.62361157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061858064 meters 0.018094591655281374 Centerline is valid? [True, True] Translation: X:194.92, Y:69.12, Z:0.16 [[ 7.34071841e-01 -6.79046532e-01 -5.85994689e-03 1.94923087e+02] [ 6.79026248e-01 7.34095219e-01 -5.25008950e-03 6.91205043e+01] [ 7.86681407e-03 -1.25114889e-04 9.99969048e-01 1.62126624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121858064 meters 0.017985911454880026 Centerline is valid? [True, True] Translation: X:194.97, Y:69.16, Z:0.16 [[ 7.32010038e-01 -6.81271842e-01 -5.47548677e-03 1.94966744e+02] [ 6.81254176e-01 7.32030503e-01 -4.90807817e-03 6.91597341e+01] [ 7.35195879e-03 -1.37435742e-04 9.99972965e-01 1.63709565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18185806399998 meters 0.018341662980319178 Centerline is valid? [True, True] Translation: X:195.01, Y:69.20, Z:0.16 [[ 7.29743984e-01 -6.83699830e-01 -5.31599709e-03 1.95010610e+02] [ 6.83683235e-01 7.29763330e-01 -4.76615573e-03 6.91981281e+01] [ 7.13803960e-03 -1.56384614e-04 9.99974512e-01 1.64498233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24185806399998 meters 0.018656147652819248 Centerline is valid? [True, True] Translation: X:195.05, Y:69.24, Z:0.16 [[ 7.29582066e-01 -6.83862112e-01 -6.52843431e-03 1.95052746e+02] [ 6.83837081e-01 7.29611248e-01 -5.85425509e-03 6.92379026e+01] [ 8.76672236e-03 -1.93225940e-04 9.99961553e-01 1.62442572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.301858064 meters 0.018661716945656156 Centerline is valid? [True, True] Translation: X:195.09, Y:69.28, Z:0.16 [[ 7.30725216e-01 -6.82638692e-01 -6.71372204e-03 1.95094829e+02] [ 6.82612159e-01 7.30756035e-01 -6.02146545e-03 6.92773693e+01] [ 9.01657820e-03 -1.82831658e-04 9.99959333e-01 1.61810321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.361858064 meters 0.017995052590907144 Centerline is valid? [True, True] Translation: X:195.14, Y:69.32, Z:0.16 [[ 7.31515428e-01 -6.81785761e-01 -7.30444874e-03 1.95137944e+02] [ 6.81754281e-01 7.31551872e-01 -6.55431054e-03 6.93181396e+01] [ 9.81221875e-03 -1.85259926e-04 9.99951842e-01 1.62062132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421858064 meters 0.017849281869312637 Centerline is valid? [True, True] Translation: X:195.18, Y:69.36, Z:0.16 [[ 7.31707571e-01 -6.81576845e-01 -7.55218707e-03 1.95180728e+02] [ 6.81543143e-01 7.31746521e-01 -6.78036677e-03 6.93574727e+01] [ 1.01476276e-02 -1.85895616e-04 9.99948494e-01 1.61338992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481858064 meters 0.017880055385114682 Centerline is valid? [True, True] Translation: X:195.22, Y:69.40, Z:0.16 [[ 7.31315531e-01 -6.81992842e-01 -7.95967123e-03 1.95224975e+02] [ 6.81955393e-01 7.31358820e-01 -7.14974747e-03 6.93958632e+01] [ 1.06974524e-02 -1.99419354e-04 9.99942761e-01 1.60635410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541858064 meters 0.01799054822871657 Centerline is valid? [True, True] Translation: X:195.27, Y:69.43, Z:0.16 [[ 7.31383502e-01 -6.81917697e-01 -8.15028937e-03 1.95268866e+02] [ 6.81878384e-01 7.31428885e-01 -7.32496734e-03 6.94341592e+01] [ 1.09563819e-02 -2.00145882e-04 9.99939957e-01 1.60453394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601858064 meters 0.017292200718056608 Centerline is valid? [True, True] Translation: X:195.31, Y:69.48, Z:0.16 [[ 7.33187753e-01 -6.79974781e-01 -8.36756534e-03 1.95311618e+02] [ 6.79933176e-01 7.33235479e-01 -7.52394131e-03 6.94750872e+01] [ 1.12514861e-02 -1.72923650e-04 9.99936685e-01 1.59927818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661858064 meters 0.016806322055436286 Centerline is valid? [True, True] Translation: X:195.36, Y:69.51, Z:0.16 [[ 7.34937673e-01 -6.78087786e-01 -7.97323380e-03 1.95355325e+02] [ 6.78049861e-01 7.34980909e-01 -7.17283193e-03 6.95149192e+01] [ 1.07239843e-02 -1.34665667e-04 9.99942487e-01 1.60035404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721858064 meters 0.016664610777633055 Centerline is valid? [True, True] Translation: X:195.40, Y:69.55, Z:0.16 [[ 7.35442262e-01 -6.77535745e-01 -8.36620660e-03 1.95399477e+02] [ 6.77493908e-01 7.35489835e-01 -7.53046184e-03 6.95525490e+01] [ 1.12554170e-02 -1.29834109e-04 9.99936647e-01 1.59835109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781858064 meters 0.01657717113552779 Centerline is valid? [True, True] Translation: X:195.44, Y:69.59, Z:0.16 [[ 7.36376430e-01 -6.76529780e-01 -7.56379166e-03 1.95443934e+02] [ 6.76495516e-01 7.36415268e-01 -6.80954236e-03 6.95901689e+01] [ 1.01769499e-02 -1.02484652e-04 9.99948208e-01 1.60498990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841858064 meters 0.016286817273668937 Centerline is valid? [True, True] Translation: X:195.49, Y:69.63, Z:0.16 [[ 7.37638603e-01 -6.75155003e-01 -7.41708201e-03 1.95487624e+02] [ 6.75121956e-01 7.37675887e-01 -6.68048814e-03 6.96291703e+01] [ 9.98176754e-03 -7.96489803e-05 9.99950178e-01 1.61456172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901858064 meters 0.016127833360997268 Centerline is valid? [True, True] Translation: X:195.53, Y:69.67, Z:0.16 [[ 7.37946399e-01 -6.74814834e-01 -7.74932815e-03 1.95531123e+02] [ 6.74778702e-01 7.37987082e-01 -6.98352231e-03 6.96678584e+01] [ 1.04314885e-02 -7.56164535e-05 9.99945588e-01 1.61218050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96185806399998 meters 0.016050557594177402 Centerline is valid? [True, True] Translation: X:195.57, Y:69.71, Z:0.16 [[ 7.38634193e-01 -6.74060899e-01 -7.83790191e-03 1.95574380e+02] [ 6.74023852e-01 7.38675775e-01 -7.06729724e-03 6.97060974e+01] [ 1.05534570e-02 -6.27854490e-05 9.99944309e-01 1.61589183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02185806399999 meters 0.01582843994945374 Centerline is valid? [True, True] Translation: X:195.62, Y:69.74, Z:0.16 [[ 7.39019113e-01 -6.73642360e-01 -7.53133332e-03 1.95618222e+02] [ 6.73608094e-01 7.39057486e-01 -6.79469863e-03 6.97436621e+01] [ 1.01432851e-02 -5.17549264e-05 9.99948554e-01 1.62158524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.081858064 meters 0.015774596932643374 Centerline is valid? [True, True] Translation: X:195.66, Y:69.78, Z:0.16 [[ 7.38091725e-01 -6.74662798e-01 -7.12140092e-03 1.95662978e+02] [ 6.74632174e-01 7.38126077e-01 -6.42845453e-03 6.97804780e+01] [ 9.59353084e-03 -5.95370947e-05 9.99953979e-01 1.62437022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.141858064 meters 0.015811651609340092 Centerline is valid? [True, True] Translation: X:195.71, Y:69.82, Z:0.16 [[ 7.37183443e-01 -6.75653249e-01 -7.29786883e-03 1.95708005e+02] [ 6.75621103e-01 7.37219562e-01 -6.59106336e-03 6.98180133e+01] [ 9.83340503e-03 -7.17714138e-05 9.99951648e-01 1.62246843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201858064 meters 0.016041063678342047 Centerline is valid? [True, True] Translation: X:195.75, Y:69.86, Z:0.16 [[ 7.36849655e-01 -6.76018621e-01 -7.17009569e-03 1.95751491e+02] [ 6.75987584e-01 7.36884536e-01 -6.47820675e-03 6.98551526e+01] [ 9.66292102e-03 -7.34312576e-05 9.99953310e-01 1.61364863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261858064 meters 0.015901030722907043 Centerline is valid? [True, True] Translation: X:195.79, Y:69.89, Z:0.16 [[ 7.37049955e-01 -6.75794908e-01 -7.65549808e-03 1.95794084e+02] [ 6.75759476e-01 7.37089708e-01 -6.92050170e-03 6.98941751e+01] [ 1.03196286e-02 -7.25199024e-05 9.99946749e-01 1.60599234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321858064 meters 0.015957639498940343 Centerline is valid? [True, True] Translation: X:195.84, Y:69.93, Z:0.16 [[ 7.36747956e-01 -6.76129634e-01 -7.15312458e-03 1.95836988e+02] [ 6.76098681e-01 7.36782677e-01 -6.46990909e-03 6.99339391e+01] [ 9.64479554e-03 -6.95257996e-05 9.99953485e-01 1.60109930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381858064 meters 0.016082094253793762 Centerline is valid? [True, True] Translation: X:195.88, Y:69.97, Z:0.16 [[ 7.34937403e-01 -6.78099397e-01 -6.94416149e-03 1.95881860e+02] [ 6.78070285e-01 7.34970203e-01 -6.28399497e-03 6.99725402e+01] [ 9.36492498e-03 -9.02866145e-05 9.99956144e-01 1.60408204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441858064 meters 0.01667558788649421 Centerline is valid? [True, True] Translation: X:195.93, Y:70.01, Z:0.16 [[ 7.32898366e-01 -6.80309056e-01 -6.29075710e-03 1.95926732e+02] [ 6.80285237e-01 7.32925356e-01 -5.69384091e-03 7.00086488e+01] [ 8.48422692e-03 -1.06502481e-04 9.99964003e-01 1.61056747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501858064 meters 0.017647171283502322 Centerline is valid? [True, True] Translation: X:195.97, Y:70.04, Z:0.16 [[ 7.32481217e-01 -6.80762875e-01 -5.75973880e-03 1.95970709e+02] [ 6.80742910e-01 7.32503855e-01 -5.21469555e-03 7.00448304e+01] [ 7.76900201e-03 -1.01234813e-04 9.99969816e-01 1.60207803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561858064 meters 0.01663000939947307 Centerline is valid? [True, True] Translation: X:196.01, Y:70.09, Z:0.16 [[ 7.32840481e-01 -6.80379710e-01 -5.31787753e-03 1.96011912e+02] [ 6.80362665e-01 7.32859770e-01 -4.81677849e-03 7.00871499e+01] [ 7.17449685e-03 -8.81550550e-05 9.99974259e-01 1.61208256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621858064 meters 0.016151974122072803 Centerline is valid? [True, True] Translation: X:196.05, Y:70.13, Z:0.16 [[ 7.33488484e-01 -6.79680803e-01 -5.35249232e-03 1.96054440e+02] [ 6.79663500e-01 7.33508009e-01 -4.85046118e-03 7.01272408e+01] [ 7.22286134e-03 -8.01362417e-05 9.99973912e-01 1.61427342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68185806399998 meters 0.016036920822175674 Centerline is valid? [True, True] Translation: X:196.10, Y:70.17, Z:0.16 [[ 7.34374258e-01 -6.78721291e-01 -5.64437579e-03 1.96097265e+02] [ 6.78702002e-01 7.34395945e-01 -5.11742301e-03 7.01676874e+01] [ 7.61851064e-03 -7.27454265e-05 9.99970976e-01 1.61044714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74185806399998 meters 0.015456367504354963 Centerline is valid? [True, True] Translation: X:196.14, Y:70.21, Z:0.16 [[ 7.36222917e-01 -6.76720624e-01 -5.00144821e-03 1.96138021e+02] [ 6.76705418e-01 7.36239903e-01 -4.53671944e-03 7.02105791e+01] [ 6.75235736e-03 -4.44702827e-05 9.99977202e-01 1.61486053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.801858064 meters 0.015288177277997354 Centerline is valid? [True, True] Translation: X:196.18, Y:70.25, Z:0.16 [[ 7.37590763e-01 -6.75230057e-01 -4.92296966e-03 1.96180026e+02] [ 6.75215277e-01 7.37607192e-01 -4.46777759e-03 7.02522228e+01] [ 6.64799554e-03 -2.86728402e-05 9.99977901e-01 1.61936384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.861858064 meters 0.015141763320319137 Centerline is valid? [True, True] Translation: X:196.22, Y:70.29, Z:0.16 [[ 7.39209761e-01 -6.73459260e-01 -4.64275347e-03 1.96220969e+02] [ 6.73446064e-01 7.39224340e-01 -4.21581343e-03 7.02928669e+01] [ 6.27121497e-03 -1.02736152e-05 9.99980336e-01 1.62585325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921858064 meters 0.015122339647749242 Centerline is valid? [True, True] Translation: X:196.26, Y:70.33, Z:0.16 [[ 7.40102776e-01 -6.72482385e-01 -3.91455392e-03 1.96261587e+02] [ 6.72472983e-01 7.40113128e-01 -3.55599687e-03 7.03325206e+01] [ 5.28855800e-03 -6.28600812e-07 9.99986015e-01 1.61817102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981858064 meters 0.015193009207008957 Centerline is valid? [True, True] Translation: X:196.30, Y:70.37, Z:0.16 [[ 7.40369190e-01 -6.72189313e-01 -3.87164858e-03 1.96303953e+02] [ 6.72180102e-01 7.40379313e-01 -3.51885149e-03 7.03728447e+01] [ 5.23182288e-03 2.80409281e-06 9.99986314e-01 1.62691151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041858064 meters 0.01520346282384988 Centerline is valid? [True, True] Translation: X:196.35, Y:70.41, Z:0.16 [[ 7.40356379e-01 -6.72206492e-01 -3.29609924e-03 1.96346409e+02] [ 6.72199809e-01 7.40363716e-01 -2.99738819e-03 7.04127467e+01] [ 4.45517608e-03 3.49818698e-06 9.99990076e-01 1.63252872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101858064 meters 0.015197975830970854 Centerline is valid? [True, True] Translation: X:196.39, Y:70.45, Z:0.16 [[ 7.39744981e-01 -6.72880699e-01 -2.98788157e-03 1.96389793e+02] [ 6.72875207e-01 7.39751015e-01 -2.71860310e-03 7.04514714e+01] [ 4.03958398e-03 6.01566660e-07 9.99991841e-01 1.63282027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161858064 meters 0.01534380729375751 Centerline is valid? [True, True] Translation: X:196.43, Y:70.49, Z:0.16 [[ 7.37827287e-01 -6.74984596e-01 -2.58623691e-03 1.96434136e+02] [ 6.74980490e-01 7.37831820e-01 -2.35442927e-03 7.04891068e+01] [ 3.49741137e-03 -8.49729241e-06 9.99993884e-01 1.63758551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221858064 meters 0.015422213491057109 Centerline is valid? [True, True] Translation: X:196.48, Y:70.53, Z:0.16 [[ 7.35876900e-01 -6.77110006e-01 -2.68853626e-03 1.96479247e+02] [ 6.77105578e-01 7.35881811e-01 -2.44879923e-03 7.05272704e+01] [ 3.63655139e-03 -1.84081194e-05 9.99993388e-01 1.63343019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281858064 meters 0.01582032488706504 Centerline is valid? [True, True] Translation: X:196.52, Y:70.57, Z:0.16 [[ 7.33563560e-01 -6.79614177e-01 -3.01246898e-03 1.96524693e+02] [ 6.79608633e-01 7.33569744e-01 -2.74520455e-03 7.05655338e+01] [ 4.07553603e-03 -3.35179021e-05 9.99991694e-01 1.63708068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341858064 meters 0.016154941295341584 Centerline is valid? [True, True] Translation: X:196.57, Y:70.60, Z:0.16 [[ 7.31872567e-01 -6.81434411e-01 -3.11283963e-03 1.96568726e+02] [ 6.81428502e-01 7.31879185e-01 -2.83806055e-03 7.06046173e+01] [ 4.21217465e-03 -4.40789839e-05 9.99991128e-01 1.63891702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401858064 meters 0.016471546328267587 Centerline is valid? [True, True] Translation: X:196.61, Y:70.64, Z:0.16 [[ 7.30966473e-01 -6.82405683e-01 -3.24024966e-03 1.96613129e+02] [ 6.82399284e-01 7.30973653e-01 -2.95568406e-03 7.06434539e+01] [ 4.38551273e-03 -5.06380922e-05 9.99990382e-01 1.64598068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46185806399998 meters 0.01708868525057622 Centerline is valid? [True, True] Translation: X:196.66, Y:70.68, Z:0.16 [[ 7.29316135e-01 -6.84166138e-01 -3.83036754e-03 1.96656903e+02] [ 6.84157214e-01 7.29326189e-01 -3.49506624e-03 7.06815249e+01] [ 5.18479333e-03 -7.15653860e-05 9.99986556e-01 1.64819691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52185806399999 meters 0.016954255281182294 Centerline is valid? [True, True] Translation: X:196.70, Y:70.72, Z:0.16 [[ 7.28919960e-01 -6.84585693e-01 -4.25685965e-03 1.96698987e+02] [ 6.84574667e-01 7.28932385e-01 -3.88626734e-03 7.07216207e+01] [ 5.76344588e-03 -8.13604465e-05 9.99983388e-01 1.64830714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.581858064 meters 0.017605560691657675 Centerline is valid? [True, True] Translation: X:196.74, Y:70.76, Z:0.16 [[ 7.28790259e-01 -6.84721003e-01 -4.68038885e-03 1.96741915e+02] [ 6.84707664e-01 7.28805283e-01 -4.27490693e-03 7.07585014e+01] [ 6.33821068e-03 -8.91875897e-05 9.99979909e-01 1.64818510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.641858064 meters 0.01783884208232014 Centerline is valid? [True, True] Translation: X:196.78, Y:70.80, Z:0.17 [[ 7.28428530e-01 -6.85103615e-01 -4.99133598e-03 1.96784734e+02] [ 6.85088437e-01 7.28445624e-01 -4.56136416e-03 7.07971309e+01] [ 6.76092392e-03 -9.68787798e-05 9.99977140e-01 1.65107895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701858064 meters 0.017244925646776835 Centerline is valid? [True, True] Translation: X:196.83, Y:70.84, Z:0.17 [[ 7.28923842e-01 -6.84576405e-01 -5.01775413e-03 1.96827103e+02] [ 6.84561038e-01 7.28941107e-01 -4.58786410e-03 7.08383328e+01] [ 6.79839077e-03 -9.07554527e-05 9.99976887e-01 1.67116003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761858064 meters 0.01720611038822294 Centerline is valid? [True, True] Translation: X:196.87, Y:70.88, Z:0.17 [[ 7.29390620e-01 -6.84078570e-01 -5.08269255e-03 1.96870581e+02] [ 6.84062774e-01 7.29408323e-01 -4.64957277e-03 7.08784942e+01] [ 6.88803134e-03 -8.55260007e-05 9.99976274e-01 1.67695587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821858064 meters 0.016845246447597585 Centerline is valid? [True, True] Translation: X:196.91, Y:70.92, Z:0.17 [[ 7.31832085e-01 -6.81463698e-01 -5.38772389e-03 1.96911327e+02] [ 6.81445859e-01 7.31851915e-01 -4.93111704e-03 7.09210428e+01] [ 7.30339330e-03 -6.26924693e-05 9.99973328e-01 1.68884287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881858064 meters 0.01668835678445746 Centerline is valid? [True, True] Translation: X:196.95, Y:70.96, Z:0.17 [[ 7.33210464e-01 -6.79975752e-01 -5.94907299e-03 1.96952185e+02] [ 6.79953941e-01 7.33234597e-01 -5.44651711e-03 7.09617657e+01] [ 8.06556570e-03 -5.16522797e-05 9.99967471e-01 1.69063738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941858064 meters 0.01688852652297668 Centerline is valid? [True, True] Translation: X:196.99, Y:71.00, Z:0.17 [[ 7.33916368e-01 -6.79211354e-01 -6.22112617e-03 1.96992916e+02] [ 6.79187448e-01 7.33942733e-01 -5.69865805e-03 7.10029096e+01] [ 8.43654359e-03 -4.29723901e-05 9.99964411e-01 1.69707088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001858064 meters 0.01692743656010805 Centerline is valid? [True, True] Translation: X:197.03, Y:71.04, Z:0.17 [[ 7.32927666e-01 -6.80267580e-01 -7.28396787e-03 1.97034328e+02] [ 6.80234827e-01 7.32963857e-01 -6.67563638e-03 7.10445136e+01] [ 9.88010418e-03 -6.20500339e-05 9.99951189e-01 1.69619053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061858064 meters 0.017116076881632487 Centerline is valid? [True, True] Translation: X:197.08, Y:71.08, Z:0.17 [[ 7.31537442e-01 -6.81755386e-01 -7.90979202e-03 1.97076939e+02] [ 6.81716811e-01 7.31580198e-01 -7.25277805e-03 7.10847043e+01] [ 1.07312677e-02 -8.65594877e-05 9.99942415e-01 1.69397212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121858064 meters 0.01747424477339191 Centerline is valid? [True, True] Translation: X:197.12, Y:71.13, Z:0.17 [[ 7.29185522e-01 -6.84264291e-01 -8.41747616e-03 1.97119879e+02] [ 6.84220729e-01 7.29234093e-01 -7.72213028e-03 7.11254398e+01] [ 1.14222886e-02 -1.28546072e-04 9.99934755e-01 1.69945954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18185806399998 meters 0.017893431916280483 Centerline is valid? [True, True] Translation: X:197.16, Y:71.17, Z:0.17 [[ 7.27540028e-01 -6.86011877e-01 -8.55646753e-03 1.97162684e+02] [ 6.85966966e-01 7.27590324e-01 -7.85120413e-03 7.11651864e+01] [ 1.16116223e-02 -1.57388804e-04 9.99932570e-01 1.70368452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24185806399998 meters 0.018563554222118514 Centerline is valid? [True, True] Translation: X:197.21, Y:71.20, Z:0.17 [[ 7.25555718e-01 -6.88109822e-01 -8.58913028e-03 1.97205157e+02] [ 6.88064698e-01 7.25606530e-01 -7.88252759e-03 7.12042093e+01] [ 1.16563737e-02 -1.90664366e-04 9.99932044e-01 1.71526026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.301858064 meters 0.018143928453501233 Centerline is valid? [True, True] Translation: X:197.25, Y:71.25, Z:0.17 [[ 7.24994218e-01 -6.88702800e-01 -8.47566373e-03 1.97246172e+02] [ 6.88658853e-01 7.25043733e-01 -7.78258424e-03 7.12455520e+01] [ 1.15051144e-02 -1.94512294e-04 9.99933795e-01 1.72570615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.361858064 meters 0.018305824323733694 Centerline is valid? [True, True] Translation: X:197.29, Y:71.29, Z:0.17 [[ 7.25027253e-01 -6.88675596e-01 -7.83625582e-03 1.97286845e+02] [ 6.88638013e-01 7.25069577e-01 -7.19692417e-03 7.12864149e+01] [ 1.06381767e-02 -1.78377479e-04 9.99943397e-01 1.73169797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421858064 meters 0.01805798779975854 Centerline is valid? [True, True] Translation: X:197.33, Y:71.33, Z:0.17 [[ 7.25557778e-01 -6.88127447e-01 -6.82107475e-03 1.97327655e+02] [ 6.88098922e-01 7.25589825e-01 -6.26726131e-03 7.13297924e+01] [ 9.26197696e-03 -1.46313993e-04 9.99957096e-01 1.73879376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481858064 meters 0.018174242706079865 Centerline is valid? [True, True] Translation: X:197.37, Y:71.37, Z:0.17 [[ 7.26235393e-01 -6.87420343e-01 -5.95199813e-03 1.97367881e+02] [ 6.87398588e-01 7.26259773e-01 -5.47024159e-03 7.13713240e+01] [ 8.08305217e-03 -1.18712060e-04 9.99967325e-01 1.73818382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541858064 meters 0.0178650748192777 Centerline is valid? [True, True] Translation: X:197.41, Y:71.41, Z:0.17 [[ 7.27489161e-01 -6.86099659e-01 -5.17475346e-03 1.97408128e+02] [ 6.86083166e-01 7.27507560e-01 -4.75804983e-03 7.14144168e+01] [ 7.02916863e-03 -8.88815577e-05 9.99975291e-01 1.74025942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601858064 meters 0.01749861477443553 Centerline is valid? [True, True] Translation: X:197.45, Y:71.46, Z:0.17 [[ 7.29267127e-01 -6.84212063e-01 -4.82805594e-03 1.97447868e+02] [ 6.84197651e-01 7.29283106e-01 -4.44141207e-03 7.14578246e+01] [ 6.55988735e-03 -6.43687082e-05 9.99978482e-01 1.74592312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661858064 meters 0.017421031640871835 Centerline is valid? [True, True] Translation: X:197.49, Y:71.50, Z:0.17 [[ 7.31181385e-01 -6.82164857e-01 -4.98903823e-03 1.97486679e+02] [ 6.82149404e-01 7.31198404e-01 -4.59177343e-03 7.15029477e+01] [ 6.78032326e-03 -4.58502003e-05 9.99977012e-01 1.73522225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721858064 meters 0.017489567888091057 Centerline is valid? [True, True] Translation: X:197.53, Y:71.55, Z:0.17 [[ 7.32628481e-01 -6.80606735e-01 -5.47560533e-03 1.97527236e+02] [ 6.80588056e-01 7.32648942e-01 -5.04241105e-03 7.15453288e+01] [ 7.44359537e-03 -3.24176485e-05 9.99972296e-01 1.72986069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781858064 meters 0.01761899383337718 Centerline is valid? [True, True] Translation: X:197.57, Y:71.59, Z:0.17 [[ 7.34925714e-01 -6.78120259e-01 -6.09173625e-03 1.97567212e+02] [ 6.78097028e-01 7.34950960e-01 -5.61305203e-03 7.15878793e+01] [ 8.28345171e-03 -5.61197955e-06 9.99965692e-01 1.73219188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841858064 meters 0.017796512994393304 Centerline is valid? [True, True] Translation: X:197.61, Y:71.63, Z:0.17 [[ 7.36423921e-01 -6.76496207e-01 -5.71759672e-03 1.97607829e+02] [ 6.76475669e-01 7.36446116e-01 -5.27128349e-03 7.16296723e+01] [ 7.77670518e-03 1.40841918e-05 9.99969761e-01 1.73248010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901858064 meters 0.018185934794962794 Centerline is valid? [True, True] Translation: X:197.65, Y:71.67, Z:0.17 [[ 7.38610081e-01 -6.74117313e-01 -4.58219629e-03 1.97648764e+02] [ 6.74104062e-01 7.38624293e-01 -4.22684830e-03 7.16715686e+01] [ 6.23391311e-03 3.31156326e-05 9.99980568e-01 1.73775036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96185806399998 meters 0.018622426377259547 Centerline is valid? [True, True] Translation: X:197.69, Y:71.71, Z:0.17 [[ 7.41021990e-01 -6.71467432e-01 -4.23063721e-03 1.97690064e+02] [ 6.71456088e-01 7.41034065e-01 -3.90344116e-03 7.17125222e+01] [ 5.75607990e-03 5.18486266e-05 9.99983432e-01 1.73709758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02185806399999 meters 0.01906149443647612 Centerline is valid? [True, True] Translation: X:197.73, Y:71.75, Z:0.17 [[ 7.42460741e-01 -6.69877536e-01 -4.01672980e-03 1.97732148e+02] [ 6.69867278e-01 7.42471604e-01 -3.70767425e-03 7.17533111e+01] [ 5.46599551e-03 6.21267205e-05 9.99985059e-01 1.73671473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.081858064 meters 0.019092976840761194 Centerline is valid? [True, True] Translation: X:197.78, Y:71.79, Z:0.17 [[ 7.43631063e-01 -6.68585155e-01 -2.59489445e-03 1.97775216e+02] [ 6.68580862e-01 7.43635589e-01 -2.39633248e-03 7.17939824e+01] [ 3.53180819e-03 4.70905051e-05 9.99993762e-01 1.74181460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.141858064 meters 0.01925352505334423 Centerline is valid? [True, True] Translation: X:197.82, Y:71.83, Z:0.17 [[ 7.43184038e-01 -6.69083809e-01 -2.08361949e-03 1.97819598e+02] [ 6.69081041e-01 7.43186958e-01 -1.92493838e-03 7.18298697e+01] [ 2.83646393e-03 3.64731812e-05 9.99995977e-01 1.74570770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201858064 meters 0.01900858296525454 Centerline is valid? [True, True] Translation: X:197.87, Y:71.87, Z:0.18 [[ 7.41940648e-01 -6.70464648e-01 -1.10918177e-03 1.97865220e+02] [ 6.70463865e-01 7.41941477e-01 -1.02504987e-03 7.18671190e+01] [ 1.51020767e-03 1.68598665e-05 9.99998859e-01 1.75256770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261858064 meters 0.018781920496041108 Centerline is valid? [True, True] Translation: X:197.91, Y:71.90, Z:0.17 [[ 7.39494453e-01 -6.73161033e-01 -1.47551933e-03 1.97911757e+02] [ 6.73159651e-01 7.39495925e-01 -1.36412693e-03 7.19024083e+01] [ 2.00941763e-03 1.55042164e-05 9.99997981e-01 1.74031727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321858064 meters 0.01856621943411228 Centerline is valid? [True, True] Translation: X:197.96, Y:71.94, Z:0.17 [[ 7.35798841e-01 -6.77194479e-01 -2.77544758e-03 1.97962191e+02] [ 6.77189613e-01 7.35804076e-01 -2.56706548e-03 7.19351012e+01] [ 3.78058821e-03 9.33952871e-06 9.99992854e-01 1.72087622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381858064 meters 0.018649529598766444 Centerline is valid? [True, True] Translation: X:198.01, Y:71.97, Z:0.17 [[ 7.32180711e-01 -6.81102318e-01 -3.32243022e-03 1.98009918e+02] [ 6.81095378e-01 7.32188249e-01 -3.07469266e-03 7.19686279e+01] [ 4.52682466e-03 -1.16612098e-05 9.99989754e-01 1.71397588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441858064 meters 0.019269215341329658 Centerline is valid? [True, True] Translation: X:198.06, Y:72.00, Z:0.17 [[ 7.26156603e-01 -6.87516996e-01 -4.11923801e-03 1.98060958e+02] [ 6.87506420e-01 7.26168284e-01 -3.81406015e-03 7.19998242e+01] [ 5.61349117e-03 -6.23976181e-05 9.99984242e-01 1.69747748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501858064 meters 0.01984040993683361 Centerline is valid? [True, True] Translation: X:198.11, Y:72.03, Z:0.17 [[ 7.22796116e-01 -6.91051406e-01 -3.70525516e-03 1.98109685e+02] [ 6.91042887e-01 7.22805608e-01 -3.43237981e-03 7.20341110e+01] [ 5.05013010e-03 -7.95794268e-05 9.99987245e-01 1.70486114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561858064 meters 0.02101883027924159 Centerline is valid? [True, True] Translation: X:198.16, Y:72.06, Z:0.17 [[ 7.19293140e-01 -6.94700683e-01 -2.88766392e-03 1.98159766e+02] [ 6.94695535e-01 7.19298932e-01 -2.67584043e-03 7.20647689e+01] [ 3.93600175e-03 -8.13335689e-05 9.99992251e-01 1.71280638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621858064 meters 0.02098599540546536 Centerline is valid? [True, True] Translation: X:198.21, Y:72.10, Z:0.17 [[ 7.18284010e-01 -6.95743638e-01 -2.97829865e-03 1.98208054e+02] [ 6.95738165e-01 7.18290180e-01 -2.76105977e-03 7.20998902e+01] [ 4.06027244e-03 -8.88909512e-05 9.99991753e-01 1.71548453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68185806399998 meters 0.0207520000304489 Centerline is valid? [True, True] Translation: X:198.25, Y:72.14, Z:0.17 [[ 7.18023782e-01 -6.96009222e-01 -3.60706820e-03 1.98251683e+02] [ 6.96001188e-01 7.18032834e-01 -3.34586129e-03 7.21384751e+01] [ 4.91874372e-03 -1.08115772e-04 9.99987897e-01 1.71737025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74185806399998 meters 0.02028225715656508 Centerline is valid? [True, True] Translation: X:198.29, Y:72.18, Z:0.17 [[ 7.21469395e-01 -6.92439376e-01 -3.10203771e-03 1.98293126e+02] [ 6.92433395e-01 7.21476060e-01 -2.87879459e-03 7.21793740e+01] [ 4.23143668e-03 -7.09923184e-05 9.99991045e-01 1.71968776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.801858064 meters 0.019234805023395116 Centerline is valid? [True, True] Translation: X:198.33, Y:72.22, Z:0.17 [[ 7.26959586e-01 -6.86660811e-01 -5.16641703e-03 1.98334353e+02] [ 6.86644057e-01 7.26977941e-01 -4.79712484e-03 7.22211743e+01] [ 7.04986885e-03 -6.01736599e-05 9.99975148e-01 1.71647730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.861858064 meters 0.01879249671473027 Centerline is valid? [True, True] Translation: X:198.38, Y:72.26, Z:0.17 [[ 7.29940304e-01 -6.83483970e-01 -6.06752609e-03 1.98375761e+02] [ 6.83460728e-01 7.29965521e-01 -5.63662951e-03 7.22629401e+01] [ 8.28163076e-03 -3.25127387e-05 9.99965706e-01 1.70983094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921858064 meters 0.018621878617032555 Centerline is valid? [True, True] Translation: X:198.42, Y:72.30, Z:0.17 [[ 7.31146975e-01 -6.82186025e-01 -6.80640722e-03 1.98418622e+02] [ 6.82156698e-01 7.31178656e-01 -6.32552701e-03 7.23007202e+01] [ 9.29188581e-03 -1.81463379e-05 9.99956829e-01 1.70484737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981858064 meters 0.018525284736103965 Centerline is valid? [True, True] Translation: X:198.46, Y:72.34, Z:0.17 [[ 7.30013247e-01 -6.83411181e-01 -5.46051668e-03 1.98462304e+02] [ 6.83392320e-01 7.30033668e-01 -5.07744012e-03 7.23395410e+01] [ 7.45634037e-03 -2.50766076e-05 9.99972201e-01 1.72232796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041858064 meters 0.018705907237388797 Centerline is valid? [True, True] Translation: X:198.50, Y:72.38, Z:0.17 [[ 7.28787240e-01 -6.84724891e-01 -4.58052611e-03 1.98504824e+02] [ 6.84711631e-01 7.28801634e-01 -4.26153046e-03 7.23793177e+01] [ 6.25627090e-03 -3.05904779e-05 9.99980429e-01 1.71698725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101858064 meters 0.01902041926625748 Centerline is valid? [True, True] Translation: X:198.55, Y:72.42, Z:0.17 [[ 7.27664943e-01 -6.85916865e-01 -4.66749764e-03 1.98548142e+02] [ 6.85903106e-01 7.27679911e-01 -4.34463622e-03 7.24193812e+01] [ 6.37650353e-03 -4.00116674e-05 9.99979669e-01 1.69582071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161858064 meters 0.019207431671124854 Centerline is valid? [True, True] Translation: X:198.59, Y:72.46, Z:0.17 [[ 7.27140563e-01 -6.86467817e-01 -5.34207412e-03 1.98591157e+02] [ 6.86449791e-01 7.27160184e-01 -4.97502522e-03 7.24591309e+01] [ 7.29973830e-03 -4.95230214e-05 9.99973355e-01 1.68152248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221858064 meters 0.019309639985845683 Centerline is valid? [True, True] Translation: X:198.63, Y:72.50, Z:0.17 [[ 7.26303924e-01 -6.87347781e-01 -5.96982267e-03 1.98633274e+02] [ 6.87325286e-01 7.26328455e-01 -5.56117051e-03 7.24981593e+01] [ 8.15851028e-03 -6.41101150e-05 9.99966717e-01 1.66483995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281858064 meters 0.01940360223749255 Centerline is valid? [True, True] Translation: X:198.68, Y:72.54, Z:0.17 [[ 7.25216130e-01 -6.88488197e-01 -6.75042623e-03 1.98676571e+02] [ 6.88459458e-01 7.25247541e-01 -6.29120418e-03 7.25376343e+01] [ 9.22714984e-03 -8.49120410e-05 9.99957425e-01 1.65952914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341858064 meters 0.019759446865539692 Centerline is valid? [True, True] Translation: X:198.72, Y:72.58, Z:0.17 [[ 7.22975661e-01 -6.90836324e-01 -7.16708635e-03 1.98720304e+02] [ 6.90804029e-01 7.23011175e-01 -6.68083213e-03 7.25751005e+01] [ 9.79724503e-03 -1.20973106e-04 9.99951999e-01 1.66370464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401858064 meters 0.020136328183019022 Centerline is valid? [True, True] Translation: X:198.77, Y:72.61, Z:0.17 [[ 7.18973970e-01 -6.95007377e-01 -6.41685103e-03 1.98765403e+02] [ 6.94981632e-01 7.19002588e-01 -5.98416282e-03 7.26135911e+01] [ 8.77276980e-03 -1.57136302e-04 9.99961506e-01 1.68821330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46185806399998 meters 0.020701112860458795 Centerline is valid? [True, True] Translation: X:198.81, Y:72.65, Z:0.17 [[ 7.16126200e-01 -6.97950397e-01 -5.33939685e-03 1.98809668e+02] [ 6.97932646e-01 7.16146087e-01 -4.98035042e-03 7.26516693e+01] [ 7.29982572e-03 -1.59979954e-04 9.99973343e-01 1.70760193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52185806399999 meters 0.022102888737294497 Centerline is valid? [True, True] Translation: X:198.85, Y:72.69, Z:0.17 [[ 7.12780457e-01 -7.01370693e-01 -4.81362563e-03 1.98853558e+02] [ 7.01356338e-01 7.12796689e-01 -4.49076913e-03 7.26889310e+01] [ 6.58083027e-03 -1.75134371e-04 9.99978331e-01 