+ python -m lidar_slam --no-model /working/6aa5b4b3-a490-4e8d-b976-f1b26bc105a8 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/6aa5b4b3-a490-4e8d-b976-f1b26bc105a8 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.01534707 Adjusted end_distance from 9.223372036854776e+18 to 160.52302707 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01534707 meters 0.14632579933094886 Centerline is valid? [0, False] SLAMing on 0.04534707 meters 0.14527994357456386 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99999565e-01 -2.20515768e-04 9.06548671e-04 -3.04146519e-03] [ 2.20114927e-04 9.99999878e-01 4.42237862e-04 -3.58517642e-03] [-9.06646081e-04 -4.42038125e-04 9.99999491e-01 1.92385256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.07534707 meters 0.1495592205322348 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:0.00 [[ 9.99997814e-01 -1.50454312e-03 1.45207125e-03 -4.20321706e-03] [ 1.50424082e-03 9.99998847e-01 2.09261120e-04 -1.12623690e-02] [-1.45238441e-03 -2.07076398e-04 9.99998924e-01 2.36414793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10534707000000001 meters 0.14914951846692456 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.02, Z:0.00 [[ 0.99999062 0.00403444 0.00157403 -0.00496253] [-0.00404549 0.99996676 0.00707923 -0.01706518] [-0.00154542 -0.00708553 0.9999737 0.00316244] [ 0. 0. 0. 1. ]] SLAMing on 0.13534707 meters 0.1553640364149902 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.01 [[ 9.99998139e-01 4.07272162e-04 1.88552071e-03 -7.62736814e-03] [-4.13383249e-04 9.99994660e-01 3.24180607e-03 -2.20507545e-02] [-1.88419034e-03 -3.24257948e-03 9.99992968e-01 5.08536432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16534707 meters 0.15772792845796663 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.01 [[ 9.99917735e-01 -1.57577872e-04 -1.28257200e-02 -1.00168591e-02] [ 1.85752228e-04 9.99997573e-01 2.19554592e-03 -2.62141536e-02] [ 1.28253429e-02 -2.19774771e-03 9.99915337e-01 8.49841211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19534707 meters 0.16162263586143208 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.01 [[ 0.99991297 -0.0040419 -0.0125583 -0.01074319] [ 0.00402639 0.9999911 -0.00126035 -0.02805572] [ 0.01256328 0.00120968 0.99992035 0.00904583] [ 0. 0. 0. 1. ]] SLAMing on 0.22534707 meters 0.15590899174040576 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.01 [[ 0.99991126 -0.01106505 -0.00741869 -0.00608113] [ 0.01093595 0.99979187 -0.01722282 -0.0311963 ] [ 0.00760772 0.01714016 0.99982415 0.01311829] [ 0. 0. 0. 1. ]] SLAMing on 0.25534707 meters 0.1398326959113581 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:0.01 [[ 0.99971535 -0.02205025 -0.00911088 0.00202687] [ 0.0218631 0.9995578 -0.02015444 -0.03166206] [ 0.00955126 0.01994951 0.99975537 0.01483354] [ 0. 0. 0. 1. ]] SLAMing on 0.28534707000000004 meters 0.11546027793876465 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:0.02 [[ 0.99961493 -0.02335651 -0.01498202 0.01252998] [ 0.02298049 0.99942833 -0.02479757 -0.03948153] [ 0.01555264 0.02444373 0.99958022 0.01545704] [ 0. 0. 0. 1. ]] SLAMing on 0.31534707000000006 meters 0.09518023966333614 Centerline is valid? [False, True] Translation: X:0.01, Y:-0.04, Z:0.02 [[ 0.99955216 -0.02563698 -0.01543446 0.01465471] [ 0.02531755 0.99946828 -0.02054706 -0.04152216] [ 0.01595301 0.02014709 0.99966974 0.01967528] [ 0. 0. 0. 1. ]] SLAMing on 0.34534707000000003 meters 0.07603306688912555 Centerline is valid? [True, True] Translation: X:-0.02, Y:-0.04, Z:0.02 [[ 9.99301630e-01 -2.96416396e-02 -2.27513624e-02 -1.67277957e-02] [ 2.96465568e-02 9.99560437e-01 -1.21207130e-04 -3.80913018e-02] [ 2.27449545e-02 -5.53377074e-04 9.99741147e-01 2.41984361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37534707000000006 meters 0.04839392242152414 Centerline is valid? [True, True] Translation: X:-0.05, Y:-0.04, Z:0.03 [[ 9.98882339e-01 -3.62452928e-02 -3.03372872e-02 -4.74396167e-02] [ 3.62569706e-02 9.99342486e-01 -1.65256380e-04 -3.73495857e-02] [ 3.03233298e-02 -9.34866451e-04 9.99539705e-01 2.56824587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.40534707000000003 meters 0.029354951521621635 Centerline is valid? [True, True] Translation: X:-0.08, Y:-0.03, Z:0.02 [[ 9.98662869e-01 -3.78624612e-02 -3.51981248e-02 -7.69430990e-02] [ 3.78791708e-02 9.99282308e-01 -1.92231580e-04 -2.69422593e-02] [ 3.51801418e-02 -1.14130124e-03 9.99380336e-01 2.24862394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43534707000000006 meters 0.022101701345350697 Centerline is valid? [True, True] Translation: X:-0.11, Y:-0.02, Z:0.02 [[ 9.98452936e-01 -4.11484559e-02 -3.73970488e-02 -1.06735645e-01] [ 4.11696468e-02 9.99152150e-01 -2.03584367e-04 -2.16543397e-02] [ 3.73737189e-02 -1.33635388e-03 9.99300465e-01 1.87469132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46534707000000003 meters 0.019973345155177735 Centerline is valid? [True, True] Translation: X:-0.14, Y:-0.02, Z:0.02 [[ 9.98481100e-01 -3.99800702e-02 -3.79089226e-02 -1.36560207e-01] [ 4.00010851e-02 9.99199615e-01 -2.04258648e-04 -1.66407024e-02] [ 3.78867472e-02 -1.31244964e-03 9.99281178e-01 1.89578378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49534707000000006 meters 0.01871033402443269 Centerline is valid? [True, True] Translation: X:-0.17, Y:-0.01, Z:0.02 [[ 9.98717019e-01 -3.21901933e-02 -3.90910241e-02 -1.66977338e-01] [ 3.22067051e-02 9.99481208e-01 -2.07433358e-04 -7.74477127e-03] [ 3.90774213e-02 -1.05182586e-03 9.99235632e-01 2.23168616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.52534707 meters 0.01699373179453814 Centerline is valid? [True, True] Translation: X:-0.20, Y:0.00, Z:0.02 [[ 9.98814882e-01 -2.97147299e-02 -3.85469275e-02 -1.95108129e-01] [ 2.97288485e-02 9.99557979e-01 -2.06995568e-04 2.06411424e-03] [ 3.85360398e-02 -9.39205516e-04 9.99256770e-01 2.10889954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.55534707 meters 0.015321878241091236 Centerline is valid? [True, True] Translation: X:-0.22, Y:0.01, Z:0.02 [[ 9.99010442e-01 -2.37840201e-02 -3.75826798e-02 -2.24051612e-01] [ 2.37935028e-02 9.99716876e-01 -1.94998889e-04 1.46741499e-02] [ 3.75766770e-02 -6.99417669e-04 9.99293503e-01 2.24448980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5853470700000001 meters 0.013663867660958005 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.03, Z:0.03 [[ 9.99124366e-01 -1.63368165e-02 -3.85176496e-02 -2.52816158e-01] [ 1.63414009e-02 9.99866451e-01 -1.95829394e-04 2.93991135e-02] [ 3.85157048e-02 -4.33774434e-04 9.99257901e-01 2.57196683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6153470700000001 meters 0.012980115914852755 Centerline is valid? [True, True] Translation: X:-0.28, Y:0.04, Z:0.03 [[ 9.99265102e-01 -1.08984016e-02 -3.67488932e-02 -2.80497496e-01] [ 1.08990693e-02 9.99940587e-01 -1.82168783e-04 4.10903799e-02] [ 3.67486952e-02 -2.18493827e-04 9.99324515e-01 2.77535005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.64534707 meters 0.013057178697461433 Centerline is valid? [True, True] Translation: X:-0.31, Y:0.05, Z:0.03 [[ 9.99315633e-01 -6.56738104e-03 -3.64024121e-02 -3.09511648e-01] [ 6.56536781e-03 9.99978432e-01 -1.74843202e-04 5.05133217e-02] [ 3.64027753e-02 -6.42716798e-05 9.99337197e-01 2.82636483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.67534707 meters 0.012943444855991085 Centerline is valid? [True, True] Translation: X:-0.34, Y:0.06, Z:0.03 [[ 9.99276508e-01 -3.13776664e-03 -3.79026934e-02 -3.38145704e-01] [ 3.13329486e-03 9.99995075e-01 -1.77381780e-04 5.99987324e-02] [ 3.79030633e-02 5.84931311e-05 9.99281419e-01 2.95718873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7053470700000001 meters 0.012637082990205151 Centerline is valid? [True, True] Translation: X:-0.37, Y:0.06, Z:0.03 [[ 9.99366391e-01 -4.01828573e-03 -3.53648031e-02 -3.66426879e-01] [ 4.01505109e-03 9.99991926e-01 -1.62482850e-04 6.46129338e-02] [ 3.53651705e-02 2.03884085e-05 9.99374456e-01 2.99894861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7353470700000001 meters 0.012795815536140953 Centerline is valid? [True, True] Translation: X:-0.39, Y:0.07, Z:0.03 [[ 9.99388394e-01 -3.08310901e-03 -3.48329173e-02 -3.94984869e-01] [ 3.07959299e-03 9.99995246e-01 -1.54591309e-04 6.77533037e-02] [ 3.48332283e-02 4.72255519e-05 9.99393138e-01 3.04857559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7653470700000001 meters 0.0129914328681165 Centerline is valid? [True, True] Translation: X:-0.42, Y:0.07, Z:0.02 [[ 9.99277397e-01 -4.93734128e-04 -3.80057920e-02 -4.23055336e-01] [ 4.87852255e-04 9.99999868e-01 -1.64036335e-04 7.25822999e-02] [ 3.80058679e-02 1.45376591e-04 9.99277505e-01 2.46133852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.79534707 meters 0.013039948306403284 Centerline is valid? [True, True] Translation: X:-0.45, Y:0.08, Z:0.02 [[ 9.99173014e-01 -3.61282587e-04 -4.06590431e-02 -4.51597748e-01] [ 3.54571841e-04 9.99999922e-01 -1.72260444e-04 7.70102890e-02] [ 4.06591022e-02 1.57701436e-04 9.99173064e-01 2.22179379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8253470700000001 meters 0.012921858229783771 Centerline is valid? [True, True] Translation: X:-0.48, Y:0.08, Z:0.03 [[ 9.99312851e-01 -8.48609854e-04 -3.70554478e-02 -4.81219017e-01] [ 8.43854259e-04 9.99999634e-01 -1.43977148e-04 8.09935650e-02] [ 3.70555564e-02 1.12608817e-04 9.99313201e-01 2.76043808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8553470700000001 meters 0.012695230831231818 Centerline is valid? [True, True] Translation: X:-0.51, Y:0.08, Z:0.02 [[ 9.99322895e-01 -2.71278430e-03 -3.66932084e-02 -5.08411766e-01] [ 2.71004531e-03 9.99996320e-01 -1.24382293e-04 8.34202354e-02] [ 3.66934108e-02 2.48578160e-05 9.99326570e-01 2.35514006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8853470700000001 meters 0.01273938075689647 Centerline is valid? [True, True] Translation: X:-0.54, Y:0.09, Z:0.02 [[ 9.99224981e-01 -6.03623492e-03 -3.88973225e-02 -5.37468635e-01] [ 6.03588804e-03 9.99981776e-01 -1.26353075e-04 8.58271896e-02] [ 3.88973763e-02 -1.08524735e-04 9.99243205e-01 2.25092200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.91534707 meters 0.012918487786618736 Centerline is valid? [True, True] Translation: X:-0.57, Y:0.09, Z:0.02 [[ 9.99303930e-01 -9.24915523e-03 -3.61401310e-02 -5.65903222e-01] [ 9.25142266e-03 9.99957199e-01 -1.04491697e-04 8.64450339e-02] [ 3.61395506e-02 -2.29928663e-04 9.99346727e-01 2.26327436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9453470700000001 meters 0.013316011542236906 Centerline is valid? [True, True] Translation: X:-0.59, Y:0.09, Z:0.02 [[ 9.99266685e-01 -8.75183004e-03 -3.72759557e-02 -5.94735021e-01] [ 8.75468023e-03 9.99961673e-01 -8.67666615e-05 9.00115367e-02] [ 3.72752864e-02 -2.39636038e-04 9.99305006e-01 2.20690160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9753470700000001 meters 0.013316011542236906 Centerline is valid? [True, True] Translation: X:-0.62, Y:0.09, Z:0.02 [[ 9.99268190e-01 -8.57832220e-03 -3.72759639e-02 -6.22207165e-01] [ 8.58118961e-03 9.99963177e-01 -8.30700857e-05 8.98047372e-02] [ 3.72753039e-02 -2.36862820e-04 9.99305006e-01 2.05997316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.00534707 meters 0.012810487378269269 Centerline is valid? [True, True] Translation: X:-0.65, Y:0.10, Z:0.02 [[ 9.99203075e-01 -2.18003753e-03 -3.98555166e-02 -6.49582329e-01] [ 2.17854391e-03 9.99997624e-01 -8.09067653e-05 1.02396517e-01] [ 3.98555982e-02 -5.98470408e-06 9.99205450e-01 1.72060198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.03534707 meters 0.014461118950404583 Centerline is valid? [True, True] Translation: X:-0.68, Y:0.12, Z:0.02 [[ 9.99108893e-01 1.29456600e-02 -4.01725096e-02 -6.78951499e-01] [-1.29592830e-02 9.99916022e-01 -7.87118523e-05 1.21845811e-01] [ 4.01681170e-02 5.99248633e-04 9.99192756e-01 1.57230465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.06534707 meters 0.02147684941916725 Centerline is valid? [True, True] Translation: X:-0.71, Y:0.15, Z:0.01 [[ 9.98579910e-01 3.28597094e-02 -4.19333039e-02 -7.09477034e-01] [-3.28911822e-02 9.99458937e-01 -6.06568766e-05 1.49603868e-01] [ 4.19086222e-02 1.43980668e-03 9.99120410e-01 1.42060405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.09534707 meters 0.025582018786088914 Centerline is valid? [True, True] Translation: X:-0.74, Y:0.17, Z:0.01 [[ 9.97762934e-01 5.23718601e-02 -4.15489628e-02 -7.38801907e-01] [-5.24196214e-02 9.98625145e-01 -6.01421922e-05 1.67520439e-01] [ 4.14886892e-02 2.23798855e-03 9.99136467e-01 9.42801880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1253470700000001 meters 0.030747863282378544 Centerline is valid? [True, True] Translation: X:-0.77, Y:0.18, Z:0.01 [[ 9.96929601e-01 6.59965765e-02 -4.21405047e-02 -7.69491655e-01] [-6.60577496e-02 9.97815800e-01 -5.93063474e-05 1.82884874e-01] [ 4.20445473e-02 2.84283116e-03 9.99111693e-01 5.77528168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1553470700000001 meters 0.032155250804726976 Centerline is valid? [True, True] Translation: X:-0.80, Y:0.19, Z:0.01 [[ 9.96778223e-01 6.87772826e-02 -4.12657068e-02 -7.98840347e-01] [-6.88384685e-02 9.97627817e-01 -6.19407871e-05 1.88987417e-01] [ 4.11635569e-02 2.90240928e-03 9.99148206e-01 6.68534098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1853470700000002 meters 0.030293460386310617 Centerline is valid? [True, True] Translation: X:-0.83, Y:0.19, Z:0.01 [[ 9.97247480e-01 6.35378376e-02 -3.82152624e-02 -8.29062143e-01] [-6.35857846e-02 9.97976376e-01 -3.93191205e-05 1.89114578e-01] [ 3.81354308e-02 2.46915834e-03 9.99269529e-01 7.41551552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2153470700000002 meters 0.027691844960585795 Centerline is valid? [True, True] Translation: X:-0.86, Y:0.19, Z:0.00 [[ 9.97847113e-01 5.24745507e-02 -3.93390504e-02 -8.59063749e-01] [-5.25167462e-02 9.98620043e-01 -3.92877002e-05 1.85835187e-01] [ 3.92827026e-02 2.10516204e-03 9.99225919e-01 4.67064987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2453470700000002 meters 0.020767250222190097 Centerline is valid? [True, True] Translation: X:-0.89, Y:0.17, Z:0.01 [[ 9.98473054e-01 3.98063411e-02 -3.83016430e-02 -8.88055848e-01] [-3.98369523e-02 9.99206193e-01 -3.60529673e-05 1.74969161e-01] [ 3.82698038e-02 1.56181864e-03 9.99266222e-01 5.02436184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.27534707 meters 0.02069303887786112 Centerline is valid? [True, True] Translation: X:-0.92, Y:0.18, Z:0.00 [[ 9.98498094e-01 3.82633887e-02 -3.92105857e-02 -9.17155305e-01] [-3.82946440e-02 9.99266490e-01 -4.60814789e-05 1.77157045e-01] [ 3.91800612e-02 1.54756769e-03 9.99230968e-01 3.36968594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.30534707 meters 0.021349200198345512 Centerline is valid? [True, True] Translation: X:-0.95, Y:0.18, Z:0.00 [[ 9.98443428e-01 3.71048367e-02 -4.16407507e-02 -9.46400529e-01] [-3.71382858e-02 9.99310135e-01 -2.97311804e-05 1.82697295e-01] [ 4.16109211e-02 1.57615100e-03 9.99132647e-01 2.91554617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.33534707 meters 0.020118911253527046 Centerline is valid? [True, True] Translation: X:-0.97, Y:0.18, Z:0.01 [[ 9.98622610e-01 3.43556145e-02 -3.96556888e-02 -9.74829100e-01] [-3.43830178e-02 9.99408729e-01 -9.02819044e-06 1.83276928e-01] [ 3.96319313e-02 1.37249801e-03 9.99213404e-01 5.57948961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.36534707 meters 0.020081841676271674 Centerline is valid? [True, True] Translation: X:-1.00, Y:0.19, Z:0.00 [[ 9.98552210e-01 3.16338309e-02 -4.35061441e-02 -1.00408907e+00] [-3.16639141e-02 9.99498573e-01 -2.35836785e-06 1.88770390e-01] [ 4.34842543e-02 1.37992976e-03 9.99053159e-01 4.62079277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3953470700000001 meters 0.018412998351815348 Centerline is valid? [True, True] Translation: X:-1.03, Y:0.19, Z:0.01 [[ 9.98861709e-01 2.83484945e-02 -3.83620767e-02 -1.03226010e+00] [-2.83693809e-02 9.99597508e-01 -9.86726874e-08 1.90266136e-01] [ 3.83466335e-02 1.08840693e-03 9.99263905e-01 8.60285637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4253470700000002 meters 0.017659990558082296 Centerline is valid? [True, True] Translation: X:-1.06, Y:0.20, Z:0.01 [[ 9.99001589e-01 2.50225503e-02 -3.70094118e-02 -1.06126954e+00] [-2.50396826e-02 9.99686458e-01 5.94611609e-07 1.96231929e-01] [ 3.69978227e-02 9.26109907e-04 9.99314917e-01 1.28184657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4553470700000002 meters 0.01717207347614073 Centerline is valid? [True, True] Translation: X:-1.09, Y:0.20, Z:0.01 [[ 9.98963759e-01 2.31578179e-02 -3.91806501e-02 -1.08970916e+00] [-2.31749093e-02 9.99731426e-01 1.79621687e-05 1.99189115e-01] [ 3.91705432e-02 8.90064457e-04 9.99232143e-01 1.22224212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4853470700000002 meters 0.016814892325793314 Centerline is valid? [True, True] Translation: X:-1.12, Y:0.20, Z:0.01 [[ 9.98993291e-01 2.36670362e-02 -3.81087412e-02 -1.11698751e+00] [-2.36829430e-02 9.99719519e-01 3.40315296e-05 2.03999856e-01] [ 3.80988579e-02 8.68529875e-04 9.99273598e-01 1.03571981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5153470700000002 meters 0.016390273127513535 Centerline is valid? [True, True] Translation: X:-1.14, Y:0.21, Z:0.01 [[ 9.99059060e-01 2.50663397e-02 -3.53931264e-02 -1.14470369e+00] [-2.50806516e-02 9.99685430e-01 3.96215274e-05 2.10514140e-01] [ 3.53829860e-02 8.48098429e-04 9.99373466e-01 1.21133462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.54534707 meters 0.01658315901906277 Centerline is valid? [True, True] Translation: X:-1.17, Y:0.22, Z:0.01 [[ 9.98897437e-01 2.61941912e-02 -3.89586278e-02 -1.17330643e+00] [-2.62122902e-02 9.99656398e-01 4.62365369e-05 2.15766492e-01] [ 3.89464526e-02 9.75009300e-04 9.99240823e-01 1.00239840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.57534707 meters 0.016958370563819915 Centerline is valid? [True, True] Translation: X:-1.20, Y:0.22, Z:0.01 [[ 9.98828396e-01 2.96236758e-02 -3.82658258e-02 -1.20132937e+00] [-2.96429192e-02 9.99560550e-01 6.45024428e-05 2.20792810e-01] [ 3.82509207e-02 1.06988391e-03 9.99267593e-01 1.17710628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.60534707 meters 0.019933160671257527 Centerline is valid? [True, True] Translation: X:-1.23, Y:0.23, Z:0.02 [[ 9.98872374e-01 3.24149525e-02 -3.46879187e-02 -1.23078223e+00] [-3.24324576e-02 9.99473928e-01 5.80598587e-05 2.28286543e-01] [ 3.46715524e-02 1.06702006e-03 9.99398191e-01 1.96407391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6353470700000001 meters 0.01778733287001113 Centerline is valid? [True, True] Translation: X:-1.26, Y:0.23, Z:0.02 [[ 9.98876710e-01 3.22054192e-02 -3.47581481e-02 -1.25879019e+00] [-3.22222035e-02 9.99480727e-01 7.73101098e-05 2.27692894e-01] [ 3.47425889e-02 1.04276085e-03 9.99395750e-01 1.61662320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6653470700000002 meters 0.018178028219887097 Centerline is valid? [True, True] Translation: X:-1.29, Y:0.23, Z:0.01 [[ 9.98588435e-01 3.36217794e-02 -4.11182795e-02 -1.28758032e+00] [-3.36463046e-02 9.99433798e-01 9.56251867e-05 2.31777749e-01] [ 4.10982133e-02 1.28798795e-03 9.99154281e-01 1.17163357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6953470700000002 meters 0.017803002916743187 Centerline is valid? [True, True] Translation: X:-1.32, Y:0.23, Z:0.02 [[ 9.98787601e-01 3.35023614e-02 -3.60682680e-02 -1.31665487e+00] [-3.35207099e-02 9.99438018e-01 9.60465549e-05 2.31686252e-01] [ 3.60512160e-02 1.11310384e-03 9.99349324e-01 1.75961507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7253470700000002 meters 0.017229372265871897 Centerline is valid? [True, True] Translation: X:-1.34, Y:0.23, Z:0.02 [[ 9.98885852e-01 3.26345250e-02 -3.40887381e-02 -1.34391915e+00] [-3.26498430e-02 9.99466846e-01 1.07353650e-04 2.30239205e-01] [ 3.40740670e-02 1.00575791e-03 9.99418804e-01 1.81186722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7553470700000002 meters 0.016844648723536314 Centerline is valid? [True, True] Translation: X:-1.37, Y:0.23, Z:0.01 [[ 9.98740272e-01 3.19042941e-02 -3.87296456e-02 -1.37167352e+00] [-3.19231171e-02 9.99490319e-01 1.32467930e-04 2.28737062e-01] [ 3.87141321e-02 1.10406996e-03 9.99249717e-01 1.34566503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7853470700000003 meters 0.016376882074987824 Centerline is valid? [True, True] Translation: X:-1.40, Y:0.23, Z:0.02 [[ 9.98881525e-01 2.93875700e-02 -3.70414544e-02 -1.40098174e+00] [-2.94030332e-02 9.99567629e-01 1.27344059e-04 2.26060493e-01] [ 3.70291811e-02 9.61929484e-04 9.99313722e-01 1.55850685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.81534707 meters 0.016394561186166237 Centerline is valid? [True, True] Translation: X:-1.43, Y:0.22, Z:0.02 [[ 9.98897794e-01 2.88569290e-02 -3.70199352e-02 -1.43023439e+00] [-2.88714127e-02 9.99583124e-01 1.43404043e-04 2.24286019e-01] [ 3.70086407e-02 9.25571845e-04 9.99314517e-01 1.67481131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.84534707 meters 0.015430375161832282 Centerline is valid? [True, True] Translation: X:-1.46, Y:0.22, Z:0.02 [[ 9.99017359e-01 2.49967977e-02 -3.65988504e-02 -1.45881194e+00] [-2.50078036e-02 9.99687244e-01 1.57105836e-04 2.19113537e-01] [ 3.65913310e-02 7.58305404e-04 9.99330025e-01 1.70216572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8753470700000001 meters 0.01452375634225351 Centerline is valid? [True, True] Translation: X:-1.49, Y:0.22, Z:0.02 [[ 9.99079624e-01 2.20224449e-02 -3.68092008e-02 -1.48628827e+00] [-2.20308823e-02 9.99757275e-01 1.76422742e-04 2.15190022e-01] [ 3.68041515e-02 6.34678801e-04 9.99322296e-01 1.55306381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9053470700000001 meters 0.014118601841994373 Centerline is valid? [True, True] Translation: X:-1.52, Y:0.21, Z:0.01 [[ 9.99095432e-01 1.97451901e-02 -3.76622558e-02 -1.51553210e+00] [-1.97521868e-02 9.99804889e-01 1.86340045e-04 2.10465854e-01] [ 3.76585868e-02 5.57740426e-04 9.99290508e-01 1.45650345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9353470700000002 meters 0.014305093326923517 Centerline is valid? [True, True] Translation: X:-1.54, Y:0.21, Z:0.02 [[ 9.99151353e-01 1.57524884e-02 -3.80582914e-02 -1.54489740e+00] [-1.57561131e-02 9.99875844e-01 2.04711082e-04 2.05247635e-01] [ 3.80567910e-02 3.95113388e-04 9.99275500e-01 1.79637215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9653470700000002 meters 0.013191866605778202 Centerline is valid? [True, True] Translation: X:-1.57, Y:0.20, Z:0.01 [[ 9.99194145e-01 1.23997042e-02 -3.81746960e-02 -1.57242717e+00] [-1.24001148e-02 9.99923090e-01 2.26022779e-04 1.99640092e-01] [ 3.81745626e-02 2.47529978e-04 9.99271055e-01 1.49868238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9953470700000002 meters 0.012803215456974196 Centerline is valid? [True, True] Translation: X:-1.60, Y:0.19, Z:0.02 [[ 9.99220813e-01 9.47544431e-03 -3.83142538e-02 -1.60162325e+00] [-9.47364771e-03 9.99955098e-01 2.28449393e-04 1.93708944e-01] [ 3.83146981e-02 1.34704355e-04 9.99265713e-01 1.57128262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.02534707 meters 0.012868492377161296 Centerline is valid? [True, True] Translation: X:-1.63, Y:0.19, Z:0.01 [[ 9.99231197e-01 5.36653850e-03 -3.88357567e-02 -1.62904179e+00] [-5.36078255e-03 9.99985599e-01 2.52346149e-04 1.86194609e-01] [ 3.88365517e-02 -4.39620979e-05 9.99245576e-01 1.34463291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05534707 meters 0.0130047491070466 Centerline is valid? [True, True] Translation: X:-1.66, Y:0.18, Z:0.01 [[ 9.99256696e-01 3.17137730e-04 -3.85480807e-02 -1.65782851e+00] [-3.07645980e-04 9.99999921e-01 2.52163008e-04 1.79614563e-01] [ 3.85481576e-02 -2.40116412e-04 9.99256715e-01 1.28061213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.08534707 meters 0.01339176718946336 Centerline is valid? [True, True] Translation: X:-1.69, Y:0.17, Z:0.02 [[ 9.99339184e-01 -3.18149496e-04 -3.63468557e-02 -1.68724017e+00] [ 3.27541676e-04 9.99999914e-01 2.52449975e-04 1.73879584e-01] [ 3.63467723e-02 -2.64188262e-04 9.99339203e-01 1.74399078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.11534707 meters 0.014264095626773327 Centerline is valid? [True, True] Translation: X:-1.72, Y:0.17, Z:0.01 [[ 9.99147756e-01 -4.72541999e-03 -4.10052682e-02 -1.71584175e+00] [ 4.74195698e-03 9.99988710e-01 3.06034645e-04 1.67631144e-01] [ 4.10033592e-02 -5.00219047e-04 9.99158883e-01 1.26783809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.14534707 meters 0.015740528215928813 Centerline is valid? [True, True] Translation: X:-1.74, Y:0.16, Z:0.02 [[ 9.99180192e-01 -6.16488076e-03 -4.00117134e-02 -1.74485234e+00] [ 6.18241543e-03 9.99980839e-01 3.14517969e-04 1.60184137e-01] [ 4.00090078e-02 -5.61629159e-04 9.99199161e-01 1.74940232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.17534707 meters 0.015818784780499223 Centerline is valid? [True, True] Translation: X:-1.77, Y:0.16, Z:0.02 [[ 9.99245853e-01 -6.18018899e-03 -3.83344509e-02 -1.77417953e+00] [ 6.19690477e-03 9.99980749e-01 3.17244059e-04 1.58352770e-01] [ 3.83317523e-02 -5.54559752e-04 9.99264914e-01 1.95911468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.20534707 meters 0.014125809709526845 Centerline is valid? [True, True] Translation: X:-1.80, Y:0.16, Z:0.01 [[ 9.99210742e-01 -5.93595682e-03 -3.92766901e-02 -1.80197396e+00] [ 5.95395541e-03 9.99982217e-01 3.41294966e-04 1.61310044e-01] [ 3.92739657e-02 -5.74877258e-04 9.99228315e-01 1.30803242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.23534707 meters 0.015317197097433927 Centerline is valid? [True, True] Translation: X:-1.83, Y:0.16, Z:0.02 [[ 9.99230386e-01 -2.43651509e-03 -3.91496895e-02 -1.83137566e+00] [ 2.45179045e-03 9.99996936e-01 3.42171168e-04 1.61304620e-01] [ 3.91487358e-02 -4.37894663e-04 9.99233298e-01 1.54706694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.26534707 meters 0.013196939226931746 Centerline is valid? [True, True] Translation: X:-1.86, Y:0.17, Z:0.02 [[ 9.99143275e-01 3.26723962e-03 -4.12557920e-02 -1.86054492e+00] [-3.25419027e-03 9.99994632e-01 3.83455434e-04 1.65107503e-01] [ 4.12568234e-02 -2.48872721e-04 9.99148544e-01 1.62824431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.29534707 meters 0.012652892673442603 Centerline is valid? [True, True] Translation: X:-1.89, Y:0.17, Z:0.01 [[ 9.99138559e-01 1.03447373e-02 -4.01886372e-02 -1.88808770e+00] [-1.03379204e-02 9.99946491e-01 3.77440747e-04 1.70762688e-01] [ 4.01903912e-02 3.83513286e-05 9.99192039e-01 1.33565685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.32534707 meters 0.013359005055399362 Centerline is valid? [True, True] Translation: X:-1.92, Y:0.18, Z:0.02 [[ 9.99047494e-01 1.79643241e-02 -3.97666564e-02 -1.91677678e+00] [-1.79635870e-02 9.99838571e-01 3.75882351e-04 1.80255181e-01] [ 3.97669894e-02 3.38827469e-04 9.99208923e-01 1.66500630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.35534707 meters 0.01649238716355262 Centerline is valid? [True, True] Translation: X:-1.95, Y:0.19, Z:0.01 [[ 9.98738658e-01 2.85919803e-02 -4.12745887e-02 -1.94532473e+00] [-2.85994846e-02 9.99590868e-01 4.08762614e-04 1.91889068e-01] [ 4.12693892e-02 7.72184940e-04 9.99147757e-01 1.41017633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.38534707 meters 0.018585856756048017 Centerline is valid? [True, True] Translation: X:-1.97, Y:0.20, Z:0.02 [[ 9.98489635e-01 3.62332031e-02 -4.12989657e-02 -1.97319501e+00] [-3.62470835e-02 9.99342773e-01 4.12903026e-04 2.01541002e-01] [ 4.12867837e-02 1.08468767e-03 9.99146748e-01 1.52368370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.41534707 meters 0.023104644866894796 Centerline is valid? [True, True] Translation: X:-2.00, Y:0.21, Z:0.02 [[ 9.98106958e-01 4.50443971e-02 -4.18748501e-02 -2.00281308e+00] [-4.50661461e-02 9.98983915e-01 4.24935396e-04 2.11728441e-01] [ 4.18514426e-02 1.46300714e-03 9.99122773e-01 1.55437873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.44534707 meters 0.024855439630223734 Centerline is valid? [True, True] Translation: X:-2.03, Y:0.22, Z:0.02 [[ 9.97726254e-01 5.25910245e-02 -4.21486177e-02 -2.03171800e+00] [-5.26196857e-02 9.98614532e-01 4.29893783e-04 2.20881416e-01] [ 4.21128307e-02 1.78893070e-03 9.99111260e-01 1.54087917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.47534707 meters 0.027298193568204558 Centerline is valid? [True, True] Translation: X:-2.06, Y:0.23, Z:0.01 [[ 9.97417405e-01 5.78079068e-02 -4.26235391e-02 -2.06109423e+00] [-5.78418731e-02 9.98325662e-01 4.36983391e-04 2.27754818e-01] [ 4.25774340e-02 2.02957050e-03 9.99091108e-01 1.36372168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.50534707 meters 0.028345158202395054 Centerline is valid? [True, True] Translation: X:-2.09, Y:0.23, Z:0.01 [[ 9.97048032e-01 6.35606307e-02 -4.30728295e-02 -2.08983604e+00] [-6.36005694e-02 9.97975336e-01 4.43883023e-04 2.32901072e-01] [ 4.30138350e-02 2.29688379e-03 9.99071836e-01 1.19396729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.53534707 meters 0.0287890435538061 Centerline is valid? [True, True] Translation: X:-2.12, Y:0.24, Z:0.01 [[ 9.96951303e-01 6.56476146e-02 -4.21721605e-02 -2.11876182e+00] [-6.56878212e-02 9.97840129e-01 4.33111027e-04 2.36083466e-01] [ 4.21095067e-02 2.33840674e-03 9.99110265e-01 1.40109504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.56534707 meters 0.0285898003729641 Centerline is valid? [True, True] Translation: X:-2.15, Y:0.24, Z:0.01 [[ 9.96841670e-01 6.61557049e-02 -4.39329904e-02 -2.14625050e+00] [-6.61990863e-02 9.97806325e-01 4.68283017e-04 2.35511557e-01] [ 4.38675953e-02 2.44151980e-03 9.99034370e-01 1.16769111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.59534707 meters 0.02749814872482506 Centerline is valid? [True, True] Translation: X:-2.18, Y:0.24, Z:0.01 [[ 9.96977679e-01 6.48513574e-02 -4.27762555e-02 -2.17507814e+00] [-6.48904769e-02 9.97892279e-01 4.74836749e-04 2.35496862e-01] [ 4.27168889e-02 2.30236998e-03 9.99084564e-01 1.42222416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.62534707 meters 0.028989843117200976 Centerline is valid? [True, True] Translation: X:-2.20, Y:0.24, Z:0.02 [[ 9.97045839e-01 6.33869564e-02 -4.33784425e-02 -2.20404135e+00] [-6.34250627e-02 9.97986479e-01 4.98649048e-04 2.39075058e-01] [ 4.33227070e-02 2.25410448e-03 9.99058588e-01 1.57180821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.65534707 meters 0.024666505751414516 Centerline is valid? [True, True] Translation: X:-2.23, Y:0.23, Z:0.01 [[ 9.97229721e-01 6.00144798e-02 -4.39448024e-02 -2.23222902e+00] [-6.00494352e-02 9.98195266e-01 5.25389483e-04 2.31496592e-01] [ 4.38970247e-02 2.11492656e-03 9.99033822e-01 1.41341485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.68534707 meters 0.023485956732949703 Centerline is valid? [True, True] Translation: X:-2.26, Y:0.23, Z:0.02 [[ 9.97364241e-01 5.77573179e-02 -4.39165433e-02 -2.26129411e+00] [-5.77899464e-02 9.98328625e-01 5.27311769e-04 2.29612509e-01] [ 4.38735984e-02 2.01201278e-03 9.99035064e-01 1.57040958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.71534707 meters 0.021437992646203035 Centerline is valid? [True, True] Translation: X:-2.29, Y:0.23, Z:0.02 [[ 9.97666523e-01 5.27589173e-02 -4.33359506e-02 -2.29035040e+00] [-5.27851016e-02 9.98605748e-01 5.40641754e-04 2.26971966e-01] [ 4.33040530e-02 1.74811238e-03 9.99060410e-01 1.52446167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7453470700000002 meters 0.02037239744825829 Centerline is valid? [True, True] Translation: X:-2.32, Y:0.23, Z:0.02 [[ 9.97762213e-01 5.08107946e-02 -4.34606568e-02 -2.31857751e+00] [-5.08351444e-02 9.98706909e-01 5.45447486e-04 2.25355493e-01] [ 4.34321728e-02 1.66510187e-03 9.99054990e-01 1.55482600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.77534707 meters 0.01968225674194773 Centerline is valid? [True, True] Translation: X:-2.35, Y:0.22, Z:0.02 [[ 9.97905475e-01 4.89045129e-02 -4.23439747e-02 -2.34783479e+00] [-4.89257839e-02 9.98802274e-01 5.34457069e-04 2.24522713e-01] [ 4.23193956e-02 1.53837452e-03 9.99102949e-01 1.61844815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.80534707 meters 0.019970516856196833 Centerline is valid? [True, True] Translation: X:-2.38, Y:0.23, Z:0.02 [[ 9.97953512e-01 4.84915911e-02 -4.16815835e-02 -2.37663645e+00] [-4.85111322e-02 9.98822494e-01 5.43100007e-04 2.25836836e-01] [ 4.16588390e-02 1.48003225e-03 9.99130798e-01 1.59923500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.83534707 meters 0.020776450132539457 Centerline is valid? [True, True] Translation: X:-2.40, Y:0.23, Z:0.02 [[ 9.97838905e-01 4.91183483e-02 -4.36452430e-02 -2.40425639e+00] [-4.91395502e-02 9.98791750e-01 5.87602713e-04 2.28865093e-01] [ 4.36213707e-02 1.55837476e-03 9.99046920e-01 1.73576236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.86534707 meters 0.018802892425452303 Centerline is valid? [True, True] Translation: X:-2.43, Y:0.23, Z:0.02 [[ 9.97787055e-01 4.94655850e-02 -4.44313906e-02 -2.43157829e+00] [-4.94868536e-02 9.98774582e-01 6.21790279e-04 2.26593616e-01] [ 4.44077008e-02 1.57835543e-03 9.99012245e-01 1.62338095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.89534707 meters 0.018802892425452303 Centerline is valid? [True, True] Translation: X:-2.46, Y:0.23, Z:0.01 [[ 9.97761889e-01 4.99707154e-02 -4.44312894e-02 -2.45901179e+00] [-4.99921646e-02 9.98749412e-01 6.28972013e-04 2.26756994e-01] [ 4.44071543e-02 1.59365203e-03 9.99012245e-01 1.47654867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.92534707 meters 0.02026000828774549 Centerline is valid? [True, True] Translation: X:-2.49, Y:0.23, Z:0.02 [[ 9.97812707e-01 5.17962858e-02 -4.10724451e-02 -2.48794431e+00] [-5.18153481e-02 9.98656502e-01 6.01005675e-04 2.32005430e-01] [ 4.10483942e-02 1.52849194e-03 9.99155990e-01 1.85115699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.95534707 meters 0.019904193751319237 Centerline is valid? [True, True] Translation: X:-2.52, Y:0.23, Z:0.02 [[ 9.97785775e-01 5.26582369e-02 -4.06282743e-02 -2.51723136e+00] [-5.26768535e-02 9.98611423e-01 6.12916023e-04 2.31984327e-01] [ 4.06041338e-02 1.52861076e-03 9.99174143e-01 1.96762422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.98534707 meters 0.01953984609257882 Centerline is valid? [True, True] Translation: X:-2.54, Y:0.23, Z:0.02 [[ 