1.70951109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.581858064 meters 0.022114248412802934 Centerline is valid? [True, True] Translation: X:198.90, Y:72.73, Z:0.17 [[ 7.11238714e-01 -7.02935506e-01 -4.60072117e-03 1.98896579e+02] [ 7.02922413e-01 7.11253571e-01 -4.29402297e-03 7.27297200e+01] [ 6.29070057e-03 -1.79874656e-04 9.99980197e-01 1.71507271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.641858064 meters 0.023207407705542086 Centerline is valid? [True, True] Translation: X:198.94, Y:72.77, Z:0.17 [[ 7.09867922e-01 -7.04324183e-01 -3.87017816e-03 1.98938592e+02] [ 7.04314934e-01 7.09878454e-01 -3.61302797e-03 7.27689293e+01] [ 5.29209906e-03 -1.61051616e-04 9.99985984e-01 1.70527922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701858064 meters 0.02686795076758923 Centerline is valid? [True, True] Translation: X:198.98, Y:72.80, Z:0.17 [[ 7.09359981e-01 -7.04839498e-01 -3.11439595e-03 1.98984386e+02] [ 7.04833511e-01 7.09366805e-01 -2.90809825e-03 7.28048256e+01] [ 4.25899162e-03 -1.32242116e-04 9.99990922e-01 1.69801862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761858064 meters 0.022616816017803444 Centerline is valid? [True, True] Translation: X:199.02, Y:72.85, Z:0.17 [[ 7.09506523e-01 -7.04696914e-01 -1.65921633e-03 1.99021112e+02] [ 7.04695213e-01 7.09508460e-01 -1.54983849e-03 7.28517998e+01] [ 2.26939442e-03 -6.96212912e-05 9.99997422e-01 1.70977784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821858064 meters 0.023263622960441308 Centerline is valid? [True, True] Translation: X:199.06, Y:72.89, Z:0.17 [[ 7.10660542e-01 -7.03535052e-01 1.58207006e-04 1.99063552e+02] [ 7.03535036e-01 7.10660559e-01 1.47928197e-04 7.28911155e+01] [-2.16504151e-04 6.17743872e-06 9.99999977e-01 1.71472163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881858064 meters 0.020986494797766105 Centerline is valid? [True, True] Translation: X:199.10, Y:72.94, Z:0.17 [[ 7.12123399e-01 -7.02053444e-01 1.10731459e-03 1.99102911e+02] [ 7.02052682e-01 7.12124259e-01 1.03508452e-03 7.29358620e+01] [-1.51523023e-03 4.02852729e-05 9.99998851e-01 1.71776721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941858064 meters 0.01987402868300846 Centerline is valid? [True, True] Translation: X:199.14, Y:72.98, Z:0.17 [[ 7.16043612e-01 -6.98054518e-01 1.19782226e-03 1.99143448e+02] [ 6.98053621e-01 7.16044613e-01 1.11992512e-03 7.29793453e+01] [-1.63946296e-03 3.42289392e-05 9.99998655e-01 1.71930143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001858064 meters 0.01910730408796936 Centerline is valid? [True, True] Translation: X:199.18, Y:73.02, Z:0.17 [[ 7.18587548e-01 -6.95435441e-01 1.21825130e-03 1.99184459e+02] [ 6.95434507e-01 7.18588580e-01 1.13970349e-03 7.30221582e+01] [-1.66801167e-03 2.82372513e-05 9.99998608e-01 1.71692681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061858064 meters 0.017876229633172418 Centerline is valid? [True, True] Translation: X:199.22, Y:73.07, Z:0.17 [[ 7.22478670e-01 -6.91391860e-01 1.36629131e-03 1.99222662e+02] [ 6.91390678e-01 7.22479962e-01 1.27878744e-03 7.30670960e+01] [-1.87126132e-03 2.07444232e-05 9.99998249e-01 1.70041813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121858064 meters 0.01758274282972962 Centerline is valid? [True, True] Translation: X:199.26, Y:73.11, Z:0.17 [[ 7.24599477e-01 -6.89170049e-01 4.91555731e-04 1.99262944e+02] [ 6.89169895e-01 7.24599644e-01 4.60149761e-04 7.31083149e+01] [-6.73302540e-04 5.34113566e-06 9.99999773e-01 1.69120799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18185806399998 meters 0.016960577197389567 Centerline is valid? [True, True] Translation: X:199.30, Y:73.15, Z:0.17 [[ 7.26091732e-01 -6.87597817e-01 1.97971186e-04 1.99304245e+02] [ 6.87597792e-01 7.26091759e-01 1.85667109e-04 7.31502724e+01] [-2.71409545e-04 1.31319781e-06 9.99999963e-01 1.68802808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24185806399998 meters 0.016718396338749254 Centerline is valid? [True, True] Translation: X:199.35, Y:73.19, Z:0.17 [[ 7.25101347e-01 -6.88642127e-01 2.38957244e-04 1.99346950e+02] [ 6.88642090e-01 7.25101387e-01 2.24209219e-04 7.31892421e+01] [-3.27668142e-04 1.98160931e-06 9.99999946e-01 1.69158251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.301858064 meters 0.016767943578755953 Centerline is valid? [True, True] Translation: X:199.39, Y:73.23, Z:0.17 [[ 7.23253062e-01 -6.90582438e-01 9.51164647e-04 1.99391696e+02] [ 6.90581863e-01 7.23253687e-01 8.91393336e-04 7.32267505e+01] [-1.30351392e-03 1.21540944e-05 9.99999150e-01 1.70198252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.361858064 meters 0.01700534301178685 Centerline is valid? [True, True] Translation: X:199.44, Y:73.26, Z:0.17 [[ 7.21669438e-01 -6.92237360e-01 8.12033873e-04 1.99436529e+02] [ 6.92236941e-01 7.21669895e-01 7.61563361e-04 7.32647427e+01] [-1.11320301e-03 1.25228415e-05 9.99999380e-01 1.70081118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421858064 meters 0.017547672914192295 Centerline is valid? [True, True] Translation: X:199.48, Y:73.30, Z:0.17 [[ 7.19601186e-01 -6.94387583e-01 -1.34064420e-04 1.99481276e+02] [ 6.94387571e-01 7.19601199e-01 -1.25568342e-04 7.33012999e+01] [ 1.83666014e-04 -2.73353916e-06 9.99999983e-01 1.68714849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481858064 meters 0.017287443904652547 Centerline is valid? [True, True] Translation: X:199.52, Y:73.34, Z:0.17 [[ 7.18514854e-01 -6.95511358e-01 -5.95622716e-04 1.99524088e+02] [ 6.95511134e-01 7.18515101e-01 -5.58517776e-04 7.33412616e+01] [ 8.16419373e-04 -1.29589124e-05 9.99999667e-01 1.68400834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541858064 meters 0.017559596802152754 Centerline is valid? [True, True] Translation: X:199.57, Y:73.38, Z:0.17 [[ 7.18115076e-01 -6.95924323e-01 2.74570605e-04 1.99567486e+02] [ 6.95924275e-01 7.18115128e-01 2.57870417e-04 7.33787134e+01] [-3.76631600e-04 5.89971570e-06 9.99999929e-01 1.70016245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601858064 meters 0.0174436689380648 Centerline is valid? [True, True] Translation: X:199.61, Y:73.42, Z:0.17 [[ 7.18153667e-01 -6.95884487e-01 3.01713301e-04 1.99609543e+02] [ 6.95884429e-01 7.18153731e-01 2.83635705e-04 7.34192744e+01] [-4.14054220e-04 6.26356688e-06 9.99999914e-01 1.70142745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661858064 meters 0.017227016674762168 Centerline is valid? [True, True] Translation: X:199.65, Y:73.46, Z:0.17 [[ 7.19149597e-01 -6.94854822e-01 7.95367406e-04 1.99650984e+02] [ 6.94854421e-01 7.19150037e-01 7.47482202e-04 7.34607496e+01] [-1.09138011e-03 1.51130340e-05 9.99999404e-01 1.70496799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721858064 meters 0.01657275030136355 Centerline is valid? [True, True] Translation: X:199.69, Y:73.50, Z:0.17 [[ 7.19914621e-01 -6.94062571e-01 2.93092410e-04 1.99692920e+02] [ 6.94062516e-01 7.19914681e-01 2.75768363e-04 7.35025442e+01] [-4.02402028e-04 4.89477920e-06 9.99999919e-01 1.70116780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781858064 meters 0.01622783063453733 Centerline is valid? [True, True] Translation: X:199.73, Y:73.54, Z:0.17 [[ 7.21992095e-01 -6.91901284e-01 -1.65637450e-04 1.99734421e+02] [ 6.91901267e-01 7.21992114e-01 -1.55470520e-04 7.35449219e+01] [ 2.27159185e-04 -2.35627512e-06 9.99999974e-01 1.69114928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841858064 meters 0.016001107794926958 Centerline is valid? [True, True] Translation: X:199.78, Y:73.59, Z:0.17 [[ 7.23368960e-01 -6.90461344e-01 -6.92712949e-04 1.99775982e+02] [ 6.90461037e-01 7.23369292e-01 -6.51425569e-04 7.35870972e+01] [ 9.50871449e-04 -7.07026472e-06 9.99999548e-01 1.68562955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901858064 meters 0.01555369482939524 Centerline is valid? [True, True] Translation: X:199.82, Y:73.63, Z:0.17 [[ 7.26252094e-01 -6.87427875e-01 -9.01790276e-04 1.99816314e+02] [ 6.87427351e-01 7.26252654e-01 -8.48541603e-04 7.36306253e+01] [ 1.23823873e-03 -3.66018522e-06 9.99999233e-01 1.68712192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96185806399998 meters 0.015246648059445062 Centerline is valid? [True, True] Translation: X:199.86, Y:73.67, Z:0.17 [[ 7.28784754e-01 -6.84742164e-01 -9.74989589e-04 1.99857355e+02] [ 6.84741549e-01 7.28785406e-01 -9.17906363e-04 7.36724820e+01] [ 1.33908737e-03 1.34028087e-06 9.99999103e-01 1.69541646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02185806399999 meters 0.015178836210676755 Centerline is valid? [True, True] Translation: X:199.90, Y:73.71, Z:0.17 [[ 7.29601890e-01 -6.83870895e-01 -1.29659937e-03 1.99899173e+02] [ 6.83869804e-01 7.29603042e-01 -1.22146973e-03 7.37122815e+01] [ 1.78133044e-03 4.48146593e-06 9.99998413e-01 1.69552156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.081858064 meters 0.015031014861150778 Centerline is valid? [True, True] Translation: X:199.94, Y:73.75, Z:0.17 [[ 7.29224565e-01 -6.84271677e-01 -1.95061410e-03 1.99942307e+02] [ 6.84269207e-01 7.29227174e-01 -1.83881063e-03 7.37517218e+01] [ 2.68068684e-03 6.16072218e-06 9.99996407e-01 1.69507364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.141858064 meters 0.014805307435644977 Centerline is valid? [True, True] Translation: X:199.99, Y:73.79, Z:0.17 [[ 7.28161144e-01 -6.85402700e-01 -2.11825768e-03 1.99985789e+02] [ 6.85399788e-01 7.28164225e-01 -1.99800555e-03 7.37898733e+01] [ 2.91187786e-03 3.01664048e-06 9.99995760e-01 1.69822812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201858064 meters 0.014729433807622058 Centerline is valid? [True, True] Translation: X:200.03, Y:73.83, Z:0.17 [[ 7.27747588e-01 -6.85842736e-01 -1.78609498e-03 2.00028311e+02] [ 6.85840665e-01 7.27749780e-01 -1.68559362e-03 7.38297738e+01] [ 2.45588237e-03 1.71011993e-06 9.99996984e-01 1.69925256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261858064 meters 0.014588326116120437 Centerline is valid? [True, True] Translation: X:200.07, Y:73.87, Z:0.17 [[ 7.26736980e-01 -6.86910410e-01 -2.72948563e-03 2.00072110e+02] [ 6.86905575e-01 7.26742106e-01 -2.57750653e-03 7.38680219e+01] [ 3.75414821e-03 -1.72958424e-06 9.99992953e-01 1.69153004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321858064 meters 0.01456308909750224 Centerline is valid? [True, True] Translation: X:200.12, Y:73.91, Z:0.17 [[ 7.25628492e-01 -6.88081629e-01 -2.63883084e-03 2.00115381e+02] [ 6.88077114e-01 7.25633290e-01 -2.49279480e-03 7.39056755e+01] [ 3.63006981e-03 -6.87617444e-06 9.99993411e-01 1.69148858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381858064 meters 0.014757234643897848 Centerline is valid? [True, True] Translation: X:200.16, Y:73.94, Z:0.17 [[ 7.23469955e-01 -6.90351918e-01 -2.33521855e-03 2.00159882e+02] [ 6.90348391e-01 7.23473724e-01 -2.20693461e-03 7.39440030e+01] [ 3.21303081e-03 -1.54634855e-05 9.99994838e-01 1.70532551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441858064 meters 0.014940904573359977 Centerline is valid? [True, True] Translation: X:200.20, Y:73.98, Z:0.17 [[ 7.22076267e-01 -6.91810815e-01 -1.91336394e-03 2.00203351e+02] [ 6.91808451e-01 7.22078801e-01 -1.80879676e-03 7.39821367e+01] [ 2.63294470e-03 -1.75921369e-05 9.99996534e-01 1.70816712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501858064 meters 0.014846127677467725 Centerline is valid? [True, True] Translation: X:200.25, Y:74.02, Z:0.17 [[ 7.21501712e-01 -6.92409676e-01 -2.02984863e-03 2.00245818e+02] [ 6.92407014e-01 7.21504567e-01 -1.91979703e-03 7.40219961e+01] [ 2.79383109e-03 -2.03445841e-05 9.99996097e-01 1.70650514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561858064 meters 0.014910806684624385 Centerline is valid? [True, True] Translation: X:200.29, Y:74.06, Z:0.17 [[ 7.20909907e-01 -6.93023700e-01 -2.65650350e-03 2.00288150e+02] [ 6.93019141e-01 7.20914801e-01 -2.51393710e-03 7.40620939e+01] [ 3.65733068e-03 -2.86856119e-05 9.99993312e-01 1.70175335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621858064 meters 0.014833974200623509 Centerline is valid? [True, True] Translation: X:200.33, Y:74.10, Z:0.17 [[ 7.20231384e-01 -6.93727331e-01 -3.02380144e-03 2.00330873e+02] [ 6.93721424e-01 7.20237731e-01 -2.86311824e-03 7.41021432e+01] [ 4.16407927e-03 -3.55682318e-05 9.99991330e-01 1.70415554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68185806399998 meters 0.015192647373956139 Centerline is valid? [True, True] Translation: X:200.37, Y:74.14, Z:0.17 [[ 7.18998123e-01 -6.95003000e-01 -3.53971195e-03 2.00373445e+02] [ 6.94994916e-01 7.19006834e-01 -3.35245140e-03 7.41408708e+01] [ 4.87504086e-03 -4.96755383e-05 9.99988116e-01 1.70107355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74185806399998 meters 0.015050832422010175 Centerline is valid? [True, True] Translation: X:200.41, Y:74.18, Z:0.17 [[ 7.16789906e-01 -6.97282676e-01 -3.01661939e-03 2.00414946e+02] [ 6.97276823e-01 7.16796251e-01 -2.85751698e-03 7.41818942e+01] [ 4.15479856e-03 -5.51794547e-05 9.99991367e-01 1.71472075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.801858064 meters 0.016114552023545715 Centerline is valid? [True, True] Translation: X:200.46, Y:74.22, Z:0.17 [[ 7.15019040e-01 -6.99099353e-01 -2.80486892e-03 2.00459097e+02] [ 6.99094305e-01 7.15024538e-01 -2.65739142e-03 7.42199885e+01] [ 3.86333073e-03 -6.07824231e-05 9.99992535e-01 1.71132826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.861858064 meters 0.017002474013627127 Centerline is valid? [True, True] Translation: X:200.50, Y:74.26, Z:0.17 [[ 7.11961605e-01 -7.02209928e-01 -3.44800404e-03 2.00501529e+02] [ 7.02202333e-01 7.11969948e-01 -3.26737476e-03 7.42601115e+01] [ 4.74925825e-03 -9.49510969e-05 9.99988718e-01 1.70731197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921858064 meters 0.018589714014315164 Centerline is valid? [True, True] Translation: X:200.54, Y:74.30, Z:0.17 [[ 7.10746823e-01 -7.03432897e-01 -4.59483790e-03 2.00544594e+02] [ 7.03419422e-01 7.10761663e-01 -4.35607616e-03 7.43004634e+01] [ 6.33004190e-03 -1.36030929e-04 9.99979956e-01 1.69829878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981858064 meters 0.019139937198789585 Centerline is valid? [True, True] Translation: X:200.59, Y:74.34, Z:0.17 [[ 7.10055502e-01 -7.04122468e-01 -5.72145490e-03 2.00586066e+02] [ 7.04101588e-01 7.10078530e-01 -5.42531038e-03 7.43410052e+01] [ 7.88276522e-03 -1.76214005e-04 9.99968915e-01 1.69186458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041858064 meters 0.018306385093322435 Centerline is valid? [True, True] Translation: X:200.62, Y:74.38, Z:0.17 [[ 7.10362385e-01 -7.03804600e-01 -6.66086080e-03 2.00624443e+02] [ 7.03776257e-01 7.10393585e-01 -6.31936004e-03 7.43846186e+01] [ 9.17942745e-03 -1.98720008e-04 9.99957848e-01 1.68422208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101858064 meters 0.018407824847372578 Centerline is valid? [True, True] Translation: X:200.67, Y:74.43, Z:0.17 [[ 7.10094216e-01 -7.04070979e-01 -7.08946207e-03 2.00666293e+02] [ 7.04038852e-01 7.10129573e-01 -6.72932881e-03 7.44262827e+01] [ 9.77236180e-03 -2.12799274e-04 9.99952227e-01 1.67536344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161858064 meters 0.018396491065360593 Centerline is valid? [True, True] Translation: X:200.71, Y:74.47, Z:0.17 [[ 7.09533110e-01 -7.04639933e-01 -6.73288965e-03 2.00707415e+02] [ 7.04610953e-01 7.09565023e-01 -6.39391224e-03 7.44687299e+01] [ 9.28282889e-03 -2.07375361e-04 9.99956892e-01 1.66911659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221858064 meters 0.018476614095078264 Centerline is valid? [True, True] Translation: X:200.75, Y:74.51, Z:0.17 [[ 7.07214325e-01 -7.06969652e-01 -6.46605588e-03 2.00748801e+02] [ 7.06942994e-01 7.07243848e-01 -6.14349573e-03 7.45109640e+01] [ 8.91634328e-03 -2.26364727e-04 9.99960223e-01 1.67382578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281858064 meters 0.019117255509795067 Centerline is valid? [True, True] Translation: X:200.79, Y:74.55, Z:0.17 [[ 7.05752516e-01 -7.08433454e-01 -5.95210984e-03 2.00791608e+02] [ 7.08410909e-01 7.05777579e-01 -5.65633136e-03 7.45507514e+01] [ 8.20800003e-03 -2.24569454e-04 9.99966289e-01 1.67608702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341858064 meters 0.018659466443052254 Centerline is valid? [True, True] Translation: X:200.83, Y:74.59, Z:0.17 [[ 7.04665275e-01 -7.09521426e-01 -5.11820166e-03 2.00832457e+02] [ 7.09504769e-01 7.04683833e-01 -4.86605226e-03 7.45931422e+01] [ 7.05928230e-03 -2.02450436e-04 9.99975062e-01 1.68083778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401858064 meters 0.018678720768737625 Centerline is valid? [True, True] Translation: X:200.87, Y:74.63, Z:0.17 [[ 7.05017250e-01 -7.09175203e-01 -4.60532865e-03 2.00874215e+02] [ 7.09161695e-01 7.05032269e-01 -4.38055782e-03 7.46349528e+01] [ 6.35348829e-03 -1.77553842e-04 9.99979801e-01 1.67750770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46185806399998 meters 0.017925052717662076 Centerline is valid? [True, True] Translation: X:200.92, Y:74.68, Z:0.17 [[ 7.06190072e-01 -7.08007386e-01 -4.59615470e-03 2.00915161e+02] [ 7.07993894e-01 7.06205009e-01 -4.37398280e-03 7.46777113e+01] [ 6.34263960e-03 -1.65186238e-04 9.99979872e-01 1.67773931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52185806399999 meters 0.017210087297568157 Centerline is valid? [True, True] Translation: X:200.96, Y:74.72, Z:0.17 [[ 7.07904536e-01 -7.06291781e-01 -4.80490194e-03 2.00956003e+02] [ 7.06276981e-01 7.07920826e-01 -4.57491002e-03 7.47206776e+01] [ 6.63271149e-03 -1.54992080e-04 9.99977991e-01 1.66889574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.581858064 meters 0.016237311545921493 Centerline is valid? [True, True] Translation: X:201.00, Y:74.76, Z:0.17 [[ 7.10043108e-01 -7.04142473e-01 -4.70771155e-03 2.00995394e+02] [ 7.04128204e-01 7.10058702e-01 -4.48460374e-03 7.47648609e+01] [ 6.50055152e-03 -1.30570506e-04 9.99978863e-01 1.66430709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.641858064 meters 0.016318910668825116 Centerline is valid? [True, True] Translation: X:201.04, Y:74.80, Z:0.17 [[ 7.10608772e-01 -7.03567175e-01 -5.32951863e-03 2.01037323e+02] [ 7.03548863e-01 7.10628743e-01 -5.07806777e-03 7.48047504e+01] [ 7.36007092e-03 -1.41057277e-04 9.99972904e-01 1.65552446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701858064 meters 0.016152115445159265 Centerline is valid? [True, True] Translation: X:201.08, Y:74.85, Z:0.17 [[ 7.10919269e-01 -7.03256359e-01 -4.92820803e-03 2.01079964e+02] [ 7.03240679e-01 7.10936339e-01 -4.69778396e-03 7.48460529e+01] [ 6.80738862e-03 -1.25971223e-04 9.99976822e-01 1.66661915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761858064 meters 0.016167260004502776 Centerline is valid? [True, True] Translation: X:201.12, Y:74.89, Z:0.17 [[ 7.11201691e-01 -7.02979228e-01 -3.51564589e-03 2.01121531e+02] [ 7.02971238e-01 7.11210375e-01 -3.35279740e-03 7.48882263e+01] [ 4.85731076e-03 -8.68827600e-05 9.99988199e-01 1.67400884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821858064 meters 0.015571104891999836 Centerline is valid? [True, True] Translation: X:201.16, Y:74.93, Z:0.17 [[ 7.11708265e-01 -7.02468901e-01 -2.96458154e-03 2.01162632e+02] [ 7.02463210e-01 7.11714436e-01 -2.82859227e-03 7.49308029e+01] [ 4.09693358e-03 -6.93769739e-05 9.99991605e-01 1.67294021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881858064 meters 0.016062372523914483 Centerline is valid? [True, True] Translation: X:201.20, Y:74.97, Z:0.17 [[ 7.11994294e-01 -7.02177799e-01 -3.23469625e-03 2.01204600e+02] [ 7.02171016e-01 7.12001638e-01 -3.08733734e-03 7.49689574e+01] [ 4.47096877e-03 -7.31433829e-05 9.99990002e-01 1.66169057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941858064 meters 0.015364637693823192 Centerline is valid? [True, True] Translation: X:201.25, Y:75.01, Z:0.17 [[ 7.12595493e-01 -7.01566958e-01 -3.38629167e-03 2.01246301e+02] [ 7.01559510e-01 7.12603536e-01 -3.23338583e-03 7.50112568e+01] [ 4.68152007e-03 -7.15889512e-05 9.99989039e-01 1.65884489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001858064 meters 0.015336433802591226 Centerline is valid? [True, True] Translation: X:201.29, Y:75.05, Z:0.17 [[ 7.12928789e-01 -7.01229695e-01 -3.07517463e-03 2.01288897e+02] [ 7.01223544e-01 7.12935419e-01 -2.93767778e-03 7.50523250e+01] [ 4.25238781e-03 -6.20297912e-05 9.99990957e-01 1.66200494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061858064 meters 0.014830369622400707 Centerline is valid? [True, True] Translation: X:201.33, Y:75.09, Z:0.17 [[ 7.12882542e-01 -7.01279707e-01 -2.29198213e-03 2.01330436e+02] [ 7.01276287e-01 7.12886225e-01 -2.19061146e-03 7.50926438e+01] [ 3.17015385e-03 -4.56640532e-05 9.99994974e-01 1.67011985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121858064 meters 0.014289506418969365 Centerline is valid? [True, True] Translation: X:201.37, Y:75.13, Z:0.17 [[ 7.14072611e-01 -7.00070262e-01 -1.39065618e-03 2.01371982e+02] [ 7.00069000e-01 7.14073965e-01 -1.32971880e-03 7.51342124e+01] [ 1.92392796e-03 -2.40395060e-05 9.99998149e-01 1.67814174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18185806399998 meters 0.013927392464975234 Centerline is valid? [True, True] Translation: X:201.41, Y:75.18, Z:0.17 [[ 7.16205936e-01 -6.97887731e-01 -1.33111993e-03 2.01412766e+02] [ 6.97886570e-01 7.16207173e-01 -1.27319621e-03 7.51756010e+01] [ 1.84190566e-03 -1.71000388e-05 9.99998304e-01 1.67717324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24185806399998 meters 0.013650117901597893 Centerline is valid? [True, True] Translation: X:201.45, Y:75.22, Z:0.17 [[ 7.16532620e-01 -6.97552860e-01 -1.00594722e-03 2.01454393e+02] [ 6.97552196e-01 7.16533326e-01 -9.62462736e-04 7.52157884e+01] [ 1.39216334e-03 -1.20647468e-05 9.99999031e-01 1.68184856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.301858064 meters 0.013906669662074655 Centerline is valid? [True, True] Translation: X:201.50, Y:75.26, Z:0.17 [[ 7.15622569e-01 -6.98485375e-01 -1.58751537e-03 2.01498956e+02] [ 6.98483721e-01 7.15624329e-01 -1.51989825e-03 7.52550664e+01] [ 2.19769132e-03 -2.11801552e-05 9.99997585e-01 1.67561844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.361858064 meters 0.014567587748379516 Centerline is valid? [True, True] Translation: X:201.54, Y:75.29, Z:0.17 [[ 7.13300989e-01 -7.00850464e-01 -3.21342510e-03 2.01544564e+02] [ 7.00843709e-01 7.13308225e-01 -3.07759474e-03 7.52915461e+01] [ 4.44909626e-03 -5.68573893e-05 9.99990101e-01 1.66715454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421858064 meters 0.015185036950180796 Centerline is valid? [True, True] Translation: X:201.59, Y:75.33, Z:0.17 [[ 7.11387727e-01 -7.02789581e-01 -3.78242517e-03 2.01589413e+02] [ 7.02780241e-01 7.11397778e-01 -3.62412633e-03 7.53300218e+01] [ 5.23780708e-03 -8.00546746e-05 9.99986279e-01 1.66494597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481858064 meters 0.01623761614140274 Centerline is valid? [True, True] Translation: X:201.64, Y:75.37, Z:0.17 [[ 7.08351968e-01 -7.05845637e-01 -4.40745361e-03 2.01635428e+02] [ 7.05833008e-01 7.08365670e-01 -4.22403287e-03 7.53661818e+01] [ 6.10360400e-03 -1.18824241e-04 9.99981366e-01 1.66976158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541858064 meters 0.01715474549013287 Centerline is valid? [True, True] Translation: X:201.68, Y:75.40, Z:0.17 [[ 7.06616278e-01 -7.07576941e-01 -5.32065648e-03 2.01680158e+02] [ 7.07558578e-01 7.06636291e-01 -5.10013711e-03 7.54029268e+01] [ 7.36850838e-03 -1.60836234e-04 9.99972839e-01 1.66602330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601858064 meters 0.017354726396228988 Centerline is valid? [True, True] Translation: X:201.73, Y:75.44, Z:0.17 [[ 7.03872649e-01 -7.10302319e-01 -5.82325178e-03 2.01726007e+02] [ 7.10280395e-01 7.03896707e-01 -5.58444812e-03 7.54404734e+01] [ 8.06561420e-03 -2.05401291e-04 9.99967451e-01 1.66903234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661858064 meters 0.01697089987197088 Centerline is valid? [True, True] Translation: X:201.77, Y:75.48, Z:0.17 [[ 7.02339193e-01 -7.11813873e-01 -6.37716198e-03 2.01769779e+02] [ 7.11787616e-01 7.02368102e-01 -6.11874856e-03 7.54795608e+01] [ 8.83452527e-03 -2.41747994e-04 9.99960946e-01 1.66860660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721858064 meters 0.018492102222929057 Centerline is valid? [True, True] Translation: X:201.82, Y:75.51, Z:0.17 [[ 7.00907626e-01 -7.13224206e-01 -6.30332470e-03 2.01816155e+02] [ 7.13198598e-01 7.00935922e-01 -6.04916748e-03 7.55149181e+01] [ 8.73263938e-03 -2.55614717e-04 9.99961837e-01 1.66761113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781858064 meters 0.018758721899127227 Centerline is valid? [True, True] Translation: X:201.86, Y:75.55, Z:0.17 [[ 7.00583579e-01 -7.13543539e-01 -6.18601851e-03 2.01860396e+02] [ 7.13518862e-01 7.00610844e-01 -5.93963898e-03 7.55525362e+01] [ 8.57218267e-03 -2.52627349e-04 9.99963226e-01 1.66926971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841858064 meters 0.019226166274634474 Centerline is valid? [True, True] Translation: X:201.90, Y:75.59, Z:0.17 [[ 7.00830035e-01 -7.13299802e-01 -6.37610178e-03 2.01904345e+02] [ 7.13273562e-01 7.00858992e-01 -6.12370634e-03 7.55898908e+01] [ 8.83678679e-03 -2.56227501e-04 9.99960922e-01 1.66884797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901858064 meters 0.01755647399448939 Centerline is valid? [True, True] Translation: X:201.95, Y:75.63, Z:0.17 [[ 7.01663146e-01 -7.12482026e-01 -6.18008105e-03 2.01946915e+02] [ 7.12457320e-01 7.01690321e-01 -5.93800588e-03 7.56312932e+01] [ 8.56722551e-03 -2.36564102e-04 9.99963273e-01 1.67184572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96185806399998 meters 0.016800759468915332 Centerline is valid? [True, True] Translation: X:201.99, Y:75.67, Z:0.17 [[ 7.03817997e-01 -7.10359605e-01 -5.42756402e-03 2.01990336e+02] [ 7.10340468e-01 7.03838900e-01 -5.21745571e-03 7.56714360e+01] [ 7.52640047e-03 -1.83279143e-04 9.99971659e-01 1.67291383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02185806399999 meters 0.01647798001450719 Centerline is valid? [True, True] Translation: X:202.03, Y:75.71, Z:0.17 [[ 7.05466252e-01 -7.08725564e-01 -5.04402965e-03 2.02033568e+02] [ 7.08708979e-01 7.05484267e-01 -4.85094208e-03 7.57120152e+01] [ 6.99647023e-03 -1.52573178e-04 9.99975513e-01 1.67245811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.081858064 meters 0.015134253453996313 Centerline is valid? [True, True] Translation: X:202.08, Y:75.75, Z:0.17 [[ 7.07756921e-01 -7.06438933e-01 -4.91687134e-03 2.02075077e+02] [ 7.06423102e-01 7.07773988e-01 -4.73095207e-03 7.57533305e+01] [ 6.82216237e-03 -1.25027434e-04 9.99976721e-01 1.67200629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.141858064 meters 0.014656316218932399 Centerline is valid? [True, True] Translation: X:202.12, Y:75.79, Z:0.17 [[ 7.09833073e-01 -7.04347653e-01 -5.60283229e-03 2.02117608e+02] [ 7.04327011e-01 7.09855175e-01 -5.39369494e-03 7.57935391e+01] [ 7.77623587e-03 -1.17603070e-04 9.99969758e-01 1.66561702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201858064 meters 0.01506456780119958 Centerline is valid? [True, True] Translation: X:202.16, Y:75.83, Z:0.17 [[ 7.10810464e-01 -7.03364003e-01 -5.25011974e-03 2.02160826e+02] [ 7.03345843e-01 7.10829846e-01 -5.05520580e-03 7.58323229e+01] [ 7.28759159e-03 -9.93567179e-05 9.99973440e-01 1.65791127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261858064 meters 0.014679769073216853 Centerline is valid? [True, True] Translation: X:202.20, Y:75.87, Z:0.17 [[ 7.10411653e-01 -7.03771399e-01 -4.59366647e-03 2.02203864e+02] [ 7.03757491e-01 7.10426499e-01 -4.42532506e-03 7.58720793e+01] [ 6.37787960e-03 -8.90246952e-05 9.99979657e-01 1.66867200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321858064 meters 0.014903450867289036 Centerline is valid? [True, True] Translation: X:202.25, Y:75.91, Z:0.17 [[ 7.09369888e-01 -7.04824310e-01 -4.12959261e-03 2.02247409e+02] [ 7.04813083e-01 7.09381903e-01 -3.97914013e-03 7.59109846e+01] [ 5.73405296e-03 -8.79087152e-05 9.99983556e-01 1.67467424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381858064 meters 0.015252240861629183 Centerline is valid? [True, True] Translation: X:202.29, Y:75.95, Z:0.17 [[ 7.08069628e-01 -7.06130809e-01 -4.08443774e-03 2.02292338e+02] [ 7.06119838e-01 7.08081402e-01 -3.93735820e-03 7.59496917e+01] [ 5.67240433e-03 -9.61787584e-05 9.99983907e-01 1.67777748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441858064 meters 0.01607217052146183 Centerline is valid? [True, True] Translation: X:202.34, Y:75.99, Z:0.17 [[ 7.06155494e-01 -7.08044172e-01 -4.22706442e-03 2.02337531e+02] [ 7.08032445e-01 7.06168136e-01 -4.07682371e-03 7.59880669e+01] [ 5.87158947e-03 -1.14027296e-04 9.99982756e-01 1.67970773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501858064 meters 0.017486475531423518 Centerline is valid? [True, True] Translation: X:202.38, Y:76.03, Z:0.17 [[ 7.03548266e-01 -7.10632145e-01 -4.66812847e-03 2.02382366e+02] [ 7.10617892e-01 7.03563737e-01 -4.50332112e-03 7.60252221e+01] [ 6.48453066e-03 -1.48951846e-04 9.99978964e-01 1.67775327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561858064 meters 0.018130815835107866 Centerline is valid? [True, True] Translation: X:202.43, Y:76.06, Z:0.17 [[ 7.02352052e-01 -7.11814361e-01 -4.68090299e-03 2.02426511e+02] [ 7.11800043e-01 7.02367632e-01 -4.51760869e-03 7.60637753e+01] [ 6.50341349e-03 -1.58915218e-04 9.99978840e-01 1.67848626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621858064 meters 0.01880377038996332 Centerline is valid? [True, True] Translation: X:202.47, Y:76.10, Z:0.17 [[ 7.01844013e-01 -7.12320814e-01 -3.74698343e-03 2.02468924e+02] [ 7.12311641e-01 7.01854003e-01 -3.61729688e-03 7.61028608e+01] [ 5.20651118e-03 -1.30241754e-04 9.99986438e-01 1.68800965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68185806399998 meters 0.01790801848127217 Centerline is valid? [True, True] Translation: X:202.51, Y:76.14, Z:0.17 [[ 7.02273354e-01 -7.11899566e-01 -3.33820679e-03 2.02510524e+02] [ 7.11892275e-01 7.02281279e-01 -3.22405796e-03 7.61445688e+01] [ 4.63956560e-03 -1.12273627e-04 9.99989231e-01 1.69206153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74185806399998 meters 0.016789475752209643 Centerline is valid? [True, True] Translation: X:202.55, Y:76.19, Z:0.17 [[ 7.03947283e-01 -7.10245228e-01 -3.15276257e-03 2.02551102e+02] [ 7.10238701e-01 7.03954336e-01 -3.04641788e-03 7.61874214e+01] [ 4.38310464e-03 -9.46964002e-05 9.99990390e-01 1.69334350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.801858064 meters 0.015829879496102442 Centerline is valid? [True, True] Translation: X:202.59, Y:76.23, Z:0.17 [[ 7.07731155e-01 -7.06473625e-01 -3.41008892e-03 2.02590089e+02] [ 7.06465937e-01 7.07739367e-01 -3.29669500e-03 7.62315075e+01] [ 4.74248224e-03 -7.59379054e-05 9.99988751e-01 1.68634620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.861858064 meters 0.015175574411286074 Centerline is valid? [True, True] Translation: X:202.63, Y:76.28, Z:0.17 [[ 7.11402137e-01 -7.02777320e-01 -3.32224795e-03 2.02628823e+02] [ 7.02769976e-01 7.11409893e-01 -3.21330216e-03 7.62759553e+01] [ 4.62171594e-03 -4.88260870e-05 9.99989319e-01 1.68401826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921858064 meters 0.014959889930274618 Centerline is valid? [True, True] Translation: X:202.67, Y:76.32, Z:0.17 [[ 7.12907132e-01 -7.01253521e-01 -2.63068850e-03 2.02669144e+02] [ 7.01248901e-01 7.12911985e-01 -2.54558982e-03 7.63187909e+01] [ 3.66055318e-03 -2.99982767e-05 9.99993300e-01 1.68755666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981858064 meters 0.014892134512949625 Centerline is valid? [True, True] Translation: X:202.71, Y:76.36, Z:0.17 [[ 7.13825206e-01 -7.00321401e-01 -1.87364572e-03 2.02710670e+02] [ 7.00319054e-01 7.13827664e-01 -1.81345084e-03 7.63596805e+01] [ 2.60745858e-03 -1.76628841e-05 9.99996600e-01 1.69039052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041858064 meters 0.014987864323524823 Centerline is valid? [True, True] Translation: X:202.75, Y:76.40, Z:0.17 [[ 7.13238546e-01 -7.00920001e-01 -1.38894385e-03 2.02752915e+02] [ 7.00918711e-01 7.13239898e-01 -1.34479203e-03 7.64001667e+01] [ 1.93324180e-03 -1.43792154e-05 9.99998131e-01 1.68971553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101858064 meters 0.015188303134382604 Centerline is valid? [True, True] Translation: X:202.80, Y:76.44, Z:0.17 [[ 7.11916380e-01 -7.02263829e-01 -7.62517644e-04 2.02795366e+02] [ 7.02263441e-01 7.11916788e-01 -7.38521461e-04 7.64414110e+01] [ 1.06148602e-03 -9.72273924e-06 9.99999437e-01 1.68798297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161858064 meters 0.015357149235032529 Centerline is valid? [True, True] Translation: X:202.84, Y:76.48, Z:0.17 [[ 7.10899367e-01 -7.03293718e-01 -1.92281293e-04 2.02838036e+02] [ 7.03293693e-01 7.10899393e-01 -1.86101618e-04 7.64822497e+01] [ 2.67576753e-04 -2.93069837e-06 9.99999964e-01 1.68447302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221858064 meters 0.015528820687371568 Centerline is valid? [True, True] Translation: X:202.88, Y:76.52, Z:0.17 [[ 7.10771913e-01 -7.03422258e-01 -6.44021202e-04 2.02879449e+02] [ 7.03421981e-01 7.10772204e-01 -6.24319636e-04 7.65226305e+01] [ 8.96912698e-04 -9.26980790e-06 9.99999598e-01 1.68107890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281858064 meters 0.0154121126766213 Centerline is valid? [True, True] Translation: X:202.92, Y:76.56, Z:0.17 [[ 7.10988240e-01 -7.03200747e-01 -2.10502497e-03 2.02919631e+02] [ 7.03197782e-01 7.10991356e-01 -2.04251518e-03 7.65648049e+01] [ 2.93295276e-03 -2.80446219e-05 9.99995698e-01 1.65424621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341858064 meters 0.01553043547656578 Centerline is valid? [True, True] Translation: X:202.96, Y:76.61, Z:0.16 [[ 7.10920708e-01 -7.03267545e-01 -2.55105265e-03 2.02960905e+02] [ 7.03263184e-01 7.10925284e-01 -2.47673751e-03 7.66053248e+01] [ 3.55541693e-03 -3.32974291e-05 9.99993679e-01 1.64189241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40185806399998 meters 0.01587183566091713 Centerline is valid? [True, True] Translation: X:203.00, Y:76.64, Z:0.16 [[ 7.10289930e-01 -7.03905606e-01 -2.26120265e-03 2.03003679e+02] [ 7.03902180e-01 7.10293529e-01 -2.19649073e-03 7.66448794e+01] [ 3.15223975e-03 -3.15202297e-05 9.99995031e-01 1.64662838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46185806399998 meters 0.016234756329051983 Centerline is valid? [True, True] Translation: X:203.05, Y:76.68, Z:0.17 [[ 7.08506490e-01 -7.05701433e-01 -2.01008938e-03 2.03047192e+02] [ 7.05698730e-01 7.08509341e-01 -1.95349814e-03 7.66847362e+01] [ 2.80275354e-03 -3.44514120e-05 9.99996072e-01 1.66038864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52185806399999 meters 0.01654155861928214 Centerline is valid? [True, True] Translation: X:203.09, Y:76.73, Z:0.17 [[ 7.07463187e-01 -7.06747336e-01 -2.01075290e-03 2.03090266e+02] [ 7.06744633e-01 7.07466043e-01 -1.95506902e-03 7.67253955e+01] [ 2.80427922e-03 -3.79494572e-05 9.99996067e-01 1.65995972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.581858064 meters 0.016990760192080644 Centerline is valid? [True, True] Translation: X:203.13, Y:76.76, Z:0.17 [[ 7.06493386e-01 -7.07715922e-01 -2.29554670e-03 2.03132326e+02] [ 7.07712402e-01 7.06497113e-01 -2.23262657e-03 7.67644602e+01] [ 3.20186249e-03 -4.72509635e-05 9.99994873e-01 1.65327483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.641858064 meters 0.017683483513415785 Centerline is valid? [True, True] Translation: X:203.17, Y:76.80, Z:0.16 [[ 7.04978377e-01 -7.09221980e-01 -3.10978985e-03 2.03174832e+02] [ 7.09215531e-01 7.04985232e-01 -3.02537400e-03 7.68036909e+01] [ 4.33801766e-03 -7.26880071e-05 9.99990588e-01 1.64638815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701858064 meters 0.01746498876070402 Centerline is valid? [True, True] Translation: X:203.22, Y:76.84, Z:0.17 [[ 7.03705813e-01 -7.10481099e-01 -3.83882857e-03 2.03216790e+02] [ 7.10471282e-01 7.03716277e-01 -3.73631414e-03 7.68445426e+01] [ 5.35602672e-03 -9.81114742e-05 9.99985652e-01 1.65284400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761858064 meters 0.017370831127122656 Centerline is valid? [True, True] Translation: X:203.26, Y:76.89, Z:0.17 [[ 7.01862472e-01 -7.12301844e-01 -3.89280487e-03 2.03259491e+02] [ 7.12291766e-01 7.01873258e-01 -3.79071316e-03 7.68853827e+01] [ 5.43238761e-03 -1.12253552e-04 9.99985238e-01 1.65837782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821858064 meters 0.017453676137655964 Centerline is valid? [True, True] Translation: X:203.30, Y:76.93, Z:0.17 [[ 7.00867999e-01 -7.13279929e-01 -3.97370012e-03 2.03301236e+02] [ 7.13269433e-01 7.00879254e-01 -3.87140450e-03 7.69266533e+01] [ 5.54647910e-03 -1.20975303e-04 9.99984611e-01 1.65947354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881858064 meters 0.01792735952633378 Centerline is valid? [True, True] Translation: X:203.34, Y:76.97, Z:0.17 [[ 7.00397337e-01 -7.13744810e-01 -3.45200917e-03 2.03343287e+02] [ 7.13736890e-01 7.00405835e-01 -3.36418508e-03 7.69658455e+01] [ 4.81897701e-03 -1.07560019e-04 9.99988383e-01 1.66880291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941858064 meters 0.01785924649807838 Centerline is valid? [True, True] Translation: X:203.38, Y:77.01, Z:0.17 [[ 7.00108380e-01 -7.14028746e-01 -3.34754800e-03 2.03383741e+02] [ 7.14021293e-01 7.00116375e-01 -3.26402609e-03 7.70071019e+01] [ 4.67428163e-03 -1.05048530e-04 9.99989070e-01 1.67589685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001858064 meters 0.01764241847607417 Centerline is valid? [True, True] Translation: X:203.42, Y:77.05, Z:0.17 [[ 7.00303275e-01 -7.13838764e-01 -3.08908743e-03 2.03424565e+02] [ 7.13832410e-01 7.00310081e-01 -3.01349372e-03 7.70501903e+01] [ 4.31446770e-03 -9.47312054e-05 9.99990688e-01 1.68165603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061858064 meters 0.017258347346646545 Centerline is valid? [True, True] Translation: X:203.47, Y:77.09, Z:0.17 [[ 7.00684138e-01 -7.13463272e-01 -3.44948744e-03 2.03465074e+02] [ 7.13455335e-01 7.00692621e-01 -3.36675763e-03 7.70932982e+01] [ 4.81908831e-03 -1.02021549e-04 9.99988383e-01 1.67943449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121858064 meters 0.017212598444776583 Centerline is valid? [True, True] Translation: X:203.51, Y:77.13, Z:0.17 [[ 7.00667929e-01 -7.13473053e-01 -4.54482045e-03 2.03505122e+02] [ 7.13459260e-01 7.00682657e-01 -4.43836095e-03 7.71347356e+01] [ 6.35112780e-03 -1.32727061e-04 9.99979823e-01 1.67837575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18185806399998 meters 0.017235852717924997 Centerline is valid? [True, True] Translation: X:203.55, Y:77.18, Z:0.17 [[ 7.00290218e-01 -7.13841700e-01 -4.86182174e-03 2.03546612e+02] [ 7.13825909e-01 7.00307080e-01 -4.75034687e-03 7.71769617e+01] [ 6.79576387e-03 -1.43872871e-04 9.99976898e-01 1.68894444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24185806399998 meters 0.018307811874294016 Centerline is valid? [True, True] Translation: X:203.59, Y:77.22, Z:0.17 [[ 6.99496536e-01 -7.14624773e-01 -4.00377021e-03 2.03588772e+02] [ 7.14614070e-01 6.99507984e-01 -3.91303004e-03 7.72168356e+01] [ 5.59701743e-03 -1.23999570e-04 9.99984329e-01 1.70824385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.301858064 meters 0.018256300513373822 Centerline is valid? [True, True] Translation: X:203.63, Y:77.26, Z:0.17 [[ 6.99001982e-01 -7.15109140e-01 -3.89195074e-03 2.03630557e+02] [ 7.15099025e-01 6.99012806e-01 -3.80541985e-03 7.72586277e+01] [ 5.44181392e-03 -1.23134162e-04 9.99985186e-01 1.71714677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.361858064 meters 0.019492253139437136 Centerline is valid? [True, True] Translation: X:203.67, Y:77.30, Z:0.17 [[ 6.96900783e-01 -7.17157024e-01 -3.88607120e-03 2.03673101e+02] [ 7.17146967e-01 6.96911604e-01 -3.80049922e-03 7.72977632e+01] [ 5.43380282e-03 -1.38313291e-04 9.99985227e-01 1.72378007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.421858064 meters 0.019650200652242558 Centerline is valid? [True, True] Translation: X:203.72, Y:77.34, Z:0.17 [[ 6.95693227e-01 -7.18326271e-01 -4.27815045e-03 2.03715671e+02] [ 7.18314093e-01 6.95706363e-01 -4.18574143e-03 7.73386948e+01] [ 5.98306452e-03 -1.61063796e-04 9.99982088e-01 1.72673820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.481858064 meters 0.0193576444806611 Centerline is valid? [True, True] Translation: X:203.76, Y:77.38, Z:0.17 [[ 6.94453371e-01 -7.19522246e-01 -4.71727448e-03 2.03755689e+02] [ 7.19507461e-01 6.94469367e-01 -4.61638263e-03 7.73813395e+01] [ 6.59759262e-03 -1.88251710e-04 9.99978218e-01 1.72499397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.541858064 meters 0.018842596690170996 Centerline is valid? [True, True] Translation: X:203.79, Y:77.42, Z:0.17 [[ 6.94747562e-01 -7.19230648e-01 -5.75319103e-03 2.03794839e+02] [ 7.19208624e-01 6.94771347e-01 -5.63307334e-03 7.74244183e+01] [ 8.04863127e-03 -2.24180633e-04 9.99967584e-01 1.71800221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601858064 meters 0.018496645047514738 Centerline is valid? [True, True] Translation: X:203.83, Y:77.47, Z:0.17 [[ 6.95984212e-01 -7.18014964e-01 -7.77739850e-03 2.03834316e+02] [ 7.17974596e-01 6.96027609e-01 -7.61887833e-03 7.74683166e+01] [ 1.08837527e-02 -2.81355505e-04 9.99940731e-01 1.70210476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661858064 meters 0.018956756099603293 Centerline is valid? [True, True] Translation: X:203.87, Y:77.51, Z:0.17 [[ 6.95721690e-01 -7.18264156e-01 -8.24210402e-03 2.03874848e+02] [ 7.18218793e-01 6.95770445e-01 -8.07799734e-03 7.75108756e+01] [ 1.15367483e-02 -2.99596041e-04 9.99933405e-01 1.68819501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721858064 meters 0.01872191091657597 Centerline is valid? [True, True] Translation: X:203.92, Y:77.55, Z:0.17 [[ 6.93659393e-01 -7.20250203e-01 -8.73449162e-03 2.03915610e+02] [ 7.20199362e-01 6.93714295e-01 -8.56481374e-03 7.75532179e+01] [ 1.22280505e-02 -3.49511793e-04 9.99925174e-01 1.69186725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781858064 meters 0.020191782975871018 Centerline is valid? [True, True] Translation: X:203.96, Y:77.59, Z:0.17 [[ 6.91200012e-01 -7.22616576e-01 -8.23577108e-03 2.03958610e+02] [ 7.22571518e-01 6.91248978e-01 -8.07794164e-03 7.75917209e+01] [ 1.15302229e-02 -3.67460250e-04 9.99933457e-01 1.70094850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841858064 meters 0.020728683039408374 Centerline is valid? [True, True] Translation: X:204.00, Y:77.63, Z:0.17 [[ 6.87162617e-01 -7.26465666e-01 -7.42788744e-03 2.04000397e+02] [ 7.26429201e-01 6.87202653e-01 -7.28909023e-03 7.76328191e+01] [ 1.03997377e-02 -3.87044021e-04 9.99945846e-01 1.72987876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90185806399998 meters 0.024604877921516933 Centerline is valid? [True, True] Translation: X:204.05, Y:77.67, Z:0.17 [[ 6.85576577e-01 -7.27962330e-01 -7.45669423e-03 2.04045711e+02] [ 7.27925651e-01 6.85617005e-01 -7.31905877e-03 7.76688083e+01] [ 1.04404354e-02 -4.10143743e-04 9.99945413e-01 1.73065933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96185806399998 meters 0.022800866612239748 Centerline is valid? [True, True] Translation: X:204.09, Y:77.71, Z:0.18 [[ 6.85938307e-01 -7.27625978e-01 -7.00531586e-03 2.04085678e+02] [ 7.27593558e-01 6.85973974e-01 -6.87910167e-03 7.77124239e+01] [ 9.81087744e-03 -3.78383332e-04 9.99951801e-01 1.75481889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02185806399999 meters 0.020932192189413 Centerline is valid? [True, True] Translation: X:204.12, Y:77.76, Z:0.18 [[ 6.87701057e-01 -7.25955633e-01 -7.46149234e-03 2.04123395e+02] [ 7.25918718e-01 6.87741432e-01 -7.33061331e-03 7.77581726e+01] [ 1.04532775e-02 -3.75166426e-04 9.99945293e-01 1.75948357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.081858064 meters 0.02039494813901769 Centerline is valid? [True, True] Translation: X:204.16, Y:77.80, Z:0.18 [[ 6.89323235e-01 -7.24417763e-01 -7.23752686e-03 2.04164195e+02] [ 7.24382914e-01 6.89361146e-01 -7.11376032e-03 7.78014146e+01] [ 1.01426041e-02 -3.39060513e-04 9.99948505e-01 1.76420131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.141858064 meters 0.019032254514276124 Centerline is valid? [True, True] Translation: X:204.20, Y:77.85, Z:0.18 [[ 6.91297394e-01 -7.22527876e-01 -7.83458636e-03 2.04202881e+02] [ 7.22486876e-01 6.91341707e-01 -7.70434803e-03 7.78456699e+01] [ 1.09829825e-02 -3.34390106e-04 9.99939629e-01 1.76119385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.201858064 meters 0.018483870161966114 Centerline is valid? [True, True] Translation: X:204.24, Y:77.89, Z:0.18 [[ 6.91832590e-01 -7.22011091e-01 -8.22502863e-03 2.04243555e+02] [ 7.21965821e-01 6.91881398e-01 -8.09226154e-03 7.78886704e+01] [ 1.15334469e-02 -3.39699284e-04 9.99933430e-01 1.75715219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.261858064 meters 0.018211953018330704 Centerline is valid? [True, True] Translation: X:204.28, Y:77.93, Z:0.18 [[ 6.91339684e-01 -7.22486358e-01 -7.93120328e-03 2.04283966e+02] [ 7.22444247e-01 6.91385097e-01 -7.80752039e-03 7.79309280e+01] [ 1.11243427e-02 -3.32203497e-04 9.99938067e-01 1.75578938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321858064 meters 0.021208405869043247 Centerline is valid? [True, True] Translation: X:204.33, Y:77.97, Z:0.18 [[ 6.90457288e-01 -7.23350868e-01 -5.67937008e-03 2.04327438e+02] [ 7.23329290e-01 6.90480602e-01 -5.59265280e-03 7.79675060e+01] [ 7.96694513e-03 -2.46566841e-04 9.99968233e-01 1.75384265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381858064 meters 0.018747446381553696 Centerline is valid? [True, True] Translation: X:204.37, Y:78.01, Z:0.18 [[ 6.90288663e-01 -7.23521846e-01 -4.20714571e-03 2.04365436e+02] [ 7.23509997e-01 6.90301459e-01 -4.14477044e-03 7.80122721e+01] [ 5.90303078e-03 -1.82823935e-04 9.99982560e-01 1.76166103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441858064 meters 0.019210277354857412 Centerline is valid? [True, True] Translation: X:204.41, Y:78.05, Z:0.18 [[ 6.89785514e-01 -7.24009135e-01 -2.59176071e-03 2.04406223e+02] [ 7.24004637e-01 6.89790374e-01 -2.55458458e-03 7.80536057e+01] [ 3.63731416e-03 -1.14331329e-04 9.99993378e-01 1.76537050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501858064 meters 0.018537151278673437 Centerline is valid? [True, True] Translation: X:204.45, Y:78.10, Z:0.18 [[ 6.89213976e-01 -7.24557155e-01 -1.01180356e-03 2.04446754e+02] [ 7.24556470e-01 6.89214717e-01 -9.97611224e-04 7.80960251e+01] [ 1.42017625e-03 -4.55412149e-05 9.99998991e-01 1.77767847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561858064 meters 0.019259843249979227 Centerline is valid? [True, True] Translation: X:204.49, Y:78.14, Z:0.18 [[ 6.89019086e-01 -7.24743155e-01 -2.43038800e-04 2.04486355e+02] [ 7.24743115e-01 6.89019129e-01 -2.39584991e-04 7.81364246e+01] [ 3.41095965e-04 -1.10620652e-05 9.99999942e-01 1.78093657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621858064 meters 0.020171096100237942 Centerline is valid? [True, True] Translation: X:204.53, Y:78.18, Z:0.18 [[ 6.88534927e-01 -7.25203141e-01 2.43651464e-04 2.04528185e+02] [ 7.25203101e-01 6.88534970e-01 2.40525195e-04 7.81767134e+01] [-3.42192180e-04 1.10867998e-05 9.99999941e-01 1.78145175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68185806399998 meters 0.01979956057625668 Centerline is valid? [True, True] Translation: X:204.57, Y:78.22, Z:0.18 [[ 6.88495946e-01 -7.25240178e-01 1.29601306e-04 2.04569286e+02] [ 7.25240167e-01 6.88495958e-01 1.28285467e-04 7.82182653e+01] [-1.82267751e-04 5.66804877e-06 9.99999983e-01 1.77385461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74185806399998 meters 0.01854227528379472 Centerline is valid? [True, True] Translation: X:204.61, Y:78.26, Z:0.18 [[ 6.88113927e-01 -7.25601730e-01 -1.16331260e-03 2.04609072e+02] [ 7.25600823e-01 6.88114908e-01 -1.14878593e-03 7.82613084e+01] [ 1.63405379e-03 -5.36049825e-05 9.99998663e-01 1.75739134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.801858064 meters 0.01984313075577414 Centerline is valid? [True, True] Translation: X:204.65, Y:78.30, Z:0.17 [[ 6.87497960e-01 -7.26184548e-01 -1.59932838e-03 2.04651755e+02] [ 7.26182833e-01 6.87499816e-01 -1.58002228e-03 7.83004421e+01] [ 2.24692573e-03 -7.51427246e-05 9.99997473e-01 1.74691658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.861858064 meters 0.01914023091968446 Centerline is valid? [True, True] Translation: X:204.69, Y:78.34, Z:0.17 [[ 6.86659127e-01 -7.26978044e-01 -1.47244060e-03 2.04693200e+02] [ 7.26976591e-01 6.86660702e-01 -1.45522741e-03 7.83427502e+01] [ 2.06898547e-03 -7.11846646e-05 9.99997857e-01 1.73997884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.921858064 meters 0.02053657447702266 Centerline is valid? [True, True] Translation: X:204.74, Y:78.38, Z:0.17 [[ 6.85830153e-01 -7.27760809e-01 -1.09840613e-03 2.04736770e+02] [ 7.27760001e-01 6.85831031e-01 -1.08587172e-03 7.83813262e+01] [ 1.54357589e-03 -5.46524808e-05 9.99998807e-01 1.74557058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.981858064 meters 0.021550574449216264 Centerline is valid? [True, True] Translation: X:204.78, Y:78.42, Z:0.18 [[ 6.85300936e-01 -7.28259855e-01 -4.58656044e-04 2.04780560e+02] [ 7.28259714e-01 6.85301089e-01 -4.53439731e-04 7.84197156e+01] [ 6.44539440e-04 -2.32780475e-05 9.99999792e-01 1.75300724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.041858064 meters 0.01975910068264018 Centerline is valid? [True, True] Translation: X:204.82, Y:78.46, Z:0.18 [[ 6.85880893e-01 -7.27713675e-01 4.54643364e-04 2.04820256e+02] [ 7.27713537e-01 6.85881044e-01 4.50089540e-04 7.84637721e+01] [-6.39367578e-04 2.21423145e-05 9.99999795e-01 1.75772427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101858064 meters 0.019999536420112464 Centerline is valid? [True, True] Translation: X:204.86, Y:78.50, Z:0.18 [[ 6.88103310e-01 -7.25612304e-01 7.86428126e-04 2.04861803e+02] [ 7.25611887e-01 6.88103759e-01 7.78703749e-04 7.85049187e+01] [-1.10618117e-03 3.48129694e-05 9.99999388e-01 1.75359602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161858064 meters 0.017612415332375467 Centerline is valid? [True, True] Translation: X:204.90, Y:78.55, Z:0.17 [[ 6.89483375e-01 -7.24301456e-01 -2.75394872e-04 2.04902314e+02] [ 7.24301405e-01 6.89483430e-01 -2.72433149e-04 7.85484940e+01] [ 3.87203928e-04 -1.16307657e-05 9.99999925e-01 1.73890235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221858064 meters 0.017876671345962145 Centerline is valid? [True, True] Translation: X:204.94, Y:78.59, Z:0.17 [[ 6.89248214e-01 -7.24525040e-01 -6.04940515e-04 2.04944448e+02] [ 7.24524793e-01 6.89248479e-01 -5.99040177e-04 7.85888330e+01] [ 8.50973938e-04 -2.54070291e-05 9.99999638e-01 1.73674420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281858064 meters 0.01818476829357533 Centerline is valid? [True, True] Translation: X:204.99, Y:78.63, Z:0.17 [[ 6.88618135e-01 -7.25123655e-01 -8.65428442e-04 2.04987541e+02] [ 7.25123149e-01 6.88618678e-01 -8.57594933e-04 7.86291488e+01] [ 1.21781256e-03 -3.69867734e-05 9.99999258e-01 1.73156068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341858064 meters 0.01897719498067224 Centerline is valid? [True, True] Translation: X:205.03, Y:78.67, Z:0.17 [[ 6.86464176e-01 -7.27162889e-01 -1.03333485e-03 2.05031979e+02] [ 7.27162169e-01 6.86464952e-01 -1.02453608e-03 7.86680101e+01] [ 1.45435278e-03 -4.80946884e-05 9.99998941e-01 1.72730133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40185806399998 meters 0.019869242165762167 Centerline is valid? [True, True] Translation: X:205.08, Y:78.71, Z:0.17 [[ 6.84604798e-01 -7.28914419e-01 1.98892057e-04 2.05075503e+02] [ 7.28914393e-01 6.84604827e-01 1.97430653e-04 7.87072354e+01] [-2.80072512e-04 9.81331111e-06 9.99999961e-01 1.73546988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46185806399998 meters 0.022423476003834653 Centerline is valid? [True, True] Translation: X:205.12, Y:78.75, Z:0.17 [[ 6.84247391e-01 -7.29249882e-01 3.43729228e-04 2.05119815e+02] [ 7.29249802e-01 6.84247477e-01 3.41204733e-04 7.87452231e+01] [-4.84019368e-04 1.71960234e-05 9.99999883e-01 1.73858286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52185806399999 meters 0.019133327750791955 Centerline is valid? [True, True] Translation: X:205.16, Y:78.79, Z:0.17 [[ 6.84967070e-01 -7.28573971e-01 -2.86953324e-04 2.05157926e+02] [ 7.28573915e-01 6.84967130e-01 -2.84562370e-04 7.87906560e+01] [ 4.03878331e-04 -1.41508539e-05 9.99999918e-01 1.72871297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.581858064 meters 0.017932019527799267 Centerline is valid? [True, True] Translation: X:205.20, Y:78.83, Z:0.17 [[ 6.87487450e-01 -7.26195059e-01 -1.32005345e-03 2.05198321e+02] [ 7.26193878e-01 6.87488715e-01 -1.31077655e-03 7.88337330e+01] [ 1.85940130e-03 -5.74723047e-05 9.99998270e-01 1.72747908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.641858064 meters 0.01762284439492161 Centerline is valid? [True, True] Translation: X:205.24, Y:78.88, Z:0.17 [[ 6.89737597e-01 -7.24057790e-01 -1.53774304e-03 2.05238649e+02] [ 7.24056181e-01 6.89739308e-01 -1.52744466e-03 7.88756451e+01] [ 2.16660003e-03 -5.98763488e-05 9.99997651e-01 1.72575875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.701858064 meters 0.016268303401557164 Centerline is valid? [True, True] Translation: X:205.28, Y:78.92, Z:0.17 [[ 6.92685656e-01 -7.21231589e-01 -3.40241848e-03 2.05278778e+02] [ 7.21223672e-01 6.92694003e-01 -3.38121381e-03 7.89186923e+01] [ 4.79547308e-03 -1.11786445e-04 9.99988495e-01 1.72147817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.761858064 meters 0.015758080184858428 Centerline is valid? [True, True] Translation: X:205.32, Y:78.96, Z:0.17 [[ 6.93627496e-01 -7.20323317e-01 -3.90079486e-03 2.05319528e+02] [ 7.20312885e-01 6.93638454e-01 -3.87842466e-03 7.89608753e+01] [ 5.49946103e-03 -1.19610809e-04 9.99984871e-01 1.71660056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821858064 meters 0.015757763820979365 Centerline is valid? [True, True] Translation: X:205.36, Y:79.00, Z:0.17 [[ 6.94071202e-01 -7.19894493e-01 -4.13349763e-03 2.05361666e+02] [ 7.19882761e-01 6.94083499e-01 -4.11180888e-03 7.90019133e+01] [ 5.82906107e-03 -1.21745553e-04 9.99983003e-01 1.70994979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881858064 meters 0.016441124640535775 Centerline is valid? [True, True] Translation: X:205.41, Y:79.04, Z:0.17 [[ 6.93268253e-01 -7.20667557e-01 -4.17138291e-03 2.05406001e+02] [ 7.20655617e-01 6.93280791e-01 -4.15039953e-03 7.90399983e+01] [ 5.88299793e-03 -1.28790295e-04 9.99982687e-01 1.71370399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941858064 meters 0.017139097467934482 Centerline is valid? [True, True] Translation: X:205.45, Y:79.08, Z:0.17 [[ 6.92132681e-01 -7.21757003e-01 -4.37957808e-03 2.05448851e+02] [ 7.21743851e-01 6.92146522e-01 -4.35942910e-03 7.90800171e+01] [ 6.17775821e-03 -1.43630201e-04 9.99980907e-01 1.70634050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001858064 meters 0.0175898169068489 Centerline is valid? [True, True] Translation: X:205.49, Y:79.12, Z:0.17 [[ 6.90482979e-01 -7.23331504e-01 -4.97908984e-03 2.05492363e+02] [ 7.23314529e-01 6.90500908e-01 -4.95858277e-03 7.91202030e+01] [ 7.02476519e-03 -1.77631028e-04 9.99975310e-01 1.70413732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061858064 meters 0.019343260805957368 Centerline is valid? [True, True] Translation: X:205.54, Y:79.16, Z:0.17 [[ 6.88190686e-01 -7.25515417e-01 -4.57819946e-03 2.05536797e+02] [ 7.25501107e-01 6.88205889e-01 -4.56039587e-03 7.91571249e+01] [ 6.45938135e-03 -1.83066817e-04 9.99979121e-01 1.71514351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121858064 meters 0.017988163909273717 Centerline is valid? [True, True] Translation: X:205.58, Y:79.20, Z:0.17 [[ 6.86658451e-01 -7.26962696e-01 -5.04079085e-03 2.05578164e+02] [ 7.26945371e-01 6.86676920e-01 -5.02347898e-03 7.91995962e+01] [ 7.11327656e-03 -2.14965278e-04 9.99974677e-01 1.72033456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18185806399998 meters 0.019166856595019606 Centerline is valid? [True, True] Translation: X:205.62, Y:79.24, Z:0.17 [[ 6.84831107e-01 -7.28681841e-01 -5.39715556e-03 2.05623160e+02] [ 7.28662013e-01 6.84852329e-01 -5.38124152e-03 7.92378118e+01] [ 7.61746754e-03 -2.47460641e-04 9.99970956e-01 1.71888031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24185806399998 meters 0.01838245838960725 Centerline is valid? [True, True] Translation: X:205.66, Y:79.28, Z:0.17 [[ 6.84716281e-01 -7.28787093e-01 -5.74343465e-03 2.05664503e+02] [ 7.28764617e-01 6.84740318e-01 -5.72969685e-03 7.92784103e+01] [ 8.10849039e-03 -2.62395235e-04 9.99967091e-01 1.72540846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.301858064 meters 0.019509008480601178 Centerline is valid? [True, True] Translation: X:205.71, Y:79.32, Z:0.17 [[ 6.86659632e-01 -7.26951508e-01 -6.32888624e-03 2.05708447e+02] [ 7.26924109e-01 6.86688747e-01 -6.31689429e-03 7.93168602e+01] [ 8.93805080e-03 -2.63063685e-04 9.99960020e-01 1.70892520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.361858064 meters 0.0189820823927427 Centerline is valid? [True, True] Translation: X:205.75, Y:79.36, Z:0.17 [[ 6.88762243e-01 -7.24955285e-01 -6.81225957e-03 2.05751193e+02] [ 7.24923414e-01 6.88795884e-01 -6.80252563e-03 7.93575719e+01] [ 9.62378327e-03 -2.53043655e-04 9.99953658e-01 1.70665776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.421858064 meters 0.017498029351831243 Centerline is valid? [True, True] Translation: X:205.79, Y:79.40, Z:0.17 [[ 6.89602235e-01 -7.24160969e-01 -6.29668328e-03 2.05792400e+02] [ 7.24133679e-01 6.89630946e-01 -6.29066362e-03 7.93991777e+01] [ 8.89784072e-03 -2.21584738e-04 9.99960389e-01 1.72327731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.481858064 meters 0.01850936329024909 Centerline is valid? [True, True] Translation: X:205.84, Y:79.44, Z:0.17 [[ 6.89363206e-01 -7.24388789e-01 -6.26518252e-03 2.05837047e+02] [ 7.24361760e-01 6.89391640e-01 -6.26156703e-03 7.94358334e+01] [ 8.85497341e-03 -2.21764716e-04 9.99960769e-01 1.73298475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.541858064 meters 0.01922020319056829 Centerline is valid? [True, True] Translation: X:205.88, Y:79.47, Z:0.17 [[ 6.89064507e-01 -7.24673611e-01 -6.18568599e-03 2.05879369e+02] [ 7.24647258e-01 6.89092236e-01 -6.18402826e-03 7.94736517e+01] [ 8.74391027e-03 -2.21246010e-04 9.99961747e-01 1.73641584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601858064 meters 0.01793220146892527 Centerline is valid? [True, True] Translation: X:205.92, Y:79.51, Z:0.17 [[ 6.88737087e-01 -7.24985523e-01 -6.10049662e-03 2.05920149e+02] [ 7.24959876e-01 6.88764069e-01 -6.10203782e-03 7.95143447e+01] [ 8.62569196e-03 -2.19915521e-04 9.99962774e-01 1.74384791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661858064 meters 0.017832157519209437 Centerline is valid? [True, True] Translation: X:205.96, Y:79.55, Z:0.17 [[ 6.88744734e-01 -7.24970916e-01 -6.91828117e-03 2.05962472e+02] [ 7.24937893e-01 6.88779435e-01 -6.92392810e-03 7.95548731e+01] [ 9.78481629e-03 -2.46505161e-04 9.99952097e-01 1.74650171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721858064 meters 0.018223797531967286 Centerline is valid? [True, True] Translation: X:206.01, Y:79.59, Z:0.17 [[ 6.89064615e-01 -7.24659168e-01 -7.68417946e-03 2.06005344e+02] [ 7.24618363e-01 6.89107407e-01 -7.69472146e-03 7.95939225e+01] [ 1.08712754e-02 -2.65937261e-04 9.99940871e-01 1.74143319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781858064 meters 0.018422035535087266 Centerline is valid? [True, True] Translation: X:206.05, Y:79.63, Z:0.17 [[ 6.88846840e-01 -7.24862433e-01 -8.03019392e-03 2.06048819e+02] [ 7.24817834e-01 6.88893588e-01 -8.04564200e-03 7.96330082e+01] [ 1.13639327e-02 -2.78212693e-04 9.99935390e-01 1.74864668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841858064 meters 0.018614226461844078 Centerline is valid? [True, True] Translation: X:206.09, Y:79.67, Z:0.17 [[ 6.90182029e-01 -7.23594162e-01 -7.76252342e-03 2.06089583e+02] [ 7.23552389e-01 6.90225636e-01 -7.77898887e-03 7.96740629e+01] [ 1.09867236e-02 -2.47674044e-04 9.99939613e-01 1.74665606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90185806399998 meters 0.0179817466011823 Centerline is valid? [True, True] Translation: X:206.13, Y:79.72, Z:0.18 [[ 6.90974444e-01 -7.22834066e-01 -8.07656990e-03 2.06130764e+02] [ 7.22788751e-01 6.91021602e-01 -8.09732934e-03 7.97164662e+01] [ 1.14341098e-02 -2.42606236e-04 9.99934599e-01 1.75149199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96185806399998 meters 0.01813075144349656 Centerline is valid? [True, True] Translation: X:206.17, Y:79.76, Z:0.17 [[ 6.91112451e-01 -7.22698420e-01 -8.40078494e-03 2.06171387e+02] [ 7.22649331e-01 6.91163463e-01 -8.42683357e-03 7.97579568e+01] [ 1.18963749e-02 -2.46932016e-04 9.99929205e-01 1.74975252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02185806399999 meters 0.017350172737470942 Centerline is valid? [True, True] Translation: X:206.21, Y:79.80, Z:0.18 [[ 6.90460961e-01 -7.23323819e-01 -8.14331814e-03 2.06212002e+02] [ 7.23277690e-01 6.90508937e-01 -8.17260607e-03 7.98012517e+01] [ 1.15344746e-02 -2.47014892e-04 9.99933445e-01 1.76625012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.081858064 meters 0.01756222783777951 Centerline is valid? [True, True] Translation: X:206.25, Y:79.84, Z:0.18 [[ 6.89959555e-01 -7.23800975e-01 -8.24383524e-03 2.06253428e+02] [ 7.23753686e-01 6.90008756e-01 -8.27753702e-03 7.98431401e+01] [ 1.16796079e-02 -2.55340382e-04 9.99931758e-01 1.76479912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.141858064 meters 0.01759168817310024 Centerline is valid? [True, True] Translation: X:206.29, Y:79.89, Z:0.18 [[ 6.90269000e-01 -7.23503057e-01 -8.48726441e-03 2.06294288e+02] [ 7.23452860e-01 6.90321129e-01 -8.52634439e-03 7.98852977e+01] [ 1.20277742e-02 -2.54664493e-04 9.99927631e-01 1.75997118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.201858064 meters 0.0176177862060285 Centerline is valid? [True, True] Translation: X:206.34, Y:79.93, Z:0.17 [[ 6.90754819e-01 -7.23033785e-01 -8.94014824e-03 2.06335145e+02] [ 7.22977993e-01 6.90812623e-01 -8.98565313e-03 7.99280087e+01] [ 1.26728980e-02 -2.56647225e-04 9.99919663e-01 1.74799845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.261858064 meters 0.017945199825263845 Centerline is valid? [True, True] Translation: X:206.38, Y:79.97, Z:0.17 [[ 6.90971801e-01 -7.22818567e-01 -9.55451979e-03 2.06375167e+02] [ 7.22754781e-01 6.91037804e-01 -9.60619251e-03 7.99684597e+01] [ 1.35460687e-02 -2.67966719e-04 9.99908212e-01 1.72873592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321858064 meters 0.018240334310746276 Centerline is valid? [True, True] Translation: X:206.42, Y:80.01, Z:0.17 [[ 6.90865967e-01 -7.22919914e-01 -9.54009563e-03 2.06415303e+02] [ 7.22856263e-01 6.90931781e-01 -9.59666680e-03 8.00098868e+01] [ 1.35291768e-02 -2.66107389e-04 9.99908441e-01 1.72558074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381858064 meters 0.018335352513461554 Centerline is valid? [True, True] Translation: X:206.46, Y:80.05, Z:0.17 [[ 6.90637157e-01 -7.23150218e-01 -8.60696403e-03 2.06456458e+02] [ 7.23098379e-01 6.90690744e-01 -8.66199573e-03 8.00517105e+01] [ 1.22086745e-02 -2.41385629e-04 9.99925442e-01 1.73865657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441858064 meters 0.017419476703523524 Centerline is valid? [True, True] Translation: X:206.50, Y:80.09, Z:0.18 [[ 6.90406381e-01 -7.23372264e-01 -8.46152478e-03 2.06496698e+02] [ 7.23322123e-01 6.90458190e-01 -8.52024998e-03 8.00942215e+01] [ 1.20056416e-02 -2.37973120e-04 9.99927901e-01 1.75379022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501858064 meters 0.01709196891322057 Centerline is valid? [True, True] Translation: X:206.54, Y:80.14, Z:0.18 [[ 6.91509999e-01 -7.22332525e-01 -7.04592439e-03 2.06537798e+02] [ 7.22297671e-01 6.91545870e-01 -7.09817555e-03 8.01364486e+01] [ 9.99982298e-03 -1.80795414e-04 9.99949984e-01 1.76970222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561858064 meters 0.01636043704889753 Centerline is valid? [True, True] Translation: X:206.58, Y:80.18, Z:0.18 [[ 6.93052931e-01 -7.20859909e-01 -6.21495201e-03 2.06577755e+02] [ 7.20832706e-01 6.93080783e-01 -6.26397178e-03 8.01802419e+01] [ 8.82290993e-03 -1.38676678e-04 9.99961068e-01 1.77703682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621858064 