9.97734822e-01 5.25403452e-02 -4.20087765e-02 -2.54489887e+00] [-5.25593366e-02 9.98617589e-01 6.53019696e-04 2.34516663e-01] [ 4.19850130e-02 1.55641293e-03 9.99117028e-01 1.73685425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0153470700000002 meters 0.020751376608151784 Centerline is valid? [True, True] Translation: X:-2.57, Y:0.24, Z:0.02 [[ 9.97529716e-01 5.47383469e-02 -4.40247618e-02 -2.57315513e+00] [-5.47611458e-02 9.98499245e-01 6.88880331e-04 2.40495485e-01] [ 4.39963996e-02 1.72366780e-03 9.99030203e-01 1.68674128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.04534707 meters 0.022481281346912227 Centerline is valid? [True, True] Translation: X:-2.60, Y:0.24, Z:0.02 [[ 9.97396804e-01 5.72701575e-02 -4.38148867e-02 -2.60257306e+00] [-5.72943260e-02 9.98357082e-01 7.05003068e-04 2.44770633e-01] [ 4.37832780e-02 1.80717659e-03 9.99039418e-01 1.94877911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.07534707 meters 0.022230819227266274 Centerline is valid? [True, True] Translation: X:-2.63, Y:0.25, Z:0.02 [[ 9.97390209e-01 5.90832908e-02 -4.14962194e-02 -2.63054907e+00] [-5.91057806e-02 9.98251490e-01 6.85753567e-04 2.47037394e-01] [ 4.14641794e-02 1.76870255e-03 9.99138426e-01 2.13404473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.10534707 meters 0.023851685262685617 Centerline is valid? [True, True] Translation: X:-2.66, Y:0.25, Z:0.02 [[ 9.97268409e-01 6.11443199e-02 -4.14378199e-02 -2.65951064e+00] [-6.11683997e-02 9.98127223e-01 6.87719652e-04 2.50236050e-01] [ 4.14022663e-02 1.84884405e-03 9.99140848e-01 2.18280411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.13534707 meters 0.026633768160842734 Centerline is valid? [True, True] Translation: X:-2.69, Y:0.26, Z:0.02 [[ 9.97134170e-01 6.19410879e-02 -4.34367274e-02 -2.68720716e+00] [-6.19674794e-02 9.98077895e-01 7.39915009e-04 2.55385747e-01] [ 4.33990686e-02 1.95386997e-03 9.99055906e-01 2.27516228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.16534707 meters 0.023202538695023606 Centerline is valid? [True, True] Translation: X:-2.72, Y:0.25, Z:0.02 [[ 9.97190987e-01 6.11455567e-02 -4.32591855e-02 -2.71534665e+00] [-6.11699891e-02 9.98127074e-01 7.59927132e-04 2.51651109e-01] [ 4.32246304e-02 1.88837142e-03 9.99063594e-01 2.46596671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.19534707 meters 0.023356025597920688 Centerline is valid? [True, True] Translation: X:-2.74, Y:0.25, Z:0.03 [[ 9.97225242e-01 6.21005613e-02 -4.10528602e-02 -2.74414078e+00] [-6.21232731e-02 9.98068222e-01 7.23476168e-04 2.53784423e-01] [ 4.10184835e-02 1.82886935e-03 9.99156714e-01 2.70429885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.22534707 meters 0.024402976541832006 Centerline is valid? [True, True] Translation: X:-2.77, Y:0.26, Z:0.03 [[ 9.97265174e-01 6.15907215e-02 -4.08504034e-02 -2.77281272e+00] [-6.16120924e-02 9.98099898e-01 7.36804083e-04 2.57431050e-01] [ 4.08181638e-02 1.78208978e-03 9.99165002e-01 3.11927014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.25534707 meters 0.023174306842331453 Centerline is valid? [True, True] Translation: X:-2.80, Y:0.26, Z:0.03 [[ 9.97434652e-01 5.97626274e-02 -3.94023188e-02 -2.80087719e+00] [-5.97803674e-02 9.98211288e-01 7.28874836e-04 2.57288333e-01] [ 3.93753989e-02 1.62848008e-03 9.99223161e-01 3.24645521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2853470700000003 meters 0.024588892381399146 Centerline is valid? [True, True] Translation: X:-2.83, Y:0.26, Z:0.03 [[ 9.97301834e-01 6.00302255e-02 -4.22542697e-02 -2.82909057e+00] [-6.00505344e-02 9.98195026e-01 7.89608888e-04 2.61370070e-01] [ 4.22254022e-02 1.74991308e-03 9.99106578e-01 2.96864429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.31534707 meters 0.023900319254554415 Centerline is valid? [True, True] Translation: X:-2.86, Y:0.26, Z:0.03 [[ 9.97114982e-01 6.18382166e-02 -4.40198484e-02 -2.85670296e+00] [-6.18610855e-02 9.98084412e-01 8.43821628e-04 2.60178580e-01] [ 4.39877050e-02 1.88172842e-03 9.99030300e-01 2.82351217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.34534707 meters 0.02533188742411969 Centerline is valid? [True, True] Translation: X:-2.89, Y:0.26, Z:0.03 [[ 9.97134424e-01 6.20571481e-02 -4.32648803e-02 -2.88535091e+00] [-6.20793216e-02 9.98070872e-01 8.32159630e-04 2.63090087e-01] [ 4.32330582e-02 1.85607940e-03 9.99063290e-01 3.32865411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.37534707 meters 0.024134288590596516 Centerline is valid? [True, True] Translation: X:-2.91, Y:0.26, Z:0.03 [[ 9.97318375e-01 6.04053495e-02 -4.13189043e-02 -2.91359613e+00] [-6.04232418e-02 9.98172512e-01 8.16820978e-04 2.60281720e-01] [ 4.12927348e-02 1.68199157e-03 9.99145676e-01 3.31295398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.40534707 meters 0.022247323945690924 Centerline is valid? [True, True] Translation: X:-2.94, Y:0.26, Z:0.04 [[ 9.97616928e-01 5.68761751e-02 -3.90585032e-02 -2.94209713e+00] [-5.68892625e-02 9.98380192e-01 7.77175630e-04 2.56570133e-01] [ 3.90394387e-02 1.44668588e-03 9.99236623e-01 3.80184619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.43534707 meters 0.021284946917166193 Centerline is valid? [True, True] Translation: X:-2.97, Y:0.26, Z:0.04 [[ 9.97713788e-01 5.34957226e-02 -4.12965410e-02 -2.97138762e+00] [-5.35071732e-02 9.98567121e-01 8.28768035e-04 2.57008374e-01] [ 4.12817036e-02 1.38278788e-03 9.99146590e-01 3.61512288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.46534707 meters 0.023226204526536037 Centerline is valid? [True, True] Translation: X:-3.00, Y:0.26, Z:0.04 [[ 9.97578194e-01 5.53460715e-02 -4.21255240e-02 -3.00017138e+00] [-5.53596259e-02 9.98466122e-01 8.45609115e-04 2.64476557e-01] [ 4.21077098e-02 1.48849204e-03 9.99111968e-01 4.21022515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4953470700000002 meters 0.021919152005954096 Centerline is valid? [True, True] Translation: X:-3.03, Y:0.26, Z:0.04 [[ 9.97727950e-01 5.52338887e-02 -3.85766149e-02 -3.02838227e+00] [-5.52445242e-02 9.98472542e-01 7.91031276e-04 2.62091786e-01] [ 3.85613825e-02 1.34191273e-03 9.99255332e-01 4.47674269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.52534707 meters 0.023137152219802722 Centerline is valid? [True, True] Translation: X:-3.06, Y:0.26, Z:0.04 [[ 9.97809822e-01 5.26317209e-02 -4.00682041e-02 -3.05738291e+00] [-5.26408365e-02 9.98613167e-01 8.28232596e-04 2.64429549e-01] [ 4.00562275e-02 1.28280516e-03 9.99196604e-01 4.34817549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5553470700000003 meters 0.020322974813288177 Centerline is valid? [True, True] Translation: X:-3.08, Y:0.26, Z:0.04 [[ 9.97896206e-01 5.05190640e-02 -4.06323369e-02 -3.08491153e+00] [-5.05258799e-02 9.98722382e-01 8.59808266e-04 2.56338147e-01] [ 4.06238610e-02 1.19498517e-03 9.99173796e-01 4.36682253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.58534707 meters 0.020467767358788223 Centerline is valid? [True, True] Translation: X:-3.11, Y:0.26, Z:0.05 [[ 9.98046309e-01 4.89979692e-02 -3.87654969e-02 -3.11427785e+00] [-4.90029146e-02 9.98798296e-01 8.23156860e-04 2.58701706e-01] [ 3.87592453e-02 1.07807367e-03 9.99247997e-01 4.60705432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.61534707 meters 0.020184575281838982 Centerline is valid? [True, True] Translation: X:-3.14, Y:0.26, Z:0.05 [[ 9.97964170e-01 4.99298462e-02 -3.96803036e-02 -3.14161045e+00] [-4.99349680e-02 9.98752099e-01 8.62640074e-04 2.61886923e-01] [ 3.96738580e-02 1.12055080e-03 9.99212054e-01 4.85236411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.64534707 meters 0.022070069994338738 Centerline is valid? [True, True] Translation: X:-3.17, Y:0.27, Z:0.05 [[ 9.97743605e-01 5.24559482e-02 -4.19055215e-02 -3.17026850e+00] [-5.24635906e-02 9.98622416e-01 9.18107515e-04 2.70578271e-01] [ 4.18959533e-02 1.28247822e-03 9.99121156e-01 4.98709063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.67534707 meters 0.02083336388952093 Centerline is valid? [True, True] Translation: X:-3.20, Y:0.27, Z:0.05 [[ 9.97744162e-01 5.20545660e-02 -4.23899633e-02 -3.19832466e+00] [-5.20612267e-02 9.98643445e-01 9.47537206e-04 2.67496966e-01] [ 4.23817827e-02 1.26147378e-03 9.99100692e-01 4.72104906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.70534707 meters 0.020314900331575986 Centerline is valid? [True, True] Translation: X:-3.23, Y:0.27, Z:0.06 [[ 9.98032653e-01 4.84276329e-02 -3.98194483e-02 -3.22613459e+00] [-4.84299511e-02 9.98826170e-01 9.06955361e-04 2.69335542e-01] [ 3.98166287e-02 1.02328287e-03 9.99206480e-01 5.62138749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.73534707 meters 0.020987337575511997 Centerline is valid? [True, True] Translation: X:-3.25, Y:0.27, Z:0.06 [[ 9.97987791e-01 4.91974232e-02 -3.99997767e-02 -3.25399835e+00] [-4.92002554e-02 9.98788516e-01 9.14182852e-04 2.72806820e-01] [ 3.99962931e-02 1.05565591e-03 9.99199270e-01 5.79792265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7653470700000002 meters 0.021981401547713043 Centerline is valid? [True, True] Translation: X:-3.28, Y:0.28, Z:0.06 [[ 9.97944165e-01 4.80726039e-02 -4.23847709e-02 -3.28314721e+00] [-4.80737826e-02 9.98843295e-01 9.92037514e-04 2.75681944e-01] [ 4.23834340e-02 1.04759821e-03 9.99100869e-01 5.79758804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.79534707 meters 0.020384316210854826 Centerline is valid? [True, True] Translation: X:-3.31, Y:0.27, Z:0.06 [[ 9.98017177e-01 4.43406719e-02 -4.46723432e-02 -3.31200863e+00] [-4.43373865e-02 9.99016047e-01 1.06485032e-03 2.72915093e-01] [ 4.46756039e-02 9.17916040e-04 9.99001125e-01 5.61827756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8253470700000003 meters 0.01947983845671719 Centerline is valid? [True, True] Translation: X:-3.34, Y:0.27, Z:0.06 [[ 9.98355435e-01 4.12601475e-02 -3.97998118e-02 -3.33894843e+00] [-4.12545311e-02 9.99148206e-01 9.62741574e-04 2.70469120e-01] [ 3.98056334e-02 6.80764293e-04 9.99207210e-01 5.84515282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.85534707 meters 0.02118311281139783 Centerline is valid? [True, True] Translation: X:-3.37, Y:0.27, Z:0.06 [[ 9.99188478e-01 -7.05135575e-04 -4.02726750e-02 -3.36790351e+00] [ 7.45602649e-04 9.99999232e-01 9.89816107e-04 2.65487510e-01] [ 4.02719461e-02 -1.01904026e-03 9.99188236e-01 6.41510630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.88534707 meters 0.021451383603604313 Centerline is valid? [True, True] Translation: X:-3.40, Y:0.27, Z:0.06 [[ 9.99127344e-01 5.95195870e-04 -4.17635678e-02 -3.39697396e+00] [-5.52720701e-04 9.99999318e-01 1.02857826e-03 2.67583724e-01] [ 4.17641515e-02 -1.00459708e-03 9.99126992e-01 6.27626232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.91534707 meters 0.02082616289124283 Centerline is valid? [True, True] Translation: X:-3.43, Y:0.27, Z:0.06 [[ 9.99108576e-01 3.17753992e-03 -4.20946209e-02 -3.42547341e+00] [-3.13599119e-03 9.99994528e-01 1.05302874e-03 2.71526492e-01] [ 4.20977366e-02 -9.20081683e-04 9.99113074e-01 6.13262205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.94534707 meters 0.02003124766208601 Centerline is valid? [True, True] Translation: X:-3.45, Y:0.28, Z:0.06 [[ 9.99040785e-01 9.55642812e-03 -4.27338916e-02 -3.45418817e+00] [-9.51868714e-03 9.99954106e-01 1.08655841e-03 2.78821093e-01] [ 4.27423140e-02 -6.78745624e-04 9.99085899e-01 6.15434126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.97534707 meters 0.018861668597277045 Centerline is valid? [True, True] Translation: X:-3.48, Y:0.29, Z:0.06 [[ 9.98874927e-01 1.95997311e-02 -4.31825238e-02 -3.48224499e+00] [-1.95697782e-02 9.99807870e-01 1.11629850e-03 2.92355520e-01] [ 4.31961063e-02 -2.69970164e-04 9.99066576e-01 6.16156767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.00534707 meters 0.019182270109392618 Centerline is valid? [True, True] Translation: X:-3.51, Y:0.31, Z:0.07 [[ 9.98405585e-01 3.45702356e-02 -4.46227101e-02 -3.51021245e+00] [-3.45523822e-02 9.99402201e-01 1.17155886e-03 3.11674227e-01] [ 4.46365357e-02 3.72130025e-04 9.99003224e-01 6.54111933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.03534707 meters 0.021313518839044296 Centerline is valid? [True, True] Translation: X:-3.54, Y:0.33, Z:0.07 [[ 9.97580139e-01 5.22375248e-02 -4.58814565e-02 -3.53903752e+00] [-5.22361625e-02 9.98634003e-01 1.22947838e-03 3.33820853e-01] [ 4.58830075e-02 1.17016800e-03 9.98946135e-01 6.65715183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0653470700000005 meters 0.02788328039157248 Centerline is valid? [True, True] Translation: X:-3.57, Y:0.36, Z:0.07 [[ 9.96403892e-01 7.06058501e-02 -4.68411989e-02 -3.56811456e+00] [-7.06245179e-02 9.97502177e-01 1.25839310e-03 3.63619967e-01] [ 4.68130478e-02 2.05426931e-03 9.98901556e-01 6.83753632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.09534707 meters 0.03916198648555332 Centerline is valid? [True, True] Translation: X:-3.60, Y:0.40, Z:0.07 [[ 9.94088529e-01 9.66759264e-02 -4.94141918e-02 -3.59795316e+00] [-9.67286670e-02 9.95309901e-01 1.32853426e-03 4.04194003e-01] [ 4.93108716e-02 3.45908824e-03 9.98777489e-01 6.96373165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.12534707 meters 0.0427253835303878 Centerline is valid? [True, True] Translation: X:-3.63, Y:0.42, Z:0.07 [[ 9.92360614e-01 1.12823905e-01 -4.99117018e-02 -3.62803231e+00] [-1.12898006e-01 9.93605677e-01 1.34113314e-03 4.24636520e-01] [ 4.97438622e-02 4.30404391e-03 9.98752734e-01 7.04327907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.15534707 meters 0.04598486859698156 Centerline is valid? [True, True] Translation: X:-3.66, Y:0.44, Z:0.07 [[ 9.90731129e-01 1.25218758e-01 -5.26506630e-02 -3.65699152e+00] [-1.25318570e-01 9.92115545e-01 1.41439320e-03 4.43507400e-01] [ 5.24126498e-02 5.19682241e-03 9.98611990e-01 7.16365024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.18534707 meters 0.05000129456204894 Centerline is valid? [True, True] Translation: X:-3.69, Y:0.46, Z:0.07 [[ 9.89839612e-01 1.31667689e-01 -5.36764511e-02 -3.68686111e+00] [-1.31780813e-01 9.91277831e-01 1.44183573e-03 4.62718046e-01] [ 5.33981192e-02 5.64634022e-03 9.98557339e-01 7.27896308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.21534707 meters 0.04684927626449729 Centerline is valid? [True, True] Translation: X:-3.72, Y:0.47, Z:0.07 [[ 9.89586275e-01 1.33082342e-01 -5.48461066e-02 -3.71737707e+00] [-1.33202604e-01 9.91087734e-01 1.47336547e-03 4.66370469e-01] [ 5.45533825e-02 5.84762196e-03 9.98493732e-01 7.30977606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.24534707 meters 0.0511771990762873 Centerline is valid? [True, True] Translation: X:-3.75, Y:0.48, Z:0.07 [[ 9.90122924e-01 1.28470520e-01 -5.61419612e-02 -3.74741153e+00] [-1.28589307e-01 9.91696789e-01 1.50656480e-03 4.81115216e-01] [ 5.58693518e-02 5.72757155e-03 9.98421660e-01 7.35192842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2753470700000005 meters 0.043822193669195195 Centerline is valid? [True, True] Translation: X:-3.78, Y:0.47, Z:0.07 [[ 9.91419740e-01 1.18024290e-01 -5.61886599e-02 -3.77724292e+00] [-1.18126661e-01 9.92997391e-01 1.50758602e-03 4.71250989e-01] [ 5.59731245e-02 5.14272821e-03 9.98419031e-01 7.33876449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.30534707 meters 0.03555295342447239 Centerline is valid? [True, True] Translation: X:-3.81, Y:0.46, Z:0.07 [[ 9.92571502e-01 1.08197975e-01 -5.56328332e-02 -3.80822193e+00] [-1.08282943e-01 9.94118993e-01 1.49370503e-03 4.56937390e-01] [ 5.54672720e-02 4.54147784e-03 9.98450177e-01 7.23542625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.33534707 meters 0.03184716354878071 Centerline is valid? [True, True] Translation: X:-3.84, Y:0.45, Z:0.07 [[ 9.94221602e-01 9.18013036e-02 -5.56410562e-02 -3.83807287e+00] [-9.18608346e-02 9.95770737e-01 1.49216514e-03 4.50226646e-01] [ 5.55427183e-02 3.62769104e-03 9.98449721e-01 7.09426914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.36534707 meters 0.025943784134173607 Centerline is valid? [True, True] Translation: X:-3.87, Y:0.44, Z:0.07 [[ 9.95747668e-01 7.35752791e-02 -5.54369852e-02 -3.86843908e+00] [-7.36060987e-02 9.97286281e-01 1.48845245e-03 4.38295231e-01] [ 5.53960581e-02 2.59837715e-03 9.98461078e-01 6.83115085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395347070000001 meters 0.022869278686005655 Centerline is valid? [True, True] Translation: X:-3.90, Y:0.43, Z:0.07 [[ 9.96740624e-01 5.87739004e-02 -5.52608101e-02 -3.89885579e+00] [-5.87817244e-02 9.98269755e-01 1.48522037e-03 4.31727346e-01] [ 5.52524876e-02 1.76794623e-03 9.98470849e-01 6.93925679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.42534707 meters 0.01987862984417291 Centerline is valid? [True, True] Translation: X:-3.93, Y:0.42, Z:0.07 [[ 9.97241942e-01 5.13648831e-02 -5.35738508e-02 -3.92729200e+00] [-5.13615561e-02 9.98679086e-01 1.43981669e-03 4.24924060e-01] [ 5.35770404e-02 1.31579075e-03 9.98562852e-01 6.90061368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.45534707 meters 0.020657961935008035 Centerline is valid? [True, True] Translation: X:-3.96, Y:0.43, Z:0.07 [[ 9.97136379e-01 5.25679283e-02 -5.43659363e-02 -3.95546811e+00] [-5.25659379e-02 9.98616377e-01 1.46755891e-03 4.33810119e-01] [ 5.43678609e-02 1.39444006e-03 9.98520000e-01 7.00811880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.48534707 meters 0.021983040686758437 Centerline is valid? [True, True] Translation: X:-3.98, Y:0.45, Z:0.07 [[ 9.96703794e-01 5.97249766e-02 -5.49042230e-02 -3.98378950e+00] [-5.97326029e-02 9.98213282e-01 1.50358229e-03 4.45502672e-01] [ 5.48959260e-02 1.78094598e-03 9.98490493e-01 7.11118323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.51534707 meters 0.02510467772512399 Centerline is valid? [True, True] Translation: X:-4.01, Y:0.46, Z:0.07 [[ 9.95925181e-01 7.09001498e-02 -5.57333157e-02 -4.01442611e+00] [-7.09252099e-02 9.97480462e-01 1.53071158e-03 4.62807318e-01] [ 5.57014212e-02 2.42842291e-03 9.98444517e-01 7.39165848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.54534707 meters 0.027318116165788935 Centerline is valid? [True, True] Translation: X:-4.04, Y:0.48, Z:0.08 [[ 9.94957027e-01 8.42133440e-02 -5.44851014e-02 -4.04323563e+00] [-8.42570909e-02 9.96442923e-01 1.49776750e-03 4.78253377e-01] [ 5.44174257e-02 3.10054184e-03 9.98513460e-01 7.54517375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.57534707 meters 0.03429496701971996 Centerline is valid? [True, True] Translation: X:-4.07, Y:0.50, Z:0.08 [[ 9.93979795e-01 9.41544745e-02 -5.60276822e-02 -4.07278533e+00] [-9.42162912e-02 9.95550556e-01 1.54297962e-03 4.99902698e-01] [ 5.59236686e-02 3.74502986e-03 9.98428023e-01 7.60013484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6053470700000005 meters 0.03917104364567562 Centerline is valid? [True, True] Translation: X:-4.10, Y:0.52, Z:0.08 [[ 9.92318329e-01 1.10370173e-01 -5.58816429e-02 -4.10215021e+00] [-1.10457029e-01 9.93879705e-01 1.54149589e-03 5.22895538e-01] [ 5.57097660e-02 4.64286561e-03 9.98436210e-01 7.84518770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.63534707 meters 0.0424187032536552 Centerline is valid? [True, True] Translation: X:-4.13, Y:0.54, Z:0.08 [[ 9.91386494e-01 1.17079124e-01 -5.86966556e-02 -4.13252363e+00] [-1.17186572e-01 9.93108595e-01 1.62019050e-03 5.40169142e-01] [ 5.84818437e-02 5.27222486e-03 9.98274550e-01 7.78739837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.66534707 meters 0.047729135046828915 Centerline is valid? [True, True] Translation: X:-4.16, Y:0.56, Z:0.08 [[ 9.91025143e-01 1.20574527e-01 -5.77143745e-02 -4.16293528e+00] [-1.20684316e-01 9.92689660e-01 1.59223278e-03 5.58874487e-01] [ 5.74844455e-02 5.38727709e-03 9.98331867e-01 7.87459882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.69534707 meters 0.04401601559553337 Centerline is valid? [True, True] Translation: X:-4.19, Y:0.56, Z:0.08 [[ 9.91210428e-01 1.18411671e-01 -5.89963080e-02 -4.19275665e+00] [-1.18522743e-01 9.92950008e-01 1.62537002e-03 5.59918944e-01] [ 5.87728473e-02 5.38132051e-03 9.98256878e-01 7.84809191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.72534707 meters 0.041681839529937974 Centerline is valid? [True, True] Translation: X:-4.22, Y:0.56, Z:0.08 [[ 9.91423540e-01 1.16720631e-01 -5.87848465e-02 -4.22391474e+00] [-1.16828395e-01 9.93150808e-01 1.61211911e-03 5.58859870e-01] [ 5.85703854e-02 5.26944643e-03 9.98269374e-01 7.97023560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.75534707 meters 0.04359654595290822 Centerline is valid? [True, True] Translation: X:-4.25, Y:0.57, Z:0.08 [[ 9.92248233e-01 1.08075710e-01 -6.13439950e-02 -4.25420473e+00] [-1.08176982e-01 9.94130236e-01 1.67761803e-03 5.72527767e-01] [ 6.11652300e-02 4.97139470e-03 9.98115274e-01 7.65824894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.78534707 meters 0.04359654595290822 Centerline is valid? [True, True] Translation: X:-4.29, Y:0.57, Z:0.07 [[ 9.92258904e-01 1.07977662e-01 -6.13440419e-02 -4.28595609e+00] [-1.08078854e-01 9.94140912e-01 1.67590315e-03 5.73511710e-01] [ 6.11655818e-02 4.96706390e-03 9.98115274e-01 7.48832829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8153470700000005 meters 0.04270908908940487 Centerline is valid? [True, True] Translation: X:-4.32, Y:0.58, Z:0.08 [[ 9.92454577e-01 1.05989074e-01 -6.16460025e-02 -4.31770553e+00] [-1.06087823e-01 9.94355348e-01 1.67823744e-03 5.76017298e-01] [ 6.14759070e-02 4.87431578e-03 9.98096666e-01 7.61242067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.84534707 meters 0.03604369006166898 Centerline is valid? [True, True] Translation: X:-4.35, Y:0.57, Z:0.08 [[ 9.92582056e-01 1.04820471e-01 -6.15916390e-02 -4.34973664e+00] [-1.04917095e-01 9.94479566e-01 1.67215838e-03 5.67118442e-01] [ 6.14269029e-02 4.80226141e-03 9.98100032e-01 7.90951744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.87534707 meters 0.038596253815461064 Centerline is valid? [True, True] Translation: X:-4.38, Y:0.59, Z:0.08 [[ 9.92976905e-01 9.81360915e-02 -6.60770226e-02 -4.37981597e+00] [-9.82329724e-02 9.95161837e-01 1.78912637e-03 5.86236376e-01] [ 6.59329091e-02 4.71438117e-03 9.97812921e-01 7.52440237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.90534707 meters 0.035975312426839774 Centerline is valid? [True, True] Translation: X:-4.41, Y:0.59, Z:0.08 [[ 9.92888490e-01 9.82470431e-02 -6.72306816e-02 -4.41035474e+00] [-9.83476491e-02 9.95150455e-01 1.81971659e-03 5.86461416e-01] [ 6.70834251e-02 4.80520383e-03 9.97735799e-01 7.56923024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935347070000001 meters 0.039027536085068794 Centerline is valid? [True, True] Translation: X:-4.44, Y:0.60, Z:0.07 [[ 9.92885665e-01 9.58256387e-02 -7.06788805e-02 -4.44145020e+00] [-9.59309843e-02 9.95386155e-01 1.91025811e-03 6.03736848e-01] [ 7.05358308e-02 4.88362669e-03 9.97497292e-01 7.14418584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.96534707 meters 0.03997083421310942 Centerline is valid? [True, True] Translation: X:-4.47, Y:0.62, Z:0.07 [[ 9.92838069e-01 9.49817367e-02 -7.24640554e-02 -4.47236966e+00] [-9.50906433e-02 9.95466702e-01 1.95332075e-03 6.15287039e-01] [ 7.23210840e-02 4.95132244e-03 9.97369112e-01 7.14162570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.99534707 meters 0.034101144951383125 Centerline is valid? [True, True] Translation: X:-4.50, Y:0.61, Z:0.07 [[ 9.92839569e-01 9.39300782e-02 -7.38019668e-02 -4.50226676e+00] [-9.40403587e-02 9.95566403e-01 1.98695130e-03 6.11870656e-01] [ 7.36613931e-02 4.96763955e-03 9.97270937e-01 7.38605679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0253470700000005 meters 0.03632544338076534 Centerline is valid? [True, True] Translation: X:-4.53, Y:0.62, Z:0.07 [[ 9.92735574e-01 9.34871266e-02 -7.57379560e-02 -4.53196980e+00] [-9.36019911e-02 9.95607607e-01 2.03950628e-03 6.23612949e-01] [ 7.55959527e-02 5.06453305e-03 9.97125670e-01 7.10532531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.05534707 meters 0.03618121286421369 Centerline is valid? [True, True] Translation: X:-4.56, Y:0.63, Z:0.07 [[ 9.92748738e-01 9.16356642e-02 -7.78000548e-02 -4.56197794e+00] [-9.17512576e-02 9.95779754e-01 2.09503542e-03 6.30201689e-01] [ 7.76636994e-02 5.05840910e-03 9.96966781e-01 6.59732658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.08534707 meters 0.031538660766502497 Centerline is valid? [True, True] Translation: X:-4.59, Y:0.63, Z:0.07 [[ 9.93025222e-01 8.87193912e-02 -7.76516398e-02 -4.59030332e+00] [-8.88254311e-02 9.96045008e-01 2.09413764e-03 6.26392526e-01] [ 7.75303188e-02 4.81790888e-03 9.96978354e-01 7.03493186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.11534707 meters 0.028902932062227923 Centerline is valid? [True, True] Translation: X:-4.62, Y:0.62, Z:0.07 [[ 9.93159116e-01 8.78954799e-02 -7.68723306e-02 -4.61826272e+00] [-8.79961565e-02 9.96118636e-01 2.08320085e-03 6.23735744e-01] [ 7.67570651e-02 4.69551972e-03 9.97038768e-01 7.29106245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.145347070000001 meters 0.03047663397386159 Centerline is valid? [True, True] Translation: X:-4.65, Y:0.64, Z:0.06 [[ 9.93223551e-01 8.15993373e-02 -8.27558204e-02 -4.64626200e+00] [-8.16934981e-02 9.96654953e-01 2.25334396e-03 6.35768643e-01] [ 8.26628697e-02 4.52253818e-03 9.96567307e-01 6.05596793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.17534707 meters 0.03140995197012934 Centerline is valid? [True, True] Translation: X:-4.67, Y:0.64, Z:0.05 [[ 9.93312955e-01 7.73012208e-02 -8.57548508e-02 -4.67486031e+00] [-7.73858149e-02 9.96998470e-01 2.34233240e-03 6.44908272e-01] [ 8.56785202e-02 4.30953989e-03 9.96313514e-01 5.36833878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.20534707 meters 0.027463362887915514 Centerline is valid? [True, True] Translation: X:-4.70, Y:0.64, Z:0.05 [[ 9.93426640e-01 7.27184838e-02 -8.84055031e-02 -4.70316463e+00] [-7.27896736e-02 9.97344371e-01 2.42258220e-03 6.43977382e-01] [ 8.83468974e-02 4.02835003e-03 9.96081622e-01 5.42232624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.23534707 meters 0.027681198271034036 Centerline is valid? [True, True] Translation: X:-4.73, Y:0.65, Z:0.04 [[ 9.93199140e-01 6.63858495e-02 -9.56472005e-02 -4.72994433e+00] [-6.64378536e-02 9.97787061e-01 2.64432848e-03 6.53201575e-01] [ 9.56110851e-02 3.72824993e-03 9.95411784e-01 4.23066775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.26534707 meters 0.025891681500753057 Centerline is valid? [True, True] Translation: X:-4.76, Y:0.65, Z:0.04 [[ 9.93339534e-01 6.12563219e-02 -9.75921818e-02 -4.75832415e+00] [-6.12822154e-02 9.98116732e-01 2.73497791e-03 6.54490817e-01] [ 9.75759242e-02 3.26390343e-03 9.95222732e-01 3.70390295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.29534707 meters 0.023623485491517753 Centerline is valid? [True, True] Translation: X:-4.79, Y:0.65, Z:0.04 [[ 9.93672633e-01 5.60875754e-02 -9.73081804e-02 -4.78659363e+00] [-5.60864921e-02 9.98422130e-01 2.74863016e-03 6.52487732e-01] [ 9.73088048e-02 2.72643592e-03 9.95250503e-01 3.67370101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.32534707 meters 0.02326133093181293 Centerline is valid? [True, True] Translation: X:-4.81, Y:0.65, Z:0.03 [[ 9.93577981e-01 5.10576431e-02 -1.00974812e-01 -4.81497601e+00] [-5.10284517e-02 9.98693066e-01 2.87366806e-03 6.54132165e-01] [ 1.00989567e-01 2.29737501e-03 9.94884832e-01 2.69384107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3553470700000005 meters 0.021925554541189926 Centerline is valid? [True, True] Translation: X:-4.84, Y:0.65, Z:0.03 [[ 9.93765817e-01 4.68209912e-02 -1.01179523e-01 -4.84314122e+00] [-4.67673521e-02 9.98901589e-01 2.90341967e-03 6.52030025e-01] [ 1.01204328e-01 1.84657918e-03 9.94863948e-01 2.78854874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.38534707 meters 0.02206915172904809 Centerline is valid? [True, True] Translation: X:-4.87, Y:0.65, Z:0.02 [[ 9.93771965e-01 4.27712752e-02 -1.02897517e-01 -4.87024771e+00] [-4.26914709e-02 9.99083863e-01 2.97873054e-03 6.52898551e-01] [ 1.02930653e-01 1.43266747e-03 9.94687503e-01 1.87429230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.41534707 meters 0.02227132233457596 Centerline is valid? [True, True] Translation: X:-4.90, Y:0.65, Z:0.01 [[ 9.93755504e-01 4.16781158e-02 -1.03503302e-01 -4.89805439e+00] [-4.15873636e-02 9.99130260e-01 3.03560547e-03 6.53143641e-01] [ 1.03539799e-01 1.28777981e-03 9.94624478e-01 1.27709043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.44534707 meters 0.022167672040358247 Centerline is valid? [True, True] Translation: X:-4.93, Y:0.65, Z:0.01 [[ 9.93747460e-01 4.07361718e-02 -1.03954556e-01 -4.92539176e+00] [-4.06355433e-02 9.99169268e-01 3.08657028e-03 6.53747521e-01] [ 1.03993933e-01 1.15697850e-03 9.94577259e-01 7.11794275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475347070000001 meters 0.021212012226453077 Centerline is valid? [True, True] Translation: X:-4.95, Y:0.66, Z:0.00 [[ 9.93722438e-01 3.74056154e-02 -1.05434985e-01 -4.95320268e+00] [-3.72806994e-02 9.99299849e-01 3.15605183e-03 6.55312544e-01] [ 1.05479218e-01 7.94450451e-04 9.94421190e-01 4.18161334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.50534707 meters 0.02117781617135664 Centerline is valid? [True, True] Translation: X:-4.98, Y:0.66, Z:-0.01 [[ 9.93584631e-01 3.40350959e-02 -1.07848008e-01 -4.98161011e+00] [-3.38833393e-02 9.99420544e-01 3.23982624e-03 6.58412773e-01] [ 1.07895783e-01 4.35209091e-04 9.94162115e-01 -5.02865543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.53534707 meters 0.020802147083712523 Centerline is valid? [True, True] Translation: X:-5.01, Y:0.66, Z:-0.01 [[ 9.93509090e-01 2.99471562e-02 -1.09739943e-01 -5.01015679e+00] [-2.97640204e-02 9.99551483e-01 3.30690476e-03 6.59769461e-01] [ 1.09789756e-01 -1.91380269e-05 9.93954833e-01 -9.66067514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5653470700000005 meters 0.020153920510175765 Centerline is valid? [True, True] Translation: X:-5.04, Y:0.66, Z:-0.02 [[ 9.93384381e-01 2.69318172e-02 -1.11633995e-01 -5.03883971e+00] [-2.67208403e-02 9.99637200e-01 3.38589442e-03 6.61584275e-01] [ 1.11684682e-01 -3.80540486e-04 9.93743622e-01 -1.65698081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.59534707 meters 0.019591119340933695 Centerline is valid? [True, True] Translation: X:-5.07, Y:0.66, Z:-0.02 [[ 9.93408073e-01 2.55014849e-02 -1.11759002e-01 -5.06610216e+00] [-2.52768486e-02 9.99674616e-01 3.42667482e-03 6.63023986e-01] [ 1.11810023e-01 -5.79171069e-04 9.93729432e-01 -1.76387260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.62534707 meters 0.019272345707371866 Centerline is valid? [True, True] Translation: X:-5.09, Y:0.66, Z:-0.02 [[ 9.93248951e-01 2.28900102e-02 -1.13721457e-01 -5.09451223e+00] [-2.26374022e-02 9.99737571e-01 3.51232969e-03 6.64265897e-01] [ 1.13772010e-01 -9.14259423e-04 9.93506464e-01 -2.45519278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.65534707 meters 0.019510493463141855 Centerline is valid? [True, True] Translation: X:-5.12, Y:0.66, Z:-0.03 [[ 9.93155887e-01 1.90033077e-02 -1.15240007e-01 -5.12346759e+00] [-1.87161272e-02 9.99818451e-01 3.57363599e-03 6.64090562e-01] [ 1.15286996e-01 -1.39233100e-03 9.93331249e-01 -3.12865559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.685347070000001 meters 0.020551930413601104 Centerline is valid? [True, True] Translation: X:-5.15, Y:0.66, Z:-0.04 [[ 9.92872075e-01 1.58418021e-02 -1.18127393e-01 -5.15246895e+00] [-1.55163344e-02 9.99872863e-01 3.67444811e-03 6.62907400e-01] [ 1.18170584e-01 -1.81535280e-03 9.92991650e-01 -4.15180197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.71534707 meters 0.021826913783187487 Centerline is valid? [True, True] Translation: X:-5.18, Y:0.66, Z:-0.05 [[ 9.92829980e-01 1.38050170e-02 -1.18735216e-01 -5.18084484e+00] [-1.34589476e-02 9.99902519e-01 3.71603823e-03 6.60967925e-01] [ 1.18774941e-01 -2.09134312e-03 9.92919000e-01 -4.88958636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.74534707 meters 0.022135250195405503 Centerline is valid? [True, True] Translation: X:-5.21, Y:0.66, Z:-0.06 [[ 9.92815745e-01 1.34041606e-02 -1.18900066e-01 -5.20944341e+00] [-1.30499158e-02 9.99907786e-01 3.75746329e-03 6.62430063e-01] [ 1.18939467e-01 -2.17883286e-03 9.92899117e-01 -5.51365119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7753470700000005 meters 0.02032565022887186 Centerline is valid? [True, True] Translation: X:-5.24, Y:0.67, Z:-0.05 [[ 9.92702717e-01 1.57466307e-02 -1.19554841e-01 -5.23643399e+00] [-1.54021556e-02 9.99874140e-01 3.80484088e-03 6.72039345e-01] [ 1.19599707e-01 -1.93567362e-03 9.92820308e-01 -5.03423880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.80534707 meters 0.019257624946610638 Centerline is valid? [True, True] Translation: X:-5.26, Y:0.68, Z:-0.05 [[ 9.92571643e-01 2.19499488e-02 -1.19665084e-01 -5.26482809e+00] [-2.16461603e-02 9.99758327e-01 3.83803892e-03 6.82603535e-01] [ 1.19720409e-01 -1.21923901e-03 9.92806898e-01 -5.45713040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.83534707 meters 0.018857472941456406 Centerline is valid? [True, True] Translation: X:-5.29, Y:0.69, Z:-0.06 [[ 9.92254389e-01 2.78280919e-02 -1.21065371e-01 -5.29272734e+00] [-2.75559757e-02 9.99612569e-01 3.92162177e-03 6.93919308e-01] [ 1.21127598e-01 -5.55171997e-04 9.92636790e-01 -6.31253074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.86534707 meters 0.02115815837610265 Centerline is valid? [True, True] Translation: X:-5.32, Y:0.70, Z:-0.07 [[ 9.91925448e-01 3.06147548e-02 -1.23071700e-01 -5.32068749e+00] [-3.03519685e-02 9.99531229e-01 4.00996766e-03 7.04500216e-01] [ 1.23136772e-01 -2.42120596e-04 9.92389680e-01 -6.79880467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895347070000001 meters 0.01804001221641294 Centerline is valid? [True, True] Translation: X:-5.35, Y:0.71, Z:-0.07 [[ 9.91734280e-01 3.45462640e-02 -1.23570521e-01 -5.34790141e+00] [-3.43101123e-02 9.99403072e-01 4.03921467e-03 7.14922220e-01] [ 1.23636298e-01 2.33890803e-04 9.92327572e-01 -6.79197297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.92534707 meters 0.01892642377156736 Centerline is valid? [True, True] Translation: X:-5.38, Y:0.73, Z:-0.08 [[ 9.91454002e-01 3.73205508e-02 -1.25004554e-01 -5.37625124e+00] [-3.70972423e-02 9.99303190e-01 4.11453924e-03 7.25161769e-01] [ 1.25071007e-01 5.57947843e-04 9.92147636e-01 -7.91107062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.95534707 meters 