meters 0.01587880063670967 Centerline is valid? [True, True] Translation: X:206.62, Y:80.22, Z:0.18 [[ 6.95292817e-01 -7.18703911e-01 -5.70846901e-03 2.06618037e+02] [ 7.18680867e-01 6.95316243e-01 -5.75622216e-03 8.02236438e+01] [ 8.10621061e-03 -1.00307540e-04 9.99967139e-01 1.77862551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68185806399998 meters 0.01569772972852734 Centerline is valid? [True, True] Translation: X:206.66, Y:80.27, Z:0.18 [[ 6.95428992e-01 -7.18567549e-01 -6.26060094e-03 2.06658536e+02] [ 7.18539794e-01 6.95457163e-01 -6.31646926e-03 8.02659687e+01] [ 8.89278961e-03 -1.05835063e-04 9.99960453e-01 1.77263796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74185806399998 meters 0.016249382583452415 Centerline is valid? [True, True] Translation: X:206.70, Y:80.31, Z:0.18 [[ 6.93652931e-01 -7.20283674e-01 -6.08610877e-03 2.06700528e+02] [ 7.20257484e-01 6.93679619e-01 -6.14346885e-03 8.03073382e+01] [ 8.64684992e-03 -1.22130224e-04 9.99962608e-01 1.76550754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.801858064 meters 0.0172191283928817 Centerline is valid? [True, True] Translation: X:206.74, Y:80.35, Z:0.18 [[ 6.90269783e-01 -7.23529638e-01 -5.69998196e-03 2.06744518e+02] [ 7.23506753e-01 6.90293300e-01 -5.75651115e-03 8.03465745e+01] [ 8.09966578e-03 -1.50429740e-04 9.99967186e-01 1.77055268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.861858064 meters 0.01887310293802383 Centerline is valid? [True, True] Translation: X:206.79, Y:80.38, Z:0.18 [[ 6.85005055e-01 -7.28528844e-01 -3.71471999e-03 2.06788777e+02] [ 7.28519188e-01 6.85015114e-01 -3.75322792e-03 8.03845482e+01] [ 5.27897413e-03 -1.35264694e-04 9.99986057e-01 1.79098817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.921858064 meters 0.021216741394824296 Centerline is valid? [True, True] Translation: X:206.83, Y:80.42, Z:0.18 [[ 6.82146742e-01 -7.31209938e-01 -2.80160923e-03 2.06832257e+02] [ 7.31204465e-01 6.82152485e-01 -2.83159391e-03 8.04228413e+01] [ 3.98161430e-03 -1.16986619e-04 9.99992066e-01 1.78714713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.981858064 meters 0.020187358456727297 Centerline is valid? [True, True] Translation: X:206.87, Y:80.47, Z:0.18 [[ 6.80395544e-01 -7.32839403e-01 -2.88329818e-03 2.06871072e+02] [ 7.32833615e-01 6.80401641e-01 -2.91548102e-03 8.04677897e+01] [ 4.09838019e-03 -1.29297535e-04 9.99991593e-01 1.77156410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.041858064 meters 0.020341025957129184 Centerline is valid? [True, True] Translation: X:206.91, Y:80.51, Z:0.18 [[ 6.80070378e-01 -7.33141560e-01 -2.78089449e-03 2.06911173e+02] [ 7.33136172e-01 6.80076053e-01 -2.81343239e-03 8.05097329e+01] [ 3.95386396e-03 -1.25442310e-04 9.99992176e-01 1.77109001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101858064 meters 0.019397326438336155 Centerline is valid? [True, True] Translation: X:206.95, Y:80.55, Z:0.18 [[ 6.80530291e-01 -7.32716456e-01 -2.26232825e-03 2.06950910e+02] [ 7.32712885e-01 6.80534044e-01 -2.28989394e-03 8.05530095e+01] [ 3.21743436e-03 -9.92948672e-05 9.99994819e-01 1.78346096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161858064 meters 0.018381442589841823 Centerline is valid? [True, True] Translation: X:206.99, Y:80.60, Z:0.18 [[ 6.82261479e-01 -7.31106394e-01 -1.64757352e-03 2.06988659e+02] [ 7.31104494e-01 6.82263465e-01 -1.66839070e-03 8.05980719e+01] [ 2.34385032e-03 -6.62696993e-05 9.99997251e-01 1.78972979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221858064 meters 0.01828686623066387 Centerline is valid? [True, True] Translation: X:207.03, Y:80.64, Z:0.18 [[ 6.82990430e-01 -7.30423758e-01 -2.28179143e-03 2.07029087e+02] [ 7.30420104e-01 6.82994236e-01 -2.31188375e-03 8.06409918e+01] [ 3.24710522e-03 -8.76718585e-05 9.99994724e-01 1.78794397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281858064 meters 0.018609088832618234 Centerline is valid? [True, True] Translation: X:207.07, Y:80.68, Z:0.18 [[ 6.83735572e-01 -7.29721334e-01 -3.52722232e-03 2.07068097e+02] [ 7.29712590e-01 6.83744658e-01 -3.57472414e-03 8.06838695e+01] [ 5.02027189e-03 -1.29692480e-04 9.99987390e-01 1.77073356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341858064 meters 0.019300902145753536 Centerline is valid? [True, True] Translation: X:207.11, Y:80.73, Z:0.18 [[ 6.83214102e-01 -7.30212247e-01 -2.92664243e-03 2.07108283e+02] [ 7.30206228e-01 6.83220362e-01 -2.96671436e-03 8.07260384e+01] [ 4.16587286e-03 -1.10151444e-04 9.99991317e-01 1.76935274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40185806399998 meters 0.01825535969868831 Centerline is valid? [True, True] Translation: X:207.15, Y:80.77, Z:0.18 [[ 6.82328591e-01 -7.31042371e-01 -2.17833637e-03 2.07146113e+02] [ 7.31039039e-01 6.82332063e-01 -2.20906209e-03 8.07716661e+01] [ 3.10126673e-03 -8.51427027e-05 9.99995187e-01 1.78830998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46185806399998 meters 0.018395912992755097 Centerline is valid? [True, True] Translation: X:207.18, Y:80.82, Z:0.18 [[ 6.82869359e-01 -7.30537792e-01 -1.99314873e-03 2.07184944e+02] [ 7.30534997e-01 6.82872264e-01 -2.02222890e-03 8.08155402e+01] [ 2.83838062e-03 -7.51467496e-05 9.99995969e-01 1.79301105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52185806399999 meters 0.017844660236051427 Centerline is valid? [True, True] Translation: X:207.22, Y:80.86, Z:0.18 [[ 6.84299345e-01 -7.29199268e-01 -1.68324195e-03 2.07222228e+02] [ 7.29197269e-01 6.84301413e-01 -1.70859066e-03 8.08616080e+01] [ 2.39774791e-03 -5.82279594e-05 9.99997124e-01 1.80281610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.581858064 meters 0.01730818633495134 Centerline is valid? [True, True] Translation: X:207.26, Y:80.91, Z:0.18 [[ 6.85137990e-01 -7.28411948e-01 -1.40327265e-03 2.07260313e+02] [ 7.28410556e-01 6.85139425e-01 -1.42488549e-03 8.09074567e+01] [ 1.99934103e-03 -4.59154273e-05 9.99998000e-01 1.80420952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.641858064 meters 0.017064407688571686 Centerline is valid? [True, True] Translation: X:207.30, Y:80.95, Z:0.18 [[ 6.84923734e-01 -7.28613224e-01 -1.49956038e-03 2.07296688e+02] [ 7.28611633e-01 6.84925374e-01 -1.52336312e-03 8.09525220e+01] [ 2.13702947e-03 -4.92095812e-05 9.99997715e-01 1.80987947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.701858064 meters 0.01690110807328984 Centerline is valid? [True, True] Translation: X:207.34, Y:81.00, Z:0.18 [[ 6.84411139e-01 -7.29094496e-01 -1.61509875e-03 2.07335543e+02] [ 7.29092649e-01 6.84413043e-01 -1.64163641e-03 8.09967399e+01] [ 2.30230273e-03 -5.40023810e-05 9.99997348e-01 1.81345728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.761858064 meters 0.017065426013690765 Centerline is valid? [True, True] Translation: X:207.37, Y:81.04, Z:0.18 [[ 6.84346345e-01 -7.29152269e-01 -2.65498062e-03 2.07371581e+02] [ 7.29147277e-01 6.84351489e-01 -2.69963648e-03 8.10407031e+01] [ 3.78538600e-03 -8.83855325e-05 9.99992831e-01 1.80441664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821858064 meters 0.01683061731220369 Centerline is valid? [True, True] Translation: X:207.41, Y:81.09, Z:0.18 [[ 6.83815815e-01 -7.29648404e-01 -3.02289099e-03 2.07408889e+02] [ 7.29641931e-01 6.83822489e-01 -3.07513690e-03 8.10869266e+01] [ 4.31088957e-03 -1.02800776e-04 9.99990703e-01 1.80585665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881858064 meters 0.017945441101282558 Centerline is valid? [True, True] Translation: X:207.45, Y:81.13, Z:0.18 [[ 6.82835697e-01 -7.30561477e-01 -3.91644942e-03 2.07447596e+02] [ 7.30550620e-01 6.82846914e-01 -3.98542345e-03 8.11300852e+01] [ 5.58593224e-03 -1.39775151e-04 9.99984389e-01 1.80084768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941858064 meters 0.017599761702281863 Centerline is valid? [True, True] Translation: X:207.49, Y:81.17, Z:0.18 [[ 6.81844995e-01 -7.31483274e-01 -4.42967474e-03 2.07485947e+02] [ 7.31469391e-01 6.81859364e-01 -4.50976708e-03 8.11747577e+01] [ 6.31923439e-03 -1.65209370e-04 9.99980020e-01 1.80354957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001858064 meters 0.018176717904611995 Centerline is valid? [True, True] Translation: X:207.53, Y:81.22, Z:0.18 [[ 6.81414573e-01 -7.31882219e-01 -4.75361650e-03 2.07525957e+02] [ 7.31866231e-01 6.81431130e-01 -4.84091247e-03 8.12161124e+01] [ 6.78224002e-03 -1.80343085e-04 9.99976984e-01 1.80325492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061858064 meters 0.017659581008851698 Centerline is valid? [True, True] Translation: X:207.56, Y:81.26, Z:0.18 [[ 6.80126326e-01 -7.33081336e-01 -4.46497562e-03 2.07563856e+02] [ 7.33067243e-01 6.80140958e-01 -4.54904391e-03 8.12618184e+01] [ 6.37163198e-03 -1.79202843e-04 9.99979685e-01 1.81690775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121858064 meters 0.01853461036648671 Centerline is valid? [True, True] Translation: X:207.60, Y:81.31, Z:0.18 [[ 6.77866027e-01 -7.35176305e-01 -3.66736275e-03 2.07603001e+02] [ 7.35166819e-01 6.77875928e-01 -3.73818798e-03 8.13060973e+01] [ 5.23424416e-03 -1.62132771e-04 9.99986288e-01 1.83440377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18185806399998 meters 0.019386786553390514 Centerline is valid? [True, True] Translation: X:207.64, Y:81.35, Z:0.18 [[ 6.76469518e-01 -7.36458557e-01 -4.21735635e-03 2.07643343e+02] [ 7.36446024e-01 6.76482635e-01 -4.30093136e-03 8.13493609e+01] [ 6.02042604e-03 -1.96406352e-04 9.99981858e-01 1.83906646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24185806399998 meters 0.01886641266346643 Centerline is valid? [True, True] Translation: X:207.68, Y:81.40, Z:0.18 [[ 6.75340850e-01 -7.37487018e-01 -5.25683477e-03 2.07680258e+02] [ 7.37467556e-01 6.75361262e-01 -5.36373561e-03 8.13957787e+01] [ 7.50594794e-03 -2.54395325e-04 9.99971798e-01 1.83141658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.301858064 meters 0.019874100462850094 Centerline is valid? [True, True] Translation: X:207.72, Y:81.44, Z:0.18 [[ 6.76007681e-01 -7.36874518e-01 -5.43692313e-03 2.07717301e+02] [ 7.36853667e-01 6.76029496e-01 -5.54922579e-03 8.14408099e+01] [ 7.76460349e-03 -2.54897486e-04 9.99969823e-01 1.82138912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.361858064 meters 0.019289238081733745 Centerline is valid? [True, True] Translation: X:207.76, Y:81.49, Z:0.18 [[ 6.76808263e-01 -7.36136602e-01 -5.78604281e-03 2.07755857e+02] [ 7.36112937e-01 6.76832945e-01 -5.90828862e-03 8.14860534e+01] [ 8.26549190e-03 -2.60402407e-04 9.99965806e-01 1.82023210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.421858064 meters 0.01922327534699316 Centerline is valid? [True, True] Translation: X:207.79, Y:81.53, Z:0.18 [[ 6.78328171e-01 -7.34737579e-01 -5.61983578e-03 2.07792279e+02] [ 7.34715197e-01 6.78351409e-01 -5.73972395e-03 8.15312540e+01] [ 8.02941441e-03 -2.35562307e-04 9.99967736e-01 1.80480041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.481858064 meters 0.017786728377586467 Centerline is valid? [True, True] Translation: X:207.83, Y:81.58, Z:0.18 [[ 6.79831104e-01 -7.33348297e-01 -5.47223012e-03 2.07828791e+02] [ 7.33327010e-01 6.79853095e-01 -5.59147957e-03 8.15775720e+01] [ 7.82081460e-03 -2.11672419e-04 9.99969395e-01 1.80223327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.541858064 meters 0.016652186657784247 Centerline is valid? [True, True] Translation: X:207.87, Y:81.62, Z:0.18 [[ 6.83377157e-01 -7.30050654e-01 -4.65871587e-03 2.07866008e+02] [ 7.30035135e-01 6.83393021e-01 -4.76235286e-03 8.16236322e+01] [ 6.66049273e-03 -1.46543113e-04 9.99977808e-01 1.80912450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601858064 meters 0.014739858843183476 Centerline is valid? [True, True] Translation: X:207.90, Y:81.67, Z:0.18 [[ 6.88276609e-01 -7.25441340e-01 -3.18940648e-03 2.07902790e+02] [ 7.25434010e-01 6.88283995e-01 -3.26174544e-03 8.16709511e+01] [ 4.56142241e-03 -6.87208450e-05 9.99989594e-01 1.83212647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661858064 meters 0.014310135461194539 Centerline is valid? [True, True] Translation: X:207.94, Y:81.72, Z:0.18 [[ 6.90551164e-01 -7.23273924e-01 -3.73099499e-03 2.07940895e+02] [ 7.23263852e-01 6.90561241e-01 -3.81748778e-03 8.17159739e+01] [ 5.33756989e-03 -6.23231793e-05 9.99985753e-01 1.82318908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721858064 meters 0.01410136243068925 Centerline is valid? [True, True] Translation: X:207.98, Y:81.76, Z:0.18 [[ 6.91728777e-01 -7.22146690e-01 -3.93143180e-03 2.07980417e+02] [ 7.22135482e-01 6.91739947e-01 -4.02384818e-03 8.17581205e+01] [ 5.62533708e-03 -5.56148186e-05 9.99984176e-01 1.81682886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781858064 meters 0.014084097645859621 Centerline is valid? [True, True] Translation: X:208.02, Y:81.80, Z:0.18 [[ 6.90191309e-01 -7.23616593e-01 -3.87087485e-03 2.08022558e+02] [ 7.23605740e-01 6.90202161e-01 -3.96369450e-03 8.17988925e+01] [ 5.53988129e-03 -6.52797613e-05 9.99984653e-01 1.82563741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841858064 meters 0.01444466168768665 Centerline is valid? [True, True] Translation: X:208.07, Y:81.84, Z:0.18 [[ 6.88225336e-01 -7.25486257e-01 -3.94686004e-03 2.08066295e+02] [ 7.25474993e-01 6.88236649e-01 -4.04351129e-03 8.18390431e+01] [ 5.64988560e-03 -8.05013413e-05 9.99984036e-01 1.82868965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90185806399998 meters 0.014984620227389242 Centerline is valid? [True, True] Translation: X:208.11, Y:81.88, Z:0.18 [[ 6.84805042e-01 -7.28713665e-01 -4.29521873e-03 2.08110964e+02] [ 7.28700374e-01 6.84818502e-01 -4.40265170e-03 8.18773121e+01] [ 6.14971772e-03 -1.14969413e-04 9.99981084e-01 1.82683743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96185806399998 meters 0.01651860331645936 Centerline is valid? [True, True] Translation: X:208.16, Y:81.91, Z:0.18 [[ 6.81886615e-01 -7.31442444e-01 -4.75343854e-03 2.08157232e+02] [ 7.31426222e-01 6.81903166e-01 -4.87381929e-03 8.19133750e+01] [ 6.80630308e-03 -1.53397449e-04 9.99976825e-01 1.82395618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02185806399999 meters 0.016566037631727308 Centerline is valid? [True, True] Translation: X:208.20, Y:81.95, Z:0.18 [[ 6.80237992e-01 -7.32970223e-01 -5.56109600e-03 2.08200216e+02] [ 7.32948049e-01 6.80260696e-01 -5.70464001e-03 8.19534468e+01] [ 7.96432629e-03 -1.95481595e-04 9.99968265e-01 1.82188098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.081858064 meters 0.01769789801331795 Centerline is valid? [True, True] Translation: X:208.25, Y:81.99, Z:0.18 [[ 6.78551933e-01 -7.34524243e-01 -6.43513172e-03 2.08245034e+02] [ 7.34494603e-01 6.78582402e-01 -6.60315450e-03 8.19908131e+01] [ 9.21694420e-03 -2.45986271e-04 9.99957493e-01 1.80922304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.141858064 meters 0.017834758854352425 Centerline is valid? [True, True] Translation: X:208.29, Y:82.03, Z:0.18 [[ 6.77620822e-01 -7.35377984e-01 -7.01733299e-03 2.08288129e+02] [ 7.35342750e-01 6.77657099e-01 -7.20393946e-03 8.20308487e+01] [ 1.00529640e-02 -2.78605561e-04 9.99949429e-01 1.80813109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.201858064 meters 0.019743014902039818 Centerline is valid? [True, True] Translation: X:208.33, Y:82.07, Z:0.18 [[ 6.76028678e-01 -7.36823289e-01 -8.75600014e-03 2.08334611e+02] [ 7.36768516e-01 6.76085277e-01 -8.99173016e-03 8.20657630e+01] [ 1.25451190e-02 -3.72477782e-04 9.99921238e-01 1.80162080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.261858064 meters 0.020390528460171593 Centerline is valid? [True, True] Translation: X:208.38, Y:82.10, Z:0.18 [[ 6.75984260e-01 -7.36866155e-01 -8.57614670e-03 2.08379206e+02] [ 7.36813582e-01 6.76038562e-01 -8.80955204e-03 8.21020731e+01] [ 1.22892666e-02 -3.63902852e-04 9.99924418e-01 1.81026430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321858064 meters 0.019542352042741813 Centerline is valid? [True, True] Translation: X:208.42, Y:82.14, Z:0.18 [[ 6.78292439e-01 -7.34735359e-01 -9.12795609e-03 2.08422114e+02] [ 7.34675550e-01 6.78353768e-01 -9.38092775e-03 8.21414535e+01] [ 1.30844827e-02 -3.43073792e-04 9.99914336e-01 1.80783845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381858064 meters 0.018280802044231763 Centerline is valid? [True, True] Translation: X:208.46, Y:82.18, Z:0.18 [[ 6.79865955e-01 -7.33276226e-01 -9.39465976e-03 2.08463806e+02] [ 7.33212671e-01 6.79930785e-01 -9.65953996e-03 8.21830275e+01] [ 1.34708294e-02 -3.21091212e-04 9.99909213e-01 1.80868314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441858064 meters 0.018312220241326047 Centerline is valid? [True, True] Translation: X:208.51, Y:82.22, Z:0.18 [[ 6.82292248e-01 -7.31029888e-01 -8.51998131e-03 2.08507634e+02] [ 7.30977418e-01 6.82345397e-01 -8.76211603e-03 8.22207842e+01] [ 1.22189387e-02 -2.49590087e-04 9.99925315e-01 1.80958192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501858064 meters 0.017422036304096982 Centerline is valid? [True, True] Translation: X:208.55, Y:82.26, Z:0.18 [[ 6.84038491e-01 -7.29400823e-01 -8.11066016e-03 2.08549813e+02] [ 7.29353117e-01 6.84086542e-01 -8.34466429e-03 8.22614392e+01] [ 1.16349985e-02 -2.07463703e-04 9.99932290e-01 1.81785622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561858064 meters 0.015332876686353325 Centerline is valid? [True, True] Translation: X:208.59, Y:82.30, Z:0.18 [[ 6.85823308e-01 -7.27730595e-01 -7.38724328e-03 2.08591589e+02] [ 7.27690886e-01 6.85863073e-01 -7.60386882e-03 8.23031940e+01] [ 1.06002054e-02 -1.60719141e-04 9.99943803e-01 1.83858522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621858064 meters 0.014846911089259144 Centerline is valid? [True, True] Translation: X:208.64, Y:82.34, Z:0.18 [[ 6.87617813e-01 -7.26038432e-01 -7.06680058e-03 2.08635495e+02] [ 7.26001970e-01 6.87654114e-01 -7.27735788e-03 8.23421954e+01] [ 1.01431560e-02 -1.26470231e-04 9.99948549e-01 1.84345334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68185806399998 meters 0.013860535021830515 Centerline is valid? [True, True] Translation: X:208.68, Y:82.38, Z:0.19 [[ 6.89322021e-01 -7.24411340e-01 -7.95998310e-03 2.08678254e+02] [ 7.24364924e-01 6.89367970e-01 -8.20118434e-03 8.23827154e+01] [ 1.14283883e-02 -1.12675586e-04 9.99934687e-01 1.85036844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74185806399998 meters 0.014363811293726053 Centerline is valid? [True, True] Translation: X:208.72, Y:82.42, Z:0.18 [[ 6.90495900e-01 -7.23292506e-01 -7.96003460e-03 2.08721454e+02] [ 7.23245997e-01 6.90541774e-01 -8.20284489e-03 8.24216076e+01] [ 1.14297927e-02 -9.30323880e-05 9.99934673e-01 1.83051467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.801858064 meters 0.013680258325565955 Centerline is valid? [True, True] Translation: X:208.77, Y:82.46, Z:0.19 [[ 6.91987797e-01 -7.21863180e-01 -8.15095953e-03 2.08765233e+02] [ 7.21814267e-01 6.92035797e-01 -8.40349204e-03 8.24606435e+01] [ 1.17069273e-02 -6.83649343e-05 9.99931469e-01 1.85350605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.861858064 meters 0.013727573253314052 Centerline is valid? [True, True] Translation: X:208.81, Y:82.50, Z:0.19 [[ 6.93572027e-01 -7.20336312e-01 -8.56977492e-03 2.08810457e+02] [ 7.20282067e-01 6.93624968e-01 -8.84012016e-03 8.24977527e+01] [ 1.23120694e-02 -4.13951417e-05 9.99924203e-01 1.85653388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.921858064 meters 0.013897342419477121 Centerline is valid? [True, True] Translation: X:208.85, Y:82.54, Z:0.19 [[ 6.93769851e-01 -7.20147588e-01 -8.41697531e-03 2.08851871e+02] [ 7.20095189e-01 6.93820907e-01 -8.68722938e-03 8.25378830e+01] [ 1.20959607e-02 -3.40855905e-05 9.99926841e-01 1.85195386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.981858064 meters 0.014124679640055449 Centerline is valid? [True, True] Translation: X:208.90, Y:82.58, Z:0.18 [[ 6.94237955e-01 -7.19688416e-01 -9.06893971e-03 2.08895055e+02] [ 7.19627514e-01 6.94297186e-01 -9.36263481e-03 8.25773122e+01] [ 1.30347191e-02 -2.63620911e-05 9.99915044e-01 1.84443707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.041858064 meters 0.014361483576380259 Centerline is valid? [True, True] Translation: X:208.94, Y:82.61, Z:0.18 [[ 6.93238457e-01 -7.20643347e-01 -9.67513655e-03 2.08942445e+02] [ 7.20574060e-01 6.93305967e-01 -9.99298121e-03 8.26137486e+01] [ 1.39092053e-02 -4.41335501e-05 9.99903261e-01 1.84547004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101858064 meters 0.014917147019694566 Centerline is valid? [True, True] Translation: X:208.99, Y:82.65, Z:0.18 [[ 6.91899247e-01 -7.21923219e-01 -1.01142889e-02 2.08989814e+02] [ 7.21847597e-01 6.91973165e-01 -1.04491492e-02 8.26478424e+01] [ 1.45422999e-02 -7.12166901e-05 9.99894253e-01 1.84809768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161858064 meters 0.01482840587418366 Centerline is valid? [True, True] Translation: X:209.03, Y:82.69, Z:0.19 [[ 6.91095816e-01 -7.22690512e-01 -1.02467901e-02 2.09032925e+02] [ 7.22612898e-01 6.91171771e-01 -1.05916379e-02 8.26869857e+01] [ 1.47367683e-02 -8.46260859e-05 9.99891404e-01 1.86311810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221858064 meters 0.014928065267395783 Centerline is valid? [True, True] Translation: X:209.08, Y:82.72, Z:0.19 [[ 6.89851449e-01 -7.23883065e-01 -9.91394531e-03 2.09077380e+02] [ 7.23810488e-01 6.89922675e-01 -1.02508774e-02 8.27232771e+01] [ 1.42602922e-02 -1.04234938e-04 9.99898311e-01 1.86158855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281858064 meters 0.015690317824618216 Centerline is valid? [True, True] Translation: X:209.12, Y:82.76, Z:0.19 [[ 6.88387850e-01 -7.25282805e-01 -9.32846802e-03 2.09122549e+02] [ 7.25218615e-01 6.88451042e-01 -9.65003417e-03 8.27595224e+01] [ 1.34211974e-02 -1.22212382e-04 9.99909924e-01 1.86710291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341858064 meters 0.014662025647814532 Centerline is valid? [True, True] Translation: X:209.16, Y:82.80, Z:0.19 [[ 6.88763421e-01 -7.24935171e-01 -8.59929292e-03 2.09161406e+02] [ 7.24880543e-01 6.88817093e-01 -8.90007958e-03 8.28041261e+01] [ 1.23753207e-02 -1.03410862e-04 9.99923417e-01 1.90122654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40185806399998 meters 0.014687845567114033 Centerline is valid? [True, True] Translation: X:209.20, Y:82.85, Z:0.19 [[ 6.88599779e-01 -7.25090495e-01 -8.60916829e-03 2.09201898e+02] [ 7.25035692e-01 6.88653587e-01 -8.91523943e-03 8.28457057e+01] [ 1.23930900e-02 -1.02922388e-04 9.99923197e-01 1.89843833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46185806399998 meters 0.014921083345190923 Centerline is valid? [True, True] Translation: X:209.24, Y:82.89, Z:0.19 [[ 6.87122166e-01 -7.26497119e-01 -8.06635159e-03 2.09243281e+02] [ 7.26449051e-01 6.87169501e-01 -8.35783056e-03 8.28870110e+01] [ 1.16148906e-02 -1.16942830e-04 9.99932538e-01 1.91384818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52185806399999 meters 0.015387375855710504 Centerline is valid? [True, True] Translation: X:209.28, Y:82.93, Z:0.19 [[ 6.85892950e-01 -7.27660789e-01 -7.78700055e-03 2.09284043e+02] [ 7.27616044e-01 6.85937139e-01 -8.07056178e-03 8.29275865e+01] [ 1.12140242e-02 -1.30405112e-04 9.99937112e-01 1.90787426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.581858064 meters 0.015677429038569574 Centerline is valid? [True, True] Translation: X:209.32, Y:82.97, Z:0.19 [[ 6.83835482e-01 -7.29595006e-01 -7.75636047e-03 2.09324877e+02] [ 7.29550694e-01 6.83879450e-01 -8.04254082e-03 8.29696521e+01] [ 1.11722131e-02 -1.58883386e-04 9.99937576e-01 1.90562033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.641858064 meters 0.015509751858099207 Centerline is valid? [True, True] Translation: X:209.36, Y:83.01, Z:0.19 [[ 6.83816712e-01 -7.29613311e-01 -7.68902286e-03 2.09364172e+02] [ 7.29569718e-01 6.83859922e-01 -7.97706442e-03 8.30124383e+01] [ 1.10783870e-02 -1.54828276e-04 9.99938621e-01 1.90616379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.701858064 meters 0.01511024322675009 Centerline is valid? [True, True] Translation: X:209.40, Y:83.06, Z:0.19 [[ 6.84474276e-01 -7.28986417e-01 -8.58892831e-03 2.09402713e+02] [ 7.28931911e-01 6.84528144e-01 -8.91574480e-03 8.30557665e+01] [ 1.23788200e-02 -1.58145957e-04 9.99923367e-01 1.90350235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.761858064 meters 0.014978519767025989 Centerline is valid? [True, True] Translation: X:209.44, Y:83.10, Z:0.19 [[ 6.85087519e-01 -7.28412263e-01 -8.40633154e-03 2.09442857e+02] [ 7.28359954e-01 6.85139078e-01 -8.73049553e-03 8.30982597e+01] [ 1.21189062e-02 -1.41681726e-04 9.99926553e-01 1.90106063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821858064 meters 0.014780980504053078 Centerline is valid? [True, True] Translation: X:209.48, Y:83.14, Z:0.19 [[ 6.85994942e-01 -7.27566449e-01 -7.61592072e-03 2.09482770e+02] [ 7.27523421e-01 6.86037207e-01 -7.91341422e-03 8.31418613e+01] [ 1.09823397e-02 -1.12198569e-04 9.99939686e-01 1.91251909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881858064 meters 0.01440498884756319 Centerline is valid? [True, True] Translation: X:209.52, Y:83.19, Z:0.19 [[ 6.86475974e-01 -7.27119367e-01 -6.93998877e-03 2.09522230e+02] [ 7.27083580e-01 6.86511047e-01 -7.21458596e-03 8.31852862e+01] [ 1.00102441e-02 -9.33119539e-05 9.99949892e-01 1.92309559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941858064 meters 0.014163007613194821 Centerline is valid? [True, True] Translation: X:209.56, Y:83.23, Z:0.19 [[ 6.87252509e-01 -7.26393945e-01 -5.98550870e-03 2.09563623e+02] [ 7.26367273e-01 6.87278570e-01 -6.22513076e-03 8.32278656e+01] [ 8.63560915e-03 -6.94409018e-05 9.99962710e-01 1.93224689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001858064 meters 0.014157508830505323 Centerline is valid? [True, True] Translation: X:209.60, Y:83.27, Z:0.19 [[ 6.87772409e-01 -7.25890692e-01 -7.19835905e-03 2.09602610e+02] [ 7.25852045e-01 6.87810074e-01 -7.49067383e-03 8.32713861e+01] [ 1.03885143e-02 -7.30648514e-05 9.99946035e-01 1.90002539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061858064 meters 0.014169971790127512 Centerline is valid? [True, True] Translation: X:209.64, Y:83.31, Z:0.19 [[ 6.86939500e-01 -7.26673233e-01 -7.75474963e-03 2.09644484e+02] [ 7.26628386e-01 6.86983264e-01 -8.07360398e-03 8.33127895e+01] [ 1.11942551e-02 -8.87437312e-05 9.99937338e-01 1.88589143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121858064 meters 0.014438239671054634 Centerline is valid? [True, True] Translation: X:209.69, Y:83.35, Z:0.19 [[ 6.86163581e-01 -7.27412681e-01 -7.09448053e-03 2.09686398e+02] [ 7.27375145e-01 6.86200251e-01 -7.39013334e-03 8.33532492e+01] [ 1.02439110e-02 -8.95084445e-05 9.99947526e-01 1.89793557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18185806399998 meters 0.014521939212583098 Centerline is valid? [True, True] Translation: X:209.73, Y:83.40, Z:0.19 [[ 6.85895133e-01 -7.27649135e-01 -8.63726958e-03 2.09727204e+02] [ 7.27593462e-01 6.85949505e-01 -9.00166763e-03 8.33954927e+01] [ 1.24747865e-02 -1.10220861e-04 9.99922181e-01 1.88874933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24185806399998 meters 0.014337468556757483 Centerline is valid? [True, True] Translation: X:209.77, Y:83.44, Z:0.19 [[ 6.86700371e-01 -7.26888684e-01 -8.68574437e-03 2.09766838e+02] [ 7.26832290e-01 6.86755293e-01 -9.05486269e-03 8.34397522e+01] [ 1.25468581e-02 -9.51019054e-05 9.99921281e-01 1.88852598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.301858064 meters 0.014207992256827095 Centerline is valid? [True, True] Translation: X:209.81, Y:83.48, Z:0.19 [[ 6.87578883e-01 -7.26061646e-01 -8.35261824e-03 2.09807456e+02] [ 7.26009383e-01 6.87629611e-01 -8.71171920e-03 8.34826372e+01] [ 1.20687528e-02 -7.40850597e-05 9.99927167e-01 1.89557396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.361858064 meters 0.014434765741989201 Centerline is valid? [True, True] Translation: X:209.85, Y:83.52, Z:0.19 [[ 6.86884899e-01 -7.26721836e-01 -8.03172526e-03 2.09847545e+02] [ 7.26673504e-01 6.86931850e-01 -8.38164961e-03 8.35245505e+01] [ 1.16083757e-02 -7.92133893e-05 9.99932617e-01 1.90240241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.421858064 meters 0.014613049274487533 Centerline is valid? [True, True] Translation: X:209.89, Y:83.57, Z:0.19 [[ 6.86024591e-01 -7.27536398e-01 -7.81341075e-03 2.09887798e+02] [ 7.27490680e-01 6.86069079e-01 -8.15652534e-03 8.35656987e+01] [ 1.12947086e-02 -8.86065431e-05 9.99936209e-01 1.90132883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.481858064 meters 0.014628822631200166 Centerline is valid? [True, True] Translation: X:209.93, Y:83.61, Z:0.19 [[ 6.85800988e-01 -7.27746331e-01 -7.89193157e-03 2.09927459e+02] [ 7.27699654e-01 6.85846389e-01 -8.24286933e-03 8.36075512e+01] [ 1.14113707e-02 -8.99879392e-05 9.99934884e-01 1.89962958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.541858064 meters 0.01450009192053443 Centerline is valid? [True, True] Translation: X:209.97, Y:83.65, Z:0.19 [[ 6.86717955e-01 -7.26886835e-01 -7.34712759e-03 2.09966177e+02] [ 7.26846314e-01 6.86757253e-01 -7.67534552e-03 8.36511175e+01] [ 1.06248008e-02 -6.94350338e-05 9.99943553e-01 1.89711654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601858064 meters 0.014323288445226403 Centerline is valid? [True, True] Translation: X:210.01, Y:83.69, Z:0.19 [[ 6.85571027e-01 -7.27976330e-01 -6.54446400e-03 2.10006123e+02] [ 7.27944195e-01 6.85602259e-01 -6.84037274e-03 8.36932181e+01] [ 9.46652874e-03 -7.44432173e-05 9.99955189e-01 1.92858716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661858064 meters 0.014608154339842569 Centerline is valid? [True, True] Translation: X:210.05, Y:83.73, Z:0.20 [[ 6.84261304e-01 -7.29224793e-01 -4.20343501e-03 2.10046176e+02] [ 7.29211552e-01 6.84274213e-01 -4.39475262e-03 8.37335909e+01] [ 6.08106476e-03 -5.80342094e-05 9.99981508e-01 1.95444401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721858064 meters 0.014855855461370927 Centerline is valid? [True, True] Translation: X:210.09, Y:83.78, Z:0.20 [[ 6.82727986e-01 -7.30662410e-01 -3.86534643e-03 2.10087578e+02] [ 7.30651226e-01 6.82738925e-01 -4.04306854e-03 8.37755165e+01] [ 5.59314066e-03 -6.39040704e-05 9.99984356e-01 1.96453278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781858064 meters 0.015186709477289484 Centerline is valid? [True, True] Translation: X:210.13, Y:83.82, Z:0.20 [[ 6.81133142e-01 -7.32143528e-01 -4.84745074e-03 2.10129446e+02] [ 7.32125960e-01 6.81150384e-01 -5.07282411e-03 8.38171477e+01] [ 7.01587827e-03 -9.36759069e-05 9.99975384e-01 1.95858948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841858064 meters 0.015530958512598924 Centerline is valid? [True, True] Translation: X:210.17, Y:83.86, Z:0.20 [[ 6.80336107e-01 -7.32882800e-01 -5.05799704e-03 2.10171121e+02] [ 7.32863674e-01 6.80354901e-01 -5.29567372e-03 8.38592976e+01] [ 7.32234126e-03 -1.03984249e-04 9.99973186e-01 1.95768118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90185806399998 meters 0.015868509795188775 Centerline is valid? [True, True] Translation: X:210.21, Y:83.90, Z:0.20 [[ 6.77508504e-01 -7.35497464e-01 -5.07021228e-03 2.10210999e+02] [ 7.35478300e-01 6.77527463e-01 -5.31104409e-03 8.39022463e+01] [ 7.34146752e-03 -1.30753570e-04 9.99973043e-01 1.95644153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96185806399998 meters 0.017650914080280727 Centerline is valid? [True, True] Translation: X:210.25, Y:83.94, Z:0.19 [[ 6.72895838e-01 -7.39721678e-01 -4.79888566e-03 2.10254073e+02] [ 7.39704601e-01 6.72912930e-01 -5.02905319e-03 8.39423981e+01] [ 6.94933188e-03 -1.65728838e-04 9.99975839e-01 1.94531277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02185806399999 meters 0.018478074578102 Centerline is valid? [True, True] Translation: X:210.30, Y:83.98, Z:0.20 [[ 6.70536794e-01 -7.41860247e-01 -4.87669889e-03 2.10295942e+02] [ 7.41842660e-01 6.70554500e-01 -5.11177241e-03 8.39830735e+01] [ 7.06231313e-03 -1.90111791e-04 9.99975043e-01 1.95128823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.081858064 meters 0.019241559181222737 Centerline is valid? [True, True] Translation: X:210.33, Y:84.02, Z:0.20 [[ 6.70148055e-01 -7.42216850e-01 -3.96635678e-03 2.10334749e+02] [ 7.42205216e-01 6.70159774e-01 -4.15873259e-03 8.40247238e+01] [ 5.74477417e-03 -1.56884133e-04 9.99983486e-01 1.95730436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.141858064 meters 0.017901835317031548 Centerline is valid? [True, True] Translation: X:210.37, Y:84.07, Z:0.20 [[ 6.71847007e-01 -7.40680609e-01 -3.71950581e-03 2.10371646e+02] [ 7.40670345e-01 6.71857290e-01 -3.90164748e-03 8.40713243e+01] [ 5.38885173e-03 -1.33617472e-04 9.99985471e-01 1.95301425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.201858064 meters 0.01703196683925467 Centerline is valid? [True, True] Translation: X:210.41, Y:84.12, Z:0.20 [[ 6.75002619e-01 -7.37808185e-01 -3.24752459e-03 2.10407935e+02] [ 7.37800320e-01 6.75010424e-01 -3.40823376e-03 8.41165234e+01] [ 4.70673572e-03 -9.54579697e-05 9.99988919e-01 1.95958128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.261858064 meters 0.016397823232935562 Centerline is valid? [True, True] Translation: X:210.45, Y:84.16, Z:0.20 [[ 6.77723446e-01 -7.35313145e-01 -2.34742571e-03 2.10445322e+02] [ 7.35309018e-01 6.77727509e-01 -2.46415378e-03 8.41601498e+01] [ 3.40283964e-03 -5.60685085e-05 9.99994209e-01 1.97563255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321858064 meters 0.015880648766792564 Centerline is valid? [True, True] Translation: X:210.48, Y:84.20, Z:0.20 [[ 6.79105769e-01 -7.34037534e-01 -2.06216536e-03 2.10483549e+02] [ 7.34034341e-01 6.79108899e-01 -2.16550470e-03 8.42048955e+01] [ 2.98999658e-03 -4.30934562e-05 9.99995529e-01 1.98251605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381858064 meters 0.01479231781574218 Centerline is valid? [True, True] Translation: X:210.52, Y:84.25, Z:0.20 [[ 6.80697261e-01 -7.32562231e-01 -1.95342192e-03 2.10520383e+02] [ 7.32559357e-01 6.80700063e-01 -2.05223209e-03 8.42518278e+01] [ 2.83308215e-03 -3.40487448e-05 9.99995986e-01 1.98817095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441858064 meters 0.014880244664744916 Centerline is valid? [True, True] Translation: X:210.56, Y:84.29, Z:0.20 [[ 6.81574688e-01 -7.31744488e-01 -2.43910896e-03 2.10560296e+02] [ 7.31739999e-01 6.81579052e-01 -2.56318046e-03 8.42941090e+01] [ 3.53803874e-03 -3.77946597e-05 9.99993740e-01 1.98776267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501858064 meters 0.01492999909807619 Centerline is valid? [True, True] Translation: X:210.60, Y:84.34, Z:0.20 [[ 6.81509688e-01 -7.31803871e-01 -2.76401492e-03 2.10599163e+02] [ 7.31798102e-01 6.81515292e-01 -2.90599530e-03 8.43372248e+01] [ 4.01033704e-03 -4.22369184e-05 9.99991958e-01 1.98843443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561858064 meters 0.015132058380426801 Centerline is valid? [True, True] Translation: X:210.64, Y:84.38, Z:0.20 [[ 6.80976339e-01 -7.32296029e-01 -3.70847046e-03 2.10639258e+02] [ 7.32285640e-01 6.80986434e-01 -3.90101377e-03 8.43805689e+01] [ 5.38211496e-03 -5.91615969e-05 9.99985515e-01 1.97597713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621858064 meters 0.015619297067978483 Centerline is valid? [True, True] Translation: X:210.68, Y:84.42, Z:0.20 [[ 6.79551630e-01 -7.33610155e-01 -5.07183753e-03 2.10680308e+02] [ 7.33590741e-01 6.79570550e-01 -5.33785582e-03 8.44233725e+01] [ 7.36257665e-03 -9.33044282e-05 9.99972892e-01 1.96283387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68185806399998 meters 0.016316016519511548 Centerline is valid? [True, True] Translation: X:210.72, Y:84.46, Z:0.20 [[ 6.77573393e-01 -7.35428819e-01 -6.22492228e-03 2.10722790e+02] [ 7.35399622e-01 6.77601973e-01 -6.55461668e-03 8.44647379e+01] [ 9.03847362e-03 -1.36571630e-04 9.99959143e-01 1.95610338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74185806399998 meters 0.017637576963540482 Centerline is valid? [True, True] Translation: X:210.77, Y:84.50, Z:0.20 [[ 6.74819336e-01 -7.37954964e-01 -6.42928717e-03 2.10765252e+02] [ 7.37923906e-01 6.74849940e-01 -6.77249877e-03 8.45045310e+01] [ 9.33660315e-03 -1.74111583e-04 9.99956398e-01 1.96536259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.801858064 meters 0.017229497596239134 Centerline is valid? [True, True] Translation: X:210.81, Y:84.55, Z:0.20 [[ 6.73664535e-01 -7.39015135e-01 -5.72056063e-03 2.10805770e+02] [ 7.38990562e-01 6.73688803e-01 -6.02877046e-03 8.45475449e+01] [ 8.30923025e-03 -1.66071468e-04 9.99965464e-01 1.98924511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.861858064 meters 0.017433772853570374 Centerline is valid? [True, True] Translation: X:210.85, Y:84.59, Z:0.20 [[ 6.73558799e-01 -7.39117821e-01 -4.83633113e-03 2.10845270e+02] [ 7.39100242e-01 6.73576148e-01 -5.09950117e-03 8.45899469e+01] [ 7.02676949e-03 -1.39719624e-04 9.99975302e-01 2.00476393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.921858064 meters 0.01741563788957758 Centerline is valid? [True, True] Translation: X:210.88, Y:84.63, Z:0.20 [[ 6.75051600e-01 -7.37756353e-01 -4.57165122e-03 2.10884270e+02] [ 7.37740608e-01 6.75067070e-01 -4.82143928e-03 8.46324109e+01] [ 6.64321865e-03 -1.17972446e-04 9.99977927e-01 2.02062082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.981858064 meters 0.016713851247026307 Centerline is valid? [True, True] Translation: X:210.92, Y:84.68, Z:0.20 [[ 6.78684625e-01 -7.34402155e-01 -6.37614686e-03 2.10922144e+02] [ 7.34371360e-01 6.78714565e-01 -6.72635762e-03 8.46765518e+01] [ 9.26743527e-03 -1.17384145e-04 9.99957050e-01 2.01619075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.041858064 meters 0.015692382049831956 Centerline is valid? [True, True] Translation: X:210.96, Y:84.72, Z:0.20 [[ 6.82009075e-01 -7.31310154e-01 -7.00579241e-03 2.10959828e+02] [ 7.31272781e-01 6.82045052e-01 -7.39377435e-03 8.47226525e+01] [ 1.01854083e-02 -8.05240948e-05 9.99948124e-01 2.02357183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101858064 meters 0.015145347921505669 Centerline is valid? [True, True] Translation: X:211.00, Y:84.77, Z:0.20 [[ 6.87850669e-01 -7.25814948e-01 -7.35651539e-03 2.10997273e+02] [ 7.25773383e-01 6.87890006e-01 -7.76758207e-03 8.47679651e+01] [ 1.06983006e-02 3.77346094e-06 9.99942772e-01 2.03335039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161858064 meters 0.01530619490775886 Centerline is valid? [True, True] Translation: X:211.04, Y:84.81, Z:0.20 [[ 6.90911635e-01 -7.22910230e-01 -6.47388660e-03 2.11036036e+02] [ 7.22877879e-01 6.90941963e-01 -6.83919262e-03 8.48111924e+01] [ 9.41720223e-03 4.54483405e-05 9.99955656e-01 2.04566311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221858064 meters 0.015928218152264646 Centerline is valid? [True, True] Translation: X:211.08, Y:84.85, Z:0.21 [[ 6.93875559e-01 -7.20065650e-01 -6.49377066e-03 2.11078240e+02] [ 7.20032944e-01 6.93905939e-01 -6.86344573e-03 8.48527706e+01] [ 9.44819754e-03 8.66484299e-05 9.99955361e-01 2.06174628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281858064 meters 0.015992216591950086 Centerline is valid? [True, True] Translation: X:211.12, Y:84.89, Z:0.21 [[ 6.93576648e-01 -7.20351493e-01 -6.72012572e-03 2.11119659e+02] [ 7.20316445e-01 6.93609197e-01 -7.10641854e-03 8.48933129e+01] [ 9.78026021e-03 8.82288766e-05 9.99952168e-01 2.05364998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341858064 meters 0.016058440375409714 Centerline is valid? [True, True] Translation: X:211.16, Y:84.93, Z:0.20 [[ 6.92037326e-01 -7.21825566e-01 -7.22439908e-03 2.11163187e+02] [ 7.21785103e-01 6.92075030e-01 -7.64324012e-03 8.49305630e+01] [ 1.05169123e-02 7.49438179e-05 9.99944693e-01 2.04588132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40185806399998 meters 0.015691620924990195 Centerline is valid? [True, True] Translation: X:211.21, Y:84.97, Z:0.21 [[ 6.90637753e-01 -7.23154680e-01 -8.17325195e-03 2.11205953e+02] [ 7.23102925e-01 6.90686111e-01 -8.65190939e-03 8.49704215e+01] [ 1.19018204e-02 6.52328669e-05 9.99929169e-01 2.05641206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46185806399998 meters 0.01572874727855798 Centerline is valid? [True, True] Translation: X:211.24, Y:85.01, Z:0.20 [[ 6.89472241e-01 -7.24277117e-01 -7.11955311e-03 2.11244153e+02] [ 7.24237890e-01 6.89508997e-01 -7.53799253e-03 8.50137245e+01] [ 1.03685914e-02 4.09864734e-05 9.99946244e-01 2.02953280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52185806399999 meters 0.015667162321232476 Centerline is valid? [True, True] Translation: X:211.28, Y:85.06, Z:0.20 [[ 6.89298656e-01 -7.24443593e-01 -6.98879793e-03 2.11282973e+02] [ 7.24405764e-01 6.89334084e-01 -7.40338385e-03 8.50568593e+01] [ 1.01809506e-02 4.04170403e-05 9.99948172e-01 2.03490177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.581858064 meters 0.015976244114601003 Centerline is valid? [True, True] Translation: X:211.32, Y:85.10, Z:0.20 [[ 6.89526310e-01 -7.24220002e-01 -7.67182787e-03 2.11321128e+02] [ 7.24174358e-01 6.89568986e-01 -8.13095980e-03 8.51015472e+01] [ 1.11788583e-02 5.07696820e-05 9.99937513e-01 2.00222429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.641858064 meters 0.016510584926222184 Centerline is valid? [True, True] Translation: X:211.36, Y:85.15, Z:0.20 [[ 6.91215217e-01 -7.22616388e-01 -6.86153201e-03 2.11357202e+02] [ 7.22579758e-01 6.91249269e-01 -7.27613527e-03 8.51479337e+01] [ 1.00008836e-02 7.13712807e-05 9.99949987e-01 1.98202703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.701858064 meters 0.016763634832805435 Centerline is valid? [True, True] Translation: X:211.40, Y:85.19, Z:0.20 [[ 6.91587530e-01 -7.22262272e-01 -6.62560770e-03 2.11395430e+02] [ 7.22228080e-01 6.91619263e-01 -7.02826401e-03 8.51900411e+01] [ 9.65864785e-03 7.54598205e-05 9.99953351e-01 1.97235444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.761858064 meters 0.016734126474323693 Centerline is valid? [True, True] Translation: X:211.44, Y:85.23, Z:0.20 [[ 6.90670207e-01 -7.23143853e-01 -6.13460846e-03 2.11436687e+02] [ 7.23114548e-01 6.90697448e-01 -6.51045297e-03 8.52322727e+01] [ 8.94515245e-03 6.05512778e-05 9.99959989e-01 1.96922141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821858064 meters 0.01659769010788316 Centerline is valid? [True, True] Translation: X:211.48, Y:85.27, Z:0.20 [[ 6.86666287e-01 -7.26959147e-01 -4.45072129e-03 2.11480680e+02] [ 7.26943787e-01 6.86680711e-01 -4.72565892e-03 8.52716437e+01] [ 6.49158543e-03 9.52647001e-06 9.99978929e-01 1.97006052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881858064 meters 0.016680601669021165 Centerline is valid? [True, True] Translation: X:211.52, Y:85.31, Z:0.20 [[ 6.85249651e-01 -7.28301039e-01 -3.24243597e-03 2.11520777e+02] [ 7.28292897e-01 6.85257322e-01 -3.44379188e-03 8.53129989e+01] [ 4.73002019e-03 -1.58589763e-06 9.99988813e-01 1.96191373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941858064 meters 0.016783374155315264 Centerline is valid? [True, True] Translation: X:211.56, Y:85.36, Z:0.20 [[ 6.85013229e-01 -7.28530134e-01 -8.48738725e-04 2.11560962e+02] [ 7.28529576e-01 6.85013755e-01 -9.01641536e-04 8.53554604e+01] [ 1.23827073e-03 -6.94883435e-07 9.99999233e-01 1.96476723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001858064 meters 0.016905935122275718 Centerline is valid? [True, True] Translation: X:211.60, Y:85.40, Z:0.20 [[ 6.85609720e-01 -7.27969081e-01 5.72791320e-04 2.11600458e+02] [ 7.27968827e-01 6.85609959e-01 6.09113932e-04 8.53973200e+01] [-8.36127543e-04 -6.40207339e-07 9.99999650e-01 1.96908889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061858064 meters 0.016847488034369244 Centerline is valid? [True, True] Translation: X:211.64, Y:85.44, Z:0.19 [[ 6.84102933e-01 -7.29385478e-01 -3.18711345e-05 2.11642233e+02] [ 7.29385478e-01 6.84102934e-01 -3.35484768e-05 8.54380757e+01] [ 4.62729085e-05 -2.95731292e-07 9.99999999e-01 1.94645863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121858064 meters 0.01686392002067162 Centerline is valid? [True, True] Translation: X:211.68, Y:85.48, Z:0.19 [[ 6.82414801e-01 -7.30965042e-01 3.83520527e-04 2.11681889e+02] [ 7.30964928e-01 6.82414909e-01 4.08527246e-04 8.54802985e+01] [-5.60339261e-04 1.55501534e-06 9.99999843e-01 1.93010646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18185806399998 meters 0.016977671599629752 Centerline is valid? [True, True] Translation: X:211.72, Y:85.52, Z:0.19 [[ 6.79630453e-01 -7.33554563e-01 3.87296426e-04 2.11724274e+02] [ 7.33554447e-01 6.79630564e-01 4.12708336e-04 8.55216738e+01] [-5.65962571e-04 3.61386219e-06 9.99999840e-01 1.92016999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24185806399998 meters 0.017681913122588263 Centerline is valid? [True, True] Translation: X:211.77, Y:85.56, Z:0.19 [[ 6.75221398e-01 -7.37614970e-01 4.68299102e-04 2.11767286e+02] [ 7.37614801e-01 6.75221561e-01 4.98841916e-04 8.55604399e+01] [-6.84158915e-04 8.59561291e-06 9.99999766e-01 1.90201655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.301858064 meters 0.017736229458706895 Centerline is valid? [True, True] Translation: X:211.81, Y:85.60, Z:0.19 [[ 6.73813303e-01 -7.38899140e-01 1.92167619e-03 2.11806187e+02] [ 7.38896306e-01 6.73816042e-01 2.04703415e-03 8.56040593e+01] [-2.80740802e-03 4.06005953e-05 9.99996058e-01 1.89628435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.361858064 meters 0.01833851158767848 Centerline is valid? [True, True] Translation: X:211.85, Y:85.65, Z:0.19 [[ 6.70640970e-01 -7.41777776e-01 2.53385320e-03 2.11849085e+02] [ 7.41772862e-01 6.70645754e-01 2.70064553e-03 8.56450718e+01] [-3.70259673e-03 6.83800018e-05 9.99993143e-01 1.89047849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.421858064 meters 0.018689938560867154 Centerline is valid? [True, True] Translation: X:211.89, Y:85.68, Z:0.19 [[ 6.70105762e-01 -7.42260358e-01 2.79791837e-03 2.11891041e+02] [ 7.42254369e-01 6.70111599e-01 2.98278889e-03 8.56847659e+01] [-4.08892350e-03 7.79831085e-05 9.99991637e-01 1.89206590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.481858064 meters 0.018173794991672786 Centerline is valid? [True, True] Translation: X:211.93, Y:85.73, Z:0.19 [[ 6.71768306e-01 -7.40757206e-01 2.47076524e-03 2.11931114e+02] [ 7.40752520e-01 6.71772847e-01 2.63541974e-03 8.57281517e+01] [-3.61199916e-03 5.98341293e-05 9.99993475e-01 1.88880452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.541858064 meters 0.017108130715974657 Centerline is valid? [True, True] Translation: X:211.97, Y:85.77, Z:0.19 [[ 6.75857891e-01 -7.37028742e-01 2.17845986e-03 2.11968894e+02] [ 7.37025076e-01 6.75861401e-01 2.32485539e-03 8.57721201e+01] [-3.18582217e-03 3.43076794e-05 9.99994925e-01 1.87738057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601858064 meters 0.016411176497776174 Centerline is valid? [True, True] Translation: X:212.01, Y:85.82, Z:0.19 [[ 6.78093030e-01 -7.34972429e-01 2.31779643e-03 2.12007591e+02] [ 7.34968263e-01 6.78096990e-01 2.47472116e-03 8.58163944e+01] [-3.39054260e-03 2.54156455e-05 9.99994252e-01 1.86552001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661858064 meters 0.01595639074958608 Centerline is valid? [True, True] Translation: X:212.05, Y:85.86, Z:0.19 [[ 6.81147001e-01 -7.32138780e-01 3.40150528e-03 2.12046802e+02] [ 7.32129764e-01 6.81155494e-01 3.63343311e-03 8.58598402e+01] [-4.97713129e-03 1.54411926e-05 9.99987614e-01 1.86935682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721858064 meters 0.015872475127893356 Centerline is valid? [True, True] Translation: X:212.08, Y:85.90, Z:0.19 [[ 6.83219519e-01 -7.30201141e-01 4.16927752e-03 2.12084743e+02] [ 7.30187545e-01 6.83232240e-01 4.45598090e-03 8.59035153e+01] [-6.10234715e-03 -5.86134796e-08 9.99981381e-01 1.87942876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781858064 meters 0.01573398570033804 Centerline is valid? [True, True] Translation: X:212.13, Y:85.94, Z:0.19 [[ 6.83076683e-01 -7.30333721e-01 4.34755521e-03 2.12126125e+02] [ 7.30318924e-01 6.83090518e-01 4.64905578e-03 8.59442654e+01] [-6.36513595e-03 -5.59752252e-07 9.99979742e-01 1.87889861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841858064 meters 0.015539982486644694 Centerline is valid? [True, True] Translation: X:212.17, Y:85.99, Z:0.19 [[ 6.81626817e-01 -7.31686969e-01 4.36589157e-03 2.12166479e+02] [ 7.31672058e-01 6.81640799e-01 4.67126492e-03 8.59857188e+01] [-6.39387349e-03 1.03414325e-05 9.99979559e-01 1.87720766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90185806399998 meters 0.01546181566893945 Centerline is valid? [True, True] Translation: X:212.21, Y:86.03, Z:0.18 [[ 6.78719548e-01 -7.34389584e-01 3.42257413e-03 2.12205535e+02] [ 7.34380444e-01 6.78728177e-01 3.66410544e-03 8.60290806e+01] [-5.01387837e-03 2.65715211e-05 9.99987430e-01 1.84860277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96185806399998 meters 0.015496031375238951 Centerline is valid? [True, True] Translation: X:212.25, Y:86.07, Z:0.18 [[ 6.76048301e-01 -7.36852593e-01 2.63634167e-03 2.12246016e+02] [ 7.36847183e-01 6.76053441e-01 2.82380378e-03 8.60712826e+01] [-3.86303500e-03 3.35531842e-05 9.99992538e-01 1.83816496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02185806399999 meters 0.016387254520787837 Centerline is valid? [True, True] Translation: X:212.29, Y:86.11, Z:0.18 [[ 6.71348856e-01 -7.41137866e-01 2.31883211e-03 2.12288880e+02] [ 7.41133704e-01 6.71352859e-01 2.48425751e-03 8.61111561e+01] [-3.39793187e-03 5.07611948e-05 9.99994226e-01 1.84277401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.081858064 meters 0.017040171251815152 Centerline is valid? [True, True] Translation: X:212.33, Y:86.15, Z:0.18 [[ 6.68613157e-01 -7.43606930e-01 2.27584836e-03 2.12329075e+02] [ 7.43602934e-01 6.68617028e-01 2.43857397e-03 8.61534368e+01] [-3.33501146e-03 6.18648784e-05 9.99994437e-01 1.83766730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.141858064 meters 0.01819094260737519 Centerline is valid? [True, True] Translation: X:212.37, Y:86.20, Z:0.18 [[ 6.64391802e-01 -7.47383023e-01 1.46664884e-03 2.12370084e+02] [ 7.47381371e-01 6.64393419e-01 1.57237278e-03 8.61954903e+01] [-2.14959656e-03 5.14744357e-05 9.99997688e-01 1.82919385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.201858064 meters 0.019507890685243102 Centerline is valid? [True, True] Translation: X:212.41, Y:86.24, Z:0.18 [[ 6.61416438e-01 -7.50017882e-01 1.21364420e-03 2.12412484e+02] [ 7.50016754e-01 6.61417549e-01 1.30183893e-03 8.62360349e+01] [-1.77912805e-03 4.91958122e-05 9.99998416e-01 1.83372061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.261858064 meters 0.019393969998739817 Centerline is valid? [True, True] Translation: X:212.45, Y:86.28, Z:0.18 [[ 6.59111461e-01 -7.52044769e-01 8.64393321e-04 2.12453239e+02] [ 7.52044198e-01 6.59112027e-01 9.27748811e-04 8.62788627e+01] [-1.26744067e-03 3.85721065e-05 9.99999196e-01 1.84067374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321858064 meters 0.0199759240419672 Centerline is valid? [True, True] Translation: X:212.49, Y:86.32, Z:0.19 [[ 6.57784897e-01 -7.53204568e-01 1.38106828e-03 2.12494628e+02] [ 7.53203112e-01 6.57786344e-01 1.48282120e-03 8.63204592e+01] [-2.02531555e-03 6.48475328e-05 9.99997947e-01 1.85493781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381858064 meters 0.019560791382876214 Centerline is valid? [True, True] Translation: X:212.53, Y:86.36, Z:0.19 [[ 6.59009162e-01 -7.52134090e-01 1.11124745e-03 2.12534921e+02] [ 7.52133145e-01 6.59010097e-01 1.19374989e-03 8.63638279e+01] [-1.63018328e-03 4.91139238e-05 9.99998670e-01 1.86588972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441858064 meters 0.01814175580004088 Centerline is valid? [True, True] Translation: X:212.57, Y:86.41, Z:0.19 [[ 6.62084916e-01 -7.49428761e-01 3.09236567e-04 2.12572922e+02] [ 7.49428688e-01 6.62084988e-01 3.32584569e-04 8.64089557e+01] [-4.53989331e-04 1.15515282e-05 9.99999897e-01 1.85314590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501858064 meters 0.017095471666993725 Centerline is valid? [True, True] Translation: X:212.61, Y:86.45, Z:0.18 [[ 6.64474331e-01 -7.47310929e-01 -4.89678613e-04 2.12611931e+02] [ 7.47310744e-01 6.64474511e-01 -5.26100888e-04 8.64529871e+01] [ 7.18539901e-04 -1.63615534e-05 9.99999742e-01 1.84777291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561858064 meters 0.01691855759418287 Centerline is valid? [True, True] Translation: X:212.65, Y:86.50, Z:0.19 [[ 6.65206630e-01 -7.46659224e-01 -3.77395455e-04 2.12652794e+02] [ 7.46659114e-01 6.65206737e-01 -4.05609125e-04 8.64957605e+01] [ 5.53897794e-04 -1.19718763e-05 9.99999847e-01 1.85431792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621858064 meters 0.016908829587193728 Centerline is valid? [True, True] Translation: X:212.69, Y:86.54, Z:0.19 [[ 6.65313572e-01 -7.46563099e-01 -1.17885654e-03 2.12693140e+02] [ 7.46562023e-01 6.65314615e-01 -1.26828535e-03 8.65379437e+01] [ 1.73116553e-03 -3.62820646e-05 9.99998501e-01 1.85951047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68185806399998 meters 0.016537924260402462 Centerline is valid? [True, True] Translation: X:212.73, Y:86.58, Z:0.19 [[ 6.65607180e-01 -7.46301704e-01 -9.21548843e-04 2.12731887e+02] [ 7.46301045e-01 6.65607817e-01 -9.91901414e-04 8.65820516e+01] [ 1.35364783e-03 -2.75361616e-05 9.99999083e-01 1.85960773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74185806399998 meters 0.017030293098149792 Centerline is valid? [True, True] Translation: X:212.77, Y:86.62, Z:0.19 [[ 6.66080441e-01 -7.45878148e-01 -1.62298407e-03 2.12771486e+02] [ 7.45876103e-01 6.66082416e-01 -1.74761746e-03 8.66239251e+01] [ 2.38455082e-03 -4.64912240e-05 9.99997156e-01 1.85150557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.801858064 meters 0.0172494621689178 Centerline is valid? [True, True] Translation: X:212.81, Y:86.67, Z:0.18 [[ 6.65524910e-01 -7.46371705e-01 -2.42310664e-03 2.12811535e+02] [ 7.46367144e-01 6.65529318e-01 -2.61037371e-03 8.66665949e+01] [ 3.56095758e-03 -7.12584566e-05 9.99993657e-01 1.84059681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.861858064 meters 0.01714694010292632 Centerline is valid? [True, True] Translation: X:212.85, Y:86.71, Z:0.18 [[ 6.65335645e-01 -7.46537879e-01 -3.11049349e-03 2.12850269e+02] [ 7.46530356e-01 6.65342909e-01 -3.35277755e-03 8.67105461e+01] [ 4.57252023e-03 -9.13553984e-05 9.99989542e-01 1.83295349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.921858064 meters 0.01739030547424316 Centerline is valid? [True, True] Translation: X:212.89, Y:86.75, Z:0.18 [[ 6.65603591e-01 -7.46285255e-01 -5.49338569e-03 2.12888355e+02] [ 7.46261755e-01 6.65626241e-01 -5.92444818e-03 8.67525379e+01] [ 8.07786999e-03 -1.56169662e-04 9.99967361e-01 1.80746087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.981858064 meters 0.016472671966840723 Centerline is valid? [True, True] Translation: X:212.93, Y:86.80, Z:0.18 [[ 6.66237036e-01 -7.45716121e-01 -5.97314650e-03 2.12926717e+02] [ 7.45688287e-01 6.66263792e-01 -6.44497956e-03 8.67967602e+01] [ 8.78581639e-03 -1.60221306e-04 9.99961391e-01 1.81146866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.041858064 meters 0.016688972661555702 Centerline is valid? [True, True] Translation: X:212.97, Y:86.84, Z:0.18 [[ 6.65931400e-01 -7.45985575e-01 -6.39471810e-03 2.12967561e+02] [ 7.45953655e-01 6.65962080e-01 -6.90318188e-03 8.68394019e+01] [ 9.40831387e-03 -1.73117768e-04 9.99955726e-01 1.81443422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101858064 meters 0.016946512260812504 Centerline is valid? [True, True] Translation: X:213.01, Y:86.88, Z:0.18 [[ 6.65417892e-01 -7.46452585e-01 -5.25047958e-03 2.13007010e+02] [ 7.46431059e-01 6.65438591e-01 -5.67065026e-03 8.68804677e+01] [ 7.72674327e-03 -1.45768887e-04 9.99970138e-01 1.83107905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161858064 meters 0.01707662726617344 Centerline is valid? [True, True] Translation: X:213.05, Y:86.92, Z:0.18 [[ 6.65355718e-01 -7.46513597e-01 -4.38381404e-03 2.13046956e+02] [ 7.46498577e-01 6.65370149e-01 -4.73706026e-03 8.69228886e+01] [ 6.45313890e-03 -1.20680812e-04 9.99979171e-01 1.84047803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221858064 meters 0.017324814037030647 Centerline is valid? [True, True] Translation: X:213.09, Y:86.96, Z:0.18 [[ 6.65647185e-01 -7.46254477e-01 -4.25222882e-03 2.13087160e+02] [ 7.46240326e-01 6.65660757e-01 -4.59695627e-03 8.69641529e+01] [ 6.26104105e-03 -1.13233626e-04 9.99980393e-01 1.84503368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281858064 meters 0.016556084628780107 Centerline is valid? [True, True] Translation: X:213.13, Y:87.01, Z:0.18 [[ 6.67402744e-01 -7.44685011e-01 -4.22049980e-03 2.13125671e+02] [ 7.44671027e-01 6.67416081e-01 -4.56462992e-03 8.70094802e+01] [ 6.21604092e-03 -9.64373928e-05 9.99980676e-01 1.84078040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341858064 meters 0.01582086448915587 Centerline is valid? [True, True] Translation: X:213.16, Y:87.05, Z:0.18 [[ 6.69001623e-01 -7.43248550e-01 -4.29201336e-03 2.13164120e+02] [ 7.43234045e-01 6.69015385e-01 -4.64417081e-03 8.70541179e+01] [ 6.32319619e-03 -8.30126417e-05 9.99980005e-01 1.84480362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40185806399998 meters 0.015567750262590137 Centerline is valid? [True, True] Translation: X:213.20, Y:87.10, Z:0.18 [[ 6.70883201e-01 -7.41547408e-01 -4.81379980e-03 2.13202570e+02] [ 7.41529102e-01 6.70900467e-01 -5.21094719e-03 8.70969152e+01] [ 7.09374492e-03 -7.36357165e-05 9.99974836e-01 1.84094167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46185806399998 meters 0.015437529358896088 Centerline is valid? [True, True] Translation: X:213.24, Y:87.14, Z:0.18 [[ 6.72127535e-01 -7.40414016e-01 -5.62675122e-03 2.13240676e+02] [ 7.40388943e-01 6.72151084e-01 -6.09375431e-03 8.71398334e+01] [ 8.29392803e-03 -7.02043168e-05 9.99965602e-01 1.82775319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52185806399999 meters 0.015354213339457233 Centerline is valid? [True, True] Translation: X:213.28, Y:87.18, Z:0.18 [[ 6.72416359e-01 -7.40149163e-01 -5.95448265e-03 2.13279508e+02] [ 7.40121044e-01 6.72442720e-01 -6.45206136e-03 8.71826869e+01] [ 8.77953633e-03 -6.85663009e-05 9.99961457e-01 1.83280664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.581858064 meters 0.01542089032016683 Centerline is valid? [True, True] Translation: X:213.32, Y:87.22, Z:0.18 [[ 6.72277041e-01 -7.40279345e-01 -5.48372310e-03 2.13318543e+02] [ 7.40255478e-01 6.72299403e-01 -5.94473022e-03 8.72249412e+01] [ 8.08746476e-03 -6.28504181e-05 9.99967294e-01 1.83443396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.641858064 meters 0.015681682213768977 Centerline is valid? [True, True] Translation: X:213.36, Y:87.27, Z:0.18 [[ 6.71026171e-01 -7.41413573e-01 -5.45817813e-03 2.13358262e+02] [ 7.41389942e-01 6.71048365e-01 -5.91995518e-03 8.72681658e+01] [ 8.05183663e-03 -7.41935175e-05 9.99967581e-01 1.83544627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.701858064 meters 0.016220994014638022 Centerline is valid? [True, True] Translation: X:213.40, Y:87.31, Z:0.18 [[ 6.70000852e-01 -7.42338977e-01 -5.63043085e-03 2.13398641e+02] [ 7.42313840e-01 6.70024504e-01 -6.10958219e-03 8.73089830e+01] [ 8.30790763e-03 -8.61214742e-05 9.99965485e-01 1.84066875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.761858064 meters 0.01669962252281016 Centerline is valid? [True, True] Translation: X:213.44, Y:87.35, Z:0.18 [[ 6.69163771e-01 -7.43086688e-01 -6.48243467e-03 2.13438947e+02] [ 7.43053373e-01 6.69195160e-01 -7.03720648e-03 8.73519692e+01] [ 9.56726836e-03 -1.07751322e-04 9.99954227e-01 1.82910620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821858064 meters 0.017009416321739787 Centerline is valid? [True, True] Translation: X:213.48, Y:87.39, Z:0.18 [[ 6.68463377e-01 -7.43713212e-01 -6.88276255e-03 2.13478294e+02] [ 7.43675652e-01 6.68498799e-01 -7.47532545e-03 8.73947207e+01] [ 1.01606168e-02 -1.21561631e-04 9.99948372e-01 1.82293815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881858064 meters 0.01636678807839236 Centerline is valid? [True, True] Translation: X:213.52, Y:87.44, Z:0.19 [[ 6.67035032e-01 -7.44998157e-01 -6.48164187e-03 2.13517222e+02] [ 7.44964876e-01 6.67066510e-01 -7.04301601e-03 8.74383478e+01] [ 9.57072017e-03 -1.30657128e-04 9.99954191e-01 1.85456090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941858064 meters 0.016580537577108097 Centerline is valid? [True, True] Translation: X:213.56, Y:87.48, Z:0.19 [[ 6.65744607e-01 -7.46157399e-01 -5.76662021e-03 2.13558056e+02] [ 7.46131074e-01 6.65769569e-01 -6.26906898e-03 8.74813041e+01] [ 8.51695246e-03 -1.29055667e-04 9.99963722e-01 1.86753153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001858064 meters 0.016730571643451958 Centerline is valid? [True, True] Translation: X:213.60, Y:87.52, Z:0.19 [[ 6.64531085e-01 -7.47242724e-01 -5.17193631e-03 2.13598084e+02] [ 7.47221568e-01 6.64551199e-01 -5.62428807e-03 8.75237999e+01] [ 7.63972481e-03 -1.27068104e-04 9.99970809e-01 1.87408947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061858064 meters 0.016431290222771174 Centerline is valid? [True, True] Translation: X:213.64, Y:87.57, Z:0.19 [[ 6.64153037e-01 -7.47579739e-01 -5.02774808e-03 2.13637294e+02] [ 7.47559734e-01 6.64172055e-01 -5.47043512e-03 8.75665807e+01] [ 7.42887623e-03 -1.25335924e-04 9.99972398e-01 1.87940212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121858064 meters 0.016128762926004712 Centerline is valid? [True, True] Translation: X:213.68, Y:87.61, Z:0.19 [[ 6.65364558e-01 -7.46503548e-01 -4.73898839e-03 2.13677085e+02] [ 7.46485729e-01 6.65381426e-01 -5.15887061e-03 8.76101639e+01] [ 7.00435007e-03 -1.05057541e-04 9.99975464e-01 1.88790571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18185806399998 meters 0.016109256674535045 Centerline is valid? [True, True] Translation: X:213.72, Y:87.65, Z:0.19 [[ 6.67119063e-01 -7.44934251e-01 -5.01165982e-03 2.13716431e+02] [ 7.44914258e-01 6.67137882e-01 -5.45843410e-03 8.76533698e+01] [ 7.40964264e-03 -9.18314123e-05 9.99972544e-01 1.88722543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24185806399998 meters 0.015012949796575279 Centerline is valid? [True, True] Translation: X:213.75, Y:87.70, Z:0.19 [[ 6.70714973e-01 -7.41699401e-01 -4.83974544e-03 2.13752736e+02] [ 7.41680653e-01 6.70732432e-01 -5.27380422e-03 8.77000188e+01] [ 7.15775166e-03 -5.23261080e-05 9.99974382e-01 1.89792429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.301858064 meters 0.014754404431528253 Centerline is valid? [True, True] Translation: X:213.79, Y:87.74, Z:0.19 [[ 6.73604429e-01 -7.39073391e-01 -5.25316359e-03 2.13791893e+02] [ 7.39051201e-01 6.73624912e-01 -5.72714059e-03 8.77434596e+01] [ 7.77143907e-03 -2.45295956e-05 9.99969802e-01 1.89769883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.361858064 meters 0.014741272874493585 Centerline is valid? [True, True] Translation: X:213.83, Y:87.79, Z:0.19 [[ 6.74800370e-01 -7.37980075e-01 -5.46536150e-03 2.13830552e+02] [ 7.37955993e-01 6.74822502e-01 -5.96179847e-03 8.77871965e+01] [ 8.08783740e-03 -1.01724566e-05 9.99967293e-01 1.89171426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.421858064 meters 0.014574505548720135 Centerline is valid? [True, True] Translation: X:213.87, Y:87.83, Z:0.19 [[ 6.77137313e-01 -7.35836882e-01 -5.39839699e-03 2.13867866e+02] [ 7.35813292e-01 6.77158832e-01 -5.89205177e-03 8.78312734e+01] [ 7.99116119e-03 1.75158464e-05 9.99968070e-01 1.89740064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.481858064 meters 0.014652219392875237 Centerline is valid? [True, True] Translation: X:213.91, Y:87.87, Z:0.19 [[ 6.76845910e-01 -7.36108975e-01 -4.81566396e-03 2.13907626e+02] [ 7.36090189e-01 6.76863041e-01 -5.25894076e-03 8.78741689e+01] [ 7.13069844e-03 1.47295513e-05 9.99974576e-01 1.90321608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.541858064 meters 0.014630881258841204 Centerline is valid? [True, True] Translation: X:213.95, Y:87.92, Z:0.19 [[ 6.76057476e-01 -7.36831613e-01 -5.04610354e-03 2.13947342e+02] [ 7.36810984e-01 6.76076307e-01 -5.51367057e-03 8.79167055e+01] [ 7.47419783e-03 9.53368900e-06 9.99972068e-01 1.89839417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601858064 meters 0.014616564403956202 Centerline is valid? [True, True] Translation: X:213.99, Y:87.96, Z:0.19 [[ 6.76012687e-01 -7.36866416e-01 -5.89337716e-03 2.13985822e+02] [ 7.36838250e-01 6.76038375e-01 -6.44271003e-03 8.79619492e+01] [ 8.73156577e-03 1.28880074e-05 9.99961879e-01 1.89848460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661858064 