0.018897600110212923 Centerline is valid? [True, True] Translation: X:-5.40, Y:0.73, Z:-0.08 [[ 9.91440459e-01 4.03477966e-02 -1.24168725e-01 -5.40415220e+00] [-4.01463065e-02 9.99185295e-01 4.12545517e-03 7.34142013e-01] [ 1.24234017e-01 8.94772518e-04 9.92252543e-01 -8.36606185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.98534707 meters 0.01926722549261326 Centerline is valid? [True, True] Translation: X:-5.43, Y:0.74, Z:-0.09 [[ 9.91362455e-01 4.11069582e-02 -1.24541964e-01 -5.43228539e+00] [-4.09053742e-02 9.99154296e-01 4.17643763e-03 7.40821001e-01] [ 1.24608319e-01 9.54072176e-04 9.92205552e-01 -8.82070330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015347070000001 meters 0.019304777138292303 Centerline is valid? [True, True] Translation: X:-5.46, Y:0.74, Z:-0.10 [[ 9.91387378e-01 3.59879641e-02 -1.25920345e-01 -5.46104400e+00] [-3.57371910e-02 9.99352183e-01 4.25070659e-03 7.43717178e-01] [ 1.25991746e-01 2.85942557e-04 9.92031249e-01 -9.60419313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.04534707 meters 0.019184632270308408 Centerline is valid? [True, True] Translation: X:-5.49, Y:0.74, Z:-0.10 [[ 9.91534223e-01 3.33743474e-02 -1.25483214e-01 -5.48813173e+00] [-3.31016697e-02 9.99442919e-01 4.25807364e-03 7.44263160e-01] [ 1.25555420e-01 -6.83218364e-05 9.92086605e-01 -9.89855425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.07534707 meters 0.019876620515028 Centerline is valid? [True, True] Translation: X:-5.52, Y:0.74, Z:-0.10 [[ 9.91536574e-01 2.69250782e-02 -1.27004973e-01 -5.51588035e+00] [-2.65906733e-02 9.99637036e-01 4.32802151e-03 7.43921186e-01] [ 1.27075407e-01 -9.14243862e-04 9.91892638e-01 -1.01765877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1053470700000005 meters 0.02001390484475269 Centerline is valid? [True, True] Translation: X:-5.54, Y:0.75, Z:-0.11 [[ 9.91478111e-01 2.85075690e-02 -1.27115984e-01 -5.54294898e+00] [-2.81814256e-02 9.99593300e-01 4.36379666e-03 7.51706059e-01] [ 1.27188687e-01 -7.44299228e-04 9.91878261e-01 -1.08862722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.13534707 meters 0.018434869414809468 Centerline is valid? [True, True] Translation: X:-5.57, Y:0.77, Z:-0.10 [[ 9.91369063e-01 3.25275771e-02 -1.27001328e-01 -5.57088372e+00] [-3.22313710e-02 9.99470806e-01 4.38719519e-03 7.65435986e-01] [ 1.27076825e-01 -2.55902661e-04 9.91892845e-01 -1.04592709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.16534707 meters 0.019181564640894246 Centerline is valid? [True, True] Translation: X:-5.60, Y:0.78, Z:-0.12 [[ 9.91080904e-01 3.67262380e-02 -1.28100839e-01 -5.59878767e+00] [-3.64558376e-02 9.99325332e-01 4.45567351e-03 7.78622831e-01] [ 1.28178053e-01 2.54090441e-04 9.91751139e-01 -1.16021927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.19534707 meters 0.019692793507161858 Centerline is valid? [True, True] Translation: X:-5.63, Y:0.79, Z:-0.13 [[ 9.90894783e-01 3.77980824e-02 -1.29223972e-01 -5.62623407e+00] [-3.75266606e-02 9.99285334e-01 4.53551521e-03 7.90354185e-01] [ 1.29303054e-01 3.55125773e-04 9.91605060e-01 -1.27581129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.225347070000001 meters 0.020079234625336173 Centerline is valid? [True, True] Translation: X:-5.65, Y:0.80, Z:-0.13 [[ 9.90753747e-01 3.85587248e-02 -1.30077815e-01 -5.65489808e+00] [-3.82864773e-02 9.99256244e-01 4.59398669e-03 8.00493607e-01] [ 1.30158207e-01 4.28711765e-04 9.91493145e-01 -1.33046547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.25534707 meters 0.022193346524154434 Centerline is valid? [True, True] Translation: X:-5.68, Y:0.81, Z:-0.13 [[ 9.90796233e-01 3.96104204e-02 -1.29436623e-01 -5.68213885e+00] [-3.93476492e-02 9.99215049e-01 4.58777089e-03 8.08494394e-01] [ 1.29516745e-01 5.47480714e-04 9.91577084e-01 -1.33983371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.28534707 meters 0.019813812804306802 Centerline is valid? [True, True] Translation: X:-5.71, Y:0.82, Z:-0.14 [[ 9.90894000e-01 3.75555370e-02 -1.29300666e-01 -5.70996057e+00] [-3.72740887e-02 9.99294507e-01 4.59681304e-03 8.15842103e-01] [ 1.29382081e-01 2.64610036e-04 9.91594780e-01 -1.38884338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3153470700000005 meters 0.01952812880751536 Centerline is valid? [True, True] Translation: X:-5.74, Y:0.82, Z:-0.14 [[ 9.90875554e-01 3.58455200e-02 -1.29925885e-01 -5.73740196e+00] [-3.55443049e-02 9.99357343e-01 4.63726532e-03 8.22933921e-01] [ 1.30008613e-01 2.31724327e-05 9.91512864e-01 -1.41108447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.34534707 meters 0.02040558193969402 Centerline is valid? [True, True] Translation: X:-5.77, Y:0.83, Z:-0.15 [[ 9.90688949e-01 3.50470169e-02 -1.31556503e-01 -5.76561361e+00] [-3.47290685e-02 9.99385660e-01 4.71114499e-03 8.31487416e-01] [ 1.31640794e-01 -9.84444861e-05 9.91297479e-01 -1.50255191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.37534707 meters 0.020115204695389074 Centerline is valid? [True, True] Translation: X:-5.79, Y:0.84, Z:-0.15 [[ 9.90530177e-01 3.85662785e-02 -1.31767261e-01 -5.79387996e+00] [-3.82745180e-02 9.99255986e-01 4.74715448e-03 8.41414714e-01] [ 1.31852304e-01 3.41128621e-04 9.91269314e-01 -1.54190771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.40534707 meters 0.020957027055468952 Centerline is valid? [True, True] Translation: X:-5.82, Y:0.86, Z:-0.17 [[ 9.90148518e-01 4.56430800e-02 -1.32373040e-01 -5.82124308e+00] [-4.54062091e-02 9.98957031e-01 4.80902287e-03 8.56657132e-01] [ 1.32454477e-01 1.24891107e-03 9.91188303e-01 -1.67918044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435347070000001 meters 0.01968772601972721 Centerline is valid? [True, True] Translation: X:-5.85, Y:0.87, Z:-0.16 [[ 9.89565561e-01 5.18820821e-02 -1.34418194e-01 -5.85034935e+00] [-5.16923899e-02 9.98651018e-01 4.90324447e-03 8.69270349e-01] [ 1.34491256e-01 2.09631580e-03 9.90912563e-01 -1.57003384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.46534707 meters 0.022745208521126107 Centerline is valid? [True, True] Translation: X:-5.88, Y:0.89, Z:-0.17 [[ 9.88902180e-01 6.02076368e-02 -1.35821644e-01 -5.87906865e+00] [-6.00912325e-02 9.98180563e-01 4.96049083e-03 8.85801090e-01] [ 1.35873185e-01 3.25624982e-03 9.90720886e-01 -1.70075462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.49534707 meters 0.02379286453870102 Centerline is valid? [True, True] Translation: X:-5.91, Y:0.89, Z:-0.17 [[ 9.88587657e-01 6.45887088e-02 -1.36098281e-01 -5.90797853e+00] [-6.45096758e-02 9.97904577e-01 4.99564689e-03 8.94378563e-01] [ 1.36135760e-01 3.84102115e-03 9.90682745e-01 -1.72855622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5253470700000005 meters 0.022712916103518263 Centerline is valid? [True, True] Translation: X:-5.94, Y:0.89, Z:-0.17 [[ 9.88621847e-01 6.53198526e-02 -1.35499673e-01 -5.93596546e+00] [-6.52443963e-02 9.97856776e-01 5.00238821e-03 8.94596289e-01] [ 1.35536022e-01 3.89512408e-03 9.90764763e-01 -1.67038280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555347070000001 meters 0.02208458528648657 Centerline is valid? [True, True] Translation: X:-5.96, Y:0.89, Z:-0.16 [[ 9.88615284e-01 6.65562641e-02 -1.34944746e-01 -5.96366248e+00] [-6.64903593e-02 9.97774538e-01 5.00027069e-03 8.93928151e-01] [ 1.34977231e-01 4.02918061e-03 9.90840508e-01 -1.64283101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.58534707 meters 0.024798017730386236 Centerline is valid? [True, True] Translation: X:-5.99, Y:0.90, Z:-0.18 [[ 9.88617773e-01 6.79500167e-02 -1.34230008e-01 -5.99113570e+00] [-6.78932599e-02 9.97680034e-01 5.00552403e-03 8.97061525e-01] [ 1.34258724e-01 4.16476281e-03 9.90937561e-01 -1.78011124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.61534707 meters 0.022856460250279938 Centerline is valid? [True, True] Translation: X:-6.02, Y:0.89, Z:-0.17 [[ 9.88621686e-01 6.86054331e-02 -1.33867308e-01 -6.01904239e+00] [-6.85508418e-02 9.97634982e-01 5.02237063e-03 8.92584813e-01] [ 1.33895271e-01 4.21149214e-03 9.90986539e-01 -1.70145817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.645347070000001 meters 0.023482357760282385 Centerline is valid? [True, True] Translation: X:-6.05, Y:0.89, Z:-0.18 [[ 9.88492970e-01 6.84523736e-02 -1.34892260e-01 -6.04778764e+00] [-6.83908733e-02 9.97645592e-01 5.09526152e-03 8.90498141e-01] [ 1.34923451e-01 4.18876923e-03 9.90847171e-01 -1.75296669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.67534707 meters 0.023120622504037583 Centerline is valid? [True, True] Translation: X:-6.08, Y:0.89, Z:-0.17 [[ 9.88315063e-01 7.06513987e-02 -1.35061897e-01 -6.07588499e+00] [-7.06066334e-02 9.97491058e-01 5.12756879e-03 8.85616433e-01] [ 1.35085304e-01 4.46861234e-03 9.90823896e-01 -1.73667223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.70534707 meters 0.023120622504037583 Centerline is valid? [True, True] Translation: X:-6.10, Y:0.89, Z:-0.18 [[ 9.88292416e-01 7.09698305e-02 -1.35060668e-01 -6.10406129e+00] [-7.09236248e-02 9.97468404e-01 5.15977815e-03 8.86467723e-01] [ 1.35084938e-01 4.47962254e-03 9.90823896e-01 -1.75179131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.73534707 meters 0.02300602105832739 Centerline is valid? [True, True] Translation: X:-6.13, Y:0.88, Z:-0.17 [[ 9.88161285e-01 7.23374050e-02 -1.35294400e-01 -6.13232142e+00] [-7.22977657e-02 9.97369470e-01 5.21282638e-03 8.83320029e-01] [ 1.35315587e-01 4.63036964e-03 9.90791730e-01 -1.74423275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.765347070000001 meters 0.024464236349611666 Centerline is valid? [True, True] Translation: X:-6.16, Y:0.88, Z:-0.18 [[ 9.87510678e-01 7.49565594e-02 -1.38579127e-01 -6.16230489e+00] [-7.49381406e-02 9.97173790e-01 5.35796724e-03 8.79594875e-01] [ 1.38589088e-01 5.09381221e-03 9.90336871e-01 -1.81761876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.79534707 meters 0.026465132263384848 Centerline is valid? [True, True] Translation: X:-6.19, Y:0.88, Z:-0.19 [[ 9.87506045e-01 7.72230570e-02 -1.37362333e-01 -6.19215901e+00] [-7.72266352e-02 9.96999417e-01 5.31130813e-03 8.77593199e-01] [ 1.37360322e-01 5.36308191e-03 9.90506628e-01 -1.89253813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.82534707 meters 0.026592027022240016 Centerline is valid? [True, True] Translation: X:-6.22, Y:0.87, Z:-0.19 [[ 9.87552175e-01 7.91982536e-02 -1.35898262e-01 -6.22307494e+00] [-7.92210776e-02 9.96843253e-01 5.24875880e-03 8.72924866e-01] [ 1.35884959e-01 5.58258363e-03 9.90708894e-01 -1.86347583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8553470700000005 meters 0.029945006424678056 Centerline is valid? [True, True] Translation: X:-6.25, Y:0.87, Z:-0.20 [[ 9.87947805e-01 7.83350721e-02 -1.33501876e-01 -6.25309482e+00] [-7.83498981e-02 9.96912617e-01 5.15057835e-03 8.71400704e-01] [ 1.33493175e-01 5.37135581e-03 9.91035176e-01 -2.01412979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.88534707 meters 0.02932111374830522 Centerline is valid? [True, True] Translation: X:-6.28, Y:0.85, Z:-0.21 [[ 9.87769444e-01 7.61008492e-02 -1.36088890e-01 -6.28409153e+00] [-7.60959653e-02 9.97086700e-01 5.24565379e-03 8.54853796e-01] [ 1.36091621e-01 5.17431893e-03 9.90682743e-01 -2.09020387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.91534707 meters 0.03002473366199728 Centerline is valid? [True, True] Translation: X:-6.32, Y:0.85, Z:-0.21 [[ 9.87884035e-01 7.61384501e-02 -1.35233393e-01 -6.31550346e+00] [-7.61347123e-02 9.97083945e-01 5.20699326e-03 8.48087127e-01] [ 1.35235497e-01 5.15204992e-03 9.90800089e-01 -2.13976604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.94534707 meters 0.028184326457370144 Centerline is valid? [True, True] Translation: X:-6.35, Y:0.84, Z:-0.21 [[ 9.88586224e-01 7.30123677e-02 -1.31781908e-01 -6.34567385e+00] [-7.29812734e-02 9.97320412e-01 5.07234378e-03 8.35738927e-01] [ 1.31799131e-01 4.60316231e-03 9.91265756e-01 -2.11737139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975347070000001 meters 0.026704474869733166 Centerline is valid? [True, True] Translation: X:-6.38, Y:0.82, Z:-0.23 [[ 9.88843693e-01 6.64404196e-02 -1.33318496e-01 -6.37602378e+00] [-6.63491884e-02 9.97783268e-01 5.13178960e-03 8.19293522e-01] [ 1.33363922e-01 3.77103621e-03 9.91059960e-01 -2.25180929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.00534707 meters 0.025130474611947836 Centerline is valid? [True, True] Translation: X:-6.41, Y:0.81, Z:-0.23 [[ 9.89396758e-01 6.32365673e-02 -1.30748583e-01 -6.40712297e+00] [-6.31207934e-02 9.97993200e-01 5.03375094e-03 8.09454985e-01] [ 1.30804514e-01 3.27257746e-03 9.91402779e-01 -2.25097096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.03534707 meters 0.02476950141277425 Centerline is valid? [True, True] Translation: X:-6.44, Y:0.80, Z:-0.23 [[ 9.89157734e-01 5.75122738e-02 -1.35127034e-01 -6.43709583e+00] [-5.73352390e-02 9.98341416e-01 5.20465649e-03 7.95833175e-01] [ 1.35202246e-01 2.59931457e-03 9.90814612e-01 -2.33608825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0653470700000005 meters 0.02500044507785174 Centerline is valid? [True, True] Translation: X:-6.47, Y:0.79, Z:-0.24 [[ 9.88962746e-01 5.92741399e-02 -1.35791246e-01 -6.46596199e+00] [-5.91083902e-02 9.98237735e-01 5.25576752e-03 7.89380824e-01] [ 1.35863477e-01 2.82864368e-03 9.90723531e-01 -2.39373308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095347070000001 meters 0.025082956695651904 Centerline is valid? [True, True] Translation: X:-6.50, Y:0.80, Z:-0.23 [[ 9.89891753e-01 6.79692153e-02 -1.24476919e-01 -6.49593947e+00] [-6.78964042e-02 9.97680675e-01 4.83207672e-03 7.95425416e-01] [ 1.24516649e-01 3.66830231e-03 9.92210738e-01 -2.28626196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.12534707 meters 0.022978812761117122 Centerline is valid? [True, True] Translation: X:-6.53, Y:0.79, Z:-0.24 [[ 9.90394712e-01 6.14338933e-02 -1.23871673e-01 -6.52590402e+00] [-6.13106973e-02 9.98107140e-01 4.80995509e-03 7.88652949e-01] [ 1.23932695e-01 2.83090456e-03 9.92286588e-01 -2.37203173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.15534707 meters 0.01967465078924828 Centerline is valid? [True, True] Translation: X:-6.55, Y:0.76, Z:-0.25 [[ 9.91167752e-01 4.13441019e-02 -1.26004572e-01 -6.55421007e+00] [-4.10518651e-02 9.99144922e-01 4.91620798e-03 7.62254310e-01] [ 1.26100085e-01 2.99935892e-04 9.92017479e-01 -2.45059888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.185347070000001 meters 0.02552734106422621 Centerline is valid? [True, True] Translation: X:-6.58, Y:0.73, Z:-0.25 [[ 9.91698312e-01 1.56899574e-02 -1.27625559e-01 -6.58409799e+00] [-1.51762580e-02 9.99872350e-01 4.99653136e-03 7.33382212e-01] [ 1.27687663e-01 -3.01817331e-03 9.91809836e-01 -2.54359102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.21534707 meters 0.03366634487983125 Centerline is valid? [True, True] Translation: X:-6.61, Y:0.71, Z:-0.26 [[ 9.91723702e-01 -7.38987369e-03 -1.28177566e-01 -6.61368056e+00] [ 8.10030734e-03 9.99954580e-01 5.02216385e-03 7.12413130e-01] [ 1.28134631e-01 -6.01887660e-03 9.91738519e-01 -2.59529506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.24534707 meters 0.03829028801188695 Centerline is valid? [True, True] Translation: X:-6.64, Y:0.70, Z:-0.26 [[ 9.91883527e-01 -2.21599052e-02 -1.25203866e-01 -6.64346174e+00] [ 2.29549531e-02 9.99724440e-01 4.91071913e-03 7.02430515e-01] [ 1.25060544e-01 -7.74491029e-03 9.92118882e-01 -2.60761827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2753470700000005 meters 0.043982641103387995 Centerline is valid? [True, True] Translation: X:-6.67, Y:0.70, Z:-0.27 [[ 9.91687109e-01 -3.33657594e-02 -1.24271493e-01 -6.67414094e+00] [ 3.42365556e-02 9.99401855e-01 4.87761967e-03 6.97453486e-01] [ 1.24034415e-01 -9.09170043e-03 9.92236265e-01 -2.66456340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.305347070000001 meters 0.042299200177926016 Centerline is valid? [True, True] Translation: X:-6.70, Y:0.71, Z:-0.27 [[ 9.91613233e-01 -3.46627015e-02 -1.24505798e-01 -6.70190355e+00] [ 3.55479239e-02 9.99355986e-01 4.89465934e-03 7.05835153e-01] [ 1.24255953e-01 -9.27953160e-03 9.92206807e-01 -2.71230919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.33534707 meters 0.04441718830533968 Centerline is valid? [True, True] Translation: X:-6.73, Y:0.71, Z:-0.28 [[ 9.91635968e-01 -2.95161820e-02 -1.25645942e-01 -6.73108176e+00] [ 3.03778235e-02 9.99526246e-01 4.94678785e-03 7.12475164e-01] [ 1.25440407e-01 -8.72226301e-03 9.92062814e-01 -2.83173450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.36534707 meters 0.04224898256825327 Centerline is valid? [True, True] Translation: X:-6.76, Y:0.73, Z:-0.29 [[ 9.92098420e-01 -1.98960178e-02 -1.23874423e-01 -6.76057450e+00] [ 2.06592771e-02 9.99774665e-01 4.87995521e-03 7.29676814e-01] [ 1.23749418e-01 -7.40055187e-03 9.92285903e-01 -2.87046376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395347070000001 meters 0.03620824120142174 Centerline is valid? [True, True] Translation: X:-6.79, Y:0.75, Z:-0.29 [[ 9.92270600e-01 -1.22139250e-02 -1.23490390e-01 -6.78873285e+00] [ 1.29133038e-02 9.99904787e-01 4.86458581e-03 7.47062261e-01] [ 1.23419216e-01 -6.42165440e-03 9.92333845e-01 -2.91256627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.42534707 meters 0.030601749457087404 Centerline is valid? [True, True] Translation: X:-6.82, Y:0.77, Z:-0.29 [[ 9.92111694e-01 -2.78271806e-03 -1.25326149e-01 -6.81675335e+00] [ 3.42868895e-03 9.99981925e-01 4.93891047e-03 7.66830633e-01] [ 1.25310140e-01 -5.32965522e-03 9.92103303e-01 -2.93572282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.45534707 meters 0.029221320419348842 Centerline is valid? [True, True] Translation: X:-6.85, Y:0.78, Z:-0.30 [[ 9.92129265e-01 3.20388948e-03 -1.25176905e-01 -6.84635608e+00] [-2.60637598e-03 9.99984417e-01 4.93683456e-03 7.78844857e-01] [ 1.25190772e-01 -4.57171997e-03 9.92122155e-01 -3.00486154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.48534707 meters 0.02568357785217876 Centerline is valid? [True, True] Translation: X:-6.87, Y:0.79, Z:-0.30 [[ 9.92274169e-01 1.12044694e-02 -1.23557406e-01 -6.87474655e+00] [-1.06839465e-02 9.99931043e-01 4.87459772e-03 7.93305232e-01] [ 1.23603504e-01 -3.51685669e-03 9.92325453e-01 -3.02856781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515347070000001 meters 0.02402646565586575 Centerline is valid? [True, True] Translation: X:-6.90, Y:0.80, Z:-0.30 [[ 9.92251443e-01 1.46771075e-02 -1.23376079e-01 -6.90304623e+00] [-1.41820070e-02 9.99887472e-01 4.89024334e-03 7.99804635e-01] [ 1.23433971e-01 -3.10263060e-03 9.92347937e-01 -3.03861765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.54534707 meters 0.02320427950259833 Centerline is valid? [True, True] Translation: X:-6.93, Y:0.81, Z:-0.31 [[ 9.92138217e-01 1.53010770e-02 -1.24208030e-01 -6.92991332e+00] [-1.48008872e-02 9.99878214e-01 4.94885620e-03 8.06570685e-01] [ 1.24268626e-01 -3.07156031e-03 9.92243858e-01 -3.09458815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.57534707 meters 0.02611966833614507 Centerline is valid? [True, True] Translation: X:-6.96, Y:0.81, Z:-0.32 [[ 9.92146329e-01 1.38680953e-02 -1.24311455e-01 -6.95783676e+00] [-1.33520807e-02 9.99898440e-01 4.98320057e-03 8.05188061e-01] [ 1.24367938e-01 -3.28424757e-03 9.92230734e-01 -3.23491464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6053470700000005 meters 0.024064486117919465 Centerline is valid? [True, True] Translation: X:-6.99, Y:0.81, Z:-0.32 [[ 9.92247249e-01 1.28556281e-02 -1.23612824e-01 -6.98591619e+00] [-1.23343594e-02 9.99911521e-01 4.98133127e-03 8.07801423e-01] [ 1.23665925e-01 -3.41802725e-03 9.92318022e-01 -3.17508129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635347070000001 meters 0.026642373533393538 Centerline is valid? [True, True] Translation: X:-7.02, Y:0.80, Z:-0.32 [[ 9.92745814e-01 1.07343873e-02 -1.19751920e-01 -7.01539408e+00] [-1.02288925e-02 9.99935994e-01 4.83507952e-03 8.02953205e-01] [ 1.19796156e-01 -3.57507545e-03 9.92792073e-01 -3.24885370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.66534707 meters 0.028914799699777914 Centerline is valid? [True, True] Translation: X:-7.04, Y:0.80, Z:-0.33 [[ 9.92823226e-01 6.42679288e-03 -1.19418332e-01 -7.04376935e+00] [-5.89208381e-03 9.99970976e-01 4.83015192e-03 7.99522038e-01] [ 1.19445909e-01 -4.09186419e-03 9.92832278e-01 -3.31878311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.69534707 meters 0.029043414056362335 Centerline is valid? [True, True] Translation: X:-7.07, Y:0.80, Z:-0.33 [[ 9.92820208e-01 4.07783074e-03 -1.19546671e-01 -7.07174323e+00] [-3.52354079e-03 9.99982043e-01 4.84760481e-03 7.98887798e-01] [ 1.19564292e-01 -4.39157244e-03 9.92816748e-01 -3.33678551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.725347070000001 meters 0.028816734029485057 Centerline is valid? [True, True] Translation: X:-7.10, Y:0.80, Z:-0.34 [[ 9.92770356e-01 4.37465182e-03 -1.19949503e-01 -7.10018498e+00] [-3.81546941e-03 9.99980760e-01 4.89108094e-03 7.98317346e-01] [ 1.19968592e-01 -4.39805651e-03 9.92767946e-01 -3.37963350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.75534707 meters 0.03082766337002002 Centerline is valid? [True, True] Translation: X:-7.13, Y:0.80, Z:-0.35 [[ 9.93030988e-01 5.10268785e-03 -1.17743022e-01 -7.12954921e+00] [-4.56680370e-03 9.99977953e-01 4.82064877e-03 7.96539160e-01] [ 1.17765025e-01 -4.24934435e-03 9.93032397e-01 -3.47398667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.78534707 meters 0.026326484666552023 Centerline is valid? [True, True] Translation: X:-7.16, Y:0.81, Z:-0.34 [[ 9.93094683e-01 8.94226493e-03 -1.16974298e-01 -7.15840119e+00] [-8.43910435e-03 9.99952889e-01 4.79604486e-03 8.05347472e-01] [ 1.17011675e-01 -3.77576835e-03 9.93123362e-01 -3.40574964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8153470700000005 meters 0.024782254231853026 Centerline is valid? [True, True] Translation: X:-7.19, Y:0.81, Z:-0.34 [[ 9.93345868e-01 1.43115278e-02 -1.14276707e-01 -7.18842119e+00] [-1.38663142e-02 9.99892859e-01 4.68991990e-03 8.12251012e-01] [ 1.14331584e-01 -3.07411583e-03 9.93437889e-01 -3.41404889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.845347070000001 meters 0.023994290790634455 Centerline is valid? [True, True] Translation: X:-7.22, Y:0.82, Z:-0.35 [[ 9.93229533e-01 1.95633797e-02 -1.14509250e-01 -7.21639443e+00] [-1.91487082e-02 9.99805504e-01 4.72024921e-03 8.19235842e-01] [ 1.14579323e-01 -2.49558670e-03 9.93410968e-01 -3.50162576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.87534707 meters 0.021046252206891478 Centerline is valid? [True, True] Translation: X:-7.24, Y:0.83, Z:-0.35 [[ 9.92881212e-01 2.43011812e-02 -1.16603397e-01 -7.24440692e+00] [-2.38989552e-02 9.99702631e-01 4.84660958e-03 8.27785712e-01] [ 1.16686501e-01 -2.02540823e-03 9.93166732e-01 -3.46042928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.90534707 meters 0.021104555957463786 Centerline is valid? [True, True] Translation: X:-7.27, Y:0.83, Z:-0.35 [[ 9.93213016e-01 2.83495479e-02 -1.12801632e-01 -7.27416327e+00] [-2.79970403e-02 9.99596918e-01 4.70822905e-03 8.31443375e-01] [ 1.12889640e-01 -1.51816254e-03 9.93606373e-01 -3.49054383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935347070000001 meters 0.02029201968942159 Centerline is valid? [True, True] Translation: X:-7.30, Y:0.84, Z:-0.35 [[ 9.93374796e-01 3.15223174e-02 -1.10511798e-01 -7.30322038e+00] [-3.12031579e-02 9.99502401e-01 4.61671270e-03 8.36588960e-01] [ 1.10602336e-01 -1.13780897e-03 9.93864090e-01 -3.53074794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965347070000001 meters 0.020652208810000145 Centerline is valid? [True, True] Translation: X:-7.33, Y:0.84, Z:-0.36 [[ 9.93405896e-01 3.16197646e-02 -1.10203972e-01 -7.33173340e+00] [-3.13005817e-02 9.99499314e-01 4.62551872e-03 8.38953460e-01] [ 1.10295053e-01 -1.14556913e-03 9.93898229e-01 -3.56182936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.99534707 meters 0.01990360528412363 Centerline is valid? [True, True] Translation: X:-7.36, Y:0.84, Z:-0.36 [[ 9.93656834e-01 3.43771115e-02 -1.07071517e-01 -7.36057681e+00] [-3.40895550e-02 9.99408582e-01 4.51530919e-03 8.40079817e-01] [ 1.07163416e-01 -8.36647468e-04 9.94241068e-01 -3.56154793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.02534707 meters 0.02131509719562586 Centerline is valid? [True, True] Translation: X:-7.39, Y:0.84, Z:-0.36 [[ 9.93535093e-01 3.36541479e-02 -1.08422399e-01 -7.38882451e+00] [-3.33525120e-02 9.99433088e-01 4.59478702e-03 8.39165387e-01] [ 1.08515567e-01 -9.48922779e-04 9.94094297e-01 -3.63889964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055347070000002 meters 0.021208062054765404 Centerline is valid? [True, True] Translation: X:-7.42, Y:0.84, Z:-0.37 [[ 9.93884949e-01 3.31752271e-02 -1.05319099e-01 -7.41804502e+00] [-3.28857606e-02 9.99449057e-01 4.48434274e-03 8.38638919e-01] [ 1.05409843e-01 -9.93422087e-04 9.94428368e-01 -3.65357358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085347070000001 meters 0.022222475821179654 Centerline is valid? [True, True] Translation: X:-7.45, Y:0.84, Z:-0.37 [[ 9.93895111e-01 3.27472059e-02 -1.05357147e-01 -7.44584120e+00] [-3.24527080e-02 9.99463102e-01 4.50881762e-03 8.37956460e-01] [ 1.05448232e-01 -1.06216706e-03 9.94424226e-01 -3.69150299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115347070000002 meters 0.02047200281754886 Centerline is valid? [True, True] Translation: X:-7.48, Y:0.84, Z:-0.37 [[ 9.94166375e-01 3.56910863e-02 -1.01780964e-01 -7.47552460e+00] [-3.54295296e-02 9.99362592e-01 4.37694373e-03 8.38967563e-01] [ 1.01872306e-01 -7.45358589e-04 9.94797204e-01 -3.70021432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.145347070000001 meters 0.021160065220501876 Centerline is valid? [True, True] Translation: X:-7.50, Y:0.84, Z:-0.37 [[ 9.94251694e-01 3.68468051e-02 -1.00528017e-01 -7.50435006e+00] [-3.65957883e-02 9.99320723e-01 4.34059554e-03 8.40091010e-01] [ 1.00619667e-01 -6.36742458e-04 9.94924760e-01 -3.71207842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.17534707 meters 0.019874999179899423 Centerline is valid? [True, True] Translation: X:-7.53, Y:0.84, Z:-0.37 [[ 9.94112942e-01 3.90998308e-02 -1.01047815e-01 -7.53147343e+00] [-3.88542599e-02 9.99235210e-01 4.39796786e-03 8.43517660e-01] [ 1.01142494e-01 -4.45938717e-04 9.94871850e-01 -3.72558201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.205347070000002 meters 0.01996817185973875 Centerline is valid? [True, True] Translation: X:-7.56, Y:0.85, Z:-0.38 [[ 9.94116842e-01 4.42849908e-02 -9.88460665e-02 -7.55947222e+00] [-4.40721837e-02 9.99018938e-01 4.33648435e-03 8.48868217e-01] [ 9.89411335e-02 4.53898755e-05 9.95093287e-01 -3.76313536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235347070000001 meters 0.020206950030120616 Centerline is valid? [True, True] Translation: X:-7.59, Y:0.85, Z:-0.38 [[ 9.94145244e-01 4.77383560e-02 -9.69344243e-02 -7.58859550e+00] [-4.75482237e-02 9.98859809e-01 4.27180270e-03 8.53798382e-01] [ 9.70278294e-02 3.62267352e-04 9.95281603e-01 -3.77146511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.26534707 meters 0.021033763428062055 Centerline is valid? [True, True] Translation: X:-7.62, Y:0.86, Z:-0.38 [[ 9.93997161e-01 5.42304291e-02 -9.50195004e-02 -7.61902316e+00] [-5.40772012e-02 9.98527972e-01 4.18878088e-03 8.61756530e-01] [ 9.51067884e-02 9.74752346e-04 9.95466598e-01 -3.76760412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295347070000002 meters 0.02030971809137429 Centerline is valid? [True, True] Translation: X:-7.65, Y:0.87, Z:-0.38 [[ 9.93824971e-01 5.76121739e-02 -9.48301922e-02 -7.65149904e+00] [-5.74755761e-02 9.98338189e-01 4.17346652e-03 8.67043661e-01] [ 9.49130448e-02 1.30272469e-03 9.95484715e-01 -3.79443176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325347070000001 meters 0.021938774613199614 Centerline is valid? [True, True] Translation: X:-7.68, Y:0.87, Z:-0.38 [[ 9.93890896e-01 6.14705732e-02 -9.16638151e-02 -7.68358835e+00] [-6.13603037e-02 9.98107572e-01 4.02336794e-03 8.72586359e-01] [ 9.17376667e-02 1.62573077e-03 9.95781882e-01 -3.84473026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.35534707 meters 0.021599790698960793 Centerline is valid? [True, True] Translation: X:-7.71, Y:0.87, Z:-0.38 [[ 9.94031788e-01 6.10520360e-02 -9.04071522e-02 -7.71492597e+00] [-6.09437372e-02 9.98133345e-01 3.96053677e-03 8.72699360e-01] [ 9.04801921e-02 1.57285027e-03 9.95897013e-01 -3.84542117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.385347070000002 meters 0.02097398442150203 Centerline is valid? [True, True] Translation: X:-7.75, Y:0.87, Z:-0.39 [[ 9.94313541e-01 5.93021837e-02 -8.84524307e-02 -7.74689303e+00] [-5.91922265e-02 9.98239109e-01 3.86791750e-03 8.71316075e-01] [ 8.85260516e-02 1.38977356e-03 9.96072892e-01 -3.89887541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415347070000001 meters 0.021111018162732188 Centerline is valid? [True, True] Translation: X:-7.78, Y:0.87, Z:-0.39 [[ 9.94504817e-01 5.70449004e-02 -8.77841040e-02 -7.77880809e+00] [-5.69285344e-02 9.98370907e-01 3.83061743e-03 8.69932871e-01] [ 8.78596127e-02 1.18785290e-03 9.96132159e-01 -3.94579363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.445347070000002 meters 0.02046105733218374 Centerline is valid? [True, True] Translation: X:-7.81, Y:0.86, Z:-0.40 [[ 9.94894077e-01 5.17630483e-02 -8.66392659e-02 -7.80951458e+00] [-5.16302401e-02 9.98659137e-01 3.77451347e-03 8.64483443e-01] [ 8.67184748e-02 7.17965008e-04 9.96232599e-01 -3.98714706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475347070000002 meters 0.020272020144332676 Centerline is valid? [True, True] Translation: X:-7.84, Y:0.86, Z:-0.40 [[ 9.95349915e-01 4.72872158e-02 -8.39193959e-02 -7.84177423e+00] [-4.71471571e-02 9.98881282e-01 3.65107338e-03 8.61594268e-01] [ 8.39981628e-02 3.22465359e-04 9.96465857e-01 -4.00812898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.505347070000001 meters 0.02181108608903271 Centerline is valid? [True, True] Translation: X:-7.87, Y:0.86, Z:-0.39 [[ 9.95747588e-01 4.67387384e-02 -7.93865906e-02 -7.87364921e+00] [-4.66123048e-02 9.98907112e-01 3.44602321e-03 8.59883746e-01] [ 7.94608928e-02 2.69022666e-04 9.96837948e-01 -3.94695593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535347070000002 meters 0.020097651649496086 Centerline is valid? [True, True] Translation: X:-7.91, Y:0.86, Z:-0.40 [[ 9.95721221e-01 4.26662750e-02 -8.19685202e-02 -7.90573531e+00] [-4.25185207e-02 9.99089379e-01 3.54805506e-03 8.59464597e-01] [ 8.20452602e-02 -4.76934966e-05 9.96628603e-01 -4.03654690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.565347070000001 meters 0.019692877883927134 Centerline is valid? [True, True] Translation: X:-7.94, Y:0.86, Z:-0.41 [[ 9.95781129e-01 4.28807396e-02 -8.11245094e-02 -7.93628218e+00] [-4.27372691e-02 9.99080198e-01 3.50488082e-03 8.61930691e-01] [ 8.12001828e-02 -2.30541918e-05 9.96697813e-01 -4.05922201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.59534707 meters 0.019692877883927134 Centerline is valid? [True, True] Translation: X:-7.97, Y:0.86, Z:-0.41 [[ 9.95783260e-01 4.28308903e-02 -8.11246828e-02 -7.96708118e+00] [-4.26875818e-02 9.99082336e-01 3.50086431e-03 8.63308375e-01] [ 8.12001827e-02 -2.30855423e-05 9.96697813e-01 -4.07570232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.625347070000002 meters 0.020723965035827654 Centerline is valid? [True, True] Translation: X:-8.00, Y:0.87, Z:-0.41 [[ 9.95910458e-01 4.47895883e-02 -7.84617945e-02 -7.99762152e+00] [-4.46619189e-02 9.98996434e-01 3.38211700e-03 8.71009271e-01] [ 7.85345365e-02 1.35968608e-04 9.96911384e-01 -4.11945440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655347070000001 meters 0.01936589981087105 Centerline is valid? [True, True] Translation: X:-8.03, Y:0.88, Z:-0.42 [[ 9.95741363e-01 4.66725176e-02 -7.95035518e-02 -8.02851571e+00] [-4.65477883e-02 9.98910201e-01 3.42243495e-03 8.75784068e-01] [ 7.95766426e-02 2.92854464e-04 9.96828708e-01 -4.16230327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.68534707 meters 0.020105864510085832 Centerline is valid? [True, True] Translation: X:-8.06, Y:0.89, Z:-0.42 [[ 9.95749789e-01 5.19754253e-02 -7.60323166e-02 -8.06032373e+00] [-5.18772442e-02 9.98648125e-01 3.26711083e-03 8.85779028e-01] [ 7.60993399e-02 6.91122141e-04 9.97100001e-01 -4.18193299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715347070000002 meters 0.01888007044989295 Centerline is valid? [True, True] Translation: X:-8.09, Y:0.89, Z:-0.42 [[ 9.95753744e-01 5.13683847e-02 -7.63922205e-02 -8.09238851e+00] [-5.12680609e-02 9.98679558e-01 3.27510014e-03 8.93657566e-01] [ 7.64595856e-02 6.55287786e-04 9.97072466e-01 -4.24637972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745347070000001 meters 0.02268219596481062 Centerline is valid? [True, True] Translation: X:-8.12, Y:0.90, Z:-0.43 [[ 9.95803051e-01 5.24707285e-02 -7.49873749e-02 -8.12445112e+00] [-5.23777219e-02 9.98622193e-01 3.20772242e-03 9.01803982e-01] [ 7.50523683e-02 7.33408099e-04 9.97179324e-01 -4.27735330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775347070000002 meters 0.022359004275634094 Centerline is valid? [True, True] Translation: X:-8.16, Y:0.91, Z:-0.43 [[ 9.95857064e-01 5.29991315e-02 -7.38904631e-02 -8.15539204e+00] [-5.29107512e-02 9.98594263e-01 3.15444399e-03 9.06828530e-01] [ 7.39537753e-02 7.68224579e-04 9.97261374e-01 -4.26628639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.805347070000002 meters 0.019749929207339863 Centerline is valid? [True, True] Translation: X:-8.19, Y:0.91, Z:-0.43 [[ 9.95940640e-01 5.13668146e-02 -7.39167878e-02 -8.18670504e+00] [-5.12744316e-02 9.98679639e-01 3.14815641e-03 9.07607728e-01] [ 7.39809017e-02 6.54664373e-04 9.97259443e-01 -4.29224106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835347070000001 meters 0.02243366360331241 Centerline is valid? [True, True] Translation: X:-8.22, Y:0.91, Z:-0.43 [[ 9.96103050e-01 4.78256744e-02 -7.41041082e-02 -8.21905246e+00] [-4.77239086e-02 9.98855616e-01 3.14439419e-03 9.09925074e-01] [ 7.41696874e-02 4.04397041e-04 9.97245553e-01 -4.29876398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.865347070000002 meters 0.020356891152567766 Centerline is valid? [True, True] Translation: X:-8.25, Y:0.91, Z:-0.43 [[ 9.96295057e-01 4.68580096e-02 -7.21143950e-02 -8.25027151e+00] [-4.67595577e-02 9.98901506e-01 3.05376158e-03 9.10951371e-01] [ 7.21782710e-02 