meters 0.01463968054761831 Centerline is valid? [True, True] Translation: X:214.03, Y:88.00, Z:0.19 [[ 6.74489204e-01 -7.38255472e-01 -6.57048970e-03 2.14025986e+02] [ 7.38220489e-01 6.74521206e-01 -7.18695254e-03 8.80044791e+01] [ 9.73774168e-03 -2.94821968e-06 9.99952587e-01 1.89472558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721858064 meters 0.014623758073273345 Centerline is valid? [True, True] Translation: X:214.07, Y:88.05, Z:0.19 [[ 6.72461130e-01 -7.40095072e-01 -7.43723388e-03 2.14066405e+02] [ 7.40050318e-01 6.72502255e-01 -8.13903939e-03 8.80467582e+01] [ 1.10252195e-02 -3.07396718e-05 9.99939220e-01 1.89548007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781858064 meters 0.01471896604680986 Centerline is valid? [True, True] Translation: X:214.10, Y:88.09, Z:0.19 [[ 6.72087459e-01 -7.40433568e-01 -7.52189978e-03 2.14104639e+02] [ 7.40387758e-01 6.72129549e-01 -8.23630000e-03 8.80903857e+01] [ 1.11541241e-02 -3.36085811e-05 9.99937790e-01 1.91165056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841858064 meters 0.014905091767981434 Centerline is valid? [True, True] Translation: X:214.15, Y:88.13, Z:0.19 [[ 6.70999730e-01 -7.41409502e-01 -8.44471992e-03 2.14145538e+02] [ 7.41351780e-01 6.71052865e-01 -9.25144975e-03 8.81326106e+01] [ 1.25259662e-02 -5.27878670e-05 9.99921546e-01 1.90995835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90185806399998 meters 0.014899299922663742 Centerline is valid? [True, True] Translation: X:214.19, Y:88.18, Z:0.19 [[ 6.71087321e-01 -7.41341780e-01 -7.36024231e-03 2.14185510e+02] [ 7.41297886e-01 6.71127680e-01 -8.06729916e-03 8.81760596e+01] [ 1.09202883e-02 -4.22698810e-05 9.99940371e-01 1.92834660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96185806399998 meters 0.014788276279464016 Centerline is valid? [True, True] Translation: X:214.23, Y:88.22, Z:0.20 [[ 6.73190172e-01 -7.39437682e-01 -6.84885151e-03 2.14225092e+02] [ 7.39399539e-01 6.73225010e-01 -7.51048037e-03 8.82196344e+01] [ 1.01643503e-02 -8.05607713e-06 9.99948342e-01 1.95284096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02185806399999 meters 0.01493811235995494 Centerline is valid? [True, True] Translation: X:214.26, Y:88.26, Z:0.20 [[ 6.74423956e-01 -7.38313446e-01 -6.75157534e-03 2.14264728e+02] [ 7.38276298e-01 6.74457750e-01 -7.40619628e-03 8.82605140e+01] [ 1.00217466e-02 1.03881451e-05 9.99949781e-01 1.95232085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.081858064 meters 0.015308681466887013 Centerline is valid? [True, True] Translation: X:214.30, Y:88.31, Z:0.20 [[ 6.78065863e-01 -7.34971423e-01 -6.61009144e-03 2.14300285e+02] [ 7.34935638e-01 6.78098078e-01 -7.25283380e-03 8.83071274e+01] [ 9.81291588e-03 5.99072356e-05 9.99951850e-01 1.96223938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.141858064 meters 0.015810862489710635 Centerline is valid? [True, True] Translation: X:214.34, Y:88.35, Z:0.20 [[ 6.79956785e-01 -7.33209396e-01 -7.92161354e-03 2.14337702e+02] [ 7.33157833e-01 6.80002919e-01 -8.69604645e-03 8.83529671e+01] [ 1.17627433e-02 1.05142771e-04 9.99930811e-01 1.95519521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.201858064 meters 0.016250212284780078 Centerline is valid? [True, True] Translation: X:214.38, Y:88.40, Z:0.20 [[ 6.80259037e-01 -7.32933595e-01 -7.48258667e-03 2.14375236e+02] [ 7.32887543e-01 6.80300180e-01 -8.21670508e-03 8.83958154e+01] [ 1.11127042e-02 1.05593324e-04 9.99938246e-01 1.96273571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.261858064 meters 0.016245895508330638 Centerline is valid? [True, True] Translation: X:214.41, Y:88.44, Z:0.20 [[ 6.80225482e-01 -7.32962515e-01 -7.69702421e-03 2.14414907e+02] [ 7.32913735e-01 6.80269019e-01 -8.45688007e-03 8.84387131e+01] [ 1.14346232e-02 1.11330561e-04 9.99934616e-01 1.98775215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321858064 meters 0.01636179237580313 Centerline is valid? [True, True] Translation: X:214.45, Y:88.48, Z:0.20 [[ 6.79587192e-01 -7.33547858e-01 -8.29391651e-03 2.14452622e+02] [ 7.33491197e-01 6.79637791e-01 -9.11796810e-03 8.84829693e+01] [ 1.23253251e-02 1.12939593e-04 9.99924034e-01 1.97219995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381858064 meters 0.016623988250080646 Centerline is valid? [True, True] Translation: X:214.49, Y:88.53, Z:0.20 [[ 6.78337665e-01 -7.34701485e-01 -8.46998924e-03 2.14490929e+02] [ 7.34642415e-01 6.78390535e-01 -9.31684175e-03 8.85263152e+01] [ 1.25910580e-02 9.75513281e-05 9.99920725e-01 1.96342990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441858064 meters 0.016682005152902957 Centerline is valid? [True, True] Translation: X:214.53, Y:88.57, Z:0.20 [[ 6.77975432e-01 -7.35042285e-01 -7.88362901e-03 2.14529920e+02] [ 7.34991083e-01 6.78021261e-01 -8.67619058e-03 8.85699715e+01] [ 1.17226350e-02 8.78470325e-05 9.99931284e-01 1.97477552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501858064 meters 0.016939365201050955 Centerline is valid? [True, True] Translation: X:214.57, Y:88.61, Z:0.20 [[ 6.78586160e-01 -7.34474011e-01 -8.29161078e-03 2.14568522e+02] [ 7.34417273e-01 6.78636807e-01 -9.12975981e-03 8.86143415e+01] [ 1.23325636e-02 1.05826465e-04 9.99923945e-01 1.98435700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561858064 meters 0.01723014855135216 Centerline is valid? [True, True] Translation: X:214.61, Y:88.66, Z:0.20 [[ 6.79614991e-01 -7.33513983e-01 -8.98338944e-03 2.14606614e+02] [ 7.33447233e-01 6.79674347e-01 -9.89639928e-03 8.86597145e+01] [ 1.33649266e-02 1.36899178e-04 9.99910676e-01 1.97147918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621858064 meters 0.017766132521200653 Centerline is valid? [True, True] Translation: X:214.64, Y:88.70, Z:0.20 [[ 6.80538097e-01 -7.32648602e-01 -9.69140712e-03 2.14642853e+02] [ 7.32570785e-01 6.80607080e-01 -1.06793349e-02 8.87044613e+01] [ 1.44202401e-02 1.68052570e-04 9.99896009e-01 1.96280432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68185806399998 meters 0.018159809893586832 Centerline is valid? [True, True] Translation: X:214.68, Y:88.75, Z:0.20 [[ 6.81637444e-01 -7.31633716e-01 -9.08297034e-03 2.14679902e+02] [ 7.31565209e-01 6.81697933e-01 -1.00135824e-02 8.87505417e+01] [ 1.35181166e-02 1.80847632e-04 9.99908610e-01 1.96591269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74185806399998 meters 0.018084438133272273 Centerline is valid? [True, True] Translation: X:214.72, Y:88.79, Z:0.20 [[ 6.80263217e-01 -7.32920258e-01 -8.35773906e-03 2.14721289e+02] [ 7.32862299e-01 6.80314541e-01 -9.21828118e-03 8.87931906e+01] [ 1.24421564e-02 1.45785743e-04 9.99922583e-01 1.98610372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.801858064 meters 0.018065641616955314 Centerline is valid? [True, True] Translation: X:214.76, Y:88.84, Z:0.20 [[ 6.79293865e-01 -7.33820982e-01 -8.16152576e-03 2.14761033e+02] [ 7.33765724e-01 6.79342880e-01 -9.00632062e-03 8.88370286e+01] [ 1.21535015e-02 1.29290491e-04 9.99926135e-01 1.98588901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.861858064 meters 0.01827019998888244 Centerline is valid? [True, True] Translation: X:214.80, Y:88.88, Z:0.20 [[ 6.78121747e-01 -7.34902623e-01 -8.30846944e-03 2.14800835e+02] [ 7.34845414e-01 6.78172634e-01 -9.17039883e-03 8.88788209e+01] [ 1.23739268e-02 1.13206212e-04 9.99923434e-01 1.96330066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.921858064 meters 0.018457401275391434 Centerline is valid? [True, True] Translation: X:214.84, Y:88.92, Z:0.20 [[ 6.76221575e-01 -7.36659059e-01 -7.60346883e-03 2.14842343e+02] [ 7.36611214e-01 6.76264316e-01 -8.39610236e-03 8.89200047e+01] [ 1.13270195e-02 7.68251614e-05 9.99935844e-01 1.95485763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.981858064 meters 0.018249777263159437 Centerline is valid? [True, True] Translation: X:214.89, Y:88.96, Z:0.20 [[ 6.74320350e-01 -7.38409017e-01 -6.64743789e-03 2.14885217e+02] [ 7.38372498e-01 6.74353113e-01 -7.34391793e-03 8.89609978e+01] [ 9.90553566e-03 4.38679913e-05 9.99950938e-01 1.96928983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.041858064 meters 0.018131032585860705 Centerline is valid? [True, True] Translation: X:214.93, Y:89.00, Z:0.20 [[ 6.73034423e-01 -7.39594128e-01 -5.01912136e-03 2.14926530e+02] [ 7.39573322e-01 6.73053137e-01 -5.54762139e-03 8.90036030e+01] [ 7.48112358e-03 2.17319022e-05 9.99972016e-01 1.97343436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101858064 meters 0.018294864784370885 Centerline is valid? [True, True] Translation: X:214.97, Y:89.05, Z:0.20 [[ 6.73741941e-01 -7.38956639e-01 -3.85783823e-03 2.14967135e+02] [ 7.38944323e-01 6.73752985e-01 -4.26635210e-03 8.90451151e+01] [ 5.75187923e-03 2.36926795e-05 9.99983458e-01 1.97682622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161858064 meters 0.01828996976161263 Centerline is valid? [True, True] Translation: X:215.01, Y:89.09, Z:0.20 [[ 6.73784775e-01 -7.38923357e-01 -2.51974452e-03 2.15005263e+02] [ 7.38918098e-01 6.73789486e-01 -2.78800906e-03 8.90883183e+01] [ 3.75790238e-03 1.66332283e-05 9.99992939e-01 1.97535033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221858064 meters 0.01819985696143663 Centerline is valid? [True, True] Translation: X:215.05, Y:89.13, Z:0.20 [[ 6.72122905e-01 -7.40436999e-01 -1.96243991e-03 2.15045865e+02] [ 7.40433813e-01 6.72125770e-01 -2.17206250e-03 8.91282931e+01] [ 2.92728188e-03 6.83609455e-06 9.99995715e-01 1.97543350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281858064 meters 0.01819879349638885 Centerline is valid? [True, True] Translation: X:215.08, Y:89.17, Z:0.20 [[ 6.72062718e-01 -7.40493553e-01 -1.00072370e-03 2.15084497e+02] [ 7.40492724e-01 6.72063463e-01 -1.10796003e-03 8.91712664e+01] [ 1.49298710e-03 3.59001320e-06 9.99998885e-01 1.97459945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341858064 meters 0.01803747761564702 Centerline is valid? [True, True] Translation: X:215.12, Y:89.21, Z:0.20 [[ 6.71176942e-01 -7.41295600e-01 -1.53177613e-03 2.15124322e+02] [ 7.41293657e-01 6.71178690e-01 -1.69705504e-03 8.92135646e+01] [ 2.28611493e-03 3.52828427e-06 9.99997387e-01 1.95740315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40185806399998 meters 0.01790804787782318 Centerline is valid? [True, True] Translation: X:215.16, Y:89.26, Z:0.19 [[ 6.68679304e-01 -7.43548209e-01 -2.01215454e-03 2.15164235e+02] [ 7.43544863e-01 6.68682332e-01 -2.23063431e-03 8.92552404e+01] [ 3.00407634e-03 -4.54816801e-06 9.99995488e-01 1.93902377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46185806399998 meters 0.017948708558428155 Centerline is valid? [True, True] Translation: X:215.20, Y:89.30, Z:0.19 [[ 6.66705991e-01 -7.45318766e-01 -1.74885008e-03 2.15203849e+02] [ 7.45316243e-01 6.66708284e-01 -1.93946734e-03 8.92957452e+01] [ 2.61149424e-03 -1.03918815e-05 9.99996590e-01 1.93760943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52185806399999 meters 0.018056258009182008 Centerline is valid? [True, True] Translation: X:215.25, Y:89.34, Z:0.19 [[ 6.62477714e-01 -7.49080299e-01 -1.40866108e-03 2.15245279e+02] [ 7.49078670e-01 6.62479211e-01 -1.56262850e-03 8.93370234e+01] [ 2.10374291e-03 -1.99914110e-05 9.99997787e-01 1.94553341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.581858064 meters 0.018862335235945195 Centerline is valid? [True, True] Translation: X:215.29, Y:89.38, Z:0.19 [[ 6.56547728e-01 -7.54284020e-01 -8.35513400e-04 2.15286768e+02] [ 7.54283450e-01 6.56548260e-01 -9.27041880e-04 8.93785290e+01] [ 1.24780774e-03 -2.15666896e-05 9.99999221e-01 1.94401954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.641858064 meters 0.020719048612797185 Centerline is valid? [True, True] Translation: X:215.33, Y:89.42, Z:0.19 [[ 6.52367975e-01 -7.57902101e-01 -6.56090511e-04 2.15329069e+02] [ 7.57901752e-01 6.52368304e-01 -7.28179563e-04 8.94185628e+01] [ 9.79901475e-04 -2.22111206e-05 9.99999520e-01 1.94273131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.701858064 meters 0.021679325149967926 Centerline is valid? [True, True] Translation: X:215.37, Y:89.46, Z:0.19 [[ 6.46158219e-01 -7.63202507e-01 -1.22044951e-03 2.15370585e+02] [ 7.63201305e-01 6.46159370e-01 -1.35552911e-03 8.94601895e+01] [ 1.82314810e-03 -5.55623882e-05 9.99998337e-01 1.93109912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.761858064 meters 0.023627422360879072 Centerline is valid? [True, True] Translation: X:215.41, Y:89.50, Z:0.19 [[ 6.38684350e-01 -7.69468132e-01 -1.04605321e-03 2.15413064e+02] [ 7.69467257e-01 6.38685204e-01 -1.16237489e-03 8.95012486e+01] [ 1.56250914e-03 -6.25130417e-05 9.99998777e-01 1.93328813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821858064 meters 0.02581545641868556 Centerline is valid? [True, True] Translation: X:215.46, Y:89.54, Z:0.19 [[ 6.34165410e-01 -7.73197286e-01 -4.35851464e-04 2.15455141e+02] [ 7.73197135e-01 6.34165559e-01 -4.84370744e-04 8.95427006e+01] [ 6.50916132e-04 -2.98279319e-05 9.99999788e-01 1.93513513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881858064 meters 0.028333670952795594 Centerline is valid? [True, True] Translation: X:215.50, Y:89.58, Z:0.19 [[ 6.30063779e-01 -7.76543278e-01 4.13751828e-04 2.15497440e+02] [ 7.76543142e-01 6.30063914e-01 4.60687062e-04 8.95833086e+01] [-6.18433537e-04 3.10339137e-05 9.99999808e-01 1.94301892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941858064 meters 0.02868408046355661 Centerline is valid? [True, True] Translation: X:215.54, Y:89.63, Z:0.19 [[ 6.25849563e-01 -7.79943590e-01 5.67127489e-04 2.15537887e+02] [ 7.79943335e-01 6.25849818e-01 6.31662832e-04 8.96258413e+01] [-8.47598012e-04 4.70013984e-05 9.99999640e-01 1.94442771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001858064 meters 0.02809771851805962 Centerline is valid? [True, True] Translation: X:215.58, Y:89.67, Z:0.19 [[ 6.25158530e-01 -7.80497234e-01 9.37715546e-04 2.15577438e+02] [ 7.80496539e-01 6.25159229e-01 1.04468705e-03 8.96700378e+01] [-1.40159688e-03 7.87887195e-05 9.99999015e-01 1.94599888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061858064 meters 0.027254490951085345 Centerline is valid? [True, True] Translation: X:215.61, Y:89.72, Z:0.19 [[ 6.27149732e-01 -7.78897708e-01 1.25477423e-03 2.15614759e+02] [ 7.78896459e-01 6.27150979e-01 1.39855142e-03 8.97151948e+01] [-1.87626139e-03 1.00238057e-04 9.99998235e-01 1.94240621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121858064 meters 0.02552945490678997 Centerline is valid? [True, True] Translation: X:215.65, Y:89.76, Z:0.19 [[ 6.29911373e-01 -7.76666468e-01 9.27201531e-04 2.15651964e+02] [ 7.76665783e-01 6.29912051e-01 1.03407801e-03 8.97596972e+01] [-1.38718913e-03 6.87482048e-05 9.99999035e-01 1.93087319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18185806399998 meters 0.02590325720520062 Centerline is valid? [True, True] Translation: X:215.69, Y:89.80, Z:0.19 [[ 6.32135534e-01 -7.74856878e-01 1.21908903e-03 2.15690124e+02] [ 7.74855689e-01 6.32136704e-01 1.35963407e-03 8.98018689e+01] [-1.82415273e-03 8.51450652e-05 9.99998333e-01 1.93978966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24185806399998 meters 0.02672740871195673 Centerline is valid? [True, True] Translation: X:215.73, Y:89.84, Z:0.20 [[ 6.34414777e-01 -7.72990010e-01 2.08188303e-03 2.15731486e+02] [ 7.72986531e-01 6.34418179e-01 2.32321770e-03 8.98421135e+01] [-3.11660851e-03 1.35383901e-04 9.99995134e-01 1.96123333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.301858064 meters 0.025530142297109475 Centerline is valid? [True, True] Translation: X:215.77, Y:89.89, Z:0.20 [[ 6.36384254e-01 -7.71368500e-01 2.39130898e-03 2.15769641e+02] [ 7.71363894e-01 6.36388730e-01 2.66965889e-03 8.98872345e+01] [-3.58109286e-03 1.45640531e-04 9.99993577e-01 1.95198358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.361858064 meters 0.025055559691400664 Centerline is valid? [True, True] Translation: X:215.81, Y:89.93, Z:0.19 [[ 6.37652904e-01 -7.70321740e-01 1.78617780e-03 2.15808457e+02] [ 7.70319165e-01 6.37655398e-01 1.99453390e-03 8.99319537e+01] [-2.67539873e-03 1.04106656e-04 9.99996416e-01 1.93754889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.421858064 meters 0.022372193949699738 Centerline is valid? [True, True] Translation: X:215.85, Y:89.98, Z:0.19 [[ 6.39413992e-01 -7.68860923e-01 1.62084412e-03 2.15846464e+02] [ 7.68858796e-01 6.39416040e-01 1.81102667e-03 8.99760124e+01] [-2.42882136e-03 8.82044672e-05 9.99997047e-01 1.94735124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.481858064 meters 0.021733577309293237 Centerline is valid? [True, True] Translation: X:215.88, Y:90.02, Z:0.19 [[ 6.42201204e-01 -7.66535066e-01 1.26692783e-03 2.15884519e+02] [ 7.66533760e-01 6.42202451e-01 1.41641911e-03 9.00192881e+01] [-1.89935908e-03 6.15168930e-05 9.99998194e-01 1.94533214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.541858064 meters 0.021033714449834685 Centerline is valid? [True, True] Translation: X:215.92, Y:90.06, Z:0.19 [[ 6.43971639e-01 -7.65048885e-01 8.55756123e-04 2.15921902e+02] [ 7.65048287e-01 6.43972206e-01 9.57294807e-04 9.00640815e+01] [-1.28346048e-03 3.82240499e-05 9.99999176e-01 1.93876219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601858064 meters 0.02128196685555253 Centerline is valid? [True, True] Translation: X:215.96, Y:90.11, Z:0.19 [[ 6.44036472e-01 -7.64994732e-01 -2.86848348e-04 2.15961543e+02] [ 7.64994665e-01 6.44036536e-01 -3.20608172e-04 9.01066782e+01] [ 4.30004379e-04 -1.29540999e-05 9.99999907e-01 1.92194238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661858064 meters 0.020494102364257635 Centerline is valid? [True, True] Translation: X:216.00, Y:90.15, Z:0.19 [[ 6.42398893e-01 -7.66370110e-01 7.19027780e-04 2.15999994e+02] [ 7.66369687e-01 6.42399295e-01 8.05177476e-04 9.01516021e+01] [-1.07896689e-03 3.37959757e-05 9.99999417e-01 1.93999437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721858064 meters 0.020587203341412928 Centerline is valid? [True, True] Translation: X:216.04, Y:90.20, Z:0.20 [[ 6.41229741e-01 -7.67346979e-01 1.74163614e-03 2.16039700e+02] [ 7.67344504e-01 6.41232101e-01 1.95080656e-03 9.01951361e+01] [-2.61373852e-03 8.55197345e-05 9.99996581e-01 1.95915308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781858064 meters 0.022665347229344532 Centerline is valid? [True, True] Translation: X:216.08, Y:90.24, Z:0.20 [[ 6.39098785e-01 -7.69123520e-01 1.32435145e-03 2.16081106e+02] [ 7.69122092e-01 6.39100153e-01 1.48414255e-03 9.02356348e+01] [-1.98788216e-03 7.00742610e-05 9.99998022e-01 1.96563500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841858064 meters 0.022680954297655653 Centerline is valid? [True, True] Translation: X:216.12, Y:90.28, Z:0.19 [[ 6.37610331e-01 -7.70358833e-01 5.77876266e-04 2.16118726e+02] [ 7.70358561e-01 6.37610593e-01 6.48084273e-04 9.02811610e+01] [-8.67717473e-04 3.19467006e-05 9.99999623e-01 1.94685184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90185806399998 meters 0.02409407084413508 Centerline is valid? [True, True] Translation: X:216.16, Y:90.33, Z:0.19 [[ 6.35814385e-01 -7.71841965e-01 2.21278686e-04 2.16157717e+02] [ 7.71841925e-01 6.35814424e-01 2.48460994e-04 9.03253246e+01] [-3.32464802e-04 1.28170928e-05 9.99999945e-01 1.92499272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96185806399998 meters 0.02634918995043609 Centerline is valid? [True, True] Translation: X:216.20, Y:90.37, Z:0.19 [[ 6.32244613e-01 -7.74768620e-01 -5.78452605e-04 2.16199467e+02] [ 7.74768349e-01 6.32244877e-01 -6.48725273e-04 9.03671803e+01] [ 8.68335680e-04 -3.80137110e-05 9.99999622e-01 1.91807131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02185806399999 meters 0.024000108118782483 Centerline is valid? [True, True] Translation: X:216.24, Y:90.41, Z:0.19 [[ 6.29461361e-01 -7.77031416e-01 -7.56754701e-04 2.16235833e+02] [ 7.77030954e-01 6.29461814e-01 -8.49142110e-04 9.04128927e+01] [ 1.13615828e-03 -5.35196793e-05 9.99999353e-01 1.91712993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.081858064 meters 0.030788910537152294 Centerline is valid? [True, True] Translation: X:216.28, Y:90.45, Z:0.19 [[ 6.25487035e-01 -7.80233948e-01 -9.77407865e-04 2.16281510e+02] [ 7.80233181e-01 6.25487794e-01 -1.09713152e-03 9.04494739e+01] [ 1.46737595e-03 -7.63645037e-05 9.99998920e-01 1.92090917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.141858064 meters 0.026500542117679615 Centerline is valid? [True, True] Translation: X:216.32, Y:90.50, Z:0.19 [[ 6.24872947e-01 -7.80726399e-01 -3.00902956e-04 2.16315557e+02] [ 7.80726326e-01 6.24873019e-01 -3.37678630e-04 9.04985549e+01] [ 4.51660759e-04 -2.39166190e-05 9.99999898e-01 1.93621794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.201858064 meters 0.026985784573841206 Centerline is valid? [True, True] Translation: X:216.36, Y:90.54, Z:0.19 [[ 6.24126118e-01 -7.81323582e-01 -2.21396599e-04 2.16356135e+02] [ 7.81323543e-01 6.24126157e-01 -2.48492998e-04 9.05413406e+01] [ 3.32332848e-04 -1.78914050e-05 9.99999945e-01 1.94653054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.261858064 meters 0.025330988817534376 Centerline is valid? [True, True] Translation: X:216.39, Y:90.59, Z:0.20 [[ 6.24217139e-01 -7.81250881e-01 1.55937604e-04 2.16394025e+02] [ 7.81250861e-01 6.24217158e-01 1.75646405e-04 9.05869682e+01] [-2.34562837e-04 1.21848906e-05 9.99999972e-01 1.96013275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321858064 meters 0.023971659384025838 Centerline is valid? [True, True] Translation: X:216.43, Y:90.63, Z:0.20 [[ 6.24356653e-01 -7.81139403e-01 5.03197191e-05 2.16431357e+02] [ 7.81139401e-01 6.24356655e-01 5.69300559e-05 9.06330434e+01] [-7.58877613e-05 3.76205607e-06 9.99999997e-01 1.95880032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381858064 meters 0.026687545137652913 Centerline is valid? [True, True] Translation: X:216.47, Y:90.67, Z:0.20 [[ 6.25710788e-01 -7.80054900e-01 6.02146678e-04 2.16471846e+02] [ 7.80054607e-01 6.25711076e-01 6.77650460e-04 9.06733766e+01] [-9.05374407e-04 4.56940869e-05 9.99999589e-01 1.95962741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441858064 meters 0.026136354634597635 Centerline is valid? [True, True] Translation: X:216.51, Y:90.72, Z:0.20 [[ 6.26432784e-01 -7.79475374e-01 3.30078865e-04 2.16510134e+02] [ 7.79475285e-01 6.26432871e-01 3.71877300e-04 9.07177829e+01] [-4.96641448e-04 2.43321853e-05 9.99999876e-01 1.95649653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501858064 meters 0.02320499170108689 Centerline is valid? [True, True] Translation: X:216.54, Y:90.77, Z:0.19 [[ 6.27722204e-01 -7.78437410e-01 -1.79929185e-04 2.16544813e+02] [ 7.78437384e-01 6.27722230e-01 -2.02303230e-04 9.07650714e+01] [ 2.70425952e-04 -1.30733741e-05 9.99999963e-01 1.94656215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561858064 meters 0.023585430515858694 Centerline is valid? [True, True] Translation: X:216.58, Y:90.81, Z:0.19 [[ 6.27480255e-01 -7.78632455e-01 1.68802432e-04 2.16583277e+02] [ 7.78632432e-01 6.27480278e-01 1.90596444e-04 9.08087433e+01] [-2.54324774e-04 1.18395425e-05 9.99999968e-01 1.94146485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621858064 meters 0.02334170286651462 Centerline is valid? [True, True] Translation: X:216.62, Y:90.85, Z:0.19 [[ 6.25397651e-01 -7.80306165e-01 2.58542669e-04 2.16622595e+02] [ 7.80306111e-01 6.25397704e-01 2.91779922e-04 9.08519074e+01] [-3.89369664e-04 1.92639470e-05 9.99999924e-01 1.94610243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68185806399998 meters 0.02406054304726844 Centerline is valid? [True, True] Translation: X:216.66, Y:90.90, Z:0.19 [[ 6.25487679e-01 -7.80233864e-01 5.30402558e-04 2.16661357e+02] [ 7.80233635e-01 6.25487902e-01 5.98614372e-04 9.08960964e+01] [-7.98819588e-04 3.94120017e-05 9.99999680e-01 1.94775705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74185806399998 meters 0.024684697797369363 Centerline is valid? [True, True] Translation: X:216.70, Y:90.94, Z:0.19 [[ 6.26359034e-01 -7.79534680e-01 2.07366164e-04 2.16700647e+02] [ 7.79534645e-01 6.26359068e-01 2.34339188e-04 9.09393093e+01] [-3.12561201e-04 1.48686420e-05 9.99999951e-01 1.94378507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.801858064 meters 0.023723400786281258 Centerline is valid? [True, True] Translation: X:216.74, Y:90.98, Z:0.19 [[ 6.27234573e-01 -7.78830326e-01 -3.36099104e-04 2.16738487e+02] [ 7.78830234e-01 6.27234663e-01 -3.79171266e-04 9.09849457e+01] [ 5.06123089e-04 -2.39348169e-05 9.99999872e-01 1.93600825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.861858064 meters 0.023997131856870642 Centerline is valid? [True, True] Translation: X:216.78, Y:91.03, Z:0.19 [[ 6.27934823e-01 -7.78265352e-01 -9.48170636e-04 2.16776268e+02] [ 7.78264618e-01 6.27935536e-01 -1.07078383e-03 9.10301118e+01] [ 1.42874399e-03 -6.55452033e-05 9.99998977e-01 1.92135436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.921858064 meters 0.024693165298395176 Centerline is valid? [True, True] Translation: X:216.82, Y:91.07, Z:0.19 [[ 6.27260390e-01 -7.78809373e-01 -6.03071019e-04 2.16816394e+02] [ 7.78809077e-01 6.27260678e-01 -6.81273046e-04 9.10728142e+01] [ 9.08864570e-04 -4.23415875e-05 9.99999586e-01 1.93016179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.981858064 meters 0.026326734296082642 Centerline is valid? [True, True] Translation: X:216.86, Y:91.11, Z:0.19 [[ 6.26998449e-01 -7.79020466e-01 -2.40715463e-04 2.16856137e+02] [ 7.79020419e-01 6.26998495e-01 -2.71867730e-04 9.11141629e+01] [ 3.62718759e-04 -1.70616155e-05 9.99999934e-01 1.93706054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.041858064 meters 0.026540504376694033 Centerline is valid? [True, True] Translation: X:216.90, Y:91.16, Z:0.19 [[ 6.28283969e-01 -7.77983868e-01 -5.96028805e-04 2.16895724e+02] [ 7.77983577e-01 6.28284251e-01 -6.73972631e-04 9.11577369e+01] [ 8.98815346e-04 -4.02544221e-05 9.99999595e-01 1.93282827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101858064 meters 0.020895663437925864 Centerline is valid? [True, True] Translation: X:216.93, Y:91.21, Z:0.19 [[ 6.31251701e-01 -7.75577843e-01 -5.47510309e-04 2.16926554e+02] [ 7.75577597e-01 6.31251937e-01 -6.19373056e-04 9.12083951e+01] [ 8.25988962e-04 -3.36564352e-05 9.99999658e-01 1.92679464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161858064 meters 0.023837569856679827 Centerline is valid? [True, True] Translation: X:216.97, Y:91.25, Z:0.19 [[ 6.33234290e-01 -7.73959910e-01 -6.26136236e-04 2.16969279e+02] [ 7.73959586e-01 6.33234598e-01 -7.08713787e-04 9.12471570e+01] [ 9.45007186e-04 -3.58222706e-05 9.99999553e-01 1.93322132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221858064 meters 0.020105710507777395 Centerline is valid? [True, True] Translation: X:217.00, Y:91.30, Z:0.19 [[ 6.37505128e-01 -7.70445885e-01 -5.91923578e-04 2.17003481e+02] [ 7.70445594e-01 6.37505402e-01 -6.70133967e-04 9.12954316e+01] [ 8.93656436e-04 -2.88310724e-05 9.99999600e-01 1.93408709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281858064 meters 0.019036383965868018 Centerline is valid? [True, True] Translation: X:217.04, Y:91.34, Z:0.19 [[ 6.40910143e-01 -7.67615498e-01 -7.97245269e-04 2.17041122e+02] [ 7.67614968e-01 6.40910638e-01 -9.03175560e-04 9.13401273e+01] [ 1.20425453e-03 -3.31230237e-05 9.99999274e-01 1.92569175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341858064 meters 0.017981224317590354 Centerline is valid? [True, True] Translation: X:217.08, Y:91.39, Z:0.19 [[ 6.43408435e-01 -7.65523075e-01 -8.23607888e-05 2.17077271e+02] [ 7.65523069e-01 6.43408441e-01 -9.30443872e-05 9.13857061e+01] [ 1.24219252e-04 -3.18354025e-06 9.99999992e-01 1.92811142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40185806399998 meters 0.017252992470432563 Centerline is valid? [True, True] Translation: X:217.12, Y:91.43, Z:0.19 [[ 6.45553603e-01 -7.63714863e-01 3.93785849e-04 2.17115576e+02] [ 7.63714732e-01 6.45553723e-01 4.47057637e-04 9.14308088e+01] [-5.95634482e-04 1.21403858e-05 9.99999823e-01 1.93312789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46185806399998 meters 0.017472961177354304 Centerline is valid? [True, True] Translation: X:217.15, Y:91.47, Z:0.19 [[ 6.46665821e-01 -7.62773420e-01 -1.63811269e-04 2.17154186e+02] [ 7.62773397e-01 6.46665841e-01 -1.85758262e-04 9.14734419e+01] [ 2.47622616e-04 -4.82735939e-06 9.99999969e-01 1.92669548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52185806399999 meters 0.01694258659128759 Centerline is valid? [True, True] Translation: X:217.19, Y:91.52, Z:0.19 [[ 6.49000197e-01 -7.60788006e-01 -5.95102394e-04 2.17191556e+02] [ 7.60787707e-01 6.49000469e-01 -6.75253024e-04 9.15194463e+01] [ 8.99946135e-04 -1.45072404e-05 9.99999595e-01 1.91667662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.581858064 meters 0.016200000304968005 Centerline is valid? [True, True] Translation: X:217.23, Y:91.57, Z:0.19 [[ 6.50058624e-01 -7.59883814e-01 -6.11356992e-04 2.17228182e+02] [ 7.59883498e-01 6.50058912e-01 -6.94034492e-04 9.15653249e+01] [ 9.24803638e-04 -1.33969823e-05 9.99999572e-01 1.92013233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.641858064 meters 0.016616582220120815 Centerline is valid? [True, True] Translation: X:217.27, Y:91.61, Z:0.19 [[ 6.50265621e-01 -7.59706494e-01 -8.15915775e-04 2.17266251e+02] [ 7.59705928e-01 6.50266133e-01 -9.26776463e-04 9.16083029e+01] [ 1.23464049e-03 -1.72051789e-05 9.99999238e-01 1.91469229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.701858064 meters 0.016130943917819114 Centerline is valid? [True, True] Translation: X:217.30, Y:91.65, Z:0.19 [[ 6.51501588e-01 -7.58645552e-01 -1.61442759e-03 2.17303418e+02] [ 7.58643334e-01 6.51503588e-01 -1.83475700e-03 9.16535083e+01] [ 2.44373561e-03 -2.94276299e-05 9.99997014e-01 1.90764669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.761858064 meters 0.01613039818744722 Centerline is valid? [True, True] Translation: X:217.34, Y:91.70, Z:0.19 [[ 6.51701552e-01 -7.58472991e-01 -1.95174892e-03 2.17341456e+02] [ 7.58469745e-01 6.51704473e-01 -2.21937966e-03 9.16969238e+01] [ 2.95530303e-03 -3.39693371e-05 9.99995633e-01 1.90913428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821858064 meters 0.01635865586503378 Centerline is valid? [True, True] Translation: X:217.38, Y:91.74, Z:0.19 [[ 6.50756326e-01 -7.59283667e-01 -2.12536669e-03 2.17378995e+02] [ 7.59279817e-01 6.50759796e-01 -2.41808119e-03 9.17405127e+01] [ 3.21911274e-03 -4.01663989e-05 9.99994818e-01 1.90515839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881858064 meters 0.01639658976984576 Centerline is valid? [True, True] Translation: X:217.42, Y:91.78, Z:0.19 [[ 6.50622824e-01 -7.59398409e-01 -1.99937207e-03 2.17417398e+02] [ 7.59395000e-01 6.50625895e-01 -2.27592331e-03 9.17845519e+01] [ 3.02917579e-03 -3.75455023e-05 9.99995411e-01 1.90728886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941858064 meters 0.016261120576158517 Centerline is valid? [True, True] Translation: X:217.46, Y:91.83, Z:0.19 [[ 6.51314264e-01 -7.58806446e-01 -1.58313899e-03 2.17455220e+02] [ 7.58804305e-01 6.51316188e-01 -1.80301418e-03 9.18282818e+01] [ 2.39926284e-03 -2.69638267e-05 9.99997121e-01 1.91993167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001858064 meters 0.015948063939263582 Centerline is valid? [True, True] Translation: X:217.49, Y:91.87, Z:0.19 [[ 6.51790362e-01 -7.58394706e-01 -2.60647151e-03 2.17493005e+02] [ 7.58388890e-01 6.51795573e-01 -2.97036207e-03 9.18722169e+01] [ 3.95159346e-03 -4.06656617e-05 9.99992192e-01 1.92017120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061858064 meters 0.015795907310679785 Centerline is valid? [True, True] Translation: X:217.53, Y:91.92, Z:0.19 [[ 6.54273326e-01 -7.56252658e-01 -2.88653638e-03 2.17530075e+02] [ 7.56245499e-01 6.54279693e-01 -3.29067296e-03 9.19186472e+01] [ 4.37718231e-03 -2.99306027e-05 9.99990420e-01 1.91279722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121858064 meters 0.01568800174007297 Centerline is valid? [True, True] Translation: X:217.57, Y:91.97, Z:0.19 [[ 6.57259506e-01 -7.53658955e-01 -2.84981710e-03 2.17566887e+02] [ 7.53651946e-01 6.57265684e-01 -3.25031176e-03 9.19653142e+01] [ 4.32271355e-03 -1.14719036e-05 9.99990657e-01 1.91927876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18185806399998 meters 0.015701740132707198 Centerline is valid? [True, True] Translation: X:217.60, Y:92.01, Z:0.19 [[ 6.59842901e-01 -7.51396953e-01 -3.15661201e-03 2.17602937e+02] [ 7.51388321e-01 6.59850452e-01 -3.60174034e-03 9.20098091e+01] [ 4.78922858e-03 4.74139719e-06 9.99988532e-01 1.93513626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24185806399998 meters 0.01585454229317385 Centerline is valid? [True, True] Translation: X:217.64, Y:92.05, Z:0.19 [[ 6.60385968e-01 -7.50918631e-01 -3.40324842e-03 2.17640348e+02] [ 7.50908580e-01 6.60394737e-01 -3.88527778e-03 9.20544139e+01] [ 5.16501482e-03 1.02544917e-05 9.99986661e-01 1.93264394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.301858064 meters 0.015874018277498254 Centerline is valid? [True, True] Translation: X:217.68, Y:92.10, Z:0.19 [[ 6.59526311e-01 -7.51669054e-01 -4.32188743e-03 2.17678210e+02] [ 7.51652841e-01 6.59540472e-01 -4.93695790e-03 9.20989327e+01] [ 6.56141815e-03 7.49466840e-06 9.99978474e-01 1.92697216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.361858064 meters 0.01590147190865483 Centerline is valid? [True, True] Translation: X:217.72, Y:92.14, Z:0.19 [[ 6.58819598e-01 -7.52284903e-01 -4.91542806e-03 2.17715368e+02] [ 7.52263924e-01 6.58837935e-01 -5.61820278e-03 9.21431645e+01] [ 7.46495961e-03 3.68289922e-06 9.99972137e-01 1.93176577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.421858064 meters 0.015998638701994174 Centerline is valid? [True, True] Translation: X:217.75, Y:92.19, Z:0.19 [[ 6.58496918e-01 -7.52563546e-01 -5.46965367e-03 2.17753118e+02] [ 7.52537560e-01 6.58519634e-01 -6.25393550e-03 9.21866229e+01] [ 8.30835821e-03 2.07742057e-06 9.99965485e-01 1.93611141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.481858064 meters 0.01599925725674902 Centerline is valid? [True, True] Translation: X:217.79, Y:92.23, Z:0.19 [[ 6.57692271e-01 -7.53256575e-01 -6.73867418e-03 2.17791236e+02] [ 7.53217130e-01 6.57726792e-01 -7.70864726e-03 9.22314842e+01] [ 1.02387958e-02 -5.76709955e-06 9.99947582e-01 1.92759706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.541858064 meters 0.01605931129457409 Centerline is valid? [True, True] Translation: X:217.83, Y:92.28, Z:0.19 [[ 6.57839552e-01 -7.53116084e-01 -7.95540198e-03 2.17829386e+02] [ 7.53061043e-01 6.57887653e-01 -9.10500883e-03 9.22769431e+01] [ 1.20908893e-02 -1.26838276e-06 9.99926903e-01 1.93401815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601858064 meters 0.01627648654339205 Centerline is valid? [True, True] Translation: X:217.87, Y:92.32, Z:0.19 [[ 6.57348839e-01 -7.53531501e-01 -9.09835151e-03 2.17867756e+02] [ 7.53459478e-01 6.57411801e-01 -1.04182016e-02 9.23216712e+01] [ 1.38318068e-02 -6.84644663e-06 9.99904336e-01 1.93645698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661858064 meters 0.016597481223531125 Centerline is valid? [True, True] Translation: X:217.90, Y:92.37, Z:0.19 [[ 6.56288015e-01 -7.54449487e-01 -9.59237431e-03 2.17904433e+02] [ 7.54369448e-01 6.56358112e-01 -1.09892845e-02 9.23650013e+01] [ 1.45868928e-02 -2.40583807e-05 9.99893605e-01 1.94396495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721858064 meters 0.01686885464089431 Centerline is valid? [True, True] Translation: X:217.94, Y:92.41, Z:0.20 [[ 6.55863068e-01 -7.54806778e-01 -1.05054060e-02 2.17941567e+02] [ 7.54710773e-01 6.55947198e-01 -1.20384084e-02 9.24094693e+01] [ 1.59776639e-02 -3.29955855e-05 9.99872348e-01 1.95736383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781858064 meters 0.016799387209908798 Centerline is valid? [True, True] Translation: X:217.98, Y:92.45, Z:0.20 [[ 6.56134082e-01 -7.54563855e-01 -1.10206418e-02 2.17977518e+02] [ 7.54458065e-01 6.56226628e-01 -1.26348792e-02 9.24547256e+01] [ 1.67658618e-02 -2.44372356e-05 9.99859443e-01 1.97590034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841858064 meters 0.017198930427744313 Centerline is valid? [True, True] Translation: X:218.02, Y:92.50, Z:0.20 [[ 6.54914519e-01 -7.55586669e-01 -1.32573601e-02 2.18015889e+02] [ 7.55433700e-01 6.55048687e-01 -1.52034018e-02 9.24987345e+01] [ 2.01717041e-02 -5.81280259e-05 9.99796529e-01 1.97774114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90185806399998 meters 0.017827075279630112 Centerline is valid? [True, True] Translation: X:218.06, Y:92.54, Z:0.20 [[ 6.53091650e-01 -7.57148696e-01 -1.40409780e-02 2.18055740e+02] [ 7.56977369e-01 6.53242559e-01 -1.61065725e-02 9.25410169e+01] [ 2.13672348e-02 -1.09634602e-04 9.99771689e-01 1.95964936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96185806399998 meters 0.017833012819383272 Centerline is valid? [True, True] Translation: X:218.09, Y:92.59, Z:0.20 [[ 6.52642213e-01 -7.57557611e-01 -1.28299474e-02 2.18093329e+02] [ 7.57414510e-01 6.52768300e-01 -1.47243348e-02 9.25866742e+01] [ 1.95295149e-02 -1.07865889e-04 9.99809275e-01 1.99248127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02185806399999 meters 0.01784134327340441 Centerline is valid? [True, True] Translation: X:218.13, Y:92.63, Z:0.20 [[ 6.51902924e-01 -7.58186017e-01 -1.32868545e-02 2.18132969e+02] [ 7.58032521e-01 6.52038302e-01 -1.52561547e-02 9.26300946e+01] [ 2.02305412e-02 -1.26335999e-04 9.99795334e-01 2.00599394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.081858064 meters 0.0180385861997868 Centerline is valid? [True, True] Translation: X:218.17, Y:92.67, Z:0.20 [[ 6.52703905e-01 -7.57502570e-01 -1.29409821e-02 2.18172637e+02] [ 7.57356685e-01 6.52832174e-01 -1.48662019e-02 9.26731047e+01] [ 1.97094756e-02 -9.77112650e-05 9.99805745e-01 2.01794874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.141858064 meters 0.018167080289791318 Centerline is valid? [True, True] Translation: X:218.21, Y:92.72, Z:0.20 [[ 6.52155617e-01 -7.57978875e-01 -1.26915963e-02 2.18212610e+02] [ 7.57838491e-01 6.52279092e-01 -1.45879017e-02 9.27153484e+01] [ 1.93357843e-02 -1.04598187e-04 9.99813041e-01 2.02154918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.201858064 meters 0.018060012176060663 Centerline is valid? [True, True] Translation: X:218.25, Y:92.76, Z:0.20 [[ 6.54274834e-01 -7.56162887e-01 -1.19218390e-02 2.18249776e+02] [ 7.56038590e-01 6.54383440e-01 -1.37100078e-02 9.27613529e+01] [ 1.81684531e-02 -4.32573187e-05 9.99834939e-01 2.02898529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.261858064 meters 0.018273441520042746 Centerline is valid? [True, True] Translation: X:218.29, Y:92.81, Z:0.20 [[ 6.56445237e-01 -7.54274236e-01 -1.22485463e-02 2.18288231e+02] [ 7.54142554e-01 6.56559499e-01 -1.40936894e-02 9.28050474e+01] [ 1.86724062e-02 1.45852875e-05 9.99825655e-01 2.00579339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321858064 meters 0.01860538821018637 Centerline is valid? [True, True] Translation: X:218.32, Y:92.85, Z:0.20 [[ 6.58490232e-01 -7.52495453e-01 -1.18830928e-02 2.18324730e+02] [ 7.52371143e-01 6.58597441e-01 -1.36775162e-02 9.28491073e+01] [ 1.81184433e-02 6.60146896e-05 9.99835845e-01 1.98683188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381858064 meters 0.018675267164924278 Centerline is valid? [True, True] Translation: X:218.37, Y:92.89, Z:0.20 [[ 6.55663873e-01 -7.54947853e-01 -1.25946611e-02 2.18365708e+02] [ 7.54808525e-01 6.55784827e-01 -1.45034801e-02 9.28890563e+01] [ 1.92087588e-02 2.85038124e-06 9.99815495e-01 1.96655947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441858064 meters 0.018554543538775888 Centerline is valid? [True, True] Translation: X:218.41, Y:92.93, Z:0.20 [[ 6.53146711e-01 -7.57162094e-01 -1.02438661e-02 2.18407015e+02] [ 7.57070111e-01 6.53227037e-01 -1.18019581e-02 9.29311995e+01] [ 1.56275656e-02 -4.69147121e-05 9.99877881e-01 1.99604058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501858064 meters 0.018812094806230077 Centerline is valid? [True, True] Translation: X:218.45, Y:92.97, Z:0.20 [[ 6.51122375e-01 -7.58908240e-01 -9.89629579e-03 2.18447321e+02] [ 7.58822502e-01 6.51197571e-01 -1.14076230e-02 9.29727416e+01] [ 1.51017829e-02 -8.17733584e-05 9.99885958e-01 2.00510550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561858064 meters 0.019757792089485426 Centerline is valid? [True, True] Translation: X:218.49, Y:93.01, Z:0.20 [[ 6.45716713e-01 -7.63519743e-01 -9.35568955e-03 2.18489664e+02] [ 7.63443544e-01 6.45784462e-01 -1.07881658e-02 9.30123233e+01] [ 1.42787365e-02 -1.76441838e-04 9.99898038e-01 2.01111151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621858064 meters 0.01985652683700438 Centerline is valid? [True, True] Translation: X:218.53, Y:93.06, Z:0.20 [[ 6.41772068e-01 -7.66854981e-01 -7.87727995e-03 2.18528964e+02] [ 7.66801176e-01 6.41820376e-01 -9.08632675e-03 9.30556278e+01] [ 1.20236937e-02 -2.08956819e-04 9.99927691e-01 2.03538437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68185806399998 meters 0.021178633878510503 Centerline is valid? [True, True] Translation: X:218.57, Y:93.10, Z:0.20 [[ 6.37044279e-01 -7.70777844e-01 -8.72363320e-03 2.18571515e+02] [ 7.70712153e-01 6.37103932e-01 -1.00676325e-02 9.30955440e+01] [ 1.33177691e-02 -3.09882451e-04 9.99911267e-01 2.02980689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74185806399998 meters 0.0234366258699546 Centerline is valid? [True, True] Translation: X:218.61, Y:93.14, Z:0.20 [[ 6.32055689e-01 -7.74872446e-01 -8.84863103e-03 2.18611997e+02] [ 7.74805209e-01 6.32117499e-01 -1.02154400e-02 9.31361726e+01] [ 1.35090375e-02 -3.99238464e-04 9.99908669e-01 2.01251558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.801858064 meters 0.02410315789648073 Centerline is valid? [True, True] Translation: X:218.65, Y:93.18, Z:0.20 [[ 6.28229008e-01 -7.77987300e-01 -8.00460297e-03 2.18650923e+02] [ 7.77932474e-01 6.28279862e-01 -9.24557753e-03 9.31796121e+01] [ 1.22220728e-02 -4.18700592e-04 9.99925220e-01 2.02370690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.861858064 meters 0.027068439925252354 Centerline is valid? [True, True] Translation: X:218.69, Y:93.22, Z:0.20 [[ 6.22215313e-01 -7.82812392e-01 -7.27074201e-03 2.18692041e+02] [ 7.82767451e-01 6.22257619e-01 -8.40084648e-03 9.32195643e+01] [ 1.11005613e-02 -4.64164864e-04 9.99938279e-01 2.02745261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.921858064 meters 0.03081256995692415 Centerline is valid? [True, True] Translation: X:218.73, Y:93.26, Z:0.20 [[ 6.17175848e-01 -7.86798162e-01 -6.52871889e-03 2.18734709e+02] [ 7.86762121e-01 6.17210193e-01 -7.54609150e-03 9.32587195e+01] [ 9.96684277e-03 -4.79283296e-04 9.99950215e-01 2.03084997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.981858064 meters 0.026929745042585378 Centerline is valid? [True, True] Translation: X:218.77, Y:93.31, Z:0.21 [[ 6.15618778e-01 -7.88022815e-01 -5.79337053e-03 2.18768834e+02] [ 7.87994462e-01 6.15645879e-01 -6.69926816e-03 9.33070839e+01] [ 8.84584085e-03 -4.40948614e-04 9.99960778e-01 2.05314208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.041858064 meters 0.027423099508358945 Centerline is valid? [True, True] Translation: X:218.81, Y:93.35, Z:0.21 [[ 6.11866400e-01 -7.90943817e-01 -5.23324751e-03 2.18808781e+02] [ 7.90920761e-01 6.11888625e-01 -6.05469212e-03 9.33502220e+01] [ 7.99108592e-03 -4.34421434e-04 9.99967976e-01 2.05240397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101858064 meters 0.027534364442065997 Centerline is valid? [True, True] Translation: X:218.85, Y:93.39, Z:0.21 [[ 6.10298894e-01 -7.92157026e-01 -4.74394916e-03 2.18847945e+02] [ 7.92138098e-01 6.10317196e-01 -5.49126197e-03 9.33947003e+01] [ 7.24525551e-03 -4.06551755e-04 9.99973670e-01 2.05208097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161858064 meters 0.028145343665512947 Centerline is valid? [True, True] Translation: X:218.89, Y:93.44, Z:0.21 [[ 6.09400593e-01 -7.92850633e-01 -4.33479574e-03 2.18887415e+02] [ 7.92834834e-01 6.09415893e-01 -5.01944008e-03 9.34377671e+01] [ 6.62135966e-03 -3.77927302e-04 9.99978007e-01 2.05715712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221858064 meters 0.030270014127374897 Centerline is valid? [True, True] Translation: X:218.93, Y:93.48, Z:0.21 [[ 6.09315963e-01 -7.92919707e-01 -3.52068579e-03 2.18927288e+02] [ 7.92909277e-01 6.09326057e-01 -4.07850589e-03 9.34782367e+01] [ 5.37917329e-03 -3.06485686e-04 9.99985485e-01 2.05806112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281858064 meters 0.02862063650392973 Centerline is valid? [True, True] Translation: X:218.96, Y:93.52, Z:0.21 [[ 6.13309503e-01 -7.89837831e-01 -2.76659704e-03 2.18962875e+02] [ 7.89831352e-01 6.13315704e-01 -3.20650821e-03 9.35241691e+01] [ 4.22941890e-03 -2.18563125e-04 9.99991032e-01 2.05520550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341858064 meters 0.025879091564451628 Centerline is valid? [True, True] Translation: X:219.00, Y:93.57, Z:0.21 [[ 6.15345196e-01 -7.88252428e-01 -2.89814329e-03 2.18998974e+02] [ 7.88245294e-01 6.15351983e-01 -3.36072181e-03 9.35702845e+01] [ 4.43247535e-03 -2.16443791e-04 9.99990153e-01 2.05963191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40185806399998 meters 0.024888014997356614 Centerline is valid? [True, True] Translation: X:219.03, Y:93.61, Z:0.21 [[ 6.19927915e-01 -7.84653542e-01 -2.86340417e-03 2.19034486e+02] [ 7.84646533e-01 6.19934500e-01 -3.32179344e-03 9.36148387e+01] [ 4.38158003e-03 -1.87487672e-04 9.99990383e-01 2.05513290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46185806399998 meters 0.02445516237508037 Centerline is valid? [True, True] Translation: X:219.07, Y:93.66, Z:0.21 [[ 6.20695471e-01 -7.84048274e-01 -2.33148806e-03 2.19072241e+02] [ 7.84043619e-01 6.20699832e-01 -2.70589172e-03 9.36596027e+01] [ 3.56870399e-03 -1.48453599e-04 9.99993621e-01 2.06009288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52185806399999 meters 0.024417746823493406 Centerline is valid? [True, True] Translation: X:219.11, Y:93.70, Z:0.21 [[ 6.22278876e-01 -7.82792841e-01 -2.09002933e-03 2.19110983e+02] [ 7.82789089e-01 6.22282373e-01 -2.42682676e-03 9.37026907e+01] [ 3.20029103e-03 -1.25889131e-04 9.99994871e-01 2.07786960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.581858064 meters 0.023141857620638646 Centerline is valid? [True, True] Translation: X:219.15, Y:93.75, Z:0.21 [[ 6.21938962e-01 -7.83063188e-01 -1.99267475e-03 2.19147558e+02] [ 7.83059775e-01 6.21942143e-01 -2.31500092e-03 9.37478523e+01] [ 3.05212040e-03 -1.20594178e-04 9.99995335e-01 2.07316629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.641858064 meters 0.022217298474676954 Centerline is valid? [True, True] Translation: X:219.18, Y:93.79, Z:0.21 [[ 6.22956882e-01 -7.82252383e-01 -2.43550567e-03 2.19184464e+02] [ 7.82247273e-01 6.22961627e-01 -2.83093630e-03 9.37941646e+01] [ 3.73173324e-03 -1.41616418e-04 9.99993027e-01 2.07256219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.701858064 meters 0.02239501677039981 Centerline is valid? [True, True] Translation: X:219.22, Y:93.84, Z:0.21 [[ 6.20618262e-01 -7.84106334e-01 -3.19841708e-03 2.19223100e+02] [ 7.84097536e-01 6.20626472e-01 -3.71971765e-03 9.38381015e+01] [ 4.90167648e-03 -1.99346248e-04 9.99987967e-01 2.07131347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.761858064 meters 0.023515846867583134 Centerline is valid? [True, True] Translation: X:219.26, Y:93.88, Z:0.21 [[ 6.17933554e-01 -7.86224184e-01 -3.10743021e-03 2.19262113e+02] [ 7.86215900e-01 6.17941332e-01 -3.61509248e-03 9.38815502e+01] [ 4.76248269e-03 -2.09224094e-04 9.99988637e-01 2.07357740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821858064 meters 0.025435934993603523 Centerline is valid? [True, True] Translation: X:219.30, Y:93.92, Z:0.21 [[ 6.12539899e-01 -7.90434163e-01 -2.95050107e-03 2.19302625e+02] [ 7.90426739e-01 6.12546962e-01 -3.43347274e-03 9.39236549e+01] [ 4.52125462e-03 -2.29015900e-04 9.99989753e-01 2.07620570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881858064 meters 0.02923120693364036 Centerline is valid? [True, True] Translation: X:219.34, Y:93.96, Z:0.21 [[ 6.10021240e-01 -7.92380553e-01 -2.67328511e-03 2.19344063e+02] [ 7.92374471e-01 6.10027058e-01 -3.11230225e-03 9.39645128e+01] [ 4.09690403e-03 -2.19672393e-04 9.99991584e-01 2.08773687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941858064 meters 0.030021692028509205 Centerline is valid? [True, True] Translation: X:219.38, Y:94.01, Z:0.21 [[ 6.06089200e-01 -7.95391905e-01 -2.75668609e-03 2.19381716e+02] [ 7.95385461e-01 6.06095419e-01 -3.21106351e-03 9.40091439e+01] [ 4.22486874e-03 -2.46437119e-04 9.99991045e-01 2.08979617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001858064 meters 0.03317250036387544 Centerline is valid? [True, True] Translation: X:219.42, Y:94.05, Z:0.21 [[ 6.01143025e-01 -7.99137014e-01 -2.66397057e-03 2.19422087e+02] [ 7.99131029e-01 6.01148870e-01 -3.10408576e-03 9.40515912e+01] [ 4.08203273e-03 -2.62862040e-04 9.99991634e-01 2.09590861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061858064 meters 0.03671455434966943 Centerline is valid? [True, True] Translation: X:219.46, Y:94.09, Z:0.21 [[ 5.97485046e-01 -8.01875931e-01 -2.57120858e-03 2.19462781e+02] [ 8.01870375e-01 5.97490517e-01 -2.99742519e-03 9.40923200e+01] [ 3.93983586e-03 -2.70859257e-04 9.99992202e-01 2.09953973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121858064 meters 0.040148825963518944 Centerline is valid? [True, True] Translation: X:219.50, Y:94.13, Z:0.21 [[ 5.92135412e-01 -8.05833969e-01 -2.69605164e-03 2.19503519e+02] [ 8.05827893e-01 5.92141469e-01 -3.14461852e-03 9.41335534e+01] [ 4.13048439e-03 -3.10513627e-04 9.99991421e-01 2.10455101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18185806399998 meters 0.040998860373649706 Centerline is valid? [True, True] Translation: X:219.54, Y:94.18, Z:0.21 [[ 5.90029415e-01 -8.07378239e-01 -2.38082333e-03 2.19541877e+02] [ 8.07373509e-01 5.90034150e-01 -2.77835630e-03 9.41766419e+01] [ 3.64795149e-03 -2.82901743e-04 9.99993306e-01 2.11241899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24185806399998 meters 0.040879909095449786 Centerline is valid? [True, True] Translation: X:219.58, Y:94.22, Z:0.21 [[ 5.89857589e-01 -8.07505310e-01 -1.78861309e-03 2.19578486e+02] [ 8.07502638e-01 5.89860262e-01 -2.08826770e-03 9.42218373e+01] [ 2.74131905e-03 -2.12529234e-04 9.99996220e-01 2.11848728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.301858064 meters 0.03516987508436551 Centerline is valid? [True, True] Translation: X:219.61, Y:94.27, Z:0.21 [[ 5.89851954e-01 -8.07508051e-01 -2.32797701e-03 2.19613040e+02] [ 8.07503519e-01 5.89856484e-01 -2.71954198e-03 9.42690190e+01] [ 3.56922438e-03 -2.75722479e-04 9.99993592e-01 2.12271559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.361858064 meters 0.033590957663939665 Centerline is valid? [True, True] Translation: X:219.65, Y:94.32, Z:0.21 [[ 5.92025514e-01 -8.05918120e-01 -1.33204229e-03 2.19648591e+02] [ 8.05916631e-01 5.92026993e-01 -1.55675722e-03 9.43154884e+01] [ 2.04322384e-03 -1.51875037e-04 9.99997901e-01 2.13309455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.421858064 meters 0.030509914354847758 Centerline is valid? [True, True] Translation: X:219.68, Y:94.36, Z:0.21 [[ 5.96546732e-01 -8.02577982e-01 -7.61196201e-04 2.19684125e+02] [ 8.02577492e-01 5.96547213e-01 -8.89923269e-04 9.43625562e+01] [ 1.16832229e-03 -8.00381201e-05 9.99999314e-01 2.14041830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.481858064 meters 0.028772863040288178 Centerline is valid? [True, True] Translation: X:219.72, Y:94.41, Z:0.21 [[ 5.99765182e-01 -8.00175646e-01 -8.14191607e-04 2.19720409e+02] [ 8.00175083e-01 5.99765729e-01 -9.52398950e-04 9.44083992e+01] [ 1.25041067e-03 -8.02801073e-05 9.99999215e-01 2.13828137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.541858064 meters 0.03012259714708338 Centerline is valid? [True, True] Translation: X:219.76, Y:94.45, Z:0.21 [[ 6.05447866e-01 -7.95883752e-01 -1.39061661e-03 2.19758537e+02] [ 7.95882098e-01 6.05449451e-01 -1.62754319e-03 9.44517070e+01] [ 2.13728324e-03 -1.21374314e-04 9.99997709e-01 2.12121147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601858064 meters 0.028940692247938743 Centerline is valid? [True, True] Translation: X:219.79, Y:94.50, Z:0.21 [[ 6.10263877e-01 -7.92196242e-01 -1.76455565e-03 2.19794174e+02] [ 7.92193561e-01 6.10266413e-01 -2.06589402e-03 9.44964105e+01] [ 2.71344253e-03 -1.37129134e-04 9.99996309e-01 2.11642619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661858064 meters 0.02950608880469243 Centerline is valid? [True, True] Translation: X:219.83, Y:94.54, Z:0.21 [[ 6.10886059e-01 -7.91717136e-01 -1.48313591e-03 2.19833703e+02] [ 7.91715238e-01 6.10887849e-01 -1.73713405e-03 9.45393366e+01] [ 2.28134850e-03 -1.13030333e-04 9.99997391e-01 2.12266703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721858064 meters 0.029649056533780586 Centerline is valid? [True, True] Translation: X:219.87, Y:94.58, Z:0.21 [[ 6.11524229e-01 -7.91224523e-01 -1.36840513e-03 2.19872087e+02] [ 7.91222904e-01 6.11525751e-01 -1.60352339e-03 9.45833398e+01] [ 2.10556201e-03 -1.02120081e-04 9.99997778e-01 2.12099075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781858064 meters 0.028848442286138722 Centerline is valid? [True, True] Translation: X:219.91, Y:94.63, Z:0.21 [[ 6.12319393e-01 -7.90609995e-01 -8.92788649e-04 2.19909297e+02] [ 7.90609305e-01 6.12320040e-01 -1.04659045e-03 9.46283773e+01] [ 1.37411725e-03 -6.49993854e-05 9.99999054e-01 2.12597849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841858064 meters 0.027219399168947524 Centerline is valid? [True, True] Translation: X:219.95, Y:94.67, Z:0.21 [[ 6.12274473e-01 -7.90644183e-01 -1.32094076e-03 2.19945116e+02] [ 7.90642671e-01 6.12275890e-01 -1.54945512e-03 9.46735686e+01] [ 2.03384786e-03 -9.57003115e-05 9.99997927e-01 2.11793958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90185806399998 meters 0.024478886303492597 Centerline is valid? [True, True] Translation: X:219.98, Y:94.72, Z:0.21 [[ 6.12078797e-01 -7.90795000e-01 -1.67771803e-03 2.19979357e+02] [ 7.90792557e-01 6.12081084e-01 -1.96912290e-03 9.47203422e+01] [ 2.58407201e-03 -1.21468556e-04 9.99996654e-01 2.10318009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96185806399998 meters 0.024733887014263413 Centerline is valid? [True, True] Translation: X:220.02, Y:94.76, Z:0.21 [[ 6.10362739e-01 -7.92118323e-01 -2.42692499e-03 2.20017972e+02] [ 7.92113217e-01 6.10367536e-01 -2.85006151e-03 9.47646731e+01] [ 3.73890217e-03 -1.82828014e-04 9.99992994e-01 2.09653980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02185806399996 meters 0.02671505192549393 Centerline is valid? [True, True] Translation: X:220.06, Y:94.81, Z:0.21 [[ 6.07237135e-01 -7.94516526e-01 -2.55946679e-03 2.20058888e+02] [ 7.94510862e-01 6.07242494e-01 -3.00719862e-03 9.48073578e+01] [ 3.94348600e-03 -2.07441493e-04 9.99992203e-01 2.09620339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08185806399996 meters 0.02741585005915606 Centerline is valid? [True, True] Translation: X:220.10, Y:94.85, Z:0.21 [[ 6.06213183e-01 -7.95298997e-01 -2.25417591e-03 2.20097725e+02] [ 7.95294605e-01 6.06217345e-01 -2.64974237e-03 9.48512864e+01] [ 3.47385798e-03 -1.86425187e-04 9.99993949e-01 2.10360288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14185806399996 meters 0.029577964384176383 Centerline is valid? [True, True] Translation: X:220.14, Y:94.89, Z:0.21 [[ 6.03637771e-01 -7.97254311e-01 -2.64693921e-03 2.20138170e+02] [ 7.97248268e-01 6.03643530e-01 -3.11251312e-03 9.48940170e+01] [ 4.07927223e-03 -2.31437223e-04 9.99991653e-01 2.11139712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20185806399996 meters 0.03186682219418053 Centerline is valid? [True, True] Translation: X:220.18, Y:94.94, Z:0.21 [[ 6.01953880e-01 -7.98524159e-01 -3.27023736e-03 2.20178234e+02] [ 7.98514949e-01 6.01962690e-01 -3.84656906e-03 9.49360428e+01] [ 5.04013920e-03 -2.95876245e-04 9.99987255e-01 2.11292793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26185806399997 meters 0.03391029684760368 Centerline is valid? [True, True] Translation: X:220.22, Y:94.98, Z:0.21 [[ 5.99814170e-01 -8.00134129e-01 -2.88748672e-03 2.20217983e+02] [ 8.00126960e-01 5.99821058e-01 -3.39799735e-03 9.49782049e+01] [ 4.45082899e-03 -2.72189015e-04 9.99990058e-01 2.11840768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32185806399997 meters 0.03592272116369697 Centerline is valid? [True, True] Translation: X:220.26, Y:95.02, Z:0.21 [[ 5.98946550e-01 -8.00783827e-01 -2.87960597e-03 2.20256244e+02] [ 8.00776700e-01 5.98953409e-01 -3.38969007e-03 9.50204277e+01] [ 4.43915880e-03 -2.75678191e-04 9.99990109e-01 2.11796363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38185806399997 meters 0.02737019970784167 Centerline is valid? [True, True] Translation: X:220.29, Y:95.07, Z:0.21 [[ 5.98878069e-01 -8.00831987e-01 -3.63137511e-03 2.20285601e+02] [ 8.00820642e-01 5.98888978e-01 -4.27687075e-03 9.50712979e+01] [ 5.59984543e-03 -3.46756054e-04 9.99984261e-01 2.12847087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441858064 meters 0.02758425150879646 Centerline is valid? [True, True] Translation: X:220.32, Y:95.11, Z:0.21 [[ 6.02168486e-01 -7.98361416e-01 -3.48769503e-03 2.20323884e+02] [ 7.98350899e-01 6.02178507e-01 -4.10942616e-03 9.51146192e+01] [ 5.38102227e-03 -3.09837534e-04 9.99985474e-01 2.12976716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501858064 meters 0.024475314545650398 Centerline is valid? [True, True] Translation: X:220.36, Y:95.16, Z:0.21 [[ 6.07892934e-01 -7.94014409e-01 -2.70165981e-03 2.20357468e+02] [ 7.94008051e-01 6.07898902e-01 -3.18425955e-03 9.51635204e+01] [ 4.17068400e-03 -2.09450761e-04 9.99991281e-01 2.13311598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561858064 meters 0.023395138243261344 Centerline is valid? [True, True] Translation: X:220.40, Y:95.21, Z:0.21 [[ 6.10511035e-01 -7.92003964e-01 -2.44884942e-03 2.20396391e+02] [ 7.91998720e-01 6.10515920e-01 -2.88765665e-03 9.52073473e+01] [ 3.78209707e-03 -1.76539363e-04 9.99992832e-01 2.14841550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621858064 meters 0.022715624977017318 Centerline is valid? [True, True] Translation: X:220.44, Y:95.25, Z:0.22 [[ 6.14142446e-01 -7.89191689e-01 -2.35227276e-03 2.20435279e+02] [ 7.89186824e-01 6.14146932e-01 -2.77522305e-03 9.52509163e+01] [ 3.63482406e-03 -1.52000394e-04 9.99993382e-01 2.15003577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681858064 meters 0.021460971188962782 Centerline is valid? [True, True] Translation: X:220.47, Y:95.30, Z:0.21 [[ 6.20226573e-01 -7.84418716e-01 -2.50508228e-03 2.20471245e+02] [ 7.84413155e-01 6.20231618e-01 -2.95665414e-03 9.52957818e+01] [ 3.87298608e-03 -1.31224029e-04 9.99992491e-01 2.14262331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.741858064 meters 0.01924065569726608 Centerline is valid? [True, True] Translation: X:220.51, Y:95.34, Z:0.21 [[ 6.24716368e-01 -7.80845807e-01 -3.04727295e-03 2.20506968e+02] [ 7.80837527e-01 6.24723786e-01 -3.59836252e-03 9.53425397e+01] [ 4.71347018e-03 -1.31469111e-04 9.99988883e-01 2.13996461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.801858064 meters 0.016500749236572583 Centerline is valid? [True, True] Translation: X:220.54, Y:95.39, Z:0.21 [[ 6.31878866e-01 -7.75058194e-01 -3.72761192e-03 2.20541142e+02] [ 7.75045693e-01 6.31889852e-01 -4.40330743e-03 9.53906760e+01] [ 5.76825965e-03 -1.06712657e-04 9.99983358e-01 2.13184322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.861858064 meters 0.01540132561365205 Centerline is valid? [True, True] Translation: X:220.58, Y:95.44, Z:0.21 [[ 6.36130518e-01 -7.71570358e-01 -4.14093270e-03 2.20576827e+02] [ 7.71554841e-01 6.36143990e-01 -4.89403960e-03 9.54372783e+01] [ 6.41032533e-03 -8.17087260e-05 9.99979450e-01 2.13059261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.921858064 meters 0.014568054148214802 Centerline is valid? [True, True] Translation: X:220.61, Y:95.49, Z:0.21 [[ 6.42333375e-01 -7.66417240e-01 -3.52849608e-03 2.20612475e+02] [ 7.66405884e-01 6.42343066e-01 -4.17216558e-03 9.54850876e+01] [ 5.46412462e-03 -2.43389563e-05 9.99985071e-01 2.14031599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.981858064 meters 0.01449234046484879 Centerline is valid? [True, True] Translation: X:220.65, Y:95.53, Z:0.22 [[ 6.46745531e-01 -7.62700874e-01 -2.75603008e-03 2.20648860e+02] [ 7.62693909e-01 6.46751403e-01 -3.25948932e-03 9.55305398e+01] [ 4.26848167e-03 6.05279396e-06 9.99990890e-01 2.15001673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04185806399994 meters 0.014790729204686099 Centerline is valid? [True, True] Translation: X:220.68, Y:95.58, Z:0.21 [[ 6.49752054e-01 -7.60141302e-01 -2.73298990e-03 2.20684964e+02] [ 7.60134424e-01 6.49757801e-01 -3.23374130e-03 9.55766886e+01] [ 4.23388183e-03 2.36903450e-05 9.99991037e-01 2.14956764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10185806399994 meters 0.01519034352273632 Centerline is valid? [True, True] Translation: X:220.72, Y:95.62, Z:0.21 [[ 6.52836300e-01 -7.57492060e-01 -3.24729384e-03 2.20720720e+02] [ 7.57482311e-01 6.52844375e-01 -3.84326871e-03 9.56229625e+01] [ 5.03122305e-03 4.92576826e-05 9.99987342e-01 2.14247613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16185806399994 meters 0.015352917167483647 Centerline is valid? [True, True] Translation: X:220.76, Y:95.67, Z:0.21 [[ 6.52178379e-01 -7.58055359e-01 -3.92860543e-03 2.20757754e+02] [ 7.58041087e-01 6.52190209e-01 -4.65201157e-03 9.56680273e+01] [ 6.08868030e-03 5.58970331e-05 9.99981462e-01 2.13240087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22185806399995 meters 0.015160525317385987 Centerline is valid? [True, True] Translation: X:220.80, Y:95.71, Z:0.21 [[ 6.50390057e-01 -7.59586770e-01 -4.55105587e-03 2.20797181e+02] [ 7.59567634e-01 6.50405978e-01 -5.39198399e-03 9.57110599e+01] [ 7.05571365e-03 5.00580433e-05 9.99975107e-01 2.13482644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28185806399995 meters 0.015237464327524479 Centerline is valid? [True, True] Translation: X:220.83, Y:95.75, Z:0.21 [[ 6.49168370e-01 -7.60631926e-01 -4.41588807e-03 2.20834635e+02] [ 7.60613923e-01 6.49183388e-01 -5.23336458e-03 9.57540512e+01] [ 6.84738536e-03 3.85488085e-05 9.99976556e-01 2.14316346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34185806399995 meters 0.015289303634290081 Centerline is valid? [True, True] Translation: X:220.87, Y:95.80, Z:0.21 [[ 6.48093479e-01 -7.61545248e-01 -4.86600925e-03 2.20872362e+02] [ 7.61523391e-01 6.48111745e-01 -5.76985814e-03 9.57988070e+01] [ 7.54772579e-03 3.38275714e-05 9.99971515e-01 2.14001919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40185806399995 meters 0.015186132449026314 Centerline is valid? [True, True] Translation: X:220.91, Y:95.84, Z:0.21 [[ 6.47242854e-01 -7.62268743e-01 -4.80121640e-03 2.20909497e+02] [ 7.62247460e-01 6.47260661e-01 -5.69619019e-03 9.58433521e+01] [ 7.44966624e-03 2.71033868e-05 9.99972250e-01 2.14082251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46185806399995 meters 0.015244223180242418 Centerline is valid? [True, True] Translation: X:220.95, Y:95.89, Z:0.22 [[ 6.46447057e-01 -7.62948270e-01 -4.01746198e-03 2.20946525e+02] [ 7.62933365e-01 6.46459540e-01 -4.76889296e-03 9.58883422e+01] [ 6.23554526e-03 1.77810267e-05 9.99980559e-01 2.16712474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52185806399996 meters 0.015288986924738818 Centerline is valid? [True, True] Translation: X:220.98, Y:95.93, Z:0.22 [[ 6.46414688e-01 -7.62976246e-01 -3.91150365e-03 2.20983865e+02] [ 7.62962102e-01 6.46426522e-01 -4.64564584e-03 9.59328070e+01] [ 6.07301712e-03 1.86846633e-05 9.99981559e-01 2.17388840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58185806399996 meters 0.01539637859340321 Centerline is valid? [True, True] Translation: X:221.02, Y:95.98, Z:0.22 [[ 6.42882666e-01 -7.65949863e-01 -4.76292016e-03 2.21021729e+02] [ 7.65928950e-01 6.42900309e-01 -5.66007638e-03 9.59775039e+01] [ 7.39741757e-03 -9.29344432e-06 9.99972639e-01 2.15091966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64185806399996 meters 0.015746150038487894 Centerline is valid? [True, True] Translation: X:221.06, Y:96.02, Z:0.21 [[ 6.40457901e-01 -7.67975850e-01 -5.17409916e-03 2.21059003e+02] [ 7.67951211e-01 6.40478800e-01 -6.15179743e-03 9.60207926e+01] [ 8.03833268e-03 -3.34884457e-05 9.99967692e-01 2.14611053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70185806399996 