3.29589643e-04 9.97391693e-01 -4.28384527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895347070000001 meters 0.020510206794815106 Centerline is valid? [True, True] Translation: X:-8.28, Y:0.91, Z:-0.43 [[ 9.96373344e-01 4.47381292e-02 -7.23785878e-02 -8.28310609e+00] [-4.46338199e-02 9.98998732e-01 3.05872212e-03 9.14242673e-01] [ 7.24429589e-02 1.82903671e-04 9.97372540e-01 -4.32567297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.92534707 meters 0.02099051366883024 Centerline is valid? [True, True] Translation: X:-8.31, Y:0.92, Z:-0.43 [[ 9.96412275e-01 4.39186235e-02 -7.23445389e-02 -8.31434618e+00] [-4.38128782e-02 9.99035103e-01 3.04870127e-03 9.16836576e-01] [ 7.24086286e-02 1.31859107e-04 9.97375041e-01 -4.30671583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955347070000002 meters 0.024168865428273584 Centerline is valid? [True, True] Translation: X:-8.35, Y:0.92, Z:-0.43 [[ 9.96421880e-01 4.29013382e-02 -7.28210964e-02 -8.34629913e+00] [-4.27918774e-02 9.99079312e-01 3.06335022e-03 9.21189976e-01] [ 7.28854727e-02 6.37622360e-05 9.97340315e-01 -4.30546292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.985347070000001 meters 0.02020900124556013 Centerline is valid? [True, True] Translation: X:-8.38, Y:0.92, Z:-0.43 [[ 9.96562100e-01 4.11539594e-02 -7.19050223e-02 -8.37700401e+00] [-4.10431347e-02 9.99152815e-01 3.01873012e-03 9.23519909e-01] [ 7.19683382e-02 -5.71445129e-05 9.97406915e-01 -4.33091850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.01534707 meters 0.019857883468547628 Centerline is valid? [True, True] Translation: X:-8.41, Y:0.93, Z:-0.44 [[ 9.96409676e-01 3.98910767e-02 -7.46756985e-02 -8.40928166e+00] [-3.97684586e-02 9.99204023e-01 3.12882751e-03 9.27755167e-01] [ 7.47410707e-02 -1.47856582e-04 9.97202964e-01 -4.38275951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.045347070000002 meters 0.021731852260749692 Centerline is valid? [True, True] Translation: X:-8.44, Y:0.93, Z:-0.44 [[ 9.96364363e-01 3.80931407e-02 -7.62034741e-02 -8.44150001e+00] [-3.79608239e-02 9.99274154e-01 3.18461726e-03 9.32596276e-01] [ 7.62694741e-02 -2.80292490e-04 9.97087202e-01 -4.40006795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075347070000001 meters 0.018881804384054554 Centerline is valid? [True, True] Translation: X:-8.47, Y:0.94, Z:-0.44 [[ 9.96367921e-01 3.82146133e-02 -7.60960512e-02 -8.47253191e+00] [-3.80834927e-02 9.99269520e-01 3.17398744e-03 9.38108253e-01] [ 7.61617573e-02 -2.64455863e-04 9.97095440e-01 -4.41449346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.10534707 meters 0.021959452074077315 Centerline is valid? [True, True] Translation: X:-8.50, Y:0.94, Z:-0.44 [[ 9.96262033e-01 3.65692361e-02 -7.82601655e-02 -8.50426072e+00] [-3.64259418e-02 9.99331044e-01 3.25823515e-03 9.42287534e-01] [ 7.83269640e-02 -3.95355740e-04 9.96927646e-01 -4.42054723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135347070000002 meters 0.018294300106671258 Centerline is valid? [True, True] Translation: X:-8.54, Y:0.95, Z:-0.45 [[ 9.96216315e-01 3.63833695e-02 -7.89259421e-02 -8.53595227e+00] [-3.62376143e-02 9.99337823e-01 3.27870273e-03 9.46085145e-01] [ 7.89929694e-02 -4.06209302e-04 9.96875090e-01 -4.48076833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.165347070000001 meters 0.020197054554910804 Centerline is valid? [True, True] Translation: X:-8.57, Y:0.95, Z:-0.45 [[ 9.96130584e-01 3.48172623e-02 -8.06945913e-02 -8.56741239e+00] [-3.46602586e-02 9.99393552e-01 3.34599511e-03 9.52322067e-01] [ 8.07621525e-02 -5.36152659e-04 9.96733258e-01 -4.45823211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195347070000002 meters 0.022365004805347692 Centerline is valid? [True, True] Translation: X:-8.60, Y:0.94, Z:-0.45 [[ 9.96253362e-01 2.53213173e-02 -8.26926178e-02 -8.59790942e+00] [-2.51237951e-02 9.99678469e-01 3.42848396e-03 9.43150234e-01] [ 8.27528432e-02 -1.33808629e-03 9.96569203e-01 -4.49916774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.225347070000002 meters 0.023063966865584644 Centerline is valid? [True, True] Translation: X:-8.63, Y:0.93, Z:-0.46 [[ 9.96325633e-01 1.70565568e-02 -8.39303721e-02 -8.62741124e+00] [-1.68233539e-02 9.99852404e-01 3.48503860e-03 9.34125337e-01] [ 8.39774270e-02 -2.06024293e-03 9.96465527e-01 -4.55413905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255347070000001 meters 0.031941210596657006 Centerline is valid? [True, True] Translation: X:-8.66, Y:0.92, Z:-0.46 [[ 9.96190739e-01 7.48257543e-03 -8.68793526e-02 -8.65820799e+00] [-7.19610125e-03 9.99967591e-01 3.61010409e-03 9.16190974e-01] [ 8.69035498e-02 -2.97115964e-03 9.96212299e-01 -4.56554733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.285347070000002 meters 0.027478643766147632 Centerline is valid? [True, True] Translation: X:-8.69, Y:0.92, Z:-0.46 [[ 9.96259101e-01 8.00358507e-03 -8.60450272e-02 -8.68648350e+00] [-7.72421455e-03 9.99963762e-01 3.57924217e-03 9.16268892e-01] [ 8.60705558e-02 -2.90122233e-03 9.96284820e-01 -4.55022790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315347070000001 meters 0.025178594719181775 Centerline is valid? [True, True] Translation: X:-8.72, Y:0.92, Z:-0.45 [[ 9.96240646e-01 1.34347385e-02 -8.55808602e-02 -8.71517263e+00] [-1.31776777e-02 9.99906805e-01 3.56795023e-03 9.22217250e-01] [ 8.56208190e-02 -2.42678005e-03 9.96324840e-01 -4.48747611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.34534707 meters 0.024522167121760464 Centerline is valid? [True, True] Translation: X:-8.74, Y:0.93, Z:-0.45 [[ 9.95655133e-01 2.69874113e-02 -8.91209035e-02 -8.74387463e+00] [-2.67621456e-02 9.99634901e-01 3.72180496e-03 9.31007591e-01] [ 8.91888074e-02 -1.32056762e-03 9.96013862e-01 -4.54763533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375347070000002 meters 0.023829638134880725 Centerline is valid? [True, True] Translation: X:-8.77, Y:0.94, Z:-0.46 [[ 9.95199853e-01 3.63983318e-02 -9.08428008e-02 -8.77242977e+00] [-3.62020052e-02 9.99337235e-01 3.80853596e-03 9.39219368e-01] [ 9.09212177e-02 -5.01562885e-04 9.95857962e-01 -4.56752537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.405347070000001 meters 0.020729880035454874 Centerline is valid? [True, True] Translation: X:-8.80, Y:0.95, Z:-0.45 [[ 9.94323382e-01 4.98474131e-02 -9.40013157e-02 -8.80143066e+00] [-4.96954611e-02 9.98756574e-01 3.95816335e-03 9.51556923e-01] [ 9.40817362e-02 7.35744355e-04 9.95564205e-01 -4.54041257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.43534707 meters 0.025001009447468917 Centerline is valid? [True, True] Translation: X:-8.83, Y:0.96, Z:-0.46 [[ 9.93406527e-01 6.26203642e-02 -9.60320869e-02 -8.83116406e+00] [-6.25211274e-02 9.98035444e-01 4.04497087e-03 9.63132536e-01] [ 9.60967240e-02 1.98573387e-03 9.95370020e-01 -4.57156987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.465347070000002 meters 0.02395828115033146 Centerline is valid? [True, True] Translation: X:-8.86, Y:0.98, Z:-0.47 [[ 9.92681816e-01 7.37743924e-02 -9.56041339e-02 -8.86126298e+00] [-7.37276610e-02 9.97270286e-01 4.02598634e-03 9.77248178e-01] [ 9.56401766e-02 3.05214574e-03 9.95411292e-01 -4.66984423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495347070000001 meters 0.027096393266172757 Centerline is valid? [True, True] Translation: X:-8.89, Y:0.98, Z:-0.46 [[ 9.91835111e-01 8.15020782e-02 -9.80842656e-02 -8.89120998e+00] [-8.14906687e-02 9.96665551e-01 4.12917560e-03 9.82169158e-01] [ 9.80937450e-02 3.89749105e-03 9.95169547e-01 -4.64610336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.525347070000002 meters 0.0329047380387211 Centerline is valid? [True, True] Translation: X:-8.92, Y:0.99, Z:-0.47 [[ 9.91165070e-01 8.72556605e-02 -9.98912108e-02 -8.92141163e+00] [-8.72729770e-02 9.96175560e-01 4.20487603e-03 9.91761222e-01] [ 9.98760821e-02 4.55007709e-03 9.94989480e-01 -4.69705139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555347070000002 meters 0.026885343373618885 Centerline is valid? [True, True] Translation: X:-8.95, Y:0.98, Z:-0.46 [[ 9.91183555e-01 8.85449298e-02 -9.85644736e-02 -8.95347656e+00] [-8.85694804e-02 9.96061418e-01 4.13511958e-03 9.83784137e-01] [ 9.85424132e-02 4.63114169e-03 9.95122076e-01 -4.64175905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585347070000001 meters 0.025506870130735233 Centerline is valid? [True, True] Translation: X:-8.99, Y:0.98, Z:-0.46 [[ 9.91000986e-01 8.89462031e-02 -1.00028088e-01 -8.98550538e+00] [-8.89767779e-02 9.96024995e-01 4.16449825e-03 9.81607594e-01] [ 1.00000892e-01 4.77315510e-03 9.94975898e-01 -4.62331850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615347070000002 meters 0.027455787762468993 Centerline is valid? [True, True] Translation: X:-9.02, Y:0.99, Z:-0.47 [[ 9.91004771e-01 8.69999016e-02 -1.01688546e-01 -9.01838186e+00] [-8.70251607e-02 9.96197276e-01 4.19629852e-03 9.85288833e-01] [ 1.01666930e-01 4.69091018e-03 9.94807434e-01 -4.71100633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.645347070000001 meters 0.028003527930358627 Centerline is valid? [True, True] Translation: X:-9.05, Y:0.98, Z:-0.47 [[ 9.91093881e-01 8.49693419e-02 -1.02533553e-01 -9.05128407e+00] [-8.49880116e-02 9.96373145e-01 4.19445281e-03 9.83469287e-01] [ 1.02518078e-01 4.55702626e-03 9.94720703e-01 -4.70000445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.67534707 meters 0.03040734833255493 Centerline is valid? [True, True] Translation: X:-9.08, Y:0.99, Z:-0.48 [[ 9.91240888e-01 8.21864294e-02 -1.03377430e-01 -9.08267152e+00] [-8.21938131e-02 9.96607532e-01 4.19575379e-03 9.89323549e-01] [ 1.03371560e-01 4.33798248e-03 9.94633351e-01 -4.79077766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.705347070000002 meters 0.029101117516524683 Centerline is valid? [True, True] Translation: X:-9.11, Y:0.99, Z:-0.48 [[ 9.91434147e-01 7.91733232e-02 -1.03874521e-01 -9.11478157e+00] [-7.91665455e-02 9.96852578e-01 4.19462651e-03 9.88666516e-01] [ 1.03879686e-01 4.06469103e-03 9.94581565e-01 -4.82562549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735347070000001 meters 0.02925335733352345 Centerline is valid? [True, True] Translation: X:-9.15, Y:0.99, Z:-0.48 [[ 9.91837820e-01 7.48858730e-02 -1.03198085e-01 -9.14559267e+00] [-7.48565973e-02 9.97185623e-01 4.16201168e-03 9.88891619e-01] [ 1.03219323e-01 3.59701690e-03 9.94652117e-01 -4.82738913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.76534707 meters 0.02847898275996134 Centerline is valid? [True, True] Translation: X:-9.18, Y:0.99, Z:-0.49 [[ 9.92040436e-01 7.06020698e-02 -1.04264669e-01 -9.17719071e+00] [-7.05501540e-02 9.97499431e-01 4.19047911e-03 9.87949847e-01] [ 1.04299805e-01 3.19876374e-03 9.94540758e-01 -4.85298569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795347070000002 meters 0.027072362761129117 Centerline is valid? [True, True] Translation: X:-9.21, Y:0.99, Z:-0.48 [[ 9.92493894e-01 6.60339481e-02 -1.02933901e-01 -9.20795769e+00] [-6.59603839e-02 9.97813728e-01 4.12207897e-03 9.87321894e-01] [ 1.02981057e-01 2.69842143e-03 9.94679657e-01 -4.83825741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.825347070000001 meters 0.02145430436545185 Centerline is valid? [True, True] Translation: X:-9.24, Y:0.99, Z:-0.49 [[ 9.92494395e-01 6.46129726e-02 -1.03826973e-01 -9.23891141e+00] [-6.45313589e-02 9.97907057e-01 4.14852964e-03 9.87057094e-01] [ 1.03877718e-01 2.58270325e-03 9.94586723e-01 -4.87211485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855347070000002 meters 0.021077398873823195 Centerline is valid? [True, True] Translation: X:-9.27, Y:0.99, Z:-0.49 [[ 9.92594896e-01 6.29272919e-02 -1.03901528e-01 -9.27103265e+00] [-6.28377037e-02 9.98015178e-01 4.13861535e-03 9.89484096e-01] [ 1.03955734e-01 2.42096495e-03 9.94578978e-01 -4.89981462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.885347070000002 meters 0.021621317928966058 Centerline is valid? [True, True] Translation: X:-9.30, Y:0.99, Z:-0.49 [[ 9.92664367e-01 6.18328616e-02 -1.03894908e-01 -9.30236274e+00] [-6.17381067e-02 9.98083836e-01 4.13072300e-03 9.92811721e-01] [ 1.03951243e-01 2.31385341e-03 9.94579703e-01 -4.87773063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915347070000001 meters 0.022867604087235576 Centerline is valid? [True, True] Translation: X:-9.33, Y:1.00, Z:-0.49 [[ 9.92340080e-01 6.35061545e-02 -1.05962886e-01 -9.33344391e+00] [-6.34177166e-02 9.97978202e-01 4.20728394e-03 9.99791979e-01] [ 1.06015839e-01 2.54486781e-03 9.94361185e-01 -4.88977524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.945347070000002 meters 0.026670816708694412 Centerline is valid? [True, True] Translation: X:-9.37, Y:1.01, Z:-0.49 [[ 9.92227059e-01 6.77059483e-02 -1.04409613e-01 -9.36558140e+00] [-6.76439274e-02 9.97700941e-01 4.13901740e-03 1.00662262e+00] [ 1.04449805e-01 2.95583123e-03 9.94525767e-01 -4.86385001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975347070000002 meters 0.025133843145813826 Centerline is valid? [True, True] Translation: X:-9.40, Y:1.02, Z:-0.50 [[ 9.91982061e-01 6.99891305e-02 -1.05228853e-01 -9.39593373e+00] [-6.99396624e-02 9.97542530e-01 4.16467356e-03 1.01558833e+00] [ 1.05261738e-01 3.22838897e-03 9.94439311e-01 -4.96311737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.005347070000001 meters 0.02696899567547878 Centerline is valid? [True, True] Translation: X:-9.43, Y:1.02, Z:-0.50 [[ 9.92127288e-01 7.07160017e-02 -1.03357102e-01 -9.42804426e+00] [-7.06728484e-02 9.97491187e-01 4.08416130e-03 1.02036994e+00] [ 1.03386614e-01 3.25253294e-03 9.94635928e-01 -4.96266826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035347070000002 meters 0.02218000971400085 Centerline is valid? [True, True] Translation: X:-9.46, Y:1.01, Z:-0.50 [[ 9.92410078e-01 6.43912866e-02 -1.04766405e-01 -9.45971682e+00] [-6.43137945e-02 9.97921215e-01 4.12129396e-03 1.01046074e+00] [ 1.04813993e-01 2.64791136e-03 9.94488318e-01 -4.97644716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.065347070000001 meters 0.023530351118861963 Centerline is valid? [True, True] Translation: X:-9.49, Y:1.01, Z:-0.50 [[ 9.92704754e-01 6.02853530e-02 -1.04417178e-01 -9.49114176e+00] [-6.01875923e-02 9.98178705e-01 4.08981121e-03 1.00610914e+00] [ 1.04473559e-01 2.22464351e-03 9.94525176e-01 -4.97447704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.09534707 meters 0.022736935015052386 Centerline is valid? [True, True] Translation: X:-9.52, Y:1.00, Z:-0.50 [[ 9.93096593e-01 5.32057628e-02 -1.04538523e-01 -9.52268352e+00] [-5.30697700e-02 9.98582456e-01 4.08398167e-03 9.99706691e-01] [ 1.04607626e-01 1.49204709e-03 9.94512453e-01 -5.04783059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.125347070000002 meters 0.02132111457218223 Centerline is valid? [True, True] Translation: X:-9.55, Y:1.00, Z:-0.50 [[ 9.93214637e-01 5.13603811e-02 -1.04339808e-01 -9.55460804e+00] [-5.12158718e-02 9.98679331e-01 4.06553877e-03 9.95462053e-01] [ 1.04410817e-01 1.30590159e-03 9.94533396e-01 -5.01037978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155347070000001 meters 0.023249372890240337 Centerline is valid? [True, True] Translation: X:-9.59, Y:0.99, Z:-0.50 [[ 9.93336821e-01 4.85010315e-02 -1.04544773e-01 -9.58582833e+00] [-4.83412778e-02 9.98822614e-01 4.06290796e-03 9.91631622e-01] [ 1.04618739e-01 1.01799186e-03 9.94511882e-01 -4.98089746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.18534707 meters 0.02053267578829978 Centerline is valid? [True, True] Translation: X:-9.62, Y:0.99, Z:-0.50 [[ 9.93329280e-01 4.59587037e-02 -1.05757929e-01 -9.61728228e+00] [-4.57820360e-02 9.98943044e-01 4.09889396e-03 9.90152963e-01] [ 1.05834528e-01 7.70261934e-04 9.94383457e-01 -5.03207124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215347070000002 meters 0.023256336402147592 Centerline is valid? [True, True] Translation: X:-9.65, Y:0.99, Z:-0.51 [[ 9.93510162e-01 4.39064723e-02 -1.04927496e-01 -9.64879439e+00] [-4.37217818e-02 9.99035493e-01 4.06080088e-03 9.88955921e-01] [ 1.05004588e-01 5.53170140e-04 9.94471584e-01 -5.06843982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.245347070000001 meters 0.020363758621480165 Centerline is valid? [True, True] Translation: X:-9.68, Y:0.99, Z:-0.51 [[ 9.93475590e-01 4.42620805e-02 -1.05105284e-01 -9.67971641e+00] [-4.40792379e-02 9.99019776e-01 4.06303920e-03 9.90030014e-01] [ 1.05182096e-01 5.96430566e-04 9.94452800e-01 -5.11585387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275347070000002 meters 0.024295443516317898 Centerline is valid? [True, True] Translation: X:-9.71, Y:0.99, Z:-0.50 [[ 9.93481543e-01 4.58359139e-02 -1.04371894e-01 -9.71061985e+00] [-4.56646345e-02 9.98948692e-01 4.03130200e-03 9.90783599e-01] [ 1.04446946e-01 7.61080267e-04 9.94530169e-01 -5.04029543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.305347070000002 meters 0.019293253232098094 Centerline is valid? [True, True] Translation: X:-9.74, Y:0.99, Z:-0.51 [[ 9.93467157e-01 4.60733106e-02 -1.04404298e-01 -9.74109115e+00] [-4.59035948e-02 9.98937749e-01 4.02909923e-03 9.92629065e-01] [ 1.04479029e-01 7.89754843e-04 9.94526776e-01 -5.12276717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335347070000001 meters 0.026923896931407527 Centerline is valid? [True, True] Translation: X:-9.77, Y:1.00, Z:-0.51 [[ 9.93338127e-01 4.88970129e-02 -1.04347727e-01 -9.77312286e+00] [-4.87436242e-02 9.98803229e-01 4.02111299e-03 9.97227427e-01] [ 1.04419467e-01 1.09196155e-03 9.94532746e-01 -5.06876374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.365347070000002 meters 0.02464163710689442 Centerline is valid? [True, True] Translation: X:-9.80, Y:1.00, Z:-0.52 [[ 9.93468068e-01 4.60072913e-02 -1.04424746e-01 -9.80465851e+00] [-4.58386163e-02 9.98940786e-01 4.01588897e-03 9.98601506e-01] [ 1.04498898e-01 7.97028426e-04 9.94524683e-01 -5.18889940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395347070000001 meters 0.023325876765688834 Centerline is valid? [True, True] Translation: X:-9.84, Y:1.00, Z:-0.52 [[ 9.93033712e-01 5.16834249e-02 -1.05890846e-01 -9.83539463e+00] [-5.15429048e-02 9.98662508e-01 4.06509736e-03 1.00388342e+00] [ 1.05959316e-01 1.42114309e-03 9.94369450e-01 -5.16857250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.42534707 meters 0.025816390294435162 Centerline is valid? [True, True] Translation: X:-9.87, Y:1.01, Z:-0.52 [[ 9.93124649e-01 5.10677214e-02 -1.05335272e-01 -9.86743920e+00] [-5.09259496e-02 9.98694273e-01 4.03687298e-03 1.00894499e+00] [ 1.05403887e-01 1.35518069e-03 9.94428572e-01 -5.23357767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455347070000002 meters 0.026715414649102775 Centerline is valid? [True, True] Translation: X:-9.90, Y:1.01, Z:-0.52 [[ 9.93217270e-01 5.13411534e-02 -1.04324205e-01 -9.89908743e+00] [-5.12047447e-02 9.98680217e-01 3.98716235e-03 1.00990171e+00] [ 1.04391225e-01 1.38177578e-03 9.94535350e-01 -5.21988662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.485347070000001 meters 0.024171246101170107 Centerline is valid? [True, True] Translation: X:-9.93, Y:1.01, Z:-0.52 [[ 9.93127767e-01 5.48990770e-02 -1.03360193e-01 -9.92992169e+00] [-5.47854084e-02 9.98490376e-01 3.94048932e-03 1.01305501e+00] [ 1.03420487e-01 1.74922100e-03 9.94636186e-01 -5.19237263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.51534707 meters 0.024171246101170107 Centerline is valid? [True, True] Translation: X:-9.96, Y:1.01, Z:-0.52 [[ 9.93135031e-01 5.47667792e-02 -1.03360579e-01 -9.96247525e+00] [-5.46534514e-02 9.98497648e-01 3.93034816e-03 1.01445111e+00] [ 1.03420547e-01 1.74564592e-03 9.94636186e-01 -5.20978408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.545347070000002 meters 0.02394678014386705 Centerline is valid? [True, True] Translation: X:-9.99, Y:1.02, Z:-0.52 [[ 9.93263154e-01 5.31773151e-02 -1.02958630e-01 -9.99312913e+00] [-5.30578805e-02 9.98583822e-01 3.90029294e-03 1.01546007e+00] [ 1.03020229e-01 1.58874942e-03 9.94677992e-01 -5.22732239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575347070000001 meters 0.022887954580977192 Centerline is valid? [True, True] Translation: X:-10.02, Y:1.02, Z:-0.53 [[ 9.93542152e-01 4.98031962e-02 -1.01949172e-01 -1.00243711e+01] [-4.96695505e-02 9.98758283e-01 3.85057193e-03 1.01664310e+00] [ 1.02014351e-01 1.23806402e-03 9.94782157e-01 -5.33437009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.605347070000002 meters 0.021791958284003415 Centerline is valid? [True, True] Translation: X:-10.05, Y:1.01, Z:-0.54 [[ 9.94141146e-01 4.44501550e-02 -9.85269779e-02 -1.00548682e+01] [-4.42995447e-02 9.99011379e-01 3.71685517e-03 1.01466039e+00] [ 9.85947869e-02 6.69621597e-04 9.95127439e-01 -5.38771639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635347070000002 meters 0.028606077502512737 Centerline is valid? [True, True] Translation: X:-10.09, Y:1.02, Z:-0.54 [[ 9.94026520e-01 4.23707338e-02 -1.00578322e-01 -1.00861023e+01] [-4.22035717e-02 9.99101843e-01 3.79016841e-03 1.01525763e+00] [ 1.00648580e-01 4.77236533e-04 9.94921924e-01 -5.36550056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.665347070000001 meters 0.022868875419343727 Centerline is valid? [True, True] Translation: X:-10.12, Y:1.02, Z:-0.53 [[ 9.93666190e-01 4.56378101e-02 -1.02687354e-01 -1.01166233e+01] [-4.54818565e-02 9.98957704e-01 3.86083538e-03 1.01837237e+00] [ 1.02756523e-01 8.34029894e-04 9.94706188e-01 -5.33336811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695347070000002 meters 0.02309632788892439 Centerline is valid? [True, True] Translation: X:-10.15, Y:1.02, Z:-0.54 [[ 9.94355293e-01 4.00717386e-02 -9.82436115e-02 -1.01472091e+01] [-3.99025630e-02 9.99196773e-01 3.68703063e-03 1.01757199e+00] [ 9.83124453e-02 2.53953470e-04 9.95155565e-01 -5.39494922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.725347070000002 meters 0.02562168832241933 Centerline is valid? [True, True] Translation: X:-10.18, Y:1.02, Z:-0.54 [[ 9.94437930e-01 3.65602781e-02 -9.87752442e-02 -1.01782067e+01] [-3.63723040e-02 9.99331445e-01 3.70372993e-03 1.01825337e+00] [ 9.88446170e-02 -9.04463112e-05 9.95102876e-01 -5.44055510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755347070000001 meters 0.024145136518931853 Centerline is valid? [True, True] Translation: X:-10.21, Y:1.02, Z:-0.54 [[ 9.94167747e-01 3.74852636e-02 -1.01120454e-01 -1.02079498e+01] [-3.72932490e-02 9.99297181e-01 3.78927217e-03 1.02270760e+00] [ 1.01191426e-01 3.93807579e-06 9.94866974e-01 -5.44998060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.785347070000002 meters 0.027766188945996965 Centerline is valid? [True, True] Translation: X:-10.24, Y:1.02, Z:-0.55 [[ 9.94797371e-01 3.24427419e-02 -9.65694519e-02 -1.02381253e+01] [-3.22438638e-02 9.99473477e-01 3.61966585e-03 1.02178073e+00] [ 9.66360377e-02 -4.87061823e-04 9.95319667e-01 -5.45704428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815347070000001 meters 0.021816187373740234 Centerline is valid? [True, True] Translation: X:-10.27, Y:1.03, Z:-0.55 [[ 9.94982978e-01 3.35722308e-02 -9.42431871e-02 -1.02666387e+01] [-3.33875358e-02 9.99436225e-01 3.53631798e-03 1.02538464e+00] [ 9.43087772e-02 -3.72028419e-04 9.95542925e-01 -5.47592789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.84534707 meters 0.022827534925216327 Centerline is valid? [True, True] Translation: X:-10.30, Y:1.03, Z:-0.55 [[ 9.95268795e-01 3.13492088e-02 -9.19633204e-02 -1.02955671e+01] [-3.11624621e-02 9.99508322e-01 3.46626148e-03 1.02571246e+00] [ 9.20267686e-02 -5.84058401e-04 9.95756362e-01 -5.47801134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875347070000002 meters 0.025701918518638685 Centerline is valid? [True, True] Translation: X:-10.32, Y:1.03, Z:-0.56 [[ 9.95414853e-01 2.80551538e-02 -9.14449527e-02 -1.03242409e+01] [-2.78540590e-02 9.99605961e-01 3.47482284e-03 1.02735097e+00] [ 9.15064065e-02 -9.11777161e-04 9.95804070e-01 -5.55502461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.905347070000001 meters 0.024269373054621842 Centerline is valid? [True, True] Translation: X:-10.35, Y:1.03, Z:-0.55 [[ 9.95594308e-01 2.69392804e-02 -8.98122980e-02 -1.03516682e+01] [-2.67390041e-02 9.99636555e-01 3.43259487e-03 1.03080029e+00] [ 8.98721278e-02 -1.01598052e-03 9.95952794e-01 -5.53130052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935347070000002 meters 0.024761189403680328 Centerline is valid? [True, True] Translation: X:-10.38, Y:1.04, Z:-0.55 [[ 9.95262021e-01 2.90078255e-02 -9.28011565e-02 -1.03788774e+01] [-2.88017792e-02 9.99578806e-01 3.55912204e-03 1.03599626e+00] [ 9.28653116e-02 -8.69420580e-04 9.95678300e-01 -5.54160727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.965347070000002 meters 0.023476288864732315 Centerline is valid? [True, True] Translation: X:-10.41, Y:1.04, Z:-0.55 [[ 9.95611005e-01 2.95876273e-02 -8.87879398e-02 -1.04082880e+01] [-2.94004835e-02 9.99561878e-01 3.41509726e-03 1.04021187e+00] [ 8.88500845e-02 -7.89700062e-04 9.96044697e-01 -5.54329741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995347070000001 meters 0.02457265666602595 Centerline is valid? [True, True] Translation: X:-10.44, Y:1.04, Z:-0.55 [[ 9.95785788e-01 2.78998496e-02 -8.73628283e-02 -1.04365894e+01] [-2.77116696e-02 9.99610290e-01 3.36630551e-03 1.04096796e+00] [ 8.74227015e-02 -9.31149352e-04 9.96170871e-01 -5.54321717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.025347070000002 meters 0.02678427540217263 Centerline is valid? [True, True] Translation: X:-10.46, Y:1.05, Z:-0.56 [[ 9.95630778e-01 3.08875303e-02 -8.81210258e-02 -1.04634195e+01] [-3.07067503e-02 9.99522631e-01 3.40667688e-03 1.04573653e+00] [ 8.81841834e-02 -6.85882011e-04 9.96103950e-01 -5.60849574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055347070000002 meters 0.02725844860828497 Centerline is valid? [True, True] Translation: X:-10.49, Y:1.05, Z:-0.56 [[ 9.95912422e-01 3.18294220e-02 -8.45300833e-02 -1.04922324e+01] [-3.16656523e-02 9.99493143e-01 3.27779827e-03 1.04795179e+00] [ 8.45915690e-02 -5.87699783e-04 9.96415536e-01 -5.63908946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.085347070000001 meters 0.027356100963311945 Centerline is valid? [True, True] Translation: X:-10.52, Y:1.05, Z:-0.56 [[ 9.96246749e-01 3.34161941e-02 -7.98484437e-02 -1.05216873e+01] [-3.32748723e-02 9.99441430e-01 3.10019056e-03 1.05132451e+00] [ 7.99074393e-02 -4.31607999e-04 9.96802194e-01 -5.60076117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115347070000002 meters 0.025824257206004165 Centerline is valid? [True, True] Translation: X:-10.55, Y:1.05, Z:-0.56 [[ 9.96568977e-01 3.28210493e-02 -7.59806131e-02 -1.05526579e+01] [-3.26912999e-02 9.99461140e-01 2.95112079e-03 1.04847127e+00] [ 7.60365291e-02 -4.57090412e-04 9.97104928e-01 -5.60447419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.145347070000001 meters 0.028401285694616498 Centerline is valid? [True, True] Translation: X:-10.58, Y:1.04, Z:-0.57 [[ 9.96981954e-01 2.70220197e-02 -7.27790800e-02 -1.05842755e+01] [-2.68876214e-02 9.99634468e-01 2.82593589e-03 1.04170600e+00] [ 7.28288394e-02 -8.60550742e-04 9.97344083e-01 -5.67270113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.17534707 meters 0.02598204835156587 Centerline is valid? [True, True] Translation: X:-10.61, Y:1.05, Z:-0.57 [[ 9.96001935e-01 3.86031551e-02 -8.05601773e-02 -1.06133977e+01] [-3.84763697e-02 9.99254620e-01 3.12614064e-03 1.04990068e+00] [ 8.06208083e-02 -1.39789624e-05 9.96744845e-01 -5.69234046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.205347070000002 meters 0.02466545434403394 Centerline is valid? [True, True] Translation: X:-10.64, Y:1.05, Z:-0.57 [[ 9.96540501e-01 3.80784369e-02 -7.38719283e-02 -1.06441941e+01] [-3.79703700e-02 9.99274752e-01 2.86724568e-03 1.05236923e+00] [ 7.39275330e-02 -5.23819934e-05 9.97263615e-01 -5.66175045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235347070000001 meters 0.026004558372482136 Centerline is valid? [True, True] Translation: X:-10.68, Y:1.06, Z:-0.57 [[ 9.97113628e-01 3.72317982e-02 -6.61680139e-02 -1.06758371e+01] [-3.71433872e-02 9.99306651e-01 2.56628675e-03 1.05509831e+00] [ 6.62176839e-02 -1.01175334e-04 9.97805195e-01 -5.65698546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.26534707 meters 0.026665975566787906 Centerline is valid? [True, True] Translation: X:-10.71, Y:1.06, Z:-0.57 [[ 9.96697763e-01 4.34537464e-02 -6.85954890e-02 -1.07078383e+01] [-4.33737744e-02 9.99055386e-01 2.65550306e-03 1.06261954e+00] [ 6.86460843e-02 3.28511307e-04 9.97641021e-01 -5.70436753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295347070000002 meters 0.026121912129480812 Centerline is valid? [True, True] Translation: X:-10.74, Y:1.07, Z:-0.57 [[ 9.96707614e-01 4.44502579e-02 -6.78093356e-02 -1.07393935e+01] [-4.43747941e-02 9.99011519e-01 2.61947065e-03 1.06530913e+00] [ 6.78587436e-02 3.98178968e-04 9.97694859e-01 -5.73990670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.325347070000001 meters 0.026739262483876956 Centerline is valid? [True, True] Translation: X:-10.77, Y:1.06, Z:-0.57 [[ 9.97253600e-01 3.78937622e-02 -6.36342716e-02 -1.07718542e+01] [-3.78142950e-02 9.99281773e-01 2.45314555e-03 1.06474022e+00] [ 6.36815266e-02 -4.01231203e-05 9.97970271e-01 -5.74123499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355347070000002 meters 0.027196249503474178 Centerline is valid? [True, True] Translation: X:-10.80, Y:1.07, Z:-0.58 [[ 9.97454748e-01 3.62124824e-02 -6.14221539e-02 -1.08037634e+01] [-3.61355687e-02 9.99344104e-01 2.36292969e-03 1.06681047e+00] [ 6.14674348e-02 -1.37390983e-04 9.98109080e-01 -5.75522609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.385347070000002 meters 0.02777485405461713 Centerline is valid? [True, True] Translation: X:-10.83, Y:1.07, Z:-0.58 [[ 9.97670644e-01 3.39713434e-02 -5.91543229e-02 -1.08347106e+01] [-3.38963744e-02 9.99422773e-01 2.27061288e-03 1.06717117e+00] [ 5.91973132e-02 -2.60206738e-04 9.98246267e-01 -5.77889035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415347070000001 meters 0.030540259230486456 Centerline is valid? [True, True] Translation: X:-10.87, Y:1.07, Z:-0.58 [[ 9.97942530e-01 3.24361072e-02 -5.53046700e-02 -1.08673346e+01] [-3.23686323e-02 9.99473759e-01 2.11561183e-03 1.06705972e+00] [ 5.53441886e-02 -3.21122492e-04 9.98467284e-01 -5.79805167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.445347070000002 meters 0.02836457243530227 Centerline is valid? [True, True] Translation: X:-10.90, Y:1.07, Z:-0.58 [[ 9.98057425e-01 2.83783462e-02 -5.54621143e-02 -1.08994218e+01] [-2.83044930e-02 9.99597106e-01 2.11682096e-03 1.06789590e+00] [ 5.54998408e-02 -5.42881854e-04 9.98458548e-01 -5.81035006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475347070000002 meters 0.029899025060158492 Centerline is valid? [True, True] Translation: X:-10.93, Y:1.07, Z:-0.58 [[ 9.98311370e-01 2.38765505e-02 -5.29558165e-02 -1.09312698e+01] [-2.38031299e-02 9.99714631e-01 2.01680631e-03 1.06645563e+00] [ 5.29888589e-02 -7.52886490e-04 9.98594820e-01 -5.81562191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505347070000001 meters 0.03000764183967502 Centerline is valid? [True, True] Translation: X:-10.96, Y:1.06, Z:-0.59 [[ 9.98393622e-01 1.61092044e-02 -5.43200567e-02 -1.09616316e+01] [-1.60205887e-02 9.99869527e-01 2.06643697e-03 1.06084376e+00] [ 5.43462581e-02 -1.19287820e-03 9.98521438e-01 -5.86988701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535347070000002 meters 0.032087613907198165 Centerline is valid? [True, True] Translation: X:-10.99, Y:1.06, Z:-0.59 [[ 9.98631189e-01 8.66185483e-03 -5.15821799e-02 -1.09910405e+01] [-8.57203842e-03 9.99961334e-01 1.96220858e-03 1.05588097e+00] [ 5.15971818e-02 -1.51735826e-03 9.98666826e-01 -5.92996325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.565347070000001 meters 0.034400853582807464 Centerline is valid? [True, True] Translation: X:-11.02, Y:1.06, Z:-0.59 [[ 9.98889775e-01 8.16884434e-03 -4.63949033e-02 -1.10187628e+01] [-8.09561214e-03 9.99965670e-01 1.76613605e-03 1.05504111e+00] [ 4.64077379e-02 -1.38858010e-03 9.98921615e-01 -5.92920628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.59534707 meters 0.03377937231219077 Centerline is valid? [True, True] Translation: X:-11.05, Y:1.05, Z:-0.59 [[ 9.98954715e-01 -3.56218167e-04 -4.57094043e-02 -1.10482504e+01] [ 4.36450853e-04 9.99998382e-01 1.74530928e-03 1.05236876e+00] [ 4.57087086e-02 -1.76343484e-03 9.98953254e-01 -5.90425328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.625347070000002 meters 0.0334896056126553 Centerline is valid? [True, True] Translation: X:-11.08, Y:1.06, Z:-0.59 [[ 9.99037292e-01 6.67680383e-04 -4.38639175e-02 -1.10758453e+01] [-5.94772364e-04 9.99998420e-01 1.67517085e-03 1.05593792e+00] [ 4.38649666e-02 -1.64746910e-03 9.99036111e-01 -5.91776687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655347070000001 meters 0.03401450155352308 Centerline is valid? [True, True] Translation: X:-11.10, Y:1.05, Z:-0.59 [[ 9.99032391e-01 -1.73139706e-03 -4.39463822e-02 -1.11049755e+01] [ 1.80711324e-03 9.99996950e-01 1.68325307e-03 1.05099399e+00] [ 4.39433338e-02 -1.76104043e-03 9.99032473e-01 -5.94814884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.685347070000002 meters 0.03415528809142676 Centerline is valid? [True, True] Translation: X:-11.13, Y:1.04, Z:-0.59 [[ 9.99038804e-01 -4.66333544e-03 -4.35857848e-02 -1.11344213e+01] [ 4.74076185e-03 9.99987363e-01 1.67321840e-03 1.04368657e+00] [ 4.35774312e-02 -1.87823993e-03 9.99048287e-01 -5.88704548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715347070000002 meters 0.03358711514565843 Centerline is valid? [True, True] Translation: X:-11.16, Y:1.04, Z:-0.59 [[ 9.99197416e-01 -4.55677433e-03 -3.97964889e-02 -1.11626653e+01] [ 4.62133759e-03 9.99988150e-01 1.53049271e-03 1.04159497e+00] [ 3.97890433e-02 -1.71317737e-03 9.99206634e-01 -5.85436308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.745347070000001 meters 0.03368363941082357 Centerline is valid? [True, True] Translation: X:-11.19, Y:1.04, Z:-0.58 [[ 9.99452178e-01 -3.03557032e-03 -3.29564721e-02 -1.11907822e+01] [ 3.07908823e-03 9.99994453e-01 1.26979474e-03 1.04045656e+00] [ 3.29524347e-02 -1.37057501e-03 9.99455981e-01 -5.79936992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775347070000002 meters 0.034063759872933454 Centerline is valid? [True, True] Translation: X:-11.22, Y:1.03, Z:-0.58 [[ 9.99281463e-01 -1.14356429e-02 -3.61356414e-02 -1.12212018e+01] [ 1.14936815e-02 9.99932967e-01 