meters 0.015853858132960887 Centerline is valid? [True, True] Translation: X:221.10, Y:96.07, Z:0.22 [[ 6.39434930e-01 -7.68824516e-01 -5.64220185e-03 2.21095794e+02] [ 7.68795221e-01 6.39459821e-01 -6.71167005e-03 9.60668539e+01] [ 8.76805786e-03 -4.60215527e-05 9.99961559e-01 2.15822668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76185806399997 meters 0.0159403034436064 Centerline is valid? [True, True] Translation: X:221.13, Y:96.11, Z:0.22 [[ 6.39033792e-01 -7.69160721e-01 -5.25329524e-03 2.21131977e+02] [ 7.69135309e-01 6.39055383e-01 -6.25252090e-03 9.61129182e+01] [ 8.16634009e-03 -4.49227147e-05 9.99966654e-01 2.16070667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82185806399997 meters 0.01607103586579067 Centerline is valid? [True, True] Translation: X:221.17, Y:96.16, Z:0.22 [[ 6.38625271e-01 -7.69503429e-01 -4.71543666e-03 2.21168241e+02] [ 7.69482941e-01 6.38642678e-01 -5.61546779e-03 9.61588462e+01] [ 7.33260081e-03 -4.22684250e-05 9.99973115e-01 2.17842617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88185806399997 meters 0.016139953940895114 Centerline is valid? [True, True] Translation: X:221.20, Y:96.21, Z:0.22 [[ 6.40680629e-01 -7.67796852e-01 -4.04053533e-03 2.21202309e+02] [ 7.67781759e-01 6.40693370e-01 -4.81410506e-03 9.62072542e+01] [ 6.28499890e-03 -1.79454708e-05 9.99980249e-01 2.18419842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941858064 meters 0.016454230908523413 Centerline is valid? [True, True] Translation: X:221.24, Y:96.25, Z:0.22 [[ 6.41754756e-01 -7.66891505e-01 -5.31534429e-03 2.21238634e+02] [ 7.66865329e-01 6.41776768e-01 -6.33625761e-03 9.62510448e+01] [ 8.27048661e-03 -9.82979186e-06 9.99965799e-01 2.17444508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001858064 meters 0.01654569848739264 Centerline is valid? [True, True] Translation: X:221.28, Y:96.30, Z:0.22 [[ 6.41449778e-01 -7.67142933e-01 -5.82251566e-03 2.21275388e+02] [ 7.67111498e-01 6.41476204e-01 -6.94476600e-03 9.62962175e+01] [ 9.06263340e-03 -1.18000964e-05 9.99958933e-01 2.17025838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061858064 meters 0.016830794575368284 Centerline is valid? [True, True] Translation: X:221.31, Y:96.34, Z:0.22 [[ 6.40864507e-01 -7.67634713e-01 -5.44335393e-03 2.21312691e+02] [ 7.67607225e-01 6.40887624e-01 -6.49622937e-03 9.63404220e+01] [ 8.47530934e-03 -1.51549690e-05 9.99964084e-01 2.16443431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121858064 meters 0.017476229305972736 Centerline is valid? [True, True] Translation: X:221.36, Y:96.38, Z:0.22 [[ 6.35217367e-01 -7.72308730e-01 -6.17432687e-03 2.21357343e+02] [ 7.72273546e-01 6.35247368e-01 -7.37237081e-03 9.63796054e+01] [ 9.61597123e-03 -8.52113296e-05 9.99953762e-01 2.15368961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181858064 meters 0.017955640691556623 Centerline is valid? [True, True] Translation: X:221.40, Y:96.42, Z:0.22 [[ 6.32411144e-01 -7.74626421e-01 -3.17056596e-03 2.21397276e+02] [ 7.74617163e-01 6.32419089e-01 -3.78769842e-03 9.64214066e+01] [ 4.93917771e-03 -6.05921163e-05 9.99987800e-01 2.17404452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.241858064 meters 0.018178986173665777 Centerline is valid? [True, True] Translation: X:221.44, Y:96.46, Z:0.22 [[ 6.31033486e-01 -7.75749784e-01 -3.00208024e-03 2.21436643e+02] [ 7.75741487e-01 6.31040624e-01 -3.58833678e-03 9.64646166e+01] [ 4.67808607e-03 -6.44775232e-05 9.99989056e-01 2.16688659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.301858064 meters 0.018215415281264635 Centerline is valid? [True, True] Translation: X:221.47, Y:96.51, Z:0.22 [[ 6.32139738e-01 -7.74849043e-01 -2.88298850e-03 2.21473642e+02] [ 7.74841376e-01 6.32146310e-01 -3.44753000e-03 9.65084108e+01] [ 4.49378586e-03 -5.45380632e-05 9.99989901e-01 2.16213611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.361858064 meters 0.01813627422125352 Centerline is valid? [True, True] Translation: X:221.51, Y:96.55, Z:0.21 [[ 6.31726095e-01 -7.75186869e-01 -2.73101926e-03 2.21510412e+02] [ 7.75179984e-01 6.31731996e-01 -3.26752999e-03 9.65529355e+01] [ 4.25821859e-03 -5.28475070e-05 9.99990932e-01 2.14955110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.421858064 meters 0.017957398255679952 Centerline is valid? [True, True] Translation: X:221.55, Y:96.60, Z:0.22 [[ 6.30850870e-01 -7.75902547e-01 -1.55474970e-03 2.21548066e+02] [ 7.75900315e-01 6.30852785e-01 -1.86107821e-03 9.65971033e+01] [ 2.42483350e-03 -3.22679709e-05 9.99997060e-01 2.15646985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.481858064 meters 0.01853438735975155 Centerline is valid? [True, True] Translation: X:221.59, Y:96.64, Z:0.21 [[ 6.30865488e-01 -7.75890034e-01 -1.84165741e-03 2.21586669e+02] [ 7.75886899e-01 6.30868175e-01 -2.20574962e-03 9.66386574e+01] [ 2.87326220e-03 -3.73865436e-05 9.99995871e-01 2.14258970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54185806399994 meters 0.018168783309158443 Centerline is valid? [True, True] Translation: X:221.62, Y:96.68, Z:0.21 [[ 6.29528564e-01 -7.76976201e-01 -1.33080302e-03 2.21624424e+02] [ 7.76974565e-01 6.29529970e-01 -1.59460380e-03 9.66838995e+01] [ 2.07674958e-03 -3.01514544e-05 9.99997843e-01 2.14333116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60185806399994 meters 0.01843694053428555 Centerline is valid? [True, True] Translation: X:221.66, Y:96.73, Z:0.21 [[ 6.27812843e-01 -7.78363775e-01 -9.32179357e-04 2.21662426e+02] [ 7.78362973e-01 6.27813534e-01 -1.11728700e-03 9.67268913e+01] [ 1.45489054e-03 -2.41267683e-05 9.99998941e-01 2.14846988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66185806399994 meters 0.01888493179545621 Centerline is valid? [True, True] Translation: X:221.70, Y:96.77, Z:0.22 [[ 6.23540881e-01 -7.81790379e-01 7.56985832e-04 2.21701716e+02] [ 7.81789852e-01 6.23541340e-01 9.08194121e-04 9.67711803e+01] [-1.18202939e-03 2.55076786e-05 9.99999301e-01 2.15655904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72185806399995 meters 0.01947481202498551 Centerline is valid? [True, True] Translation: X:221.74, Y:96.82, Z:0.22 [[ 6.20696029e-01 -7.84049906e-01 1.47811526e-03 2.21740186e+02] [ 7.84047901e-01 6.20697786e-01 1.77392271e-03 9.68160503e+01] [-2.30830680e-03 5.78463825e-05 9.99997334e-01 2.16018399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78185806399995 meters 0.0211311682131267 Centerline is valid? [True, True] Translation: X:221.78, Y:96.86, Z:0.22 [[ 6.15893186e-01 -7.87829094e-01 9.49365136e-04 2.21779998e+02] [ 7.87828271e-01 6.15893916e-01 1.14008626e-03 9.68588075e+01] [-1.48290133e-03 4.57653367e-05 9.99998899e-01 2.15233631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84185806399995 meters 0.02259827041654705 Centerline is valid? [True, True] Translation: X:221.82, Y:96.90, Z:0.21 [[ 6.10432877e-01 -7.92067861e-01 4.54662199e-04 2.21819908e+02] [ 7.92067672e-01 6.10433046e-01 5.46475996e-04 9.69019104e+01] [-7.10386904e-04 2.65363155e-05 9.99999747e-01 2.14024751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90185806399995 meters 0.02527389410621072 Centerline is valid? [True, True] Translation: X:221.86, Y:96.94, Z:0.21 [[ 6.01972307e-01 -7.98516739e-01 5.98939402e-04 2.21859745e+02] [ 7.98516416e-01 6.01972603e-01 7.20167007e-04 9.69443351e+01] [-9.35610521e-04 4.47423504e-05 9.99999561e-01 2.12518284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96185806399995 meters 0.028797402756316183 Centerline is valid? [True, True] Translation: X:221.90, Y:96.99, Z:0.21 [[ 5.93676899e-01 -8.04700486e-01 2.20626597e-03 2.21900118e+02] [ 8.04696140e-01 5.93680964e-01 2.65248616e-03 9.69867435e+01] [-3.44427501e-03 2.00653953e-04 9.99994048e-01 2.12745770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02185806399996 meters 0.03144973483868505 Centerline is valid? [True, True] Translation: X:221.94, Y:97.03, Z:0.21 [[ 5.89721800e-01 -8.07600823e-01 3.01818294e-03 2.21940436e+02] [ 8.07592717e-01 5.89729449e-01 3.63058345e-03 9.70287006e+01] [-4.71197355e-03 2.96428352e-04 9.99988855e-01 2.13918610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08185806399996 meters 0.03497343227576209 Centerline is valid? [True, True] Translation: X:221.98, Y:97.07, Z:0.21 [[ 5.86559286e-01 -8.09901173e-01 2.87980938e-03 2.21981650e+02] [ 8.09893814e-01 5.86566279e-01 3.46561528e-03 9.70686995e+01] [-4.49600496e-03 2.99550976e-04 9.99989848e-01 2.13108891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14185806399996 meters 0.037457435293982745 Centerline is valid? [True, True] Translation: X:222.02, Y:97.11, Z:0.21 [[ 5.85352082e-01 -8.10774007e-01 2.90669527e-03 2.22021449e+02] [ 8.10766512e-01 5.85359218e-01 3.49985778e-03 9.71106304e+01] [-4.53905459e-03 3.08002142e-04 9.99989651e-01 2.13309341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20185806399996 meters 0.03327499735575828 Centerline is valid? [True, True] Translation: X:222.05, Y:97.16, Z:0.21 [[ 5.86144908e-01 -8.10198327e-01 3.58015063e-03 2.22054519e+02] [ 8.10186934e-01 5.86155723e-01 4.31277639e-03 9.71590432e+01] [-5.59273000e-03 3.72679341e-04 9.99984291e-01 2.12602833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26185806399997 meters 0.03184011770060732 Centerline is valid? [True, True] Translation: X:222.09, Y:97.21, Z:0.21 [[ 5.87753547e-01 -8.09027892e-01 4.43138662e-03 2.22090217e+02] [ 8.09010386e-01 5.87770083e-01 5.34086331e-03 9.72058296e+01] [-6.92554387e-03 4.45926446e-04 9.99975919e-01 2.13231222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32185806399997 meters 0.03217110929320321 Centerline is valid? [True, True] Translation: X:222.13, Y:97.25, Z:0.21 [[ 5.90163217e-01 -8.07269520e-01 4.82698366e-03 2.22128353e+02] [ 8.07248667e-01 5.90182776e-01 5.82065181e-03 9.72489020e+01] [-7.54763741e-03 4.61441534e-04 9.99971410e-01 2.14019331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38185806399997 meters 0.028392564478517304 Centerline is valid? [True, True] Translation: X:222.16, Y:97.30, Z:0.21 [[ 5.91787434e-01 -8.06078018e-01 5.08543479e-03 2.22162372e+02] [ 8.06054803e-01 5.91809099e-01 6.13554068e-03 9.72965430e+01] [-7.95533105e-03 4.68203268e-04 9.99968246e-01 2.12998798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441858064 meters 0.026262142782447196 Centerline is valid? [True, True] Translation: X:222.20, Y:97.34, Z:0.21 [[ 5.95429389e-01 -8.03387821e-01 5.64381280e-03 2.22197196e+02] [ 8.03359075e-01 5.95455944e-01 6.81279338e-03 9.73437088e+01] [-8.83395711e-03 4.77470832e-04 9.99960866e-01 2.13551321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501858064 meters 0.02813715459073694 Centerline is valid? [True, True] Translation: X:222.24, Y:97.39, Z:0.21 [[ 5.95487843e-01 -8.03350938e-01 4.63659586e-03 2.22235496e+02] [ 8.03331520e-01 5.95505766e-01 5.59922258e-03 9.73857984e+01] [-7.25926029e-03 3.90454625e-04 9.99973575e-01 2.11628505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561858064 meters 0.028348407538138623 Centerline is valid? [True, True] Translation: X:222.27, Y:97.43, Z:0.21 [[ 5.95322242e-01 -8.03474355e-01 4.51537589e-03 2.22271772e+02] [ 8.03455921e-01 5.95339245e-01 5.45590036e-03 9.74317723e+01] [-7.07185650e-03 3.79886660e-04 9.99974922e-01 2.11569023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621858064 meters 0.031219482957968434 Centerline is valid? [True, True] Translation: X:222.31, Y:97.47, Z:0.21 [[ 5.91131439e-01 -8.06565766e-01 3.90969465e-03 2.22312140e+02] [ 8.06551997e-01 5.91144259e-01 4.72655874e-03 9.74734666e+01] [-6.12347402e-03 3.59354554e-04 9.99981187e-01 2.11502590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681858064 meters 0.03551668873362169 Centerline is valid? [True, True] Translation: X:222.35, Y:97.51, Z:0.21 [[ 5.83330914e-01 -8.12225564e-01 3.83122760e-03 2.22352751e+02] [ 8.12212452e-01 5.83343352e-01 4.63318089e-03 9.75149011e+01] [-5.99810911e-03 4.09093121e-04 9.99981928e-01 2.10404810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.741858064 meters 0.03308072869739584 Centerline is valid? [True, True] Translation: X:222.39, Y:97.56, Z:0.21 [[ 5.76897531e-01 -8.16807908e-01 3.75250943e-03 2.22386871e+02] [ 8.16795416e-01 5.76909562e-01 4.53931004e-03 9.75621131e+01] [-5.87260291e-03 4.46315747e-04 9.99982657e-01 2.09153201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.801858064 meters 0.03895791525381591 Centerline is valid? [True, True] Translation: X:222.43, Y:97.60, Z:0.21 [[ 5.70872072e-01 -8.21023059e-01 5.11997959e-03 2.22426642e+02] [ 8.20999953e-01 5.70894643e-01 6.19554437e-03 9.76035312e+01] [-8.00965370e-03 6.66639743e-04 9.99967700e-01 2.10473132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.861858064 meters 0.03739912947622192 Centerline is valid? [True, True] Translation: X:222.46, Y:97.65, Z:0.21 [[ 5.68461858e-01 -8.22698240e-01 4.32694393e-03 2.22462762e+02] [ 8.22681765e-01 5.68478028e-01 5.23885331e-03 9.76497764e+01] [-6.76976795e-03 5.81609580e-04 9.99976916e-01 2.09745299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.921858064 meters 0.05262791751473807 Centerline is valid? [True, True] Translation: X:222.51, Y:97.68, Z:0.21 [[ 5.65187998e-01 -8.24955757e-01 3.24447014e-03 2.22513228e+02] [ 8.24946524e-01 5.65197126e-01 3.92957861e-03 9.76822526e+01] [-5.07549370e-03 4.55563697e-04 9.99987016e-01 2.09670643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.981858064 meters 0.03662166921398175 Centerline is valid? [True, True] Translation: X:222.53, Y:97.74, Z:0.21 [[ 5.62207778e-01 -8.26991926e-01 2.60192005e-03 2.22532871e+02] [ 8.26986004e-01 5.62213670e-01 3.15243154e-03 9.77414339e+01] [-4.06987045e-03 3.79429935e-04 9.99991646e-01 2.06993917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04185806399994 meters 0.04630219273408412 Centerline is valid? [True, True] Translation: X:222.58, Y:97.78, Z:0.21 [[ 5.61502547e-01 -8.27469093e-01 3.12889803e-03 2.22579156e+02] [ 8.27460530e-01 5.61511076e-01 3.79247452e-03 9.77781924e+01] [-4.89506635e-03 4.59555523e-04 9.99987913e-01 2.08403485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10185806399994 meters 0.03931564541177516 Centerline is valid? [True, True] Translation: X:222.61, Y:97.83, Z:0.21 [[ 5.61883159e-01 -8.27210096e-01 3.28211297e-03 2.22610461e+02] [ 8.27200659e-01 5.61892541e-01 3.98014835e-03 9.78286669e+01] [-5.13661370e-03 4.78587685e-04 9.99986693e-01 2.08448749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16185806399994 meters 0.034805793917459346 Centerline is valid? [True, True] Translation: X:222.64, Y:97.88, Z:0.21 [[ 5.65777249e-01 -8.24548834e-01 3.91480274e-03 2.22641931e+02] [ 8.24535329e-01 5.65790534e-01 4.75006439e-03 9.78778703e+01] [-6.13161838e-03 5.40414802e-04 9.99981055e-01 2.08012108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22185806399995 meters 0.03542389835627526 Centerline is valid? [True, True] Translation: X:222.68, Y:97.92, Z:0.21 [[ 5.68890977e-01 -8.22400995e-01 4.43380033e-03 2.22679477e+02] [ 8.22383588e-01 5.68907955e-01 5.38267742e-03 9.79225181e+01] [-6.94914355e-03 5.84128001e-04 9.99975684e-01 2.08742138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28185806399995 meters 0.03510929589498924 Centerline is valid? [True, True] Translation: X:222.72, Y:97.97, Z:0.21 [[ 5.73674849e-01 -8.19071647e-01 4.33633915e-03 2.22716903e+02] [ 8.19054883e-01 5.73690993e-01 5.26712746e-03 9.79675858e+01] [-6.80187347e-03 5.30081203e-04 9.99976726e-01 2.09065321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34185806399995 meters 0.033990600130427664 Centerline is valid? [True, True] Translation: X:222.75, Y:98.02, Z:0.21 [[ 5.77553075e-01 -8.16343097e-01 4.04896619e-03 2.22750797e+02] [ 8.16328399e-01 5.77567081e-01 4.92060742e-03 9.80157129e+01] [-6.35545349e-03 4.63374144e-04 9.99979697e-01 2.08438443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40185806399995 meters 0.03365015005209386 Centerline is valid? [True, True] Translation: X:222.79, Y:98.06, Z:0.21 [[ 5.78847896e-01 -8.15427304e-01 3.66400312e-03 2.22786519e+02] [ 8.15415235e-01 5.78859348e-01 4.45527420e-03 9.80616237e+01] [-5.75389469e-03 4.08757868e-04 9.99983363e-01 2.06964320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46185806399995 meters 0.032984172160837016 Centerline is valid? [True, True] Translation: X:222.82, Y:98.11, Z:0.21 [[ 5.80078877e-01 -8.14554620e-01 3.04431788e-03 2.22823632e+02] [ 8.14546266e-01 5.80086771e-01 3.70374476e-03 9.81066595e+01] [-4.78287093e-03 3.31273663e-04 9.99988507e-01 2.06148570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52185806399996 meters 0.03549145424681553 Centerline is valid? [True, True] Translation: X:222.86, Y:98.15, Z:0.21 [[ 5.80207026e-01 -8.14462076e-01 3.36670326e-03 2.22861453e+02] [ 8.14451850e-01 5.80216679e-01 4.09757398e-03 9.81492839e+01] [-5.29073599e-03 3.64576482e-04 9.99985937e-01 2.06341714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58185806399996 meters 0.03778094900520452 Centerline is valid? [True, True] Translation: X:222.90, Y:98.19, Z:0.21 [[ 5.79078067e-01 -8.15262333e-01 3.98997638e-03 2.22899770e+02] [ 8.15247982e-01 5.79091646e-01 4.85726197e-03 9.81916262e+01] [-6.27050471e-03 4.40086316e-04 9.99980243e-01 2.06642081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64185806399996 meters 0.03402444735690416 Centerline is valid? [True, True] Translation: X:222.94, Y:98.24, Z:0.21 [[ 5.75376247e-01 -8.17876457e-01 4.50279117e-03 2.22935386e+02] [ 8.17858238e-01 5.75393624e-01 5.48454095e-03 9.82376882e+01] [-7.07655425e-03 5.26970268e-04 9.99974822e-01 2.07310750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70185806399996 meters 0.031302848970475486 Centerline is valid? [True, True] Translation: X:222.97, Y:98.29, Z:0.21 [[ 5.76005783e-01 -8.17427786e-01 5.39926410e-03 2.22967428e+02] [ 8.17401545e-01 5.76030751e-01 6.57939962e-03 9.82880987e+01] [-8.48832622e-03 6.23594588e-04 9.99963779e-01 2.06242056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76185806399997 meters 0.03067097040561816 Centerline is valid? [True, True] Translation: X:223.00, Y:98.33, Z:0.21 [[ 5.78057810e-01 -8.15982426e-01 4.67418261e-03 2.23002592e+02] [ 8.15962690e-01 5.78076474e-01 5.69895277e-03 9.83346714e+01] [-7.35228031e-03 5.19634462e-04 9.99972837e-01 2.05212997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82185806399997 meters 0.03335654345221261 Centerline is valid? [True, True] Translation: X:223.04, Y:98.38, Z:0.20 [[ 5.78088190e-01 -8.15965983e-01 3.68239297e-03 2.23042523e+02] [ 8.15953722e-01 5.78099774e-01 4.49159288e-03 9.83757530e+01] [-5.79377754e-03 4.08125455e-04 9.99983133e-01 2.04510637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88185806399997 meters 0.028716801327440953 Centerline is valid? [True, True] Translation: X:223.07, Y:98.43, Z:0.20 [[ 5.73972666e-01 -8.18862034e-01 4.51084825e-03 2.23072857e+02] [ 8.18843704e-01 5.73990142e-01 5.50502479e-03 9.84272336e+01] [-7.09703823e-03 5.33945932e-04 9.99974673e-01 2.03439188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941858064 meters 0.028820748429390922 Centerline is valid? [True, True] Translation: X:223.11, Y:98.47, Z:0.20 [[ 5.70038788e-01 -8.21601423e-01 5.18477144e-03 2.23110276e+02] [ 8.21577290e-01 5.70061994e-01 6.33080495e-03 9.84723208e+01] [-8.15703950e-03 6.50886096e-04 9.99966519e-01 2.03151234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001858064 meters 0.032373484422386724 Centerline is valid? [True, True] Translation: X:223.15, Y:98.51, Z:0.21 [[ 5.67878823e-01 -8.23086225e-01 6.53521038e-03 2.23150783e+02] [ 8.23047963e-01 5.67915795e-01 7.98122221e-03 9.85130385e+01] [-1.02806833e-02 8.46424522e-04 9.99946794e-01 2.05865713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061858064 meters 0.03271816972927726 Centerline is valid? [True, True] Translation: X:223.19, Y:98.56, Z:0.20 [[ 5.67711343e-01 -8.23203408e-01 6.32297969e-03 2.23185984e+02] [ 8.23167552e-01 5.67745964e-01 7.72669758e-03 9.85587372e+01] [-9.95048998e-03 8.18337855e-04 9.99950158e-01 2.04982055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121858064 meters 0.040577997044765474 Centerline is valid? [True, True] Translation: X:223.23, Y:98.60, Z:0.20 [[ 5.67038405e-01 -8.23672438e-01 5.58237286e-03 2.23230030e+02] [ 8.23644494e-01 5.67065415e-01 6.82370247e-03 9.85979634e+01] [-8.78606623e-03 7.28589304e-04 9.99961136e-01 2.04654476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181858064 meters 0.03382427527440302 Centerline is valid? [True, True] Translation: X:223.26, Y:98.65, Z:0.20 [[ 5.67660568e-01 -8.23239000e-01 6.24730356e-03 2.23259811e+02] [ 8.23203941e-01 5.67694372e-01 7.64007541e-03 9.86501643e+01] [-9.83616710e-03 8.05835368e-04 9.99951299e-01 2.03818690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.241858064 meters 0.034239355275943226 Centerline is valid? [True, True] Translation: X:223.30, Y:98.70, Z:0.20 [[ 5.67962859e-01 -8.23027533e-01 6.62356762e-03 2.23298109e+02] [ 8.22988068e-01 5.68000846e-01 8.10422630e-03 9.86952197e+01] [-1.04321934e-02 8.48217587e-04 9.99945223e-01 2.04323472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.301858064 meters 0.03574775385269859 Centerline is valid? [True, True] Translation: X:223.34, Y:98.74, Z:0.20 [[ 5.68123745e-01 -8.22909874e-01 7.39929061e-03 2.23335618e+02] [ 8.22860577e-01 5.68171144e-01 9.05654048e-03 9.87380758e+01] [-1.16567800e-02 9.43348849e-04 9.99931612e-01 2.04616759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.361858064 meters 0.030954696875979973 Centerline is valid? [True, True] Translation: X:223.37, Y:98.79, Z:0.20 [[ 5.71992085e-01 -8.20221248e-01 7.88414613e-03 2.23367304e+02] [ 8.20164963e-01 5.72045640e-01 9.65501808e-03 9.87881317e+01] [-1.24293424e-02 9.43706502e-04 9.99922307e-01 2.03716896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.421858064 meters 0.02976027807667424 Centerline is valid? [True, True] Translation: X:223.40, Y:98.83, Z:0.20 [[ 5.73839470e-01 -8.18938168e-01 6.96699986e-03 2.23402778e+02] [ 8.18894072e-01 5.73881195e-01 8.53653155e-03 9.88340429e+01] [-1.09891217e-02 8.06636151e-04 9.99939292e-01 2.02315005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.481858064 meters 0.030088475766104808 Centerline is valid? [True, True] Translation: X:223.44, Y:98.88, Z:0.20 [[ 5.75847161e-01 -8.17523503e-01 7.44102056e-03 2.23437917e+02] [ 8.17473025e-01 5.75894637e-01 9.12246432e-03 9.88801447e+01] [-1.17430728e-02 8.29688408e-04 9.99930704e-01 2.01954306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54185806399994 meters 0.029491557847531238 Centerline is valid? [True, True] Translation: X:223.47, Y:98.93, Z:0.20 [[ 5.75841905e-01 -8.17519690e-01 8.22541814e-03 2.23472876e+02] [ 8.17457933e-01 5.75899924e-01 1.00898895e-02 9.89271602e+01] [-1.29857010e-02 9.13752089e-04 9.99915265e-01 2.01579828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60185806399994 meters 0.03109513584322675 Centerline is valid? [True, True] Translation: X:223.51, Y:98.97, Z:0.20 [[ 5.76186180e-01 -8.17277552e-01 8.17863746e-03 2.23510273e+02] [ 8.17216452e-01 5.76243516e-01 1.00340096e-02 9.89716440e+01] [-1.29134576e-02 9.02259406e-04 9.99916211e-01 2.01661909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66185806399994 meters 0.037067041791422665 Centerline is valid? [True, True] Translation: X:223.55, Y:99.01, Z:0.20 [[ 5.77211899e-01 -8.16566610e-01 6.73750724e-03 2.23552828e+02] [ 8.16525079e-01 5.77250760e-01 8.26778126e-03 9.90110147e+01] [-1.06404253e-02 7.29081907e-04 9.99943123e-01 2.01604985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72185806399995 meters 0.030882065454750553 Centerline is valid? [True, True] Translation: X:223.58, Y:99.06, Z:0.20 [[ 5.77649881e-01 -8.16256357e-01 6.79518865e-03 2.23582641e+02] [ 8.16214044e-01 5.77689390e-01 8.34285911e-03 9.90629073e+01] [-1.07354202e-02 7.27076834e-04 9.99942109e-01 2.00947560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78185806399995 meters 0.0298826320185533 Centerline is valid? [True, True] Translation: X:223.62, Y:99.11, Z:0.20 [[ 5.76668524e-01 -8.16951409e-01 6.61879526e-03 2.23619626e+02] [ 8.16911267e-01 5.76706059e-01 8.13035991e-03 9.91090998e+01] [-1.04592083e-02 7.18445777e-04 9.99945043e-01 1.99842024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84185806399995 meters 0.029943029570660838 Centerline is valid? [True, True] Translation: X:223.66, Y:99.15, Z:0.20 [[ 5.76543317e-01 -8.17036541e-01 7.00682107e-03 2.23657383e+02] [ 8.16991505e-01 5.76585392e-01 8.61193865e-03 9.91538439e+01] [-1.10762992e-02 7.59357620e-04 9.99938368e-01 2.01752613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90185806399995 meters 0.031415867337674944 Centerline is valid? [True, True] Translation: X:223.69, Y:99.20, Z:0.20 [[ 5.80011535e-01 -8.14577418e-01 7.08864184e-03 2.23694421e+02] [ 8.14531109e-01 5.80054405e-01 8.71545790e-03 9.91973190e+01] [-1.12112131e-02 7.18853187e-04 9.99936894e-01 2.02227934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96185806399995 meters 0.0280939517147795 Centerline is valid? [True, True] Translation: X:223.73, Y:99.25, Z:0.20 [[ 5.84789998e-01 -8.11157395e-01 6.65874671e-03 2.23727554e+02] [ 8.11116263e-01 5.84827588e-01 8.19154659e-03 9.92451918e+01] [-1.05388524e-02 6.10683233e-04 9.99944278e-01 2.01615869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02185806399996 meters 0.029450312664868285 Centerline is valid? [True, True] Translation: X:223.77, Y:99.29, Z:0.20 [[ 5.87787158e-01 -8.08986772e-01 6.83075672e-03 2.23766091e+02] [ 8.08943294e-01 5.87826557e-01 8.40751366e-03 9.92874788e+01] [-1.08168675e-02 5.83866284e-04 9.99941326e-01 2.03610989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08185806399996 meters 0.025594603619487427 Centerline is valid? [True, True] Translation: X:223.80, Y:99.34, Z:0.20 [[ 5.90898052e-01 -8.06711030e-01 7.53696917e-03 2.23798962e+02] [ 8.06657853e-01 5.90945818e-01 9.28162200e-03 9.93365976e+01] [-1.19415273e-02 5.95263004e-04 9.99928520e-01 2.04347458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14185806399996 meters 0.02910229063965682 Centerline is valid? [True, True] Translation: X:223.84, Y:99.38, Z:0.21 [[ 5.92571360e-01 -8.05470607e-01 8.73407271e-03 2.23838633e+02] [ 8.05399035e-01 5.92635357e-01 1.07577342e-02 9.93784192e+01] [-1.38411590e-02 6.59688534e-04 9.99903989e-01 2.08214512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20185806399996 meters 0.02527180040807236 Centerline is valid? [True, True] Translation: X:223.87, Y:99.43, Z:0.21 [[ 5.93823160e-01 -8.04534643e-01 9.90268848e-03 2.23871660e+02] [ 8.04442417e-01 5.93905287e-01 1.22028074e-02 9.94280081e+01] [-1.56988403e-02 7.19833005e-04 9.99876507e-01 2.08097806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26185806399997 meters 0.025614349044677864 Centerline is valid? [True, True] Translation: X:223.91, Y:99.47, Z:0.21 [[ 5.93570452e-01 -8.04721095e-01 9.90343324e-03 2.23908197e+02] [ 8.04628772e-01 5.93652625e-01 1.22106252e-02 9.94735202e+01] [-1.57053468e-02 7.20721042e-04 9.99876404e-01 2.07043466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32185806399997 meters 0.02639004374463854 Centerline is valid? [True, True] Translation: X:223.94, Y:99.52, Z:0.20 [[ 5.91454662e-01 -8.06288526e-01 8.95515934e-03 2.23944058e+02] [ 8.06213172e-01 5.91522054e-01 1.10444766e-02 9.95196235e+01] [-1.42022090e-02 6.87460224e-04 9.99898907e-01 2.02978720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38185806399997 meters 0.027598746244901606 Centerline is valid? [True, True] Translation: X:223.98, Y:99.57, Z:0.20 [[ 5.85118041e-01 -8.10890853e-01 9.63854488e-03 2.23980645e+02] [ 8.10804077e-01 5.85196797e-01 1.18935739e-02 9.95655542e+01] [-1.52848359e-02 8.55826805e-04 9.99882814e-01 2.01419671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441858064 meters 0.029938077191107696 Centerline is valid? [True, True] Translation: X:224.02, Y:99.61, Z:0.20 [[ 5.73755503e-01 -8.18953852e-01 1.09183865e-02 2.24019258e+02] [ 8.18843793e-01 5.73858112e-01 1.34799516e-02 9.96097901e+01] [-1.73050630e-02 1.20625655e-03 9.99849529e-01 2.00311677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501858064 meters 0.034773479809468336 Centerline is valid? [True, True] Translation: X:224.06, Y:99.65, Z:0.20 [[ 5.65636343e-01 -8.24570279e-01 1.18060374e-02 2.24059866e+02] [ 8.24442705e-01 5.65757586e-01 1.45801149e-02 9.96518257e+01] [-1.87016847e-02 1.48635856e-03 9.99824003e-01 2.00729057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561858064 meters 0.04294376742981074 Centerline is valid? [True, True] Translation: X:224.10, Y:99.69, Z:0.20 [[ 5.54363008e-01 -8.32168862e-01 1.32906341e-02 2.24103056e+02] [ 8.32009167e-01 5.54518855e-01 1.64190925e-02 9.96922925e+01] [-2.10333647e-02 1.95579190e-03 9.99776861e-01 2.00265678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621858064 meters 0.046921950282690736 Centerline is valid? [True, True] Translation: X:224.14, Y:99.74, Z:0.20 [[ 5.50527083e-01 -8.34697064e-01 1.41683283e-02 2.24142238e+02] [ 8.34516161e-01 5.50705048e-01 1.75136341e-02 9.97355621e+01] [-2.24211489e-02 2.18196901e-03 9.99746233e-01 2.00912422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681858064 meters 0.04748146218480295 Centerline is valid? [True, True] Translation: X:224.18, Y:99.78, Z:0.20 [[ 5.48912171e-01 -8.35770269e-01 1.35457180e-02 2.24181601e+02] [ 8.35605056e-01 5.49075176e-01 1.67523622e-02 9.97798497e+01] [-2.14387438e-02 2.12329497e-03 9.99767909e-01 1.98031810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.741858064 meters 0.05412516023921423 Centerline is valid? [True, True] Translation: X:224.23, Y:99.82, Z:0.19 [[ 5.47128913e-01 -8.36938658e-01 1.35512515e-02 2.24225125e+02] [ 8.36773456e-01 5.47292424e-01 1.67686147e-02 9.98198878e+01] [-2.14507991e-02 2.16473361e-03 9.99767562e-01 1.94201079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.801858064 meters 0.03958835964156081 Centerline is valid? [True, True] Translation: X:224.24, Y:99.88, Z:0.19 [[ 5.47753076e-01 -8.36514141e-01 1.45141250e-02 2.24243152e+02] [ 8.36324228e-01 5.47940532e-01 1.79710784e-02 9.98803743e+01] [-2.29859385e-02 2.29480094e-03 9.99733155e-01 1.85709936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.861858064 meters 0.04239047084892895 Centerline is valid? [True, True] Translation: X:224.28, Y:99.92, Z:0.18 [[ 5.48275333e-01 -8.36142026e-01 1.61453122e-02 2.24282144e+02] [ 8.35906585e-01 5.48507168e-01 2.00017054e-02 9.99233158e+01] [-2.55800859e-02 2.52953109e-03 9.99669576e-01 1.83459930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.921858064 meters 0.04626014037643471 Centerline is valid? [True, True] Translation: X:224.32, Y:99.97, Z:0.18 [[ 5.45877655e-01 -8.37655451e-01 1.87331380e-02 2.24322937e+02] [ 8.37339122e-01 5.46190684e-01 2.32148898e-02 9.99653133e+01] [-2.96779445e-02 3.01349974e-03 9.99554970e-01 1.84431516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.981858064 meters 0.051682251717633174 Centerline is valid? [True, True] Translation: X:224.36, Y:100.01, Z:0.18 [[ 5.41079328e-01 -8.40706992e-01 2.10930011e-02 2.24357022e+02] [ 8.40307710e-01 5.41478514e-01 2.61528431e-02 1.00013162e+02] [-3.34082850e-02 3.57384873e-03 9.99435398e-01 1.81483557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04185806399994 meters 0.05658406721085017 Centerline is valid? [True, True] Translation: X:224.38, Y:100.07, Z:0.18 [[ 5.41138950e-01 -8.40630112e-01 2.25754589e-02 2.24383961e+02] [ 8.40172142e-01 5.41596233e-01 2.80052081e-02 1.00067314e+02] [-3.57688048e-02 3.81256278e-03 9.99352819e-01 1.76742338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10185806399994 meters 0.06181768061469675 Centerline is valid? [True, True] Translation: X:224.42, Y:100.11, Z:0.18 [[ 5.41611145e-01 -8.40361581e-01 2.12080285e-02 2.24418535e+02] [ 8.39956711e-01 5.42014543e-01 2.63241169e-02 1.00113096e+02] [-3.36168364e-02 3.55639073e-03 9.99428467e-01 1.75465778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16185806399994 meters 0.07335673293018719 Centerline is valid? [True, True] Translation: X:224.46, Y:100.16, Z:0.17 [[ 5.43096510e-01 -8.39477170e-01 1.80072751e-02 2.24455658e+02] [ 8.39184479e-01 5.43386865e-01 2.23634801e-02 1.00157555e+02] [-2.85585477e-02 2.96589779e-03 9.99587721e-01 1.72642424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1962.89 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%| | 0/8774 [00:00