1.39879918e-03 1.02990564e+00] [ 3.61172229e-02 -1.81312564e-03 9.99345915e-01 -5.81621958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.805347070000002 meters 0.0356940091773443 Centerline is valid? [True, True] Translation: X:-11.25, Y:1.03, Z:-0.58 [[ 9.99311844e-01 -1.27528590e-02 -3.48310529e-02 -1.12505561e+01] [ 1.28075321e-02 9.99917073e-01 1.34699066e-03 1.02514021e+00] [ 3.48109865e-02 -1.79216355e-03 9.99392307e-01 -5.81296757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835347070000001 meters 0.033741768318995856 Centerline is valid? [True, True] Translation: X:-11.28, Y:1.03, Z:-0.58 [[ 9.99341963e-01 -1.03245694e-02 -3.47713075e-02 -1.12793538e+01] [ 1.03776907e-02 9.99945242e-01 1.34759607e-03 1.02906338e+00] [ 3.47554901e-02 -1.70755517e-03 9.99394387e-01 -5.79986960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.865347070000002 meters 0.034570797588389754 Centerline is valid? [True, True] Translation: X:-11.31, Y:1.03, Z:-0.58 [[ 9.99354687e-01 -9.08981677e-03 -3.47503233e-02 -1.13085135e+01] [ 9.14209459e-03 9.99957305e-01 1.34578297e-03 1.02785214e+00] [ 3.47366067e-02 -1.66260526e-03 9.99395119e-01 -5.79003345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895347070000001 meters 0.02948500595581215 Centerline is valid? [True, True] Translation: X:-11.34, Y:1.04, Z:-0.58 [[ 9.99471975e-01 -2.31737885e-03 -3.24099034e-02 -1.13368515e+01] [ 2.35974828e-03 9.99996410e-01 1.26911015e-03 1.03933531e+00] [ 3.24068461e-02 -1.34491924e-03 9.99473855e-01 -5.78331800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.92534707 meters 0.02931639533555225 Centerline is valid? [True, True] Translation: X:-11.37, Y:1.04, Z:-0.58 [[ 9.99463671e-01 -1.70748283e-03 -3.27025333e-02 -1.13652520e+01] [ 1.75016321e-03 9.99997654e-01 1.27652876e-03 1.04099379e+00] [ 3.27002769e-02 -1.33307889e-03 9.99464314e-01 -5.76890185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955347070000002 meters 0.028675450059477074 Centerline is valid? [True, True] Translation: X:-11.39, Y:1.04, Z:-0.57 [[ 9.99484596e-01 8.07302633e-04 -3.20919022e-02 -1.13941655e+01] [-7.67036631e-04 9.99998903e-01 1.26700030e-03 1.04076649e+00] [ 3.20928898e-02 -1.24173162e-03 9.99484119e-01 -5.69412466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.985347070000001 meters 0.027800705169653633 Centerline is valid? [True, True] Translation: X:-11.42, Y:1.04, Z:-0.57 [[ 9.99480476e-01 2.17323669e-03 -3.21567371e-02 -1.14213020e+01] [-2.13344906e-03 9.99996916e-01 1.27156268e-03 1.04365088e+00] [ 3.21594013e-02 -1.20229731e-03 9.99482030e-01 -5.69617710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015347070000002 meters 0.026336541708936397 Centerline is valid? [True, True] Translation: X:-11.45, Y:1.05, Z:-0.57 [[ 9.99501324e-01 4.20859822e-03 -3.12952220e-02 -1.14489852e+01] [-4.17177964e-03 9.99990527e-01 1.24169356e-03 1.04746281e+00] [ 3.13001513e-02 -1.11051759e-03 9.99509413e-01 -5.68960157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.045347070000002 meters 0.026337295171361255 Centerline is valid? [True, True] Translation: X:-11.48, Y:1.05, Z:-0.57 [[ 9.99536367e-01 4.19232860e-03 -3.01574946e-02 -1.14776118e+01] [-4.15817864e-03 9.99990641e-01 1.19501259e-03 1.04738889e+00] [ 3.01622223e-02 -1.06905829e-03 9.99544445e-01 -5.66896622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075347070000001 meters 0.027689475814432502 Centerline is valid? [True, True] Translation: X:-11.51, Y:1.04, Z:-0.57 [[ 9.99506312e-01 2.57357861e-04 -3.14176073e-02 -1.15069895e+01] [-2.18010332e-04 9.99999188e-01 1.25582283e-03 1.04214550e+00] [ 3.14179050e-02 -1.24835348e-03 9.99505556e-01 -5.65418106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.105347070000002 meters 0.028779554501917506 Centerline is valid? [True, True] Translation: X:-11.54, Y:1.04, Z:-0.56 [[ 9.99426370e-01 -2.82681803e-03 -3.37481792e-02 -1.15364702e+01] [ 2.87435233e-03 9.99994944e-01 1.36006656e-03 1.03873144e+00] [ 3.37441639e-02 -1.45629055e-03 9.99429443e-01 -5.64596098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135347070000002 meters 0.028750822511550856 Centerline is valid? [True, True] Translation: X:-11.56, Y:1.04, Z:-0.57 [[ 9.99393441e-01 -5.73295524e-03 -3.43494190e-02 -1.15639415e+01] [ 5.78436204e-03 9.99982294e-01 1.39739628e-03 1.03893467e+00] [ 3.43407996e-02 -1.59523816e-03 9.99408908e-01 -5.67022405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165347070000001 meters 0.028445051633348633 Centerline is valid? [True, True] Translation: X:-11.59, Y:1.04, Z:-0.57 [[ 9.99360710e-01 -9.53626117e-03 -3.44562311e-02 -1.15931981e+01] [ 9.59041368e-03 9.99953021e-01 1.40669629e-03 1.03779713e+00] [ 3.44411977e-02 -1.73624652e-03 9.99405218e-01 -5.66394764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195347070000002 meters 0.031914418196782895 Centerline is valid? [True, True] Translation: X:-11.62, Y:1.03, Z:-0.56 [[ 9.99210995e-01 -1.36392501e-02 -3.73009289e-02 -1.16239776e+01] [ 1.37056541e-02 9.99904910e-01 1.52508715e-03 1.02930330e+00] [ 3.72765809e-02 -2.03511748e-03 9.99302914e-01 -5.63286101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.225347070000002 meters 0.03333932515053163 Centerline is valid? [True, True] Translation: X:-11.65, Y:1.02, Z:-0.56 [[ 9.99113106e-01 -1.77760181e-02 -3.81708511e-02 -1.16547414e+01] [ 1.78486014e-02 9.99839482e-01 1.56158200e-03 1.02399693e+00] [ 3.81369653e-02 -2.24149335e-03 9.99270007e-01 -5.61777766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255347070000001 meters 0.03448466452215074 Centerline is valid? [True, True] Translation: X:-11.68, Y:1.02, Z:-0.56 [[ 9.98955038e-01 -2.09597450e-02 -4.06142961e-02 -1.16831472e+01] [ 2.10445633e-02 9.99777157e-01 1.66193369e-03 1.02277033e+00] [ 4.05704118e-02 -2.51490716e-03 9.99173517e-01 -5.63079285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.285347070000002 meters 0.0376275125802133 Centerline is valid? [True, True] Translation: X:-11.71, Y:1.01, Z:-0.56 [[ 9.98701999e-01 -2.48094012e-02 -4.44838268e-02 -1.17139331e+01] [ 2.49151281e-02 9.99687906e-01 1.82380636e-03 1.01486027e+00] [ 4.44246962e-02 -2.92975931e-03 9.99008440e-01 -5.62859379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315347070000001 meters 0.03609710335718102 Centerline is valid? [True, True] Translation: X:-11.74, Y:1.02, Z:-0.56 [[ 9.98631112e-01 -2.65841117e-02 -4.50464893e-02 -1.17414021e+01] [ 2.66943420e-02 9.99641936e-01 1.84714976e-03 1.01828131e+00] [ 4.49812549e-02 -3.04710761e-03 9.98983184e-01 -5.62776879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345347070000003 meters 0.03617020116151046 Centerline is valid? [True, True] Translation: X:-11.77, Y:1.02, Z:-0.56 [[ 9.98493166e-01 -2.80286041e-02 -4.71783266e-02 -1.17693863e+01] [ 2.81513808e-02 9.99601789e-01 1.93984363e-03 1.01850578e+00] [ 4.71051686e-02 -3.26505564e-03 9.98884599e-01 -5.62781010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375347070000002 meters 0.0357860799488907 Centerline is valid? [True, True] Translation: X:-11.80, Y:1.02, Z:-0.56 [[ 9.98510234e-01 -2.71587752e-02 -4.73256152e-02 -1.17984707e+01] [ 2.72815357e-02 9.99625888e-01 1.94984973e-03 1.01800927e+00] [ 4.72549546e-02 -3.23806037e-03 9.98877612e-01 -5.61938098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.405347070000001 meters 0.0357860799488907 Centerline is valid? [True, True] Translation: X:-11.83, Y:1.02, Z:-0.56 [[ 9.98519635e-01 -2.68119523e-02 -4.73250270e-02 -1.18257795e+01] [ 2.69349937e-02 9.99635258e-01 1.96401737e-03 1.01895300e+00] [ 4.72551064e-02 -3.23580921e-03 9.98877612e-01 -5.63408612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435347070000002 meters 0.03961532803539244 Centerline is valid? [True, True] Translation: X:-11.86, Y:1.01, Z:-0.56 [[ 9.98355758e-01 -2.72250675e-02 -5.04437956e-02 -1.18550110e+01] [ 2.73663615e-02 9.99623239e-01 2.11233919e-03 1.01059218e+00] [ 5.03672817e-02 -3.48932914e-03 9.98724668e-01 -5.62427681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.465347070000002 meters 0.03659157780363349 Centerline is valid? [True, True] Translation: X:-11.88, Y:1.02, Z:-0.56 [[ 9.98318529e-01 -2.74702981e-02 -5.10440658e-02 -1.18823521e+01] [ 2.76161221e-02 9.99616282e-01 2.15361211e-03 1.01639243e+00] [ 5.09653189e-02 -3.55963002e-03 9.98694080e-01 -5.61455932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495347070000001 meters 0.038937058446820584 Centerline is valid? [True, True] Translation: X:-11.91, Y:1.01, Z:-0.56 [[ 9.98249297e-01 -2.71677754e-02 -5.25381162e-02 -1.19107804e+01] [ 2.73221518e-02 9.99624210e-01 2.22224907e-03 1.01105415e+00] [ 5.24579993e-02 -3.65381296e-03 9.98616447e-01 -5.62290686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.525347070000002 meters 0.03712766855468415 Centerline is valid? [True, True] Translation: X:-11.94, Y:1.01, Z:-0.56 [[ 9.98218381e-01 -2.42739430e-02 -5.45054008e-02 -1.19398592e+01] [ 2.44368698e-02 9.99698672e-01 2.32461362e-03 1.01421251e+00] [ 5.44325492e-02 -3.65241342e-03 9.98510770e-01 -5.62395161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555347070000002 meters 0.03555931345225108 Centerline is valid? [True, True] Translation: X:-11.97, Y:1.02, Z:-0.56 [[ 9.98136736e-01 -2.46054380e-02 -5.58357220e-02 -1.19679030e+01] [ 2.47769897e-02 9.99690165e-01 2.38215371e-03 1.01645587e+00] [ 5.57598082e-02 -3.76115624e-03 9.98437127e-01 -5.64177386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585347070000001 meters 0.03801652344638302 Centerline is valid? [True, True] Translation: X:-12.00, Y:1.01, Z:-0.56 [[ 9.98068066e-01 -2.30559734e-02 -5.76936544e-02 -1.19969793e+01] [ 2.32369992e-02 9.99726936e-01 2.46871514e-03 1.00894913e+00] [ 5.76209817e-02 -3.80457314e-03 9.98331282e-01 -5.62443694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615347070000002 meters 0.03599178947397409 Centerline is valid? [True, True] Translation: X:-12.03, Y:1.01, Z:-0.56 [[ 9.98066413e-01 -1.97311574e-02 -5.89416342e-02 -1.20266281e+01] [ 1.99153354e-02 9.99798446e-01 2.53889787e-03 1.01331662e+00] [ 5.88796589e-02 -3.70783111e-03 9.98258202e-01 -5.61189107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.645347070000001 meters 0.03457143587034919 Centerline is valid? [True, True] Translation: X:-12.05, Y:1.01, Z:-0.56 [[ 9.98035703e-01 -1.86937513e-02 -5.97936353e-02 -1.20543739e+01] [ 1.88815596e-02 9.99818405e-01 2.57743177e-03 1.01463431e+00] [ 5.97345953e-02 -3.70136602e-03 9.98207432e-01 -5.64322100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.67534707 meters 0.032978190660931786 Centerline is valid? [True, True] Translation: X:-12.08, Y:1.01, Z:-0.57 [[ 9.97944772e-01 -1.60060114e-02 -6.20486853e-02 -1.20837331e+01] [ 1.62035167e-02 9.99865120e-01 2.68115600e-03 1.01447296e+00] [ 6.19974015e-02 -3.68105252e-03 9.98069523e-01 -5.65845180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.705347070000002 meters 0.0331724895034021 Centerline is valid? [True, True] Translation: X:-12.11, Y:1.01, Z:-0.56 [[ 9.97979196e-01 -1.01392340e-02 -6.27273530e-02 -1.21144862e+01] [ 1.03297772e-02 9.99942963e-01 2.71408096e-03 1.01498760e+00] [ 6.26962566e-02 -3.35655591e-03 9.98027010e-01 -5.61537909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735347070000001 meters 0.028936049969066492 Centerline is valid? [True, True] Translation: X:-12.14, Y:1.02, Z:-0.57 [[ 9.97820692e-01 -8.45592776e-03 -6.54397716e-02 -1.21415048e+01] [ 8.65985238e-03 9.99958489e-01 2.83318761e-03 1.01890459e+00] [ 6.54130979e-02 -3.39371198e-03 9.97852499e-01 -5.66945686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.765347070000002 meters 0.028474972903704453 Centerline is valid? [True, True] Translation: X:-12.17, Y:1.02, Z:-0.57 [[ 9.97772822e-01 -5.83101260e-03 -6.64484373e-02 -1.21708993e+01] [ 6.03591782e-03 9.99977627e-01 2.88332765e-03 1.01871216e+00] [ 6.64301379e-02 -3.27798328e-03 9.97785694e-01 -5.70881997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795347070000002 meters 0.0271528507009574 Centerline is valid? [True, True] Translation: X:-12.20, Y:1.02, Z:-0.57 [[ 9.97681298e-01 -1.82673039e-03 -6.80344789e-02 -1.22005025e+01] [ 2.03248736e-03 9.99993568e-01 2.95520727e-03 1.01961171e+00] [ 6.80286429e-02 -3.08663425e-03 9.97678594e-01 -5.71185352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.825347070000001 meters 0.026236389814395696 Centerline is valid? [True, True] Translation: X:-12.23, Y:1.02, Z:-0.57 [[ 9.97748140e-01 1.35992907e-03 -6.70581798e-02 -1.22291368e+01] [-1.16698018e-03 9.99995066e-01 2.91642361e-03 1.02392418e+00] [ 6.70618150e-02 -2.83160066e-03 9.97744805e-01 -5.65824357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855347070000002 meters 0.025960124171975255 Centerline is valid? [True, True] Translation: X:-12.26, Y:1.02, Z:-0.57 [[ 9.97753098e-01 2.84373600e-03 -6.69377944e-02 -1.22574197e+01] [-2.65435983e-03 9.99992220e-01 2.91790523e-03 1.02294675e+00] [ 6.69455714e-02 -2.73367199e-03 9.97752884e-01 -5.67765498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.885347070000002 meters 0.026759833949244007 Centerline is valid? [True, True] Translation: X:-12.29, Y:1.02, Z:-0.57 [[ 9.97792172e-01 4.75155063e-03 -6.62435252e-02 -1.22859063e+01] [-4.56978618e-03 9.99985368e-01 2.89513926e-03 1.02350321e+00] [ 6.62563123e-02 -2.58602855e-03 9.97799285e-01 -5.66179081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915347070000001 meters 0.026525974646441384 Centerline is valid? [True, True] Translation: X:-12.31, Y:1.02, Z:-0.57 [[ 9.97737248e-01 4.13778837e-03 -6.71063569e-02 -1.23148234e+01] [-3.94915786e-03 9.99987870e-01 2.94333193e-03 1.02148963e+00] [ 6.71177219e-02 -2.67165830e-03 9.97741486e-01 -5.71179867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.945347070000002 meters 0.02557858113127304 Centerline is valid? [True, True] Translation: X:-12.34, Y:1.02, Z:-0.57 [[ 9.97726950e-01 4.01123305e-03 -6.72669582e-02 -1.23432921e+01] [-3.82015214e-03 9.99988296e-01 2.96902606e-03 1.02140433e+00] [ 6.72780804e-02 -2.70530730e-03 9.97730596e-01 -5.67373809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975347070000002 meters 0.025158281380943334 Centerline is valid? [True, True] Translation: X:-12.37, Y:1.02, Z:-0.57 [[ 9.97660380e-01 2.71918492e-03 -6.83108562e-02 -1.23718461e+01] [-2.51832094e-03 9.99992250e-01 3.02638321e-03 1.01620967e+00] [ 6.83185560e-02 -2.84727396e-03 9.97659495e-01 -5.74274193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.005347070000001 meters 0.02783858616342919 Centerline is valid? [True, True] Translation: X:-12.40, Y:1.01, Z:-0.58 [[ 9.97674526e-01 1.63264639e-03 -6.81386435e-02 -1.24008146e+01] [-1.42874366e-03 9.99994355e-01 3.04109397e-03 1.01131425e+00] [ 6.81432239e-02 -2.93666933e-03 9.97671227e-01 -5.75486817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035347070000002 meters 0.0247965753410098 Centerline is valid? [True, True] Translation: X:-12.43, Y:1.01, Z:-0.58 [[ 9.97565069e-01 -4.97169029e-04 -6.97401330e-02 -1.24288075e+01] [ 7.17314136e-04 9.99994839e-01 3.13164104e-03 1.01373922e+00] [ 6.97382162e-02 -3.17404129e-03 9.97560277e-01 -5.79266284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.065347070000001 meters 0.025906046770813474 Centerline is valid? [True, True] Translation: X:-12.46, Y:1.01, Z:-0.58 [[ 9.97608147e-01 -1.49835295e-03 -6.91067297e-02 -1.24578979e+01] [ 1.71761012e-03 9.99993678e-01 3.11342146e-03 1.00740197e+00] [ 6.91016278e-02 -3.22467303e-03 9.97604414e-01 -5.78026041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095347070000003 meters 0.02876023917938831 Centerline is valid? [True, True] Translation: X:-12.49, Y:1.00, Z:-0.58 [[ 9.97698483e-01 -8.43950478e-04 -6.78013595e-02 -1.24869615e+01] [ 1.05497716e-03 9.99994711e-01 3.07668021e-03 1.00045533e+00] [ 6.77984043e-02 -3.14112807e-03 9.97694096e-01 -5.78043439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.125347070000002 meters 0.025125619644930444 Centerline is valid? [True, True] Translation: X:-12.51, Y:1.01, Z:-0.58 [[ 9.97598425e-01 -1.68251063e-03 -6.92427020e-02 -1.25144092e+01] [ 1.90599805e-03 9.99993186e-01 3.16165445e-03 1.00582951e+00] [ 6.92369107e-02 -3.28603795e-03 9.97594834e-01 -5.80451481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155347070000001 meters 0.029999963695020674 Centerline is valid? [True, True] Translation: X:-12.54, Y:1.00, Z:-0.58 [[ 9.97738616e-01 -5.50572455e-04 -6.72112390e-02 -1.25436114e+01] [ 7.59286557e-04 9.99994969e-01 3.07983957e-03 9.99178023e-01] [ 6.72092052e-02 -3.12390746e-03 9.97734015e-01 -5.77238928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.185347070000002 meters 0.02558181454785371 Centerline is valid? [True, True] Translation: X:-12.57, Y:1.00, Z:-0.58 [[ 9.97700857e-01 1.29998605e-03 -6.77592014e-02 -1.25712083e+01] [-1.09074067e-03 9.99994522e-01 3.12497818e-03 1.00281520e+00] [ 6.77628926e-02 -3.04388569e-03 9.97696810e-01 -5.80491417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215347070000002 meters 0.026952870537012712 Centerline is valid? [True, True] Translation: X:-12.60, Y:1.00, Z:-0.58 [[ 9.97677801e-01 3.18406763e-03 -6.80357762e-02 -1.25997248e+01] [-2.97670953e-03 9.99990612e-01 3.14894216e-03 1.00228373e+00] [ 6.80451639e-02 -2.93910695e-03 9.97677913e-01 -5.79489864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.245347070000001 meters 0.02603151621593336 Centerline is valid? [True, True] Translation: X:-12.63, Y:1.00, Z:-0.58 [[ 9.97625467e-01 5.70202727e-03 -6.86361008e-02 -1.26285656e+01] [-5.49533646e-03 9.99979781e-01 3.19983767e-03 1.00323183e+00] [ 6.86529586e-02 -2.81506108e-03 9.97636631e-01 -5.81636084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275347070000002 meters 0.026569550559367643 Centerline is valid? [True, True] Translation: X:-12.66, Y:1.00, Z:-0.58 [[ 9.97700610e-01 9.75853661e-03 -6.70690912e-02 -1.26583791e+01] [-9.56911541e-03 9.99949269e-01 3.14495493e-03 1.00161120e+00] [ 6.70963789e-02 -2.49593158e-03 9.97743377e-01 -5.83774283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.305347070000002 meters 0.02389685741734655 Centerline is valid? [True, True] Translation: X:-12.69, Y:1.00, Z:-0.59 [[ 9.97630803e-01 1.23183444e-02 -6.76833732e-02 -1.26864022e+01] [-1.21310219e-02 9.99921366e-01 3.17795485e-03 1.00427202e+00] [ 6.77171981e-02 -2.34935717e-03 9.97701790e-01 -5.87476157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335347070000001 meters 0.027178207535848285 Centerline is valid? [True, True] Translation: X:-12.72, Y:1.01, Z:-0.59 [[ 9.97658504e-01 1.59406171e-02 -6.65086921e-02 -1.27157742e+01] [-1.57673338e-02 9.99870790e-01 3.12955680e-03 1.00543907e+00] [ 6.65499856e-02 -2.07356421e-03 9.97780938e-01 -5.86094540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.365347070000002 meters 0.026006354143476948 Centerline is valid? [True, True] Translation: X:-12.74, Y:1.01, Z:-0.58 [[ 9.97607608e-01 1.76477528e-02 -6.68402297e-02 -1.27437340e+01] [-1.74762076e-02 9.99842316e-01 3.15038365e-03 1.01040619e+00] [ 6.68852872e-02 -1.97473297e-03 9.97758718e-01 -5.84365059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395347070000001 meters 0.024936903372226833 Centerline is valid? [True, True] Translation: X:-12.77, Y:1.01, Z:-0.59 [[ 9.97586047e-01 1.72936921e-02 -6.72533099e-02 -1.27726888e+01] [-1.71184770e-02 9.99848409e-01 3.18076163e-03 1.01051547e+00] [ 6.72981220e-02 -2.02180918e-03 9.97730863e-01 -5.88035860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.425347070000003 meters 0.022009647995141966 Centerline is valid? [True, True] Translation: X:-12.80, Y:1.01, Z:-0.59 [[ 9.97597690e-01 1.73751728e-02 -6.70593158e-02 -1.27991825e+01] [-1.71997199e-02 9.99846976e-01 3.19289173e-03 1.01294984e+00] [ 6.71045311e-02 -2.03181997e-03 9.97743882e-01 -5.89835136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455347070000002 meters 0.02351869650529333 Centerline is valid? [True, True] Translation: X:-12.83, Y:1.01, Z:-0.59 [[ 9.97611333e-01 1.77717367e-02 -6.67517264e-02 -1.28274861e+01] [-1.75977051e-02 9.99840046e-01 3.19428319e-03 1.01459279e+00] [ 6.67978171e-02 -2.01197591e-03 9.97764503e-01 -5.89354785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.485347070000001 meters 0.02242604734500279 Centerline is valid? [True, True] Translation: X:-12.86, Y:1.02, Z:-0.59 [[ 9.97571223e-01 1.93710878e-02 -6.69060182e-02 -1.28555365e+01] [-1.91992770e-02 9.99810524e-01 3.21004380e-03 1.01837207e+00] [ 6.69555231e-02 -1.91770015e-03 9.97754118e-01 -5.90311093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515347070000002 meters 0.02414948586694356 Centerline is valid? [True, True] Translation: X:-12.88, Y:1.02, Z:-0.59 [[ 9.97548612e-01 1.91870270e-02 -6.72950516e-02 -1.28829037e+01] [-1.90121992e-02 9.99814010e-01 3.23746659e-03 1.02154986e+00] [ 6.73446528e-02 -1.95010338e-03 9.97727866e-01 -5.90578165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.545347070000002 meters 0.023879584720922154 Centerline is valid? [True, True] Translation: X:-12.91, Y:1.02, Z:-0.60 [[ 9.97542694e-01 1.97152751e-02 -6.72300605e-02 -1.29101490e+01] [-1.95411108e-02 9.99803781e-01 3.24727083e-03 1.01894369e+00] [ 6.72808896e-02 -1.92554123e-03 9.97732216e-01 -5.96406439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575347070000001 meters 0.02480162322242817 Centerline is valid? [True, True] Translation: X:-12.94, Y:1.02, Z:-0.60 [[ 9.97568921e-01 2.12889733e-02 -6.63553056e-02 -1.29384812e+01] [-2.11210193e-02 9.99771703e-01 3.23170356e-03 1.02316345e+00] [ 6.64089565e-02 -1.82235535e-03 9.97790825e-01 -5.98181675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.605347070000002 meters 0.025589013003479804 Centerline is valid? [True, True] Translation: X:-12.97, Y:1.03, Z:-0.60 [[ 9.97539238e-01 2.42081444e-02 -6.57984439e-02 -1.29655630e+01] [-2.40481074e-02 9.99705606e-01 3.22328256e-03 1.02851611e+00] [ 6.58571029e-02 -1.63302278e-03 9.97827728e-01 -5.98276395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635347070000002 meters 0.027620323137787263 Centerline is valid? [True, True] Translation: X:-12.99, Y:1.03, Z:-0.60 [[ 9.97558543e-01 2.53818237e-02 -6.50593249e-02 -1.29942281e+01] [-2.52271549e-02 9.99676630e-01 3.19788300e-03 1.03255755e+00] [ 6.51194548e-02 -1.54881384e-03 9.97876274e-01 -5.99164426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665347070000001 meters 0.025447926935229903 Centerline is valid? [True, True] Translation: X:-13.02, Y:1.04, Z:-0.60 [[ 9.97556731e-01 2.64830751e-02 -6.46468447e-02 -1.30215355e+01] [-2.63315001e-02 9.99648158e-01 3.19570218e-03 1.03805424e+00] [ 6.47087313e-02 -1.48564583e-03 9.97903088e-01 -5.98851718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695347070000002 meters 0.026872568677266936 Centerline is valid? [True, True] Translation: X:-13.05, Y:1.04, Z:-0.60 [[ 9.97597671e-01 2.45610370e-02 -6.47737742e-02 -1.30491633e+01] [-2.44043061e-02 9.99697017e-01 3.20988793e-03 1.04285569e+00] [ 6.48329870e-02 -1.62141771e-03 9.97894811e-01 -6.01441532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.725347070000002 meters 0.023261066633336953 Centerline is valid? [True, True] Translation: X:-13.08, Y:1.04, Z:-0.61 [[ 9.97542885e-01 2.32294295e-02 -6.60952743e-02 -1.30772367e+01] [-2.30624459e-02 9.99728618e-01 3.28838307e-03 1.04402966e+00] [ 6.61537245e-02 -1.75598444e-03 9.97807898e-01 -6.06620360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755347070000001 meters 0.026914579650706073 Centerline is valid? [True, True] Translation: X:-13.11, Y:1.05, Z:-0.60 [[ 9.97678402e-01 2.16554850e-02 -6.45666095e-02 -1.31051866e+01] [-2.14916843e-02 9.99763808e-01 3.23047623e-03 1.05019897e+00] [ 6.46213169e-02 -1.83533117e-03 9.97908171e-01 -6.04771208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.785347070000002 meters 0.030152958958935695 Centerline is valid? [True, True] Translation: X:-13.13, Y:1.05, Z:-0.61 [[ 9.97763667e-01 1.93601770e-02 -6.39753774e-02 -1.31337972e+01] [-1.91940286e-02 9.99810622e-01 3.21070796e-03 1.04861716e+00] [ 6.40254218e-02 -1.97558252e-03 9.97946312e-01 -6.07934132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815347070000001 meters 0.02669864124635539 Centerline is valid? [True, True] Translation: X:-13.16, Y:1.05, Z:-0.61 [[ 9.97816002e-01 1.59011450e-02 -6.41122509e-02 -1.31611516e+01] [-1.57259306e-02 9.99871101e-01 3.23667000e-03 1.05343874e+00] [ 6.41554536e-02 -2.22137631e-03 9.97937445e-01 -6.11511439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845347070000003 meters 0.027648392888748655 Centerline is valid? [True, True] Translation: X:-13.19, Y:1.05, Z:-0.61 [[ 9.97810726e-01 1.43133281e-02 -6.45668978e-02 -1.31894886e+01] [-1.41316632e-02 9.99894798e-01 3.26943501e-03 1.05257941e+00] [ 6.46069017e-02 -2.34983967e-03 9.97908025e-01 -6.13947813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875347070000002 meters 0.03040568278229063 Centerline is valid? [True, True] Translation: X:-13.22, Y:1.05, Z:-0.61 [[ 9.97896060e-01 1.12612077e-02 -6.38485606e-02 -1.32180629e+01] [-1.10761865e-02 9.99933372e-01 3.25104411e-03 1.05294922e+00] [ 6.38809172e-02 -2.53700554e-03 9.97954304e-01 -6.14590667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.905347070000001 meters 0.03375778196051208 Centerline is valid? [True, True] Translation: X:-13.25, Y:1.06, Z:-0.62 [[ 9.97941588e-01 9.01811001e-03 -6.34922062e-02 -1.32454037e+01] [-8.83023616e-03 9.99955767e-01 3.23899943e-03 1.05786499e+00] [ 6.35186074e-02 -2.67168106e-03 9.97977078e-01 -6.15366963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935347070000002 meters 0.02941658897680549 Centerline is valid? [True, True] Translation: X:-13.27, Y:1.06, Z:-0.62 [[ 9.97879932e-01 8.00281934e-03 -6.45878940e-02 -1.32734908e+01] [-7.80553565e-03 9.99964070e-01 3.30626071e-03 1.05996728e+00] [ 6.46120328e-02 -2.79510810e-03 9.97906545e-01 -6.21141121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.965347070000002 meters 0.036522169665253644 Centerline is valid? [True, True] Translation: X:-13.30, Y:1.06, Z:-0.62 [[ 9.97948790e-01 5.42229888e-03 -6.37872332e-02 -1.33017644e+01] [-5.22355635e-03 9.99980971e-01 3.28206669e-03 1.06365018e+00] [ 6.38038157e-02 -2.94213828e-03 9.97958124e-01 -6.18456456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995347070000001 meters 0.033220458376161756 Centerline is valid? [True, True] Translation: X:-13.33, Y:1.07, Z:-0.62 [[ 9.97917761e-01 4.78752282e-03 -6.43212328e-02 -1.33300432e+01] [-4.58360522e-03 9.99983992e-01 3.31749124e-03 1.06645712e+00] [ 6.43360857e-02 -3.01576030e-03 9.97923731e-01 -6.20420050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.025347070000002 meters 0.03206548126761755 Centerline is valid? [True, True] Translation: X:-13.36, Y:1.07, Z:-0.62 [[ 9.97879039e-01 5.14773365e-04 -6.50934555e-02 -1.33587447e+01] [-2.95760007e-04 9.99994264e-01 3.37419022e-03 1.07092749e+00] [ 6.50948190e-02 -3.34778165e-03 9.97873467e-01 -6.24160546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055347070000002 meters 0.033595866739002014 Centerline is valid? [True, True] Translation: X:-13.39, Y:1.08, Z:-0.63 [[ 9.97892318e-01 -1.03056924e-03 -6.48834312e-02 -1.33862920e+01] [ 1.25166412e-03 9.99993548e-01 3.36701388e-03 1.07678284e+00] [ 6.48795427e-02 -3.44112955e-03 9.97887170e-01 -6.25223911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.085347070000001 meters 0.029087416430254545 Centerline is valid? [True, True] Translation: X:-13.41, Y:1.08, Z:-0.63 [[ 9.97806626e-01 -3.25154304e-03 -6.61162902e-02 -1.34149442e+01] [ 3.48649071e-03 9.99988011e-01 3.43847901e-03 1.07884559e+00] [ 6.61043171e-02 -3.66145097e-03 9.97806000e-01 -6.27963464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115347070000002 meters 0.031198129417372298 Centerline is valid? [True, True] Translation: X:-13.44, Y:1.08, Z:-0.63 [[ 9.97853927e-01 -3.79094684e-03 -6.53694858e-02 -1.34437559e+01] [ 4.02234110e-03 9.99986101e-01 3.40854320e-03 1.07966075e+00] [ 6.53556556e-02 -3.66416658e-03 9.97855306e-01 -6.29104604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.145347070000001 meters 0.03215463840212275 Centerline is valid? [True, True] Translation: X:-13.47, Y:1.08, Z:-0.63 [[ 9.97872769e-01 -5.10588324e-03 -6.49912753e-02 -1.34723469e+01] [ 5.33876134e-03 9.99979934e-01 3.41005430e-03 1.07824174e+00] [ 6.49725598e-02 -3.74977324e-03 9.97880006e-01 -6.31012915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175347070000003 meters 0.033929149099408196 Centerline is valid? [True, True] Translation: X:-13.50, Y:1.08, Z:-0.63 [[ 9.97904363e-01 -7.04285176e-03 -6.43216970e-02 -1.34995974e+01] [ 7.27613652e-03 9.99967771e-01 3.39331232e-03 1.08443545e+00] [ 6.42957254e-02 -3.85421461e-03 9.97923446e-01 -6.30083630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.205347070000002 meters 0.031516493187440466 Centerline is valid? [True, True] Translation: X:-13.53, Y:1.09, Z:-0.64 [[ 9.97819834e-01 -9.61835269e-03 -6.52921593e-02 -1.35294316e+01] [ 9.86469426e-03 9.99945386e-01 3.45156608e-03 1.08514758e+00] [ 6.52553950e-02 -4.08812828e-03 9.97860221e-01 -6.35744038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235347070000001 meters 0.0376201376957537 Centerline is valid? [True, True] Translation: X:-13.56, Y:1.08, Z:-0.63 [[ 9.97862335e-01 -9.27921864e-03 -6.46889269e-02 -1.35576635e+01] [ 9.52080998e-03 9.99948802e-01 3.42738897e-03 1.08388609e+00] [ 6.46538115e-02 -4.03595334e-03 9.97899592e-01 -6.34749291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.265347070000002 meters 0.03647438173695485 Centerline is valid? [True, True] Translation: X:-13.59, Y:1.08, Z:-0.64 [[ 9.97910773e-01 -9.13700450e-03 -6.39578361e-02 -1.35855402e+01] [ 9.37435037e-03 9.99950239e-01 3.41186323e-03 1.08432042e+00] [ 6.39234793e-02 -4.00429824e-03 9.97946769e-01 -6.36432202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295347070000002 meters 0.03496759214105284 Centerline is valid? [True, True] Translation: X:-13.61, Y:1.09, Z:-0.64 [[ 9.97891578e-01 -9.88044018e-03 -6.41465130e-02 -1.36126220e+01] [ 1.01220504e-02 9.99942845e-01 3.44264068e-03 1.08873337e+00] [ 6.41088318e-02 -4.08467638e-03 9.97934554e-01 -6.38676327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.325347070000001 meters 0.03496759214105284 Centerline is valid? [True, True] Translation: X:-13.64, Y:1.09, Z:-0.64 [[ 9.97895065e-01 -9.52630193e-03 -6.41458377e-02 -1.36399087e+01] [ 9.76798684e-03 9.99946323e-01 3.45517789e-03 1.08999883e+00] [ 6.41094795e-02 -4.07448066e-03 9.97934554e-01 -6.40142276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355347070000002 meters 0.0324660371381525 Centerline is valid? [True, True] Translation: X:-13.67, Y:1.09, Z:-0.64 [[ 9.97903594e-01 -7.86783539e-03 -6.42379481e-02 -1.36679652e+01] [ 8.10813891e-03 9.99961070e-01 3.48099338e-03 1.09278060e+00] [ 6.42080594e-02 -3.99454601e-03 9.97928539e-01 -6.43096002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.385347070000002 meters 0.0325127614982598 Centerline is valid? [True, True] Translation: X:-13.70, Y:1.10, Z:-0.64 [[ 9.97906453e-01 -7.05528921e-03 -6.42878999e-02 -1.36954001e+01] [ 7.29499452e-03 9.99967285e-01 3.49465001e-03 1.09746059e+00] [ 6.42611409e-02 -3.95631368e-03 9.97925274e-01 -6.42219448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415347070000001 meters 0.031586112539829334 Centerline is valid? [True, True] Translation: X:-13.72, Y:1.10, Z:-0.65 [[ 9.97856910e-01 -6.88424640e-03 -6.50706807e-02 -1.37237203e+01] [ 7.13032569e-03 9.99968277e-01 3.55024336e-03 1.09738115e+00] [ 6.50441757e-02 -4.00661001e-03 9.97874342e-01 -6.48583416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.445347070000002 meters 0.03166144436177296 Centerline is valid? [True, True] Translation: X:-13.75, Y:1.10, Z:-0.65 [[ 9.97816357e-01 -7.28635842e-03 -6.56462187e-02 -1.37518007e+01] [ 7.53907067e-03 9.99965091e-01 3.60270516e-03 1.09908731e+00] [ 6.56176764e-02 -4.08974962e-03 9.97836457e-01 -6.53339717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475347070000002 meters 0.02811638125150134 Centerline is valid? [True, True] Translation: X:-13.78, Y:1.11, Z:-0.65 [[ 9.97848939e-01 -5.48312249e-03 -6.53255754e-02 -1.37791308e+01] [ 5.73074869e-03 9.99977085e-01 3.60386652e-03 1.10601174e+00] [ 6.53043181e-02 -3.97047884e-03 9.97857496e-01 -6.50007664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.505347070000003 meters 0.035239574054931125 Centerline is valid? [True, True] Translation: X:-13.81, Y:1.10, Z:-0.65 [[ 9.97985897e-01 -3.72285064e-03 -6.33268421e-02 -1.38084379e+01] [ 3.95279818e-03 9.99986041e-01 3.50622520e-03 1.09866218e+00] [ 6.33129050e-02 -3.74948152e-03 9.97986682e-01 -6.46387417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535347070000002 meters 0.031152721116186617 Centerline is valid? [True, True] Translation: X:-13.84, Y:1.10, Z:-0.66 [[ 9.97861438e-01 -3.74852423e-03 -6.52571758e-02 -1.38358816e+01] [ 3.99421636e-03 9.99985417e-01 3.63492462e-03 1.10267298e+00] [ 6.52425985e-02 -3.88780239e-03 9.97861858e-01 -6.56113895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.565347070000001 meters 0.03069049920843009 Centerline is valid? [True, True] Translation: X:-13.87, Y:1.11, Z:-0.65 [[ 9.97897797e-01 -8.68527838e-04 -6.48014805e-02 -1.38657212e+01] [ 1.10582606e-03 9.99992814e-01 3.62614850e-03 1.10554529e+00] [ 6.47978654e-02 -3.69018477e-03 9.97891587e-01 -6.54325236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595347070000003 meters 0.030333990476763203 Centerline is valid? [True, True] Translation: X:-13.89, Y:1.11, Z:-0.66 [[ 9.97807838e-01 -2.03492700e-04 -6.61776220e-02 -1.38938944e+01] [ 4.50004923e-04 9.99993016e-01 3.71012364e-03 1.10605765e+00] [ 6.61764048e-02 -3.73177070e-03 9.97800961e-01 -6.57148882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.625347070000002 meters 0.02830936898301488 Centerline is valid? [True, True] Translation: X:-13.92, Y:1.11, Z:-0.66 [[ 9.97809701e-01 1.76636641e-03 -6.61262492e-02 -1.39210683e+01] [-1.52312193e-03 9.99991888e-01 3.72871963e-03 1.10717417e+00] [ 6.61322991e-02 -3.61983428e-03 9.97804297e-01 -6.59070272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655347070000001 meters 0.02847124950900983 Centerline is valid? [True, True] Translation: X:-13.95, Y:1.11, Z:-0.66 [[ 9.97818555e-01 2.27169472e-03 -6.59770518e-02 -1.39484460e+01] [-2.02964306e-03 9.99990963e-01 3.73552136e-03 1.10760931e+00] [ 6.59849415e-02 -3.59346266e-03 9.97814148e-01 -6.60194852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.685347070000002 meters 0.028572911452869106 Centerline is valid? [True, True] Translation: X:-13.98, Y:1.11, Z:-0.66 [[ 9.97846919e-01 4.34032004e-03 -6.54422461e-02 -1.39776963e+01] [-4.10530537e-03 9.99984634e-01 3.72522408e-03 1.10710098e+00] [ 6.54574092e-02 -3.44854297e-03 9.97849405e-01 -6.61127982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715347070000002 meters 0.026187281288352467 Centerline is valid? [True, True] Translation: X:-14.01, Y:1.11, Z:-0.66 [[ 9.97760323e-01 6.90485035e-03 -6.65331505e-02 -1.40056061e+01] [-6.66726558e-03 9.99970583e-01 3.79230750e-03 1.11164511e+00] [ 6.65573786e-02 -3.34021978e-03 9.97777008e-01 -6.62137683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.745347070000001 meters 0.02765443085398334 Centerline is valid? [True, True] Translation: X:-14.03, Y:1.11, Z:-0.67 [[ 9.97616165e-01 8.05150555e-03 -6.85358306e-02 -1.40332666e+01] [-7.80130019e-03 9.99961895e-01 3.91759415e-03 1.11073042e+00] [ 6.85647616e-02 -3.37358666e-03 9.97640964e-01 -6.68538962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775347070000002 meters 0.022743478750157094 Centerline is valid? [True, True] Translation: X:-14.06, Y:1.12, Z:-0.67 [[ 9.97411597e-01 1.99478912e-02 -6.90810216e-02 -1.40619858e+01] [-1.97207139e-02 9.99797650e-01 3.96904885e-03 1.12406973e+00] [ 6.91462172e-02 -2.59644829e-03 9.97603157e-01 -6.70848824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.805347070000002 meters 0.019945339794321643 Centerline is valid? [True, True] Translation: X:-14.09, Y:1.14, Z:-0.67 [[ 9.97182437e-01 3.06220934e-02 -6.84797352e-02 -1.40916001e+01] [-3.04238929e-02 9.99529338e-01 3.93560462e-03 1.13684509e+00] [ 6.85680208e-02 -1.84109568e-03 9.97644745e-01 -6.69777472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835347070000001 meters 0.014744716961436796 Centerline is valid? [True, True] Translation: X:-14.12, Y:1.16, Z:-0.67 [[ 9.96481727e-01 4.84768330e-02 -6.83678659e-02 -1.41209363e+01] [-4.83211896e-02 9.98824120e-01 3.92944316e-03 1.15611874e+00] [ 6.84779605e-02 -6.12001694e-04 9.97652442e-01 -6.69743457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.865347070000002 meters 0.01402121518470259 Centerline is valid? [True, True] Translation: X:-14.15, Y:1.17, Z:-0.67 [[ 9.95777774e-01 6.11659889e-02 -6.84495894e-02 -1.41510003e+01] [-6.10399975e-02 9.98127574e-01 3.93263393e-03 1.17170171e+00] [ 6.85619661e-02 2.62133311e-04 9.97646825e-01 -6.70501311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895347070000001 meters 0.015639824798626165 Centerline is valid? [True, True] Translation: X:-14.18, Y:1.19, Z:-0.68 [[ 9.94728379e-01 7.37600709e-02 -7.12383597e-02 -1.41804844e+01] [-7.36563866e-02 9.97275313e-01 4.08487491e-03 1.18823058e+00] [ 7.13455581e-02 1.18381917e-03 9.97450956e-01 -6.75018470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925347070000003 meters 0.01902032253486631 Centerline is valid? [True, True] Translation: X:-14.21, Y:1.20, Z:-0.68 [[ 9.93947975e-01 8.28764534e-02 -7.21035072e-02 -1.42108356e+01] [-8.27943696e-02 9.96558088e-01 4.13161391e-03 1.20224054e+00] [ 7.21977467e-02 1.86315514e-03 9.97388597e-01 -6.77548578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955347070000002 meters 0.021088160311202697 Centerline is valid? [True, True] Translation: X:-14.24, Y:1.21, Z:-0.68 [[ 9.93585918e-01 8.72600521e-02 -7.19215297e-02 -1.42419607e+01] [-8.71899819e-02 9.96183186e-01 4.11919101e-03 1.20860510e+00] [ 7.20064594e-02 2.17806669e-03 9.97401788e-01 -6.78860355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.985347070000001 meters 0.022659987668024937 Centerline is valid? [True, True] Translation: X:-14.27, Y:1.21, Z:-0.68 [[ 9.93315694e-01 9.10100786e-02 -7.10006885e-02 -1.42735578e+01] [-9.09515790e-02 9.95847027e-01 4.06313595e-03 1.21181647e+00] [ 7.10756109e-02 2.42164802e-03 9.97467991e-01 -6.82480873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015347070000002 meters 0.02085829591433336 Centerline is valid? [True, True] Translation: X:-14.31, Y:1.21, Z:-0.68 [[ 9.93289089e-01 9.11229448e-02 -7.12277612e-02 -1.43057388e+01] [-9.10649761e-02 9.95836646e-01 4.06752337e-03 1.20640406e+00] [ 7.13018596e-02 2.44612779e-03 9.97451784e-01 -6.82134510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.045347070000002 meters 0.021345398777768403 Centerline is valid? [True, True] Translation: X:-14.34, Y:1.21, Z:-0.68 [[ 9.93451825e-01 8.95676287e-02 -7.09303321e-02 -1.43379383e+01] [-8.95077060e-02 9.95977980e-01 4.02919357e-03 1.20559456e+00] [ 7.10059341e-02 2.34600160e-03 9.97473134e-01 -6.83969418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075347070000001 meters 0.019657526796914713 Centerline is valid? [True, True] Translation: X:-14.37, Y:1.20, Z:-0.68 [[ 9.93769528e-01 8.57973480e-02 -7.11402838e-02 -1.43698915e+01] [-8.57290304e-02 9.96310385e-01 4.01868989e-03 1.19831769e+00] [ 7.12225965e-02 2.10513599e-03 9.97458225e-01 -6.84637965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.105347070000002 meters 0.021056998597142343 Centerline is valid? [True, True] Translation: X:-14.40, Y:1.20, Z:-0.69 [[ 9.94009752e-01 8.31995011e-02 -7.08692876e-02 -1.44019111e+01] [-8.31266125e-02 9.96531037e-01 3.98228411e-03 1.19780078e+00] [ 7.09547687e-02 1.93269457e-03 9.97477662e-01 -6.88771370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135347070000002 meters 0.019724304270468652 Centerline is valid? [True, True] Translation: X:-14.43, Y:1.19, Z:-0.69 [[ 9.94153982e-01 8.16713594e-02 -7.06232932e-02 -1.44333413e+01] [-8.15966606e-02 9.96657618e-01 3.94682074e-03 1.19085886e+00] [ 7.07095854e-02 1.83887733e-03 9.97495250e-01 -6.90542911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.165347070000001 meters 0.019720094710659584 Centerline is valid? [True, True] Translation: X:-14.47, Y:1.19, Z:-0.69 [[ 9.94246320e-01 8.01751371e-02 -7.10366293e-02 -1.44653647e+01] [-8.00971835e-02 9.96779233e-01 3.94981858e-03 1.18970458e+00] [ 7.11245141e-02 1.76274134e-03 9.97465887e-01 -6.92780959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195347070000002 meters 0.018488724540265754 Centerline is valid? [True, True] Translation: X:-14.50, Y:1.18, Z:-0.69 [[ 9.94226113e-01 7.99799639e-02 -7.15376900e-02 -1.44965968e+01] [-7.99017933e-02 9.96794881e-01 3.95832180e-03 1.18424129e+00] [ 7.16249896e-02 1.78052281e-03 9.97430043e-01 -6.92504874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.225347070000002 meters 0.020478551711915385 Centerline is valid? [True, True] Translation: X:-14.53, Y:1.19, Z:-0.70 [[ 9.94079042e-01 8.14087505e-02 -7.19685653e-02 -1.45286349e+01] [-8.13345020e-02 9.96678968e-01 3.96653121e-03 1.18764634e+00] [ 7.20524657e-02 1.91048188e-03 9.97399014e-01 -6.98085611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255347070000003 meters 0.019913934950297595 Centerline is valid? [True, True] Translation: X:-14.56, Y:1.19, Z:-0.70 [[ 9.93840873e-01 8.35643355e-02 -7.27827027e-02 -1.45604088e+01] [-8.34957020e-02 9.96500148e-01 3.99038896e-03 1.18589750e+00] [ 7.28614282e-02 2.11123120e-03 9.97339839e-01 -6.96579185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.285347070000002 meters 0.02121907758328709 Centerline is valid? [True, True] Translation: X:-14.59, Y:1.19, Z:-0.70 [[ 9.93486357e-01 8.74721990e-02 -7.30306322e-02 -1.45914537e+01] [-8.74144104e-02 9.96164030e-01 3.99331209e-03 1.18646657e+00] [ 7.30997927e-02 2.41662857e-03 9.97321703e-01 -6.97592916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315347070000001 meters 0.022743630971663296 Centerline is valid? [True, True] Translation: X:-14.62, Y:1.19, Z:-0.70 [[ 9.93329483e-01 8.88853405e-02 -7.34570212e-02 -1.46231136e+01] [-8.88314019e-02 9.96038615e-01 4.00752413e-03 1.19092249e+00] [ 7.35222398e-02 2.54449831e-03 9.97290332e-01 -7.00408487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345347070000003 meters 0.023603506350762908 Centerline is valid? [True, True] Translation: X:-14.65, Y:1.19, Z:-0.70 [[ 9.93101070e-01 9.14848684e-02 -7.33538238e-02 -1.46549645e+01] [-9.14399069e-02 9.95802650e-01 3.97804841e-03 1.19256706e+00] [ 7.34098634e-02 2.75686269e-03 9.97298046e-01 -7.03018136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375347070000002 meters 0.025038584419690143 Centerline is valid? [True, True] Translation: X:-14.69, Y:1.19, Z:-0.71 [[ 9.92763666e-01 9.44115739e-02 -7.42075393e-02 -1.46851729e+01] [-9.43750214e-02 9.95528654e-01 4.00680121e-03 1.19340771e+00] [ 7.42540201e-02 3.02553145e-03 9.97234770e-01 -7.05369810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.405347070000001 meters 0.027962359150553853 Centerline is valid? [True, True] Translation: X:-14.72, Y:1.20, Z:-0.71 [[ 9.92681962e-01 9.49113497e-02 -7.46616196e-02 -1.47169755e+01] [-9.48763751e-02 9.95480933e-01 4.02312160e-03 1.20105102e+00] [ 7.47060587e-02 3.08994358e-03 9.97200811e-01 -7.12078684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435347070000002 meters 0.025205143348343145 Centerline is valid? [True, True] Translation: X:-14.75, Y:1.19, Z:-0.71 [[ 9.92491294e-01 9.69095575e-02 -7.46295479e-02 -1.47489768e+01] [-9.68820325e-02 9.95287844e-01 3.99748903e-03 1.19378427e+00] [ 7.46652767e-02 3.26278922e-03 9.97203315e-01 -7.07556942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.465347070000002 meters 0.025652321436393555 Centerline is valid? [True, True] Translation: X:-14.78, Y:1.19, Z:-0.71 [[ 9.92360868e-01 9.76054054e-02 -7.54525810e-02 -1.47804498e+01] [-9.75808460e-02 9.95219479e-01 4.02090490e-03 1.19242481e+00] [ 7.54843404e-02 3.37253801e-03 9.97141284e-01 -7.11407627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495347070000001 meters 0.023993048437528017 Centerline is valid? [True, True] Translation: X:-14.81, Y:1.19, Z:-0.71 [[ 9.92257966e-01 9.78336222e-02 -7.65030196e-02 -1.48125813e+01] [-9.78104881e-02 9.95196784e-01 4.05827361e-03 1.18876757e+00] [ 7.65325947e-02 3.45594338e-03 9.97061091e-01 -7.11864831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.525347070000002 meters 0.029795178398543856 Centerline is valid? [True, True] Translation: X:-14.85, Y:1.20, Z:-0.72 [[ 9.92337629e-01 9.81599150e-02 -7.50377307e-02 -1.48455327e+01] [-9.81406483e-02 9.95164703e-01 3.95300443e-03 1.19785055e+00] [ 7.50629276e-02 3.44153649e-03 9.97172860e-01 -7.19430878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555347070000002 meters 0.02792937600314039 Centerline is valid? [True, True] Translation: X:-14.88, Y:1.19, Z:-0.72 [[ 9.92408493e-01 9.78736860e-02 -7.44723130e-02 -1.48765724e+01] [-9.78555945e-02 9.95192980e-01 3.90054023e-03 1.19471770e+00] [ 7.44960834e-02 3.41660321e-03 9.97215453e-01 -7.18269130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.585347070000003 meters 0.028701300450921077 Centerline is valid? [True, True] Translation: X:-14.91, Y:1.19, Z:-0.72 [[ 9.92238865e-01 9.92851766e-02 -7.48631258e-02 -1.49084923e+01] [-9.92715932e-02 9.95052686e-01 3.91178878e-03 1.19448906e+00] [ 7.48811370e-02 3.55035290e-03 9.97186146e-01 -7.18316141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615347070000002 meters 0.030422208904622643 Centerline is valid? [True, True] Translation: X:-14.94, Y:1.20, Z:-0.72 [[ 9.92342918e-01 9.94879632e-02 -7.31961569e-02 -1.49414410e+01] [-9.94772685e-02 9.95032576e-01 3.80076401e-03 1.19608069e+00] [ 7.32106909e-02 3.50969251e-03 9.97310321e-01 -7.22841867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.645347070000001 meters 0.029343414558370532 Centerline is valid? [True, True] Translation: X:-14.97, Y:1.20, Z:-0.73 [[ 9.92241926e-01 9.92902546e-02 -7.48158053e-02 -1.49730015e+01] [-9.92803270e-02 9.95052013e-01 3.86101384e-03 1.19595513e+00] [ 7.48289787e-02 3.59667780e-03 9.97189896e-01 -7.25336497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675347070000003 meters 0.026603731464808315 Centerline is valid? [True, True] Translation: X:-15.00, Y:1.19, Z:-0.72 [[ 9.91912636e-01 1.01880913e-01 -7.56941337e-02 -1.50037847e+01] [-1.01879034e-01 9.94789164e-01 3.89629592e-03 1.18752448e+00] [ 7.56966622e-02 3.84686008e-03 9.97123471e-01 -7.22525949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.705347070000002 meters 0.027643052253034883 Centerline is valid? [True, True] Translation: X:-15.04, Y:1.19, Z:-0.73 [[ 9.92118360e-01 1.00128707e-01 -7.53352559e-02 -1.50357918e+01] [-1.00122496e-01 9.94967597e-01 3.86874800e-03 1.19183139e+00] [ 7.53435112e-02 3.70449791e-03 9.97150757e-01 -7.27583295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735347070000001 meters 0.03155964302320093 Centerline is valid? [True, True] Translation: X:-15.07, Y:1.20, Z:-0.73 [[ 9.92026172e-01 1.01517368e-01 -7.46880097e-02 -1.50674500e+01] [-1.01517107e-01 9.94826499e-01 3.80971928e-03 1.19790987e+00] [ 7.46883638e-02 3.80276945e-03 9.97199673e-01 -7.32364808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.765347070000002 meters 0.02933624664277082 Centerline is valid? [True, True] Translation: X:-15.10, Y:1.19, Z:-0.73 [[ 9.92129497e-01 1.01653595e-01 -7.31136622e-02 -1.51008410e+01] [-1.01655505e-01 9.94812763e-01 3.70475794e-03 1.19019015e+00] [ 7.31110063e-02 3.75680663e-03 9.97316734e-01 -7.27438614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795347070000002 meters 0.03177909190456323 Centerline is valid? [True, True] Translation: X:-15.13, Y:1.19, Z:-0.73 [[ 9.92375513e-01 1.00157703e-01 -7.18280927e-02 -1.51322929e+01] [-1.00157232e-01 9.94965046e-01 3.61737162e-03 1.19360446e+00] [ 7.18287492e-02 3.60431194e-03 9.97410467e-01 -7.31045025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.825347070000001 meters 0.029221497609872152 Centerline is valid? [True, True] Translation: X:-15.16, Y:1.19, Z:-0.73 [[ 9.92468149e-01 9.86752210e-02 -7.25959656e-02 -1.51636161e+01] [-9.86719078e-02 9.95113360e-01 3.64076823e-03 1.18870254e+00] [ 7.26004689e-02 3.54983591e-03 9.97354787e-01 -7.32399251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855347070000002 meters 0.02987672061195825 Centerline is valid? [True, True] Translation: X:-15.20, Y:1.19, Z:-0.74 [[ 9.92585969e-01 9.74097459e-02 -7.26941261e-02 -1.51957241e+01] [-9.74047317e-02 9.95238261e-01 3.62252246e-03 1.19294425e+00] [ 7.27008446e-02 3.48508689e-03 9.97347703e-01 -7.35884479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.885347070000002 meters 0.026603302262951066 Centerline is valid? [True, True] Translation: X:-15.23, Y:1.19, Z:-0.74 [[ 9.92929984e-01 9.44860514e-02 -7.18500726e-02 -1.52269524e+01] [-9.44748667e-02 9.95520876e-01 3.56170444e-03 1.18667903e+00] [ 7.18647786e-02 3.25150290e-03 9.97409084e-01 -7.36724663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915347070000003 meters 0.028456158425837787 Centerline is valid? [True, True] Translation: X:-15.26, Y:1.19, Z:-0.74 [[ 9.93185679e-01 9.36346232e-02 -6.93885070e-02 -1.52592691e+01] [-9.36226459e-02 9.95601839e-01 3.43186581e-03 1.18538168e+00] [ 6.94046666e-02 3.08785564e-03 9.97583810e-01 -7.37655824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.945347070000002 meters 0.02552898894317892 Centerline is valid? [True, True] Translation: X:-15.29, Y:1.18, Z:-0.74 [[ 9.93374250e-01 9.08188924e-02 -7.04239191e-02 -1.52908073e+01] [-9.08011837e-02 9.95863032e-01 3.45933259e-03 1.18270254e+00] [ 7.04467504e-02 2.95816330e-03 9.97511155e-01 -7.40701594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975347070000002 meters 0.026270861261761556 Centerline is valid? [True, True] Translation: X:-15.32, Y:1.18, Z:-0.74 [[ 9.93774182e-01 8.69136001e-02 -6.97058266e-02 -1.53227788e+01] [-8.68882087e-02 9.96212259e-01 3.40194648e-03 1.18331861e+00] [ 6.97374745e-02 2.67584783e-03 9.97561790e-01 -7.42759229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.005347070000003 meters 0.021909148269965407 Centerline is valid? [True, True] Translation: X:-15.35, Y:1.18, Z:-0.74 [[ 9.94034644e-01 8.30648847e-02 -7.06778034e-02 -1.53537287e+01] [-8.30303706e-02 9.96541110e-01 3.43117142e-03 1.17762551e+00] [ 7.07183465e-02 2.45770095e-03 9.97493296e-01 -7.44492375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.03534707 meters 0.01956999516635801 Centerline is valid? [True, True] Translation: X:-15.39, Y:1.17, Z:-0.75 [[ 9.94355249e-01 7.90261864e-02 -7.07990199e-02 -1.53852188e+01] [-7.89819346e-02 9.96870151e-01 3.42865149e-03 1.17258502e+00] [ 7.08483829e-02 2.18254595e-03 9.97484708e-01 -7.46471281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.06534707 meters 0.023700401897333873 Centerline is valid? [True, True] Translation: X:-15.42, Y:1.18, Z:-0.75 [[ 9.94578297e-01 7.82281144e-02 -6.85155027e-02 -1.54165404e+01] [-7.81860353e-02 9.96933326e-01 3.29969799e-03 1.17709066e+00] [ 6.85635171e-02 2.07514750e-03 9.97644595e-01 -7.50207926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095347070000003 meters 0.020654982487739358 Centerline is valid? [True, True] Translation: X:-15.45, Y:1.17, Z:-0.75 [[ 9.94791618e-01 7.55137281e-02 -6.84639557e-02 -1.54479076e+01] [-7.54656583e-02 9.97142967e-01 3.29193049e-03 1.17071539e+00] [ 6.85169379e-02 1.89189263e-03 9.97648159e-01 -7.50049336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.125347070000004 meters 0.01781989049402519 Centerline is valid? [True, True] Translation: X:-15.48, Y:1.17, Z:-0.75 [[ 9.94957213e-01 7.12016605e-02 -7.06432380e-02 -1.54799604e+01] [-7.11400603e-02 9.97460573e-01 3.39074132e-03 1.16919361e+00] [ 7.07052711e-02 1.65192167e-03 9.97495883e-01 -7.53455390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15534707 meters 0.020689321404753342 Centerline is valid? [True, True] Translation: X:-15.51, Y:1.18, Z:-0.76 [[ 9.95197151e-01 7.08041380e-02 -6.75973674e-02 -1.55117615e+01] [-7.07472696e-02 9.97489018e-01 3.23783242e-03 1.17555198e+00] [ 6.76568835e-02 1.56004757e-03 9.97707428e-01 -7.57386591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185347070000002 meters 0.021654160524944267 Centerline is valid? [True, True] Translation: X:-15.54, Y:1.18, Z:-0.76 [[ 9.95213237e-01 7.09219230e-02 -6.72361111e-02 -1.55432738e+01] [-7.08664006e-02 9.97480640e-01 3.21353030e-03 1.17687968e+00] [ 6.72946288e-02 1.56663328e-03 9.97731917e-01 -7.58750093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215347070000004 meters 0.021654160524944267 Centerline is valid? [True, True] Translation: X:-15.58, Y:1.18, Z:-0.76 [[ 9.95222684e-01 7.07888748e-02 -6.72364795e-02 -1.55757672e+01] [-7.07335709e-02 9.97490093e-01 3.20580492e-03 1.17858822e+00] [ 6.72946575e-02 1.56538651e-03 9.97731917e-01 -7.60487949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.24534707 meters 0.024430225038257102 Centerline is valid? [True, True] Translation: X:-15.61, Y:1.18, Z:-0.76 [[ 9.95147302e-01 7.27619841e-02 -6.62385205e-02 -1.56079060e+01] [-7.27132142e-02 9.97347916e-01 3.15004415e-03 1.18207042e+00] [ 6.62920538e-02 1.68165779e-03 9.97798845e-01 -7.59822359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275347070000002 meters 0.021342595023983682 Centerline is valid? [True, True] Translation: X:-15.64, Y:1.19, Z:-0.76 [[ 9.95080108e-01 7.22954006e-02 -6.77418101e-02 -1.56386106e+01] [-7.22437125e-02 9.97381825e-01 3.21570074e-03 1.18536910e+00] [ 6.77969306e-02 1.69404001e-03 9.97697703e-01 -7.64030401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.305347070000003 meters 0.018206798646740033 Centerline is valid? [True, True] Translation: X:-15.67, Y:1.19, Z:-0.76 [[ 9.94748882e-01 7.57476813e-02 -6.88255106e-02 -1.56696794e+01] [-7.57032034e-02 9.97125073e-01 3.25802593e-03 1.18677689e+00] [ 6.88744301e-02 1.96939397e-03 9.97623393e-01 -7.63914418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.33534707 meters 0.018912776943843822 Centerline is valid? [True, True] Translation: X:-15.70, Y:1.19, Z:-0.77 [[ 9.94560305e-01 7.94127960e-02 -6.74048084e-02 -1.57016087e+01] [-7.93798798e-02 9.96839396e-01 3.17078501e-03 1.19373138e+00] [ 6.74435694e-02 2.19704868e-03 9.97720671e-01 -7.65756110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.365347070000002 meters 0.0269500289400734 Centerline is valid? [True, True] Translation: X:-15.73, Y:1.21, Z:-0.76 [[ 9.94083397e-01 8.64933207e-02 -6.57046771e-02 -1.57323295e+01] [-8.64778811e-02 9.96248996e-01 3.08437762e-03 1.21175834e+00] [ 6.57249967e-02 2.61587268e-03 9.97834346e-01 -7.64765143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395347070000003 meters 0.023690859363875813 Centerline is valid? [True, True] Translation: X:-15.76, Y:1.21, Z:-0.77 [[ 9.93917620e-01 8.64411965e-02 -6.82325802e-02 -1.57633618e+01] [-8.64249725e-02 9.96253238e-01 3.19523323e-03 1.21481571e+00] [ 6.82531287e-02 2.72120026e-03 9.97664325e-01 -7.69320744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.42534707 meters 0.025021205854825826 Centerline is valid? [True, True] Translation: X:-15.79, Y:1.22, Z:-0.77 [[ 9.93856461e-01 8.72815422e-02 -6.80534194e-02 -1.57949135e+01] [-8.72688788e-02 9.96179767e-01 3.16468109e-03 1.22468079e+00] [ 6.80696577e-02 2.79370687e-03 9.97676659e-01 -7.71170850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455347070000002 meters 0.02667241165634089 Centerline is valid? [True, True] Translation: X:-15.83, Y:1.23, Z:-0.77 [[ 9.93903169e-01 8.76091354e-02 -6.69412406e-02 -1.58270739e+01] [-8.75991459e-02 9.96151013e-01 3.09017615e-03 1.23009505e+00] [ 6.69543122e-02 2.79265964e-03 9.97752134e-01 -7.70430301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.485347070000003 meters 0.022972726163823932 Centerline is valid? [True, True] Translation: X:-15.86, Y:1.23, Z:-0.78 [[ 9.94029330e-01 8.41426611e-02 -6.94672887e-02 -1.58583002e+01] [-8.41251132e-02 9.96450115e-01 3.18328764e-03 1.23348359e+00] [ 6.94885381e-02 2.67966225e-03 9.97579151e-01 -7.75356776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.51534707 meters 0.022815067461245835 Centerline is valid? [True, True] Translation: X:-15.89, Y:1.24, Z:-0.78 [[ 9.94262436e-01 8.11178186e-02 -6.97288165e-02 -1.58900743e+01] [-8.10942491e-02 9.96701386e-01 3.17338829e-03 1.23784315e+00] [ 6.97562263e-02 2.49942524e-03 9.97560936e-01 -7.79108907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.545347070000002 meters 0.01880206299258507 Centerline is valid? [True, True] Translation: X:-15.92, Y:1.23, Z:-0.78 [[ 9.94812097e-01 7.36373668e-02 -7.01885257e-02 -1.59206936e+01] [-7.35961917e-02 9.97283066e-01 3.17597688e-03 1.23424170e+00] [ 7.02316986e-02 2.00610796e-03 9.97528688e-01 -7.79547021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575347070000003 meters 0.022767064197667858 Centerline is valid? [True, True] Translation: X:-15.95, Y:1.24, Z:-0.78 [[ 9.94880378e-01 7.24237345e-02 -7.04828735e-02 -1.59523588e+01] [-7.23793844e-02 9.97372083e-01 3.18632792e-03 1.23966420e+00] [ 7.05284161e-02 1.93149187e-03 9.97507901e-01 -7.82152919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.60534707 meters 0.019111558492510262 Centerline is valid? [True, True] Translation: X:-15.98, Y:1.24, Z:-0.79 [[ 9.95290716e-01 6.54633985e-02 -7.14908016e-02 -1.59837532e+01] [-6.54002789e-02 9.97853896e-01 3.22582543e-03 1.24030932e+00] [ 7.15485484e-02 1.46488427e-03 9.97436043e-01 -7.87844399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.63534707 meters 0.018675302505419277 Centerline is valid? [True, True] Translation: X:-16.02, Y:1.24, Z:-0.79 [[ 9.95578320e-01 5.97620557e-02 -7.24727964e-02 -1.60153421e+01] [-5.96823670e-02 9.98212074e-01 3.26653467e-03 1.23897119e+00] [ 7.25384352e-02 1.07325693e-03 9.97365040e-01 -7.88260590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.665347070000003 meters 0.015724579873237172 Centerline is valid? [True, True] Translation: X:-16.05, Y:1.24, Z:-0.79 [[ 9.95784977e-01 5.55809843e-02 -7.29591255e-02 -1.60463092e+01] [-5.54893639e-02 9.98453879e-01 3.28367948e-03 1.23885824e+00] [ 7.30288320e-02 7.78616765e-04 9.97329526e-01 -7.90680956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.69534707 meters 0.01528831929555782 Centerline is valid? [True, True] Translation: X:-16.08, Y:1.24, Z:-0.79 [[ 9.95947052e-01 5.25000872e-02 -7.30288270e-02 -1.60769589e+01] [-5.24003484e-02 9.98620764e-01 3.28232961e-03 1.23976936e+00] [ 7.31004256e-02 5.57709479e-04 9.97324429e-01 -7.92944435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.72534707 meters 0.016290459924401566 Centerline is valid? [True, True] Translation: X:-16.11, Y:1.24, Z:-0.79 [[ 9.96084591e-01 4.95776394e-02 -7.31952582e-02 -1.61087076e+01] [-4.94698844e-02 9.98770212e-01 3.28545686e-03 1.24366986e+00] [ 7.32681287e-02 3.48368009e-04 9.97312218e-01 -7.94335946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755347070000003 meters 0.016474689161189267 Centerline is valid? [True, True] Translation: X:-16.14, Y:1.25, Z:-0.80 [[ 9.96207540e-01 4.67756969e-02 -7.33660094e-02 -1.61409063e+01] [-4.66603479e-02 9.98905407e-01 3.28634685e-03 1.24657485e+00] [ 7.34394247e-02 1.49400009e-04 9.97299668e-01 -7.96174053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.78534707 meters 0.015037366833213883 Centerline is valid? [True, True] Translation: X:-16.17, Y:1.25, Z:-0.80 [[ 9.96242865e-01 4.54356578e-02 -7.37275660e-02 -1.61714221e+01] [-4.53159533e-02 9.98967266e-01 3.29645551e-03 1.25036064e+00] [ 7.38012017e-02 5.69646515e-05 9.97272971e-01 -7.99164408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.81534707 meters 0.0162863341424054 Centerline is valid? [True, True] Translation: X:-16.20, Y:1.25, Z:-0.80 [[ 9.96383854e-01 4.26388396e-02 -7.34924754e-02 -1.62023215e+01] [-4.25126326e-02 9.99090541e-01 3.28143275e-03 1.25298562e+00] [ 7.35655535e-02 -1.45208010e-04 9.97290373e-01 -7.98792521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.845347070000003 meters 0.01615186592188613 Centerline is valid? [True, True] Translation: X:-16.23, Y:1.26, Z:-0.80 [[ 9.96450396e-01 3.91930497e-02 -7.45017642e-02 -1.62328347e+01] [-3.90540436e-02 9.99231577e-01 3.32227957e-03 1.25672358e+00] [ 7.45747256e-02 -4.00891647e-04 9.97215348e-01 -8.01445167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875347070000004 meters 0.015725534811639613 Centerline is valid? [True, True] Translation: X:-16.26, Y:1.26, Z:-0.80 [[ 9.96502638e-01 3.77029180e-02 -7.45720016e-02 -1.62621799e+01] [-3.75597413e-02 9.99288862e-01 3.32195462e-03 1.25920975e+00] [ 7.46442180e-02 -5.09431453e-04 9.97210099e-01 -8.03213064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.90534707 meters 0.016075250218255392 Centerline is valid? [True, True] Translation: X:-16.29, Y:1.26, Z:-0.81 [[ 9.96556505e-01 3.55260172e-02 -7.49201895e-02 -1.62903131e+01] [-3.53746405e-02 9.99368517e-01 3.34696299e-03 1.26234471e+00] [ 7.49917829e-02 -6.85162976e-04 9.97183916e-01 -8.07913394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935347070000002 meters 0.01694050715594874 Centerline is valid? [True, True] Translation: X:-16.32, Y:1.27, Z:-0.81 [[ 9.96585033e-01 3.24479083e-02 -7.59302610e-02 -1.63186752e+01] [-3.22816121e-02 9.99472973e-01 3.41676487e-03 1.26535788e+00] [ 7.60011106e-02 -9.53945495e-04 9.97107277e-01 -8.08851878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.965347070000004 meters 0.017783417073883027 Centerline is valid? [True, True] Translation: X:-16.35, Y:1.27, Z:-0.81 [[ 9.96681587e-01 2.98514360e-02 -7.57278377e-02 -1.63473154e+01] [-2.96767403e-02 9.99553659e-01 3.43138622e-03 1.26634774e+00] [ 7.57964691e-02 -1.17264408e-03 9.97122620e-01 -8.10832107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.99534707 meters 0.017982189154121034 Centerline is valid? [True, True] Translation: X:-16.37, Y:1.27, Z:-0.81 [[ 9.96684646e-01 2.64674159e-02 -7.69362898e-02 -1.63747279e+01] [-2.62753995e-02 9.99648590e-01 3.50715917e-03 1.27067746e+00] [ 7.70020791e-02 -1.47399995e-03 9.97029843e-01 -8.09564610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025347070000002 meters 0.019175969175384368 Centerline is valid? [True, True] Translation: X:-16.40, Y:1.27, Z:-0.81 [[ 9.96749598e-01 2.59184311e-02 -7.62789248e-02 -1.64021574e+01] [-2.57267306e-02 9.99662904e-01 3.49488147e-03 1.26978702e+00] [ 7.63437933e-02 -1.52111436e-03 9.97080394e-01 -8.12957838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055347070000003 meters 0.019208835965380977 Centerline is valid? [True, True] Translation: X:-16.43, Y:1.27, Z:-0.81 [[ 9.96725064e-01 2.57437675e-02 -7.66577113e-02 -1.64303575e+01] [-2.55475137e-02 9.99667342e-01 3.53984452e-03 1.27261689e+00] [ 7.67233395e-02 -1.56983783e-03 9.97051185e-01 -8.12631200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.08534707 meters 0.021066923290296503 Centerline is valid? [True, True] Translation: X:-16.46, Y:1.27, Z:-0.81 [[ 9.96810997e-01 2.38011478e-02 -7.61665430e-02 -1.64586982e+01] [-2.35999852e-02 9.99715213e-01 3.54019988e-03 1.27357633e+00] [ 7.62291126e-02 -1.73138088e-03 9.97088825e-01 -8.11600274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115347070000002 meters 0.01999087530254431 Centerline is valid? [True, True] Translation: X:-16.49, Y:1.28, Z:-0.81 [[ 9.96775410e-01 2.25425473e-02 -7.70104930e-02 -1.64861767e+01] [-2.23316644e-02 9.99744141e-01 3.59854348e-03 1.27676936e+00] [ 7.70719095e-02 -1.86716716e-03 9.97023788e-01 -8.14732452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.145347070000003 meters 0.022145207206885315 Centerline is valid? [True, True] Translation: X:-16.51, Y:1.28, Z:-0.82 [[ 9.96796902e-01 2.16049261e-02 -7.70010565e-02 -1.65148898e+01] [-2.13902740e-02 9.99764679e-01 3.61142095e-03 1.27513153e+00] [ 7.70609611e-02 -1.95277952e-03 9.97024471e-01 -8.15726992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.17534707 meters 0.02130654247319427 Centerline is valid? [True, True] Translation: X:-16.54, Y:1.28, Z:-0.82 [[ 9.96743796e-01 2.09867071e-02 -7.78547552e-02 -1.65422334e+01] [-2.07638466e-02 9.99777668e-01 3.67101238e-03 1.28001404e+00] [ 7.79144881e-02 -2.04249462e-03 9.96957953e-01 -8.15921633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.205347070000002 meters 0.022787098585175306 Centerline is valid? [True, True] Translation: X:-16.57, Y:1.28, Z:-0.82 [[ 9.96688828e-01 1.95043056e-02 -7.89364407e-02 -1.65705809e+01] [-1.92694590e-02 9.99807347e-01 3.73583585e-03 1.28027734e+00] [ 7.89940983e-02 -2.20240335e-03 9.96872651e-01 -8.19824947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235347070000003 meters 0.021890395408163878 Centerline is valid? [True, True] Translation: X:-16.60, Y:1.28, Z:-0.82 [[ 9.96704829e-01 1.93712917e-02 -7.87669813e-02 -1.65971158e+01] [-1.91354256e-02 9.99809875e-01 3.74824024e-03 1.28482419e+00] [ 7.88246139e-02 -2.22864943e-03 9.96886008e-01 -8.17855954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.26534707 meters 0.021701448829236237 Centerline is valid? [True, True] Translation: X:-16.62, Y:1.29, Z:-0.82 [[ 9.96623690e-01 1.79170028e-02 -8.01261605e-02 -1.66248420e+01] [-1.76672787e-02 9.99836607e-01 3.82455334e-03 1.28750500e+00] [ 8.01815930e-02 -2.39602926e-03 9.96777393e-01 -8.18541613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295347070000002 meters 0.022536627808188478 Centerline is valid? [True, True] Translation: X:-16.65, Y:1.29, Z:-0.82 [[ 9.96601781e-01 1.97912206e-02 -7.99574787e-02 -1.66539057e+01] [-1.95473760e-02 9.99801591e-01 3.83133784e-03 1.28680703e+00] [ 8.00174413e-02 -2.25535921e-03 9.96790912e-01 -8.20161387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.325347070000003 meters 0.023050919395942674 Centerline is valid? [True, True] Translation: X:-16.68, Y:1.29, Z:-0.82 [[ 9.96592421e-01 1.95181538e-02 -8.01410572e-02 -1.66826530e+01] [-1.92702404e-02 9.99806838e-01 3.86578542e-03 1.28803726e+00] [ 8.02010300e-02 -2.30827501e-03 9.96776036e-01 -8.21659120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.35534707 meters 0.02370657374609942 Centerline is valid? [True, True] Translation: X:-16.71, Y:1.29, Z:-0.83 [[ 9.96518183e-01 2.15500420e-02 -8.05425714e-02 -1.67111746e+01] [-2.13042442e-02 9.99765393e-01 3.90997537e-03 1.28879263e+00] [ 8.06079357e-02 -2.18046295e-03 9.96743501e-01 -8.25504043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.38534707 meters 0.022751247931521088 Centerline is valid? [True, True] Translation: X:-16.74, Y:1.29, Z:-0.82 [[ 9.96369518e-01 2.36768562e-02 -8.17752353e-02 -1.67386401e+01] [-2.34289917e-02 9.99717544e-01 3.98941564e-03 1.29240285e+00] [ 8.18465942e-02 -2.05902083e-03 9.96642812e-01 -8.24207379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415347070000003 meters 0.021921991953678017 Centerline is valid? [True, True] Translation: X:-16.77, Y:1.29, Z:-0.82 [[ 9.96431822e-01 2.64951746e-02 -8.01350673e-02 -1.67683605e+01] [-2.62657349e-02 9.99647326e-01 3.91609239e-03 1.29395168e+00] [ 8.02105632e-02 -1.79731265e-03 9.96776322e-01 -8.21936733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.44534707 meters 0.021249765606015103 Centerline is valid? [True, True] Translation: X:-16.80, Y:1.30, Z:-0.82 [[ 9.96209077e-01 2.61156913e-02 -8.29785821e-02 -1.67956904e+01] [-2.58678426e-02 9.99657124e-01 4.06077282e-03 1.29781181e+00] [ 8.30561806e-02 -1.89890184e-03 9.96543057e-01 -8.23429561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.47534707 meters 0.020716321561905417 Centerline is valid? [True, True] Translation: X:-16.83, Y:1.30, Z:-0.82 [[ 9.96228732e-01 2.93538183e-02 -8.16496562e-02 -1.68250856e+01] [-2.91240731e-02 9.99567786e-01 4.00360242e-03 1.29819128e+00] [ 8.17318871e-02 -1.61053320e-03 9.96653051e-01 -8.19184108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.505347070000003 meters 0.020568911082871136 Centerline is valid? [True, True] Translation: X:-16.85, Y:1.30, Z:-0.82 [[ 9.96189168e-01 3.17208704e-02 -8.12461001e-02 -1.68533606e+01] [-3.15006974e-02 9.99495763e-01 3.99061612e-03 1.29947224e+00] [ 8.13317186e-02 -1.41609974e-03 9.96686082e-01 -8.20371470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535347070000004 meters 0.020206178128864164 Centerline is valid? [True, True] Translation: X:-16.88, Y:1.30, Z:-0.82 [[ 9.96188519e-01 3.50726838e-02 -7.98645222e-02 -1.68819109e+01] [-3.48699910e-02 9.99384123e-01 3.93164122e-03 1.29887293e+00] [ 7.99532287e-02 -1.13178067e-03 9.96797974e-01 -8.18719483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.56534707 meters 0.02003678168800577 Centerline is valid? [True, True] Translation: X:-16.91, Y:1.30, Z:-0.82 [[ 9.96171081e-01 3.67909919e-02 -7.93070005e-02 -1.69103984e+01] [-3.65954981e-02 9.99322482e-01 3.91754040e-03 1.29958662e+00] [ 7.93973988e-02 -1.00026127e-03 9.96842542e-01 -8.19601226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595347070000003 meters 0.01908448689843793 Centerline is valid? [True, True] Translation: X:-16.94, Y:1.30, Z:-0.82 [[ 9.96132594e-01 4.00552712e-02 -7.82012137e-02 -1.69391815e+01] [-3.98735007e-02 9.99197183e-01 3.88511245e-03 1.29924078e+00] [ 7.82940517e-02 -7.51930996e-04 9.96930026e-01 -8.15009097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.625347070000004 meters 0.01759912977270816 Centerline is valid? [True, True] Translation: X:-16.97, Y:1.30, Z:-0.81 [[ 9.95959932e-01 4.19737954e-02 -7.93852261e-02 -1.69673973e+01] [-4.17910896e-02 9.99118514e-01 3.96226537e-03 1.30044703e+00] [ 7.94815604e-02 -6.28662449e-04 9.96836138e-01 -8.10045642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.65534707 meters 0.01769085525529692 Centerline is valid? [True, True] Translation: X:-17.00, Y:1.30, Z:-0.81 [[ 9.96017715e-01 4.30308813e-02 -7.80836326e-02 -1.69962269e+01] [-4.28563084e-02 9.99073592e-01 3.91086785e-03 1.29837868e+00] [ 7.81795833e-02 -5.48917428e-04 9.96939141e-01 -8.08871481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.685347070000002 meters 0.016912744677739157 Centerline is valid? [True, True] Translation: X:-17.02, Y:1.30, Z:-0.80 [[ 9.95976283e-01 4.46456860e-02 -7.77046069e-02 -1.70239264e+01] [-4.44762004e-02 9.99002788e-01 3.91127466e-03 1.29771247e+00] [ 7.78017405e-02 -4.39531131e-04 9.96968754e-01 -8.04559704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715347070000004 meters 0.016913535411460193 Centerline is valid? [True, True] Translation: X:-17.05, Y:1.30, Z:-0.81 [[ 9.96019513e-01 4.63835869e-02 -7.61163161e-02 -1.70524932e+01] [-4.62250339e-02 9.98923654e-01 3.84446383e-03 1.29637904e+00] [ 7.62127087e-02 -3.10681698e-04 9.97091534e-01 -8.05867040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.74534707 meters 0.01695260476379255 Centerline is valid? [True, True] Translation: X:-17.08, Y:1.30, Z:-0.81 [[ 9.95849789e-01 4.70412556e-02 -7.79122462e-02 -1.70821094e+01] [-4.68757278e-02 9.98892907e-01 3.95307404e-03 1.29672233e+00] [ 7.80119476e-02 -2.84474710e-04 9.96952384e-01 -8.08355618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775347070000002 meters 0.017089593691195313 Centerline is valid? [True, True] Translation: X:-17.11, Y:1.30, Z:-0.81 [[ 9.96032794e-01 4.74825677e-02 -7.52600821e-02 -1.71123705e+01] [-4.73293084e-02 9.98872037e-01 3.81963252e-03 1.29586600e+00] [ 7.53565575e-02 -2.42471612e-04 9.97156623e-01 -8.08260850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805347070000003 meters 0.016847115883393264 Centerline is valid? [True, True] Translation: X:-17.14, Y:1.30, Z:-0.81 [[ 9.95968404e-01 4.77988447e-02 -7.59092115e-02 -1.71418343e+01] [-4.76438057e-02 9.98856958e-01 3.85306946e-03 1.29665414e+00] [ 7.60066163e-02 -2.20931717e-04 9.97107289e-01 -8.07595304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.83534707 meters 0.01771285140127364 Centerline is valid? [True, True] Translation: X:-17.17, Y:1.30, Z:-0.81 [[ 9.96082199e-01 4.84591603e-02 -7.39727188e-02 -1.71725026e+01] [-4.83136767e-02 9.98825151e-01 3.75590857e-03 1.29612337e+00] [ 7.40678202e-02 -1.67299645e-04 9.97253193e-01 -8.08953082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865347070000002 meters 0.01735200113269862 Centerline is valid? [True, True] Translation: X:-17.20, Y:1.30, Z:-0.81 [[ 9.96092050e-01 4.74265491e-02 -7.45073789e-02 -1.72028787e+01] [-4.72760999e-02 9.98874698e-01 3.78261405e-03 1.29526989e+00] [ 7.46029320e-02 -2.45413493e-04 9.97213288e-01 -8.10852987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895347070000003 meters 0.017337392080558803 Centerline is valid? [True, True] Translation: X:-17.23, Y:1.30, Z:-0.81 [[ 9.96081322e-01 4.71731851e-02 -7.48110340e-02 -1.72326693e+01] [-4.70208405e-02 9.98886691e-01 3.79737802e-03 1.29504491e+00] [ 7.49068806e-02 -2.64819618e-04 9.97190498e-01 -8.11814722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.92534707 meters 0.017116936152388733 Centerline is valid? [True, True] Translation: X:-17.26, Y:1.29, Z:-0.81 [[ 9.96068033e-01 4.75390221e-02 -7.47563680e-02 -1.72621151e+01] [-4.73878053e-02 9.98869353e-01 3.79625456e-03 1.29410902e+00] [ 7.48523152e-02 -2.38787597e-04 9.97194602e-01 -8.10337602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955347070000002 meters 0.017588385468093208 Centerline is valid? [True, True] Translation: X:-17.29, Y:1.29, Z:-0.81 [[ 9.96220656e-01 4.58007311e-02 -7.38017462e-02 -1.72923544e+01] [-4.56485034e-02 9.98950529e-01 3.74899760e-03 1.29321375e+00] [ 7.38960003e-02 -3.65889582e-04 9.97265886e-01 -8.12789255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.985347070000003 meters 0.01795194414178568 Centerline is valid? [True, True] Translation: X:-17.32, Y:1.29, Z:-0.81 [[ 9.96318301e-01 4.55215954e-02 -7.26472844e-02 -1.73226109e+01] [-4.53732963e-02 9.98963282e-01 3.69121773e-03 1.29107195e+00] [ 7.27399998e-02 -3.81381023e-04 9.97350865e-01 -8.13380514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.01534707 meters 0.017941989963744832 Centerline is valid? [True, True] Translation: X:-17.35, Y:1.29, Z:-0.81 [[ 9.96382323e-01 4.49710811e-02 -7.21101187e-02 -1.73522489e+01] [-4.48233636e-02 9.98988201e-01 3.66622883e-03 1.29103194e+00] [ 7.22020320e-02 -4.20747518e-04 9.97389939e-01 -8.12792335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.045347070000002 meters 0.017528794875408 Centerline is valid? [True, True] Translation: X:-17.38, Y:1.29, Z:-0.81 [[ 9.96369928e-01 4.47175035e-02 -7.24383224e-02 -1.73824083e+01] [-4.45677177e-02 9.98999574e-01 3.68359196e-03 1.29008535e+00] [ 7.25305743e-02 -4.41809550e-04 9.97366092e-01 -8.14580296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075347070000003 meters 0.017838814940864738 Centerline is valid? [True, True] Translation: X:-17.41, Y:1.29, Z:-0.82 [[ 9.96478077e-01 4.25929400e-02 -7.22307673e-02 -1.74114125e+01] [-4.24381692e-02 9.99092330e-01 3.67674995e-03 1.28921027e+00] [ 7.23218091e-02 -5.98459197e-04 9.97381170e-01 -8.15569324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.10534707 meters 0.019209564582745215 Centerline is valid? [True, True] Translation: X:-17.44, Y:1.29, Z:-0.81 [[ 9.96528278e-01 4.28761565e-02 -7.13654371e-02 -1.74407518e+01] [-4.27251288e-02 9.99080226e-01 3.64211464e-03 1.28784226e+00] [ 7.14559569e-02 -5.80372741e-04 9.97443587e-01 -8.14046876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.13534707 meters 0.019209564582745215 Centerline is valid? [True, True] Translation: X:-17.47, Y:1.29, Z:-0.82 [[ 9.96514914e-01 4.31875766e-02 -7.13642675e-02 -1.74688437e+01] [-4.30357142e-02 9.99066812e-01 3.66490691e-03 1.28909791e+00] [ 7.14559497e-02 -5.80922177e-04 9.97443587e-01 -8.15560318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.165347070000003 meters 0.018914115407186287 Centerline is valid? [True, True] Translation: X:-17.50, Y:1.29, Z:-0.82 [[ 9.96664562e-01 4.06127399e-02 -7.07838709e-02 -1.74974196e+01] [-4.04552957e-02 9.99174657e-01 3.65705951e-03 1.28715210e+00] [ 7.08739731e-02 -7.81279180e-04 9.97484972e-01 -8.20529396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.19534707 meters 0.01908176760431491 Centerline is valid? [True, True] Translation: X:-17.53, Y:1.29, Z:-0.82 [[ 9.96708402e-01 3.92684907e-02 -7.09249414e-02 -1.75254145e+01] [-3.91056966e-02 9.99228293e-01 3.68291532e-03 1.28660520e+00] [ 7.10148307e-02 -8.97223409e-04 9.97474856e-01 -8.19554225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.22534707 meters 0.01940678257552161 Centerline is valid? [True, True] Translation: X:-17.55, Y:1.28, Z:-0.82 [[ 9.96845195e-01 3.81091549e-02 -6.96229061e-02 -1.75535862e+01] [-3.79486569e-02 9.99273108e-01 3.62692903e-03 1.28488847e+00] [ 6.97105170e-02 -9.73390996e-04 9.97566788e-01 -8.21036519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255347070000003 meters 0.019411882481851574 Centerline is valid? [True, True] Translation: X:-17.58, Y:1.29, Z:-0.82 [[ 9.96904922e-01 3.83715991e-02 -6.86162952e-02 -1.75823504e+01] [-3.82147139e-02 9.99263073e-01 3.59806130e-03 1.28575468e+00] [ 6.87037934e-02 -9.64772932e-04 9.97636636e-01 -8.20776600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.285347070000004 meters 0.019880296796561676 Centerline is valid? [True, True] Translation: X:-17.61, Y:1.29, Z:-0.82 [[ 9.96863584e-01 3.76939723e-02 -6.95856261e-02 -1.76109094e+01] [-3.75294476e-02 9.99288781e-01 3.67064389e-03 1.28711046e+00] [ 6.96744966e-02 -1.04762112e-03 9.97569229e-01 -8.22258470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.31534707 meters 0.01950684264579661 Centerline is valid? [True, True] Translation: X:-17.64, Y:1.29, Z:-0.82 [[ 9.96992449e-01 3.79402179e-02 -6.75766024e-02 -1.76399846e+01] [-3.77842464e-02 9.99279489e-01 3.58516414e-03 1.28734392e+00] [ 6.76639346e-02 -1.02105058e-03 9.97707647e-01 -8.22914560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.345347070000003 meters 0.01942510393915522 Centerline is valid? [True, True] Translation: X:-17.67, Y:1.29, Z:-0.82 [[ 9.96930379e-01 3.92867528e-02 -6.77227511e-02 -1.76689142e+01] [-3.91317763e-02 9.99227523e-01 3.61397244e-03 1.28915262e+00] [ 6.78124181e-02 -9.52767370e-04 9.97697634e-01 -8.22475949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375347070000004 meters 0.020481039954630485 Centerline is valid? [True, True] Translation: X:-17.70, Y:1.29, Z:-0.83 [[ 9.97140813e-01 3.56146059e-02 -6.66468230e-02 -1.76978959e+01] [-3.54549764e-02 9.99364874e-01 3.57679826e-03 1.28780308e+00] [ 6.67318801e-02 -1.20361000e-03 9.97770218e-01 -8.25294476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.40534707 meters 0.019785123499108267 Centerline is valid? [True, True] Translation: X:-17.73, Y:1.29, Z:-0.82 [[ 9.97076580e-01 3.72926816e-02 -6.66899436e-02 -1.77260388e+01] [-3.71354098e-02 9.99303770e-01 3.59679187e-03 1.29093021e+00] [ 6.67776461e-02 -1.10971855e-03 9.97767265e-01 -8.24115766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435347070000002 meters 0.02046107919344435 Centerline is valid? [True, True] Translation: X:-17.75, Y:1.29, Z:-0.83 [[ 9.97257165e-01 3.41198562e-02 -6.56809143e-02 -1.77545191e+01] [-3.39598003e-02 9.99416887e-01 3.55211792e-03 1.28846599e+00] [ 6.57638127e-02 -1.31186431e-03 9.97834355e-01 -8.27467004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.465347070000004 meters 0.019514770947863046 Centerline is valid? [True, True] Translation: X:-17.78, Y:1.29, Z:-0.83 [[ 9.97236708e-01 3.48160340e-02 -6.56261467e-02 -1.77824280e+01] [-3.46565507e-02 9.99392914e-01 3.56737622e-03 1.29153962e+00] [ 6.57105079e-02 -1.28314264e-03 9.97837904e-01 -8.25754534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.49534707 meters 0.020861536455785087 Centerline is valid? [True, True] Translation: X:-17.81, Y:1.29, Z:-0.83 [[ 9.97403307e-01 3.09385551e-02 -6.50342130e-02 -1.78114970e+01] [-3.07730495e-02 9.99520110e-01 3.54531277e-03 1.28858932e+00] [ 6.51126906e-02 -1.53480562e-03 9.97876737e-01 -8.27425880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.525347070000002 meters 0.02171532094321426 Centerline is valid? [True, True] Translation: X:-17.84, Y:1.29, Z:-0.83 [[ 9.97505770e-01 2.76826660e-02 -6.49300350e-02 -1.78397715e+01] [-2.75094137e-02 9.99615202e-01 3.56098455e-03 1.28891612e+00] [ 6.50036276e-02 -1.76591544e-03 9.97883465e-01 -8.29761017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555347070000003 meters 0.02128150486114863 Centerline is valid? [True, True] Translation: X:-17.87, Y:1.29, Z:-0.83 [[ 9.97580415e-01 2.80408417e-02 -6.36162448e-02 -1.78678438e+01] [-2.78741505e-02 9.99605290e-01 3.50644873e-03 1.29116217e+00] [ 6.36894586e-02 -1.72471580e-03 9.97968275e-01 -8.27807390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.58534707 meters 0.024830674272584573 Centerline is valid? [True, True] Translation: X:-17.90, Y:1.28, Z:-0.83 [[ 9.97710553e-01 2.37077472e-02 -6.33371500e-02 -1.78966420e+01] [-2.35333481e-02 9.99716932e-01 3.49820684e-03 1.28426340e+00] [ 6.34021559e-02 -1.99966268e-03 9.97986056e-01 -8.30154859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615347070000002 meters 0.021172113483601963 Centerline is valid? [True, True] Translation: X:-17.92, Y:1.29, Z:-0.83 [[ 9.97722567e-01 2.32167662e-02 -6.33297850e-02 -1.79245196e+01] [-2.30410257e-02 9.99728380e-01 3.50401975e-03 1.29246169e+00] [ 6.33939353e-02 -2.03685638e-03 9.97986503e-01 -8.28426057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.645347070000003 meters 0.024461107316307212 Centerline is valid? [True, True] Translation: X:-17.95, Y:1.29, Z:-0.83 [[ 9.97817144e-01 1.80937300e-02 -6.35103504e-02 -1.79541730e+01] [-1.79061855e-02 9.99833472e-01 3.52096885e-03 1.28822765e+00] [ 6.35634816e-02 -2.37605496e-03 9.97974969e-01 -8.31859669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.67534707 meters 0.026048822632343458 Centerline is valid? [True, True] Translation: X:-17.98, Y:1.29, Z:-0.83 [[ 9.97930797e-01 1.60629244e-02 -6.22583914e-02 -1.79828787e+01] [-1.58784389e-02 9.99867954e-01 3.45688609e-03 1.28710645e+00] [ 6.23056982e-02 -2.46116702e-03 9.98054078e-01 -8.31736852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705347070000002 meters 0.026483742972687126 Centerline is valid? [True, True] Translation: X:-18.01, Y:1.29, Z:-0.83 [[ 9.97947884e-01 1.32339114e-02 -6.26489017e-02 -1.80111741e+01] [-1.30404359e-02 9.99908858e-01 3.49614867e-03 1.28788010e+00] [ 6.26894595e-02 -2.67200518e-03 9.98029505e-01 -8.33679133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735347070000003 meters 0.025463079172904714 Centerline is valid? [True, True] Translation: X:-18.04, Y:1.29, Z:-0.83 [[ 9.98030178e-01 1.33264796e-02 -6.13039112e-02 -1.80391858e+01] [-1.31410739e-02 9.99907781e-01 3.42657210e-03 1.29043177e+00] [ 6.13439220e-02 -2.61422313e-03 9.98113265e-01 -8.31391314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.76534707 meters 0.027077650762077663 Centerline is valid? [True, True] Translation: X:-18.07, Y:1.29, Z:-0.83 [[ 9.98087681e-01 9.96432825e-03 -6.10056774e-02 -1.80682029e+01] [-9.77407553e-03 9.99946397e-01 3.41623540e-03 1.29237320e+00] [ 6.10364478e-02 -2.81342837e-03 9.98131573e-01 -8.28585109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795347070000002 meters 0.027914450661634248 Centerline is valid? [True, True] Translation: X:-18.10, Y:1.29, Z:-0.83 [[ 9.98062028e-01 8.37416361e-03 -6.16608559e-02 -1.80965423e+01] [-8.17645730e-03 9.99960593e-01 3.45798087e-03 1.29007284e+00] [ 6.16873838e-02 -2.94711205e-03 9.98091169e-01 -8.32471234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825347070000003 meters 0.030614564183970162 Centerline is valid? [True, True] Translation: X:-18.13, Y:1.29, Z:-0.83 [[ 9.98078102e-01 7.99237183e-03 -6.14509981e-02 -1.81253425e+01] [-7.79410637e-03 9.99963621e-01 3.46543087e-03 1.28545383e+00] [ 6.14764595e-02 -2.97981505e-03 9.98104086e-01 -8.33782680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.85534707 meters 0.030927935353168408 Centerline is valid? [True, True] Translation: X:-18.15, Y:1.29, Z:-0.83 [[ 9.98081539e-01 6.81621326e-03 -6.15368227e-02 -1.81536815e+01] [-6.61399737e-03 9.99972040e-01 3.48919541e-03 1.28789655e+00] [ 6.15588853e-02 -3.07549714e-03 9.98098715e-01 -8.33196616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.88534707 meters 0.029977681751384263 Centerline is valid? [True, True] Translation: X:-18.18, Y:1.29, Z:-0.84 [[ 9.98061323e-01 4.77125364e-03 -6.20550575e-02 -1.81809694e+01] [-4.56064866e-03 9.99983352e-01 3.53504095e-03 1.29311182e+00] [ 6.20708910e-02 -3.24517633e-03 9.98066467e-01 -8.35437249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915347070000003 meters 0.02897393163819679 Centerline is valid? [True, True] Translation: X:-18.21, Y:1.30, Z:-0.84 [[ 9.98041261e-01 5.13363859e-03 -6.23481051e-02 -1.82082951e+01] [-4.92131257e-03 9.99981558e-01 3.55858307e-03 1.29506459e+00] [ 6.23652238e-02 -3.24477823e-03 9.98048120e-01 -8.35342011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.94534707 meters 0.02789386784897501 Centerline is valid? [True, True] Translation: X:-18.24, Y:1.30, Z:-0.84 [[ 9.98079940e-01 5.44052316e-03 -6.16995448e-02 -1.82359083e+01] [-5.23276207e-03 9.99980084e-01 3.52838831e-03 1.29943227e+00] [ 6.17175123e-02 -3.19875455e-03 9.98088531e-01 -8.35039744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.97534707 meters 0.031352784210911575 Centerline is valid? [True, True] Translation: X:-18.27, Y:1.29, Z:-0.84 [[ 9.98042791e-01 5.34129078e-03 -6.23061680e-02 -1.82652385e+01] [-5.12865658e-03 9.99980468e-01 3.57216218e-03 1.29431836e+00] [ 6.23240310e-02 -3.24562378e-03 9.98050691e-01 -8.38076550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005347070000003 meters 0.03096193518477742 Centerline is valid? [True, True] Translation: X:-18.29, Y:1.30, Z:-0.84 [[ 9.97926153e-01 5.18758352e-03 -6.41598227e-02 -1.82922939e+01] [-4.96054853e-03 9.99980861e-01 3.69737812e-03 1.30035303e+00] [ 6.41777752e-02 -3.37144241e-03 9.97932787e-01 -8.39925473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035347070000004 meters 0.02939503213666615 Centerline is valid? [True, True] Translation: X:-18.32, Y:1.30, Z:-0.84 [[ 9.97934389e-01 6.06185084e-03 -6.39547509e-02 -1.83201285e+01] [-5.83761918e-03 9.99976144e-01 3.69238087e-03 1.30453278e+00] [ 6.39756079e-02 -3.31141037e-03 9.97945969e-01 -8.40248051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.06534707 meters 0.030483966052544054 Centerline is valid? [True, True] Translation: X:-18.35, Y:1.30, Z:-0.84 [[ 9.97949737e-01 6.79858317e-03 -6.36404167e-02 -1.83486732e+01] [-6.57747461e-03 9.99971585e-01 3.68320871e-03 1.30457082e+00] [ 6.36636490e-02 -3.25706394e-03 9.97966097e-01 -8.42579519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095347070000003 meters 0.029571667363704146 Centerline is valid? [True, True] Translation: X:-18.38, Y:1.31, Z:-0.84 [[ 9.97887951e-01 7.08049471e-03 -6.45717009e-02 -1.83751427e+01] [-6.85225113e-03 9.99969471e-01 3.75551064e-03 1.30858499e+00] [ 6.45963205e-02 -3.30511730e-03 9.97906003e-01 -8.43211167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.125347070000004 meters 0.028085601523247985 Centerline is valid? [True, True] Translation: X:-18.40, Y:1.31, Z:-0.84 [[ 9.97832028e-01 9.01655316e-03 -6.51916148e-02 -1.84020395e+01] [-8.78732336e-03 9.99954162e-01 3.80213274e-03 1.31388537e+00] [ 6.52229087e-02 -3.22103002e-03 9.97865521e-01 -8.44340885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.15534707 meters 0.03022680488042655 Centerline is valid? [True, True] Translation: X:-18.43, Y:1.31, Z:-0.85 [[ 9.97767151e-01 9.65465418e-03 -6.60870573e-02 -1.84292620e+01] [-9.41945359e-03 9.99948149e-01 3.86962612e-03 1.31284584e+00] [ 6.61209905e-02 -3.23848186e-03 9.97806357e-01 -8.49740663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185347070000002 meters 0.02915409492061625 Centerline is valid? [True, True] Translation: X:-18.46, Y:1.32, Z:-0.85 [[ 9.97738317e-01 1.09391643e-02 -6.63218337e-02 -1.84565618e+01] [-1.07037409e-02 9.99935092e-01 3.90402121e-03 1.31683875e+00] [ 6.63602357e-02 -3.18529983e-03 9.97790646e-01 -8.49740750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215347070000004 meters 0.027626469626982647 Centerline is valid? [True, True] Translation: X:-18.48, Y:1.32, Z:-0.85 [[ 9.97617342e-01 1.12816060e-02 -6.80614704e-02 -1.84844928e+01] [-1.10339249e-02 9.99931068e-01 4.01392342e-03 1.32158232e+00] [ 6.81020623e-02 -3.25337446e-03 9.97673055e-01 -8.51862646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.24534707 meters 0.027792282714644928 Centerline is valid? [True, True] Translation: X:-18.51, Y:1.32, Z:-0.85 [[ 9.97641306e-01 1.18091324e-02 -6.76193016e-02 -1.85135080e+01] [-1.15651668e-02 9.99925128e-01 3.99826857e-03 1.32365310e+00] [ 6.76614549e-02 -3.20680937e-03 9.97703184e-01 -8.53202995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275347070000002 meters 0.028240503760683055 Centerline is valid? [True, True] Translation: X:-18.54, Y:1.32, Z:-0.86 [[ 9.97571291e-01 1.39317960e-02 -6.82453303e-02 -1.85416780e+01] [-1.36869582e-02 9.99898111e-01 4.05390278e-03 1.32319710e+00] [ 6.82948550e-02 -3.10998604e-03 9.97660333e-01 -8.55991728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305347070000003 meters 0.028554912736596636 Centerline is valid? [True, True] Translation: X:-18.57, Y:1.32, Z:-0.86 [[ 9.97532147e-01 1.38571021e-02 -6.88302056e-02 -1.85706433e+01] [-1.36071276e-02 9.99899016e-01 4.09929753e-03 1.32486782e+00] [ 6.88800592e-02 -3.15259967e-03 9.97619967e-01 -8.57187171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.33534707 meters 0.02688987870370196 Centerline is valid? [True, True] Translation: X:-18.60, Y:1.33, Z:-0.86 [[ 9.97445370e-01 1.48550844e-02 -6.98717434e-02 -1.85982045e+01] [-1.45986450e-02 9.99884700e-01 4.17938223e-03 1.32970337e+00] [ 6.99257722e-02 -3.14867268e-03 9.97547228e-01 -8.58136352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365347070000002 meters 0.02603080459148708 Centerline is valid? [True, True] Translation: X:-18.63, Y:1.33, Z:-0.86 [[ 9.97398149e-01 1.64495613e-02 -7.01879205e-02 -1.86255125e+01] [-1.61941811e-02 9.99860019e-01 4.20602819e-03 1.33278496e+00] [ 7.02472829e-02 -3.05844883e-03 9.97524920e-01 -8.58885241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395347070000003 meters 0.025544498530398047 Centerline is valid? [True, True] Translation: X:-18.65, Y:1.33, Z:-0.86 [[ 9.97284920e-01 2.06327196e-02 -7.06900288e-02 -1.86546485e+01] [-2.03836352e-02 9.99783228e-01 4.24324428e-03 1.33434962e+00] [ 7.07622548e-02 -2.79080377e-03 9.97489306e-01 -8.62580611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.42534707 meters 0.024649793421275795 Centerline is valid? [True, True] Translation: X:-18.68, Y:1.34, Z:-0.86 [[ 9.97215457e-01 2.33280147e-02 -7.08317428e-02 -1.86830461e+01] [-2.30840713e-02 9.99724448e-01 4.26071515e-03 1.33801099e+00] [ 7.09116190e-02 -2.61376600e-03 9.97479178e-01 -8.63481152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455347070000002 meters 0.023420314118076522 Centerline is valid? [True, True] Translation: X:-18.71, Y:1.34, Z:-0.87 [[ 9.97107721e-01 2.64432938e-02 -7.12526842e-02 -1.87098977e+01] [-2.62030327e-02 9.99647373e-01 4.30472170e-03 1.34306376e+00] [ 7.13413896e-02 -2.42523483e-03 9.97449008e-01 -8.65727529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485347070000003 meters 0.02174380814740788 Centerline is valid? [True, True] Translation: X:-18.74, Y:1.35, Z:-0.87 [[ 9.96909739e-01 3.12359968e-02 -7.20783177e-02 -1.87392629e+01] [-3.10020490e-02 9.99509801e-01 4.36248099e-03 1.34891703e+00] [ 7.21792514e-02 -2.11442426e-03 9.97389435e-01 -8.66516944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.51534707 meters 0.02074281428191588 Centerline is valid? [True, True] Translation: X:-18.77, Y:1.36, Z:-0.86 [[ 9.96885175e-01 3.45498576e-02 -7.08960868e-02 -1.87680074e+01] [-3.43316476e-02 9.99401269e-01 4.29446834e-03 1.35535737e+00] [ 7.10020124e-02 -1.84711235e-03 9.97474462e-01 -8.62747312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545347070000002 meters 0.019815664261264503 Centerline is valid? [True, True] Translation: X:-18.80, Y:1.36, Z:-0.87 [[ 9.96737566e-01 3.67318758e-02 -7.18678865e-02 -1.87958734e+01] [-3.65128669e-02 9.99323675e-01 4.35920715e-03 1.35598334e+00] [ 7.19794023e-02 -1.72088295e-03 9.97404634e-01 -8.70664553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575347070000003 meters 0.01964579466502217 Centerline is valid? [True, True] Translation: X:-18.82, Y:1.36, Z:-0.87 [[ 9.96663016e-01 3.77861226e-02 -7.23535807e-02 -1.88240861e+01] [-3.75663027e-02 9.99284464e-01 4.39702686e-03 1.35825301e+00] [ 7.24679556e-02 -1.66429754e-03 9.97369353e-01 -8.70828129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.60534707 meters 0.020059608322834606 Centerline is valid? [True, True] Translation: X:-18.85, Y:1.36, Z:-0.87 [[ 9.96633245e-01 3.84340912e-02 -7.24223487e-02 -1.88514268e+01] [-3.82146261e-02 9.99259805e-01 4.41404802e-03 1.35713107e+00] [ 7.25383920e-02 -1.63159402e-03 9.97364286e-01 -8.74832471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.63534707 meters 0.019333763227809674 Centerline is valid? [True, True] Translation: X:-18.88, Y:1.36, Z:-0.88 [[ 9.96631311e-01 4.06026420e-02 -7.12562674e-02 -1.88805462e+01] [-4.03940063e-02 9.99174285e-01 4.36711626e-03 1.35778097e+00] [ 7.13747466e-02 -1.47407868e-03 9.97448481e-01 -8.75145399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.665347070000003 meters 0.020200394872612396 Centerline is valid? [True, True] Translation: X:-18.91, Y:1.36, Z:-0.88 [[ 9.96721513e-01 3.86423713e-02 -7.10844003e-02 -1.89087447e+01] [-3.84284954e-02 9.99251778e-01 4.37437992e-03 1.35581532e+00] [ 7.12002498e-02 -1.62837203e-03 9.97460712e-01 -8.75296127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695347070000004 meters 0.019814728869735575 Centerline is valid? [True, True] Translation: X:-18.94, Y:1.35, Z:-0.88 [[ 9.96679503e-01 3.75534199e-02 -7.22475469e-02 -1.89369985e+01] [-3.73290494e-02 9.99293103e-01 4.45378592e-03 1.35479170e+00] [ 7.23637303e-02 -1.74206489e-03 9.97376787e-01 -8.75650986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.72534707 meters 0.021161229979698888 Centerline is valid? [True, True] Translation: X:-18.97, Y:1.35, Z:-0.88 [[ 9.96816441e-01 3.36360055e-02 -7.22883255e-02 -1.89663350e+01] [-3.34002752e-02 9.99432070e-01 4.46765185e-03 1.35060054e+00] [ 7.23975447e-02 -2.03897885e-03 9.97373771e-01 -8.79955695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755347070000003 meters 0.022303026446368786 Centerline is valid? [True, True] Translation: X:-18.99, Y:1.35, Z:-0.88 [[ 9.96920707e-01 3.14731591e-02 -7.18230069e-02 -1.89948341e+01] [-3.12333395e-02 9.99502170e-01 4.45996269e-03 1.34766105e+00] [ 7.19276204e-02 -2.20295680e-03 9.97407421e-01 -8.81029993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.785347070000004 meters 0.022775772004776464 Centerline is valid? [True, True] Translation: X:-19.02, Y:1.35, Z:-0.88 [[ 9.97019399e-01 2.93468985e-02 -7.13517891e-02 -1.90239731e+01] [-2.91031994e-02 9.99566494e-01 4.45289659e-03 1.34512342e+00] [ 7.14515363e-02 -2.36305894e-03 9.97441273e-01 -8.82399980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.81534707 meters 0.024785721107466546 Centerline is valid? [True, True] Translation: X:-19.05, Y:1.34, Z:-0.88 [[ 9.97147264e-01 2.49213083e-02 -7.12478945e-02 -1.90545555e+01] [-2.46657879e-02 9.99685786e-01 4.46405823e-03 1.34046704e+00] [ 7.13367576e-02 -2.69393799e-03 9.97448650e-01 -8.82464831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845347070000003 meters 0.02520768136702842 Centerline is valid? [True, True] Translation: X:-19.08, Y:1.34, Z:-0.88 [[ 9.97198427e-01 2.20092607e-02 -7.14904897e-02 -1.90825028e+01] [-2.17441444e-02 9.99753510e-01 4.48463863e-03 1.33764731e+00] [ 7.15715716e-02 -2.91757505e-03 9.97431200e-01 -8.83025574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875347070000004 meters 0.027477968831758737 Centerline is valid? [True, True] Translation: X:-19.11, Y:1.33, Z:-0.89 [[ 9.97288903e-01 1.98256003e-02 -7.08645921e-02 -1.91117475e+01] [-1.95588122e-02 9.99798775e-01 4.45673252e-03 1.33051634e+00] [ 7.09386898e-02 -3.05862264e-03 9.97475988e-01 -8.87276937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.90534707 meters 0.027209466228740743 Centerline is valid? [True, True] Translation: X:-19.14, Y:1.33, Z:-0.89 [[ 9.97295112e-01 1.73502905e-02 -7.14242780e-02 -1.91396765e+01] [-1.70716008e-02 9.99844096e-01 4.51053232e-03 1.32951453e+00] [ 7.14914017e-02 -3.27900507e-03 9.97435826e-01 -8.87712578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935347070000002 meters 0.026694493350145235 Centerline is valid? [True, True] Translation: X:-19.17, Y:1.33, Z:-0.89 [[ 9.97261098e-01 1.74052071e-02 -7.18843612e-02 -1.91671180e+01] [-1.71224703e-02 9.99843058e-01 4.54760956e-03 1.33023038e+00] [ 7.19522316e-02 -3.30431626e-03 9.97402606e-01 -8.89155448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.965347070000004 meters 0.029177627124477256 Centerline is valid? [True, True] Translation: X:-19.20, Y:1.33, Z:-0.89 [[ 9.97239906e-01 1.85922222e-02 -7.18811452e-02 -1.91962129e+01] [-1.83117221e-02 9.99821931e-01 4.55935264e-03 1.32613680e+00] [ 7.19531139e-02 -3.23050084e-03 9.97402784e-01 -8.94789405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.99534707 meters 0.025211113255571592 Centerline is valid? [True, True] Translation: X:-19.22, Y:1.33, Z:-0.89 [[ 9.97184469e-01 2.16659862e-02 -7.17894194e-02 -1.92244914e+01] [-2.13928238e-02 9.99760694e-01 4.57183956e-03 1.33399881e+00] [ 7.18712932e-02 -3.02318900e-03 9.97409333e-01 -8.91541149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025347070000002 meters 0.025211113255571592 Centerline is valid? [True, True] Translation: X:-19.25, Y:1.34, Z:-0.89 [[ 9.97176496e-01 2.20320502e-02 -7.17887537e-02 -1.92517475e+01] [-2.17590843e-02 9.99752742e-01 4.58226497e-03 1.33551294e+00] [ 7.18719601e-02 -3.00726938e-03 9.97409333e-01 -8.93003310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055347070000003 meters 0.024607967206039992 Centerline is valid? [True, True] Translation: X:-19.28, Y:1.34, Z:-0.89 [[ 9.97147904e-01 2.42500887e-02 -7.14702062e-02 -1.92805322e+01] [-2.39834026e-02 9.99701832e-01 4.58734419e-03 1.33832347e+00] [ 7.15601396e-02 -2.86016192e-03 9.97432186e-01 -8.93826647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.08534707 meters 0.02497928770530432 Centerline is valid? [True, True] Translation: X:-19.31, Y:1.34, Z:-0.90 [[ 9.97104577e-01 2.55592649e-02 -7.16183453e-02 -1.93090533e+01] [-2.52931744e-02 9.99669401e-01 4.61997609e-03 1.33959984e+00] [ 7.17127515e-02 -2.79514400e-03 9.97421410e-01 -8.96883766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115347070000002 meters 0.023698149213539448 Centerline is valid? [True, True] Translation: X:-19.34, Y:1.34, Z:-0.90 [[ 9.96993924e-01 2.57993439e-02 -7.30582615e-02 -1.93366245e+01] [-2.55216090e-02 9.99663068e-01 4.73269128e-03 1.34371659e+00] [ 7.31557461e-02 -2.85390006e-03 9.97316445e-01 -8.96748784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.145347070000003 meters 0.025681480826126597 Centerline is valid? [True, True] Translation: X:-19.37, Y:1.34, Z:-0.90 [[ 9.97039388e-01 2.73948173e-02 -7.18469454e-02 -1.93653527e+01] [-2.71294886e-02 9.99621036e-01 4.66640520e-03 1.34011110e+00] [ 7.19475533e-02 -2.70341890e-03 9.97404753e-01 -9.00500230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.17534707 meters 0.024101946571178926 Centerline is valid? [True, True] Translation: X:-19.39, Y:1.35, Z:-0.90 [[ 9.97039015e-01 2.82985310e-02 -7.15010128e-02 -1.93929577e+01] [-2.80366762e-02 9.99596017e-01 4.66341450e-03 1.34536627e+00] [ 7.16040954e-02 -2.64495546e-03 9.97429625e-01 -8.99644435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.205347070000002 meters 0.02412911279375576 Centerline is valid? [True, True] Translation: X:-19.42, Y:1.34, Z:-0.90 [[ 9.97003784e-01 2.85282216e-02 -7.18998932e-02 -1.94210308e+01] [-2.82630899e-02 9.99589458e-01 4.70239924e-03 1.34494012e+00] [ 7.20045263e-02 -2.65619670e-03 9.97400768e-01 -9.01484643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235347070000003 meters 0.023356817444485638 Centerline is valid? [True, True] Translation: X:-19.45, Y:1.35, Z:-0.90 [[ 9.96991043e-01 2.84544474e-02 -7.21055112e-02 -1.94489583e+01] [-2.81860175e-02 9.99591468e-01 4.73772209e-03 1.34853289e+00] [ 7.22108631e-02 -2.69109928e-03 9.97385757e-01 -9.04609224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.26534707 meters 0.023553593976663217 Centerline is valid? [True, True] Translation: X:-19.48, Y:1.35, Z:-0.91 [[ 9.97028246e-01 2.99778969e-02 -7.09647904e-02 -1.94780174e+01] [-2.97209175e-02 9.99547305e-01 4.67459679e-03 1.34722622e+00] [ 7.10727995e-02 -2.55156636e-03 9.97467867e-01 -9.07470323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295347070000002 meters 0.02369145369730734 Centerline is valid? [True, True] Translation: X:-19.51, Y:1.35, Z:-0.91 [[ 9.97017697e-01 3.20757144e-02 -7.01915955e-02 -1.95063095e+01] [-3.18279140e-02 9.99482565e-01 4.64619334e-03 1.35133434e+00] [ 7.03043059e-02 -2.39828492e-03 9.97522708e-01 -9.05905950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.325347070000003 meters 0.023718122902819667 Centerline is valid? [True, True] Translation: X:-19.53, Y:1.35, Z:-0.91 [[ 9.96920268e-01 3.03282738e-02 -7.23199551e-02 -1.95344777e+01] [-3.00592155e-02 9.99536565e-01 4.80610752e-03 1.35264714e+00] [ 7.24322004e-02 -2.61742488e-03 9.97369904e-01 -9.11258956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.35534707 meters 0.023540450364961166 Centerline is valid? [True, True] Translation: X:-19.56, Y:1.35, Z:-0.91 [[ 9.96976564e-01 3.17428664e-02 -7.09233521e-02 -1.95632966e+01] [-3.14869574e-02 9.99493001e-01 4.72360854e-03 1.35394344e+00] [ 7.10373349e-02 -2.47616644e-03 9.97470584e-01 -9.13282106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.38534707 meters 0.022246405552124166 Centerline is valid? [True, True] Translation: X:-19.59, Y:1.36, Z:-0.91 [[ 9.96936256e-01 3.10821953e-02 -7.17774265e-02 -1.95909202e+01] [-3.08169726e-02 9.99513520e-01 4.79979732e-03 1.35818487e+00] [ 7.18916965e-02 -2.57312898e-03 9.97409125e-01 -9.14905302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415347070000003 meters 0.02286010113884259 Centerline is valid? [True, True] Translation: X:-19.62, Y:1.36, Z:-0.92 [[ 9.96904278e-01 3.30682501e-02 -7.13326754e-02 -1.96198680e+01] [-3.28104870e-02 9.99450148e-01 4.78255747e-03 1.35640181e+00] [ 7.14516038e-02 -2.42729218e-03 9.97441114e-01 -9.16926175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.445347070000004 meters 0.02286762207366492 Centerline is valid? [True, True] Translation: X:-19.65, Y:1.36, Z:-0.92 [[ 9.96970564e-01 3.30954733e-02 -7.03873914e-02 -1.96477468e+01] [-3.28431790e-02 9.99449282e-01 4.73897889e-03 1.35802715e+00] [ 7.05054666e-02 -2.41287676e-03 9.97508475e-01 -9.19725774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.47534707 meters 0.019948740003439564 Centerline is valid? [True, True] Translation: X:-19.68, Y:1.37, Z:-0.92 [[ 9.96933512e-01 3.41234793e-02 -7.04213105e-02 -1.96755026e+01] [-3.38729143e-02 9.99414863e-01 4.74954143e-03 1.36513299e+00] [ 7.05421753e-02 -2.34960200e-03 9.97506030e-01 -9.20649257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.505347070000003 meters 0.02353426520696464 Centerline is valid? [True, True] Translation: X:-19.70, Y:1.36, Z:-0.92 [[ 9.97095912e-01 3.46169579e-02 -6.78336838e-02 -1.97041979e+01] [-3.43850649e-02 9.99398148e-01 4.58350365e-03 1.35988309e+00] [ 6.79515250e-02 -2.23772713e-03 9.97686114e-01 -9.22661909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535347070000004 meters 0.023738012444600366 Centerline is valid? [True, True] Translation: X:-19.73, Y:1.36, Z:-0.93 [[ 9.96947935e-01 3.52599731e-02 -6.96530665e-02 -1.97327587e+01] [-3.50161595e-02 9.99375606e-01 4.71865974e-03 1.36031840e+00] [ 6.97759554e-02 -2.26527520e-03 9.97560116e-01 -9.29411209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.56534707 meters 0.021096939352420786 Centerline is valid? [True, True] Translation: X:-19.76, Y:1.37, Z:-0.93 [[ 9.96834407e-01 3.73124556e-02 -7.02064507e-02 -1.97602800e+01] [-3.70685107e-02 9.99301319e-01 4.77476439e-03 1.36517188e+00] [ 7.03355571e-02 -2.15720086e-03 9.97521055e-01 -9.30989866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595347070000003 meters 0.021831987916981103 Centerline is valid? [True, True] Translation: X:-19.79, Y:1.37, Z:-0.93 [[ 9.96906154e-01 3.99811794e-02 -6.76729322e-02 -1.97895577e+01] [-3.97602512e-02 9.99198619e-01 4.60893553e-03 1.36841514e+00] [ 6.78029711e-02 -1.90398341e-03 9.97696914e-01 -9.31854636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.625347070000004 meters 0.02000769773767607 Centerline is valid? [True, True] Translation: X:-19.82, Y:1.37, Z:-0.94 [[ 9.96678312e-01 4.14126411e-02 -7.01237131e-02 -1.98164454e+01] [-4.11785557e-02 9.99140364e-01 4.78109250e-03 1.37203988e+00] [ 7.02614299e-02 -1.87761797e-03 9.97526845e-01 -9.36405730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.65534707 meters 0.018901916813905063 Centerline is valid? [True, True] Translation: X:-19.84, Y:1.38, Z:-0.94 [[ 9.96456423e-01 4.45911750e-02 -7.13177722e-02 -1.98447158e+01] [-4.43561190e-02 9.99003879e-01 4.87700350e-03 1.37581545e+00] [ 7.14642023e-02 -1.69634187e-03 9.97441723e-01 -9.39446641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685347070000002 meters 0.01709796246164118 Centerline is valid? [True, True] Translation: X:-19.87, Y:1.38, Z:-0.94 [[ 9.96264242e-01 4.99350120e-02 -7.04560490e-02 -1.98725185e+01] [-4.97176286e-02 9.98751602e-01 4.83674076e-03 1.38229397e+00] [ 7.06096145e-02 -1.31576419e-03 9.97503158e-01 -9.42245993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715347070000004 meters 0.016366526537365044 Centerline is valid? [True, True] Translation: X:-19.90, Y:1.39, Z:-0.95 [[ 9.96092233e-01 5.40443294e-02 -6.98532289e-02 -1.99015305e+01] [-5.38403309e-02 9.98538015e-01 4.80123815e-03 1.38681715e+00] [ 7.00105842e-02 -1.02155507e-03 9.97545726e-01 -9.45505967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.74534707 meters 0.017898148845987005 Centerline is valid? [True, True] Translation: X:-19.93, Y:1.40, Z:-0.94 [[ 9.95697909e-01 6.30799447e-02 -6.78718954e-02 -1.99320008e+01] [-6.29082063e-02 9.98008406e-01 4.66681488e-03 1.39588228e+00] [ 6.80311046e-02 -3.77038620e-04 9.97683129e-01 -9.41642604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775347070000002 meters 0.014915832494710023 Centerline is valid? [True, True] Translation: X:-19.96, Y:1.40, Z:-0.95 [[ 9.95446748e-01 6.47479779e-02 -6.99533490e-02 -1.99640411e+01] [-6.45699507e-02 9.97901612e-01 4.80554718e-03 1.40088083e+00] [ 7.01177092e-02 -2.66782024e-04 9.97538689e-01 -9.49297106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.805347070000003 meters 0.015984737583307165 Centerline is valid? [True, True] Translation: X:-20.00, Y:1.41, Z:-0.95 [[ 9.95101892e-01 7.08439682e-02 -6.89445950e-02 -1.99952471e+01] [-7.06860733e-02 9.97487396e-01 4.73017610e-03 1.40808246e+00] [ 6.91064689e-02 1.66415513e-04 9.97609276e-01 -9.49621696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.83534707 meters 0.01634319337852262 Centerline is valid? [True, True] Translation: X:-20.03, Y:1.41, Z:-0.95 [[ 9.95000404e-01 7.28309845e-02 -6.83362534e-02 -2.00279613e+01] [-7.26809686e-02 9.97344250e-01 4.68229428e-03 1.41144898e+00] [ 6.84957855e-02 3.07860390e-04 9.97651358e-01 -9.51452714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.865347070000002 meters 0.015763368280432663 Centerline is valid? [True, True] Translation: X:-20.06, Y:1.41, Z:-0.95 [[ 9.95046083e-01 7.21297583e-02 -6.84148484e-02 -2.00612190e+01] [-7.19784406e-02 9.97395220e-01 4.67750593e-03 1.41305209e+00] [ 6.85740301e-02 2.70060151e-04 9.97645994e-01 -9.53350041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895347070000003 meters 0.01446447355623285 Centerline is valid? [True, True] Translation: X:-20.09, Y:1.41, Z:-0.96 [[ 9.95017368e-01 7.17428375e-02 -6.92344009e-02 -2.00924013e+01] [-7.15876937e-02 9.97423129e-01 4.72260742e-03 1.41320145e+00] [ 6.93948061e-02 2.57254681e-04 9.97589241e-01 -9.56063619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.92534707 meters 0.01475498007914976 Centerline is valid? [True, True] Translation: X:-20.12, Y:1.41, Z:-0.96 [[ 9.95154343e-01 7.06700034e-02 -6.83636135e-02 -2.01242280e+01] [-7.05170517e-02 9.97499731e-01 4.65099894e-03 1.41306283e+00] [ 6.85213722e-02 1.92338674e-04 9.97649630e-01 -9.58019946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955347070000002 meters 0.014079073080896393 Centerline is valid? [True, True] Translation: X:-20.16, Y:1.41, Z:-0.96 [[ 9.95343125e-01 6.72809341e-02 -6.90314412e-02 -2.01560914e+01] [-6.71173266e-02 9.97734070e-01 4.68932176e-03 1.41252386e+00] [ 6.91905228e-02 -3.42783886e-05 9.97603463e-01 -9.62727656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.985347070000003 meters 0.013833668123351295 Centerline is valid? [True, True] Translation: X:-20.19, Y:1.41, Z:-0.97 [[ 9.95376155e-01 6.65895417e-02 -6.92253111e-02 -2.01872143e+01] [-6.64237871e-02 9.97780450e-01 4.69610171e-03 1.41384216e+00] [ 6.93843733e-02 -7.61803333e-05 9.97589997e-01 -9.65063924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.01534707 meters 0.013807625306419158 Centerline is valid? [True, True] Translation: X:-20.22, Y:1.42, Z:-0.96 [[ 9.95330365e-01 6.71350624e-02 -6.93566682e-02 -2.02184461e+01] [-6.69704777e-02 9.97743896e-01 4.69815880e-03 1.41573287e+00] [ 6.95156036e-02 -3.13709040e-05 9.97580864e-01 -9.64925832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.045347070000002 meters 0.018682272169691375 Centerline is valid? [True, True] Translation: X:-20.25, Y:1.42, Z:-0.96 [[ 9.95523877e-01 6.78537908e-02 -6.57880902e-02 -2.02501436e+01] [-6.77079839e-02 9.97695275e-01 4.44597037e-03 1.41860675e+00] [ 6.59381427e-02 2.83092920e-05 9.97823712e-01 -9.63534754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075347070000003 meters 0.01833863414437626 Centerline is valid? [True, True] Translation: X:-20.28, Y:1.42, Z:-0.97 [[ 9.95729114e-01 6.54989327e-02 -6.50647487e-02 -2.02822356e+01] [-6.53516483e-02 9.97852632e-01 4.39168008e-03 1.42008294e+00] [ 6.52126811e-02 -1.20835140e-04 9.97871380e-01 -9.65640975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.105347070000004 meters 0.013715818598598337 Centerline is valid? [True, True] Translation: X:-20.31, Y:1.42, Z:-0.97 [[ 9.95689545e-01 6.32663473e-02 -6.78210769e-02 -2.03133367e+01] [-6.31015832e-02 9.97996641e-01 4.57107847e-03 1.42138084e+00] [ 6.79744023e-02 -2.71757726e-04 9.97687028e-01 -9.71125281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.13534707 meters 0.013383071738519122 Centerline is valid? [True, True] Translation: X:-20.35, Y:1.42, Z:-0.98 [[ 9.95719408e-01 6.34017749e-02 -6.72538123e-02 -2.03451650e+01] [-6.32404318e-02 9.97988051e-01 4.52745203e-03 1.42345981e+00] [ 6.74055495e-02 -2.54911731e-04 9.97725627e-01 -9.75134669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.165347070000003 meters 0.013675425701916367 Centerline is valid? [True, True] Translation: X:-20.38, Y:1.43, Z:-0.98 [[ 9.95663933e-01 6.32311684e-02 -6.82286676e-02 -2.03767394e+01] [-6.30651838e-02 9.97998873e-01 4.58613432e-03 1.42619867e+00] [ 6.83821199e-02 -2.63395077e-04 9.97659168e-01 -9.78495836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195347070000004 meters 0.013300753129286776 Centerline is valid? [True, True] Translation: X:-20.41, Y:1.43, Z:-0.98 [[ 9.95654919e-01 6.32595089e-02 -6.83338683e-02 -2.04086865e+01] [-6.30935657e-02 9.97997079e-01 4.58610269e-03 1.42956840e+00] [ 6.84871156e-02 -2.54748291e-04 9.97651968e-01 -9.79505833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.22534707 meters 0.014322995659252609 Centerline is valid? [True, True] Translation: X:-20.44, Y:1.43, Z:-0.98 [[ 9.95586736e-01 6.61907797e-02 -6.65269305e-02 -2.04402574e+01] [-6.60405589e-02 9.97806985e-01 4.45711015e-03 1.43316183e+00] [ 6.66760555e-02 -4.39640655e-05 9.97774675e-01 -9.82137282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255347070000003 meters 0.0132725915345495 Centerline is valid? [True, True] Translation: X:-20.47, Y:1.43, Z:-0.99 [[ 9.95673948e-01 6.36283038e-02 -6.77113609e-02 -2.04721272e+01] [-6.34672231e-02 9.97973644e-01 4.52966283e-03 1.43297455e+00] [ 6.78623683e-02 -2.12615223e-04 9.97694670e-01 -9.86603042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.285347070000004 meters 0.014411834747534486 Centerline is valid? [True, True] Translation: X:-20.50, Y:1.43, Z:-0.99 [[ 9.95850371e-01 6.27206887e-02 -6.59405386e-02 -2.05037135e+01] [-6.25663226e-02 9.98031085e-01 4.40550728e-03 1.43116371e+00] [ 6.60870237e-02 -2.61569051e-04 9.97813829e-01 -9.87093021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.31534707 meters 0.013830070441892613 Centerline is valid? [True, True] Translation: X:-20.54, Y:1.43, Z:-0.99 [[ 9.96086012e-01 5.85923150e-02 -6.61785253e-02 -2.05353194e+01] [-5.84280291e-02 9.98281852e-01 4.41687499e-03 1.42510852e+00] [ 6.63236157e-02 -5.32906590e-04 9.97798023e-01 -9.89268189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.345347070000003 meters 0.014165326808308797 Centerline is valid? [True, True] Translation: X:-20.57, Y:1.42, Z:-0.99 [[ 9.96196705e-01 5.59979619e-02 -6.67559159e-02 -2.05672108e+01] [-5.58253138e-02 9.98430633e-01 4.45034531e-03 1.42390544e+00] [ 6.69003616e-02 -7.06749377e-04 9.97759411e-01 -9.89551258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375347070000004 meters 0.014491534775480411 Centerline is valid? [True, True] Translation: X:-20.60, Y:1.42, Z:-0.99 [[ 9.96343075e-01 5.34557209e-02 -6.66555606e-02 -2.05987120e+01] [-5.32783175e-02 9.98569842e-01 4.43756036e-03 1.41886599e+00] [ 6.67974456e-02 -8.70036417e-04 9.97766177e-01 -9.93549475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.40534707 meters 0.015907875686356668 Centerline is valid? [True, True] Translation: X:-20.63, Y:1.41, Z:-1.00 [[ 9.96697500e-01 4.81050068e-02 -6.54217277e-02 -2.06309290e+01] [-4.79228212e-02 9.98841560e-01 4.35213190e-03 1.40973718e+00] [ 6.55552999e-02 -1.20256522e-03 9.97848213e-01 -9.97098436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435347070000002 meters 0.016896047377120953 Centerline is valid? [True, True] Translation: X:-20.66, Y:1.40, Z:-1.00 [[ 9.96876259e-01 4.64297207e-02 -6.38905732e-02 -2.06607248e+01] [-4.62526717e-02 9.98920739e-01 4.24821025e-03 1.40376090e+00] [ 6.40188618e-02 -1.27983024e-03 9.97947868e-01 -9.97887020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.465347070000004 meters 0.017136437481557926 Centerline is valid? [True, True] Translation: X:-20.69, Y:1.40, Z:-0.99 [[ 9.97110372e-01 4.36068329e-02 -6.22041007e-02 -2.06901371e+01] [-4.34333454e-02 9.99047753e-01 4.13910237e-03 1.40068348e+00] [ 6.23253602e-02 -1.42540970e-03 9.98054867e-01 -9.93660378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.49534707 meters 0.017078841531785998 Centerline is valid? [True, True] Translation: X:-20.72, Y:1.40, Z:-1.00 [[ 9.97220606e-01 4.03508228e-02 -6.26328555e-02 -2.07194474e+01] [-4.01680809e-02 9.99184216e-01 4.17460314e-03 1.39575555e+00] [ 6.27502093e-02 -1.64715867e-03 9.98027904e-01 -9.97594828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.525347070000002 meters 0.01629997775989522 Centerline is valid? [True, True] Translation: X:-20.75, Y:1.40, Z:-1.00 [[ 9.97239141e-01 3.95505532e-02 -6.28478269e-02 -2.07471431e+01] [-3.93637916e-02 9.99216087e-01 4.20754909e-03 1.39590166e+00] [ 6.29649706e-02 -1.72200388e-03 9.98014252e-01 -9.98993277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555347070000003 meters 0.017985018869653483 Centerline is valid? [True, True] Translation: X:-20.78, Y:1.39, Z:-1.00 [[ 9.97307111e-01 3.86656359e-02 -6.23176941e-02 -2.07761733e+01] [-3.84796239e-02 9.99250631e-01 4.18273613e-03 1.38620901e+00] [ 6.24327233e-02 -1.77351105e-03 9.98047599e-01 -1.00156584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.58534707 meters 0.01733931225724353 Centerline is valid? [True, True] Translation: X:-20.80, Y:1.38, Z:-1.00 [[ 9.97320700e-01 4.04678282e-02 -6.09407558e-02 -2.08047652e+01] [-4.02919290e-02 9.99179485e-01 4.11299387e-03 1.38438604e+00] [ 6.10571969e-02 -1.64655332e-03 9.98132911e-01 -1.00105587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615347070000002 meters 0.019260114398880042 Centerline is valid? [True, True] Translation: X:-20.83, Y:1.38, Z:-1.00 [[ 9.97356113e-01 4.26047776e-02 -5.88694840e-02 -2.08336436e+01] [-4.24432074e-02 9.99090903e-01 3.99278775e-03 1.37892069e+00] [ 5.89860778e-02 -1.48362155e-03 9.98257703e-01 -9.98627296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645347070000003 meters 0.01678360423765577 Centerline is valid? [True, True] Translation: X:-20.86, Y:1.38, Z:-1.00 [[ 9.97282493e-01 4.34835748e-02 -5.94710740e-02 -2.08613585e+01] [-4.33190921e-02 9.99053067e-01 4.05283765e-03 1.37919592e+00] [ 5.95909908e-02 -1.46559110e-03 9.98221802e-01 -1.00283253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.67534707 meters 0.015215322402675304 Centerline is valid? [True, True] Translation: X:-20.89, Y:1.38, Z:-1.00 [[ 9.97216844e-01 4.43941505e-02 -5.98976269e-02 -2.08887731e+01] [-4.42285024e-02 9.99013072e-01 4.08912873e-03 1.38261956e+00] [ 6.00200457e-02 -1.42856571e-03 9.98196150e-01 -1.00475498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705347070000002 meters 0.01375881635314942 Centerline is valid? [True, True] Translation: X:-20.92, Y:1.38, Z:-1.01 [[ 9.96849265e-01 5.08972361e-02 -6.08359540e-02 -2.09173963e+01] [-5.07379689e-02 9.98703332e-01 4.16089759e-03 1.38308076e+00] [ 6.09688482e-02 -1.06109497e-03 9.98139105e-01 -1.00601326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735347070000003 meters 0.01264816024400598 Centerline is valid? [True, True] Translation: X:-20.95, Y:1.38, Z:-1.01 [[ 9.96453381e-01 5.78412143e-02 -6.11150794e-02 -2.09480286e+01] [-5.76932533e-02 9.98325588e-01 4.18435183e-03 1.38302126e+00] [ 6.12547756e-02 -6.43583774e-04 9.98121956e-01 -1.00737262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.76534707 meters 0.01259262871815503 Centerline is valid? [True, True] Translation: X:-20.98, Y:1.38, Z:-1.01 [[ 9.96370550e-01 5.95883887e-02 -6.07861161e-02 -2.09796014e+01] [-5.94452897e-02 9.98222891e-01 4.16143777e-03 1.38215076e+00] [ 6.09260659e-02 -5.32885756e-04 9.98142139e-01 -1.01015666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795347070000002 meters 0.014408659073195156 Centerline is valid? [True, True] Translation: X:-21.01, Y:1.38, Z:-1.01 [[ 9.96292785e-01 6.20711849e-02 -5.95638780e-02 -2.10107940e+01] [-6.19384126e-02 9.98071656e-01 4.07456295e-03 1.38136581e+00] [ 5.97019313e-02 -3.70165612e-04 9.98216180e-01 -1.00614064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825347070000003 meters 0.012206550533310148 Centerline is valid? [True, True] Translation: X:-21.04, Y:1.37, Z:-1.01 [[ 9.96371782e-01 6.16816268e-02 -5.86399896e-02 -2.10432281e+01] [-6.15525367e-02 9.98095802e-01 4.00685758e-03 1.37458647e+00] [ 5.87754770e-02 -3.82879715e-04 9.98271154e-01 -1.01176694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855347070000004 meters 0.011988038544087264 Centerline is valid? [True, True] Translation: X:-21.08, Y:1.37, Z:-1.01 [[ 9.96447135e-01 6.10956271e-02 -5.79692285e-02 -2.10750145e+01] [-6.09688209e-02 9.98131834e-01 3.95526006e-03 1.37155178e+00] [ 5.81025815e-02 -4.06892046e-04 9.98310535e-01 -1.01145982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.88534707 meters 0.01351626073807219 Centerline is valid? [True, True] Translation: X:-21.11, Y:1.37, Z:-1.01 [[ 9.96510609e-01 6.10118232e-02 -5.69575552e-02 -2.11068199e+01] [-6.08895318e-02 9.98136963e-01 3.88168704e-03 1.36517456e+00] [ 5.70882700e-02 -4.00023445e-04 9.98369055e-01 -1.00982929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915347070000003 meters 0.012238619968022009 Centerline is valid? [True, True] Translation: X:-21.14, Y:1.36, Z:-1.01 [[ 9.96472624e-01 6.08577087e-02 -5.77810464e-02 -2.11377116e+01] [-6.07317902e-02 9.98146367e-01 3.93441300e-03 1.36206896e+00] [ 5.79133809e-02 -4.11388462e-04 9.98321527e-01 -1.01375435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.945347070000004 meters 0.012238619968022009 Centerline is valid? [True, True] Translation: X:-21.17, Y:1.36, Z:-1.02 [[ 9.96475996e-01 6.08021678e-02 -5.77813617e-02 -2.11684508e+01] [-6.06764248e-02 9.98149752e-01 3.92977772e-03 1.36420592e+00] [ 5.79133909e-02 -4.09962723e-04 9.98321527e-01 -1.01540122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.97534707 meters 0.01208585804814365 Centerline is valid? [True, True] Translation: X:-21.20, Y:1.36, Z:-1.02 [[ 9.96275251e-01 6.41710721e-02 -5.75994654e-02 -2.11997325e+01] [-6.40519300e-02 9.97938891e-01 3.91420051e-03 1.36007529e+00] [ 5.77319250e-02 -2.10264167e-04 9.98332099e-01 -1.01764380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005347070000003 meters 0.011560382460820246 Centerline is valid? [True, True] Translation: X:-21.23, Y:1.36, Z:-1.02 [[ 9.96060339e-01 6.78210469e-02 -5.71323655e-02 -2.12309171e+01] [-6.77100163e-02 9.97697502e-01 3.87919022e-03 1.36133241e+00] [ 5.72639091e-02 4.52587434e-06 9.98359076e-01 -1.01738774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.035347070000004 meters 0.011839900861660375 Centerline is valid? [True, True] Translation: X:-21.26, Y:1.36, Z:-1.02 [[ 9.95738983e-01 7.28163388e-02 -5.65831943e-02 -2.12630440e+01] [-7.27157572e-02 9.97345324e-01 3.83719669e-03 1.36233597e+00] [ 5.67123949e-02 2.93643485e-04 9.98390514e-01 -1.01963310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.06534707 meters 0.012645168554449197 Centerline is valid? [True, True] Translation: X:-21.30, Y:1.36, Z:-1.02 [[ 9.95249798e-01 7.78557500e-02 -5.84493053e-02 -2.12955371e+01] [-7.77574918e-02 9.96964450e-01 3.95705087e-03 1.36361029e+00] [ 5.85799587e-02 6.06617304e-04 9.98282535e-01 -1.02090386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095347070000003 meters 0.0169320499423528 Centerline is valid? [True, True] Translation: X:-21.33, Y:1.36, Z:-1.02 [[ 9.95099721e-01 8.07702915e-02 -5.70324936e-02 -2.13277887e+01] [-8.06818735e-02 9.96732449e-01 3.85500609e-03 1.36310196e+00] [ 5.71575070e-02 7.65372954e-04 9.98364880e-01 -1.01695412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.125347070000004 meters 0.013432633915246382 Centerline is valid? [True, True] Translation: X:-21.36, Y:1.36, Z:-1.03 [[ 9.95102497e-01 8.06107986e-02 -5.72094399e-02 -2.13610276e+01] [-8.05219326e-02 9.96745361e-01 3.86060939e-03 1.36181461e+00] [ 5.73344506e-02 7.64912622e-04 9.98354734e-01 -1.02505878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.15534707 meters 0.01602554218726628 Centerline is valid? [True, True] Translation: X:-21.39, Y:1.36, Z:-1.02 [[ 9.95260055e-01 8.04446200e-02 -5.46450867e-02 -2.13935083e+01] [-8.03637553e-02 9.96758813e-01 3.67916707e-03 1.35604534e+00] [ 5.47639409e-02 7.29756358e-04 9.98499063e-01 -1.02243994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.185347070000002 meters 0.014458651491035307 Centerline is valid? [True, True] Translation: X:-21.43, Y:1.35, Z:-1.02 [[ 9.95334249e-01 7.99526419e-02 -5.40121171e-02 -2.14256153e+01] [-7.98731833e-02 9.96798418e-01 3.63163202e-03 1.34854169e+00] [ 5.41295514e-02 6.99432000e-04 9.98533676e-01 -1.02366145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.215347070000004 meters 0.014978022353947459 Centerline is valid? [True, True] Translation: X:-21.46, Y:1.34, Z:-1.03 [[ 9.95674619e-01 7.60029867e-02 -5.34377999e-02 -2.14580157e+01] [-7.59197604e-02 9.97107473e-01 3.58861073e-03 1.34419933e+00] [ 5.35559747e-02 4.83896342e-04 9.98564732e-01 -1.02514665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.24534707 meters 0.01223706119179735 Centerline is valid? [True, True] Translation: X:-21.49, Y:1.33, Z:-1.03 [[ 9.96090798e-01 6.96578242e-02 -5.43222688e-02 -2.14903368e+01] [-6.95627267e-02 9.97570932e-01 3.64176070e-03 1.33433504e+00] [ 5.44439935e-02 1.51280816e-04 9.98516814e-01 -1.02993216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275347070000002 meters 0.014744279691398477 Centerline is valid? [True, True] Translation: X:-21.52, Y:1.33, Z:-1.03 [[ 9.96435386e-01 6.58787538e-02 -5.26926156e-02 -2.15219320e+01] [-6.57843023e-02 9.97827634e-01 3.52676314e-03 1.32761030e+00] [ 5.28104868e-02 -4.78446329e-05 9.98604551e-01 -1.02868669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.305347070000003 meters 0.01489223631692939 Centerline is valid? [True, True] Translation: X:-21.55, Y:1.32, Z:-1.03 [[ 9.96842567e-01 6.05026294e-02 -5.14230404e-02 -2.15534209e+01] [-6.04057184e-02 9.98167986e-01 3.43807674e-03 1.31764939e+00] [ 5.15368454e-02 -3.20975545e-04 9.98671042e-01 -1.02809204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.33534707 meters 0.012712737382058118 Centerline is valid? [True, True] Translation: X:-21.58, Y:1.31, Z:-1.03 [[ 9.97089887e-01 5.67140708e-02 -5.09437970e-02 -2.15830444e+01] [-5.66140231e-02 9.98390331e-01 3.40590894e-03 1.31052216e+00] [ 5.10549573e-02 -5.11864062e-04 9.98695714e-01 -1.03166047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.365347070000002 meters 0.013534988115147412 Centerline is valid? [True, True] Translation: X:-21.61, Y:1.30, Z:-1.03 [[ 9.97260379e-01 5.41993212e-02 -5.03405483e-02 -2.16127091e+01] [-5.40983370e-02 9.98529935e-01 3.36739745e-03 1.30211769e+00] [ 5.04490551e-02 -6.34832111e-04 9.98726434e-01 -1.03261107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.395347070000003 meters 0.01387310043427414 Centerline is valid? [True, True] Translation: X:-21.64, Y:1.30, Z:-1.03 [[ 9.97295996e-01 5.44222805e-02 -4.93853439e-02 -2.16410460e+01] [-5.43245735e-02 9.98517812e-01 3.31954449e-03 1.29919416e+00] [ 4.94928027e-02 -6.27730680e-04 9.98774283e-01 -1.03240917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.42534707 meters 0.017238406308632142 Centerline is valid? [True, True] Translation: X:-21.67, Y:1.30, Z:-1.03 [[ 9.97375216e-01 5.51706966e-02 -4.68921367e-02 -2.16679612e+01] [-5.50825696e-02 9.98476769e-01 3.17044910e-03 1.29797305e+00] [ 4.69956250e-02 -5.79187978e-04 9.98894927e-01 -1.03127096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455347070000002 meters 0.012883800989799394 Centerline is valid? [True, True] Translation: X:-21.70, Y:1.30, Z:-1.03 [[ 9.97145004e-01 5.88780602e-02 -4.72780665e-02 -2.16970581e+01] [-5.87922554e-02 9.98265096e-01 3.20462899e-03 1.29672190e+00] [ 4.73847259e-02 -4.15895626e-04 9.98876626e-01 -1.03391226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.485347070000003 meters 0.013582929092994743 Centerline is valid? [True, True] Translation: X:-21.73, Y:1.30, Z:-1.03 [[ 9.96906572e-01 6.32402176e-02 -4.66686351e-02 -2.17267817e+01] [-6.31604409e-02 9.97998308e-01 3.18354228e-03 1.29733773e+00] [ 4.67765468e-02 -2.26082647e-04 9.98905353e-01 -1.03293545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.51534707 meters 0.014196088155138864 Centerline is valid? [True, True] Translation: X:-21.76, Y:1.30, Z:-1.04 [[ 9.96857978e-01 6.36316187e-02 -4.71719093e-02 -2.17567672e+01] [-6.35504134e-02 9.97973432e-01 3.22073805e-03 1.29751389e+00] [ 4.72812530e-02 -2.12824090e-04 9.98881593e-01 -1.03597885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545347070000002 meters 0.012558839215308783 Centerline is valid? [True, True] Translation: X:-21.79, Y:1.30, Z:-1.04 [[ 9.96657541e-01 6.62333258e-02 -4.78214730e-02 -2.17863401e+01] [-6.61528589e-02 9.97804158e-01 3.26510758e-03 1.29789819e+00] [ 4.79327236e-02 -9.06669292e-05 9.98850562e-01 -1.03925439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575347070000003 meters 0.012360966957264383 Centerline is valid? [True, True] Translation: X:-21.82, Y:1.30, Z:-1.04 [[ 9.96569751e-01 6.79279845e-02 -4.72707046e-02 -2.18173132e+01] [-6.78512756e-02 9.97690227e-01 3.22731511e-03 1.29825267e+00] [ 4.73807450e-02 -8.86701439e-06 9.98876902e-01 -1.04017055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.605347070000004 meters 0.01583880845757636 Centerline is valid? [True, True] Translation: X:-21.85, Y:1.30, Z:-1.04 [[ 9.96541695e-01 6.88203161e-02 -4.65662311e-02 -2.18477170e+01] [-6.87468514e-02 9.97629071e-01 3.17921856e-03 1.29628489e+00] [ 4.66746207e-02 3.30579169e-05 9.98910145e-01 -1.03812718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.63534707 meters 0.012488504020074969 Centerline is valid? [True, True] Translation: X:-21.88, Y:1.29, Z:-1.04 [[ 9.96663917e-01 6.72211699e-02 -4.62855391e-02 -2.18792653e+01] [-6.71468473e-02 9.97738098e-01 3.16043253e-03 1.29440507e+00] [ 4.63932937e-02 -4.19610435e-05 9.98923251e-01 -1.04374504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.665347070000003 meters 0.012690486879991733 Centerline is valid? [True, True] Translation: X:-21.91, Y:1.29, Z:-1.05 [[ 9.96862122e-01 6.36147948e-02 -4.71069783e-02 -2.19095594e+01] [-6.35339221e-02 9.97974505e-01 3.21360027e-03 1.28996806e+00] [ 4.72159959e-02 -2.10625300e-04 9.98884681e-01 -1.04610950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.695347070000004 meters 0.01248338161041416 Centerline is valid? [True, True] Translation: X:-21.94, Y:1.29, Z:-1.05 [[ 9.96904696e-01 6.24177807e-02 -4.78021680e-02 -2.19388515e+01] [-6.23331473e-02 9.98050073e-01 3.26058931e-03 1.28803243e+00] [ 4.79124760e-02 -2.70837215e-04 9.98851501e-01 -1.04745244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.72534707 meters 0.013551426583221586 Centerline is valid? [True, True] Translation: X:-21.97, Y:1.29, Z:-1.05 [[ 9.97048828e-01 6.08908183e-02 -4.67540608e-02 -2.19677622e+01] [-6.08080109e-02 9.98144375e-01 3.19270067e-03 1.28608341e+00] [ 4.68617089e-02 -3.40257023e-04 9.98901329e-01 -1.04666893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755347070000003 meters 0.013259733778063458 Centerline is valid? [True, True] Translation: X:-22.00, Y:1.28, Z:-1.05 [[ 9.97276493e-01 5.85412201e-02 -4.48611338e-02 -2.19973028e+01] [-5.84625370e-02 9.98284898e-01 3.06505896e-03 1.28219040e+00] [ 4.49636247e-02 -4.34015560e-04 9.98988531e-01 -1.04771043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.785347070000004 meters 0.013076537933369815 Centerline is valid? [True, True] Translation: X:-22.03, Y:1.28, Z:-1.05 [[ 9.97297326e-01 5.73408621e-02 -4.59354978e-02 -2.20254980e+01] [-5.72563771e-02 9.98354526e-01 3.15393210e-03 1.27905055e+00] [ 4.60407613e-02 -5.15307867e-04 9.98939429e-01 -1.04914112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.81534707 meters 0.01335329470260018 Centerline is valid? [True, True] Translation: X:-22.05, Y:1.28, Z:-1.05 [[ 9.97235888e-01 5.76498260e-02 -4.68730271e-02 -2.20534175e+01] [-5.75619737e-02 9.98336732e-01 3.22302519e-03 1.27828758e+00] [ 4.69808716e-02 -5.16012435e-04 9.98895656e-01 -1.05360923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.845347070000003 meters 0.013412590891689754 Centerline is valid? [True, True] Translation: X:-22.08, Y:1.28, Z:-1.06 [[ 9.97200646e-01 5.71267518e-02 -4.82431976e-02 -2.20810479e+01] [-5.70319731e-02 9.98366766e-01 3.33995338e-03 1.27740251e+00] [ 4.83552058e-02 -5.79198923e-04 9.98830035e-01 -1.05523152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875347070000004 meters 0.013915359808205836 Centerline is valid? [True, True] Translation: X:-22.11, Y:1.27, Z:-1.05 [[ 9.97239491e-01 5.66428972e-02 -4.80102016e-02 -2.21088686e+01] [-5.65474163e-02 9.98394309e-01 3.34573705e-03 1.27428699e+00] [ 4.81226243e-02 -6.21648262e-04 9.98841242e-01 -1.05484456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.90534707 meters 0.013631095732287836 Centerline is valid? [True, True] Translation: X:-22.14, Y:1.27, Z:-1.06 [[ 9.97226399e-01 5.68928353e-02 -4.79866074e-02 -2.21363164e+01] [-5.67966265e-02 9.98380091e-01 3.36716388e-03 1.27472113e+00] [ 4.81004409e-02 -6.32347292e-04 9.98842304e-01 -1.05626466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935347070000002 meters 0.013732888741189008 Centerline is valid? [True, True] Translation: X:-22.16, Y:1.27, Z:-1.06 [[ 9.97167114e-01 5.85613814e-02 -4.72049916e-02 -2.21641052e+01] [-5.84697891e-02 9.98283658e-01 3.31997124e-03 1.27348195e+00] [ 4.73183937e-02 -5.50500244e-04 9.98879706e-01 -1.05505809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.965347070000004 meters 0.013423708040534868 Centerline is valid? [True, True] Translation: X:-22.19, Y:1.27, Z:-1.06 [[ 9.97125850e-01 5.99154799e-02 -4.63699788e-02 -2.21922819e+01] [-5.98274913e-02 9.98203328e-01 3.28431015e-03 1.27436122e+00] [ 4.64834481e-02 -5.00671047e-04 9.98918935e-01 -1.05691783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.99534707 meters 0.013653245338065965 Centerline is valid? [True, True] Translation: X:-22.22, Y:1.27, Z:-1.06 [[ 9.97167567e-01 5.82339530e-02 -4.75988522e-02 -2.22203093e+01] [-5.81390780e-02 9.98302783e-01 3.37643393e-03 1.27305575e+00] [ 4.77146898e-02 -5.99517018e-04 9.98860826e-01 -1.05781624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.025347070000002 meters 0.013947376378704048 Centerline is valid? [True, True] Translation: X:-22.25, Y:1.27, Z:-1.06 [[ 9.97138910e-01 5.79106076e-02 -4.85834993e-02 -2.22480021e+01] [-5.78102729e-02 9.98321561e-01 3.46899050e-03 1.27284602e+00] [ 4.87028462e-02 -6.50440056e-04 9.98813100e-01 -1.05885381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055347070000003 meters 0.013990719413939364 Centerline is valid? [True, True] Translation: X:-22.28, Y:1.27, Z:-1.06 [[ 9.97192964e-01 5.68831052e-02 -4.86878374e-02 -2.22754189e+01] [-5.67799630e-02 9.98380582e-01 3.50001241e-03 1.27307066e+00] [ 4.88080830e-02 -7.25694140e-04 9.98807912e-01 -1.06044126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.08534707 meters 0.01445956207671688 Centerline is valid? [True, True] Translation: X:-22.30, Y:1.27, Z:-1.06 [[ 9.97224139e-01 5.67998622e-02 -4.81434494e-02 -2.23035727e+01] [-5.66986672e-02 9.98385320e-01 3.46607905e-03 1.27093745e+00] [ 4.82625860e-02 -7.26788282e-04 9.98834418e-01 -1.06123610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115347070000002 meters 0.01432845108652214 Centerline is valid? [True, True] Translation: X:-22.33, Y:1.27, Z:-1.06 [[ 9.97272772e-01 5.68999245e-02 -4.70044435e-02 -2.23300745e+01] [-5.68024782e-02 9.98379621e-01 3.40734077e-03 1.27260111e+00] [ 4.71221559e-02 -7.28079295e-04 9.98888869e-01 -1.06165865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.145347070000003 meters 0.016059865652210792 Centerline is valid? [True, True] Translation: X:-22.36, Y:1.27, Z:-1.06 [[ 9.97360365e-01 5.26392641e-02 -5.00140986e-02 -2.23596405e+01] [-5.25230239e-02 9.98613092e-01 3.63649354e-03 1.26839627e+00] [ 5.01361560e-02 -1.00000283e-03 9.98741892e-01 -1.06359772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.17534707 meters 0.016459485857185197 Centerline is valid? [True, True] Translation: X:-22.39, Y:1.27, Z:-1.07 [[ 9.97342975e-01 5.11770343e-02 -5.18449726e-02 -2.23875233e+01] [-5.10494796e-02 9.98688963e-01 3.78242048e-03 1.26858595e+00] [ 5.19705749e-02 -1.12571163e-03 9.98647982e-01 -1.06554788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.205347070000002 meters 0.01741628529896663 Centerline is valid? [True, True] Translation: X:-22.42, Y:1.27, Z:-1.06 [[ 9.97390996e-01 5.03460680e-02 -5.17346554e-02 -2.24162102e+01] [-5.02173869e-02 9.98731139e-01 3.78501236e-03 1.26746166e+00] [ 5.18595718e-02 -1.17715804e-03 9.98653693e-01 -1.06482680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235347070000003 meters 0.017169737880583253 Centerline is valid? [True, True] Translation: X:-22.44, Y:1.27, Z:-1.07 [[ 9.97438588e-01 4.77764844e-02 -5.32322348e-02 -2.24443998e+01] [-4.76354325e-02 9.98857112e-01 3.91609791e-03 1.26797589e+00] [ 5.33584937e-02 -1.37032663e-03 9.98574481e-01 -1.06727105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.265347070000004 meters 0.017933643357637235 Centerline is valid? [True, True] Translation: X:-22.47, Y:1.27, Z:-1.07 [[ 9.97591697e-01 4.56114158e-02 -5.22532774e-02 -2.24729191e+01] [-4.54714614e-02 9.98958162e-01 3.86471010e-03 1.26754580e+00] [ 5.23751128e-02 -1.47936982e-03 9.98626386e-01 -1.06824451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295347070000002 meters 0.018720162850792203 Centerline is valid? [True, True] Translation: X:-22.50, Y:1.27, Z:-1.07 [[ 9.97551013e-01 4.48379200e-02 -5.36799442e-02 -2.25016760e+01] [-4.46878791e-02 9.98993019e-01 3.99273938e-03 1.26756709e+00] [ 5.38049156e-02 -1.58411837e-03 9.98550210e-01 -1.06887841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.325347070000003 meters 0.0206911207868478 Centerline is valid? [True, True] Translation: X:-22.53, Y:1.26, Z:-1.07 [[ 9.97512870e-01 4.33998263e-02 -5.55385407e-02 -2.25303423e+01] [-4.32356698e-02 9.99056263e-01 4.15443609e-03 1.26447851e+00] [ 5.56664288e-02 -1.74285746e-03 9.98447901e-01 -1.06995120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.355347070000004 meters 0.019220581837734167 Centerline is valid? [True, True] Translation: X:-22.56, Y:1.27, Z:-1.07 [[ 9.97491979e-01 4.41218638e-02 -5.53444917e-02 -2.25572651e+01] [-4.39587748e-02 9.99024679e-01 4.16130887e-03 1.27002465e+00] [ 5.54741177e-02 -1.71799617e-03 9.98458647e-01 -1.07126429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.38534707 meters 0.018914072528740986 Centerline is valid? [True, True] Translation: X:-22.58, Y:1.27, Z:-1.07 [[ 9.97490651e-01 4.37589679e-02 -5.56556774e-02 -2.25848250e+01] [-4.35929531e-02 9.99040572e-01 4.19402155e-03 1.27307698e+00] [ 5.57858059e-02 -1.75730195e-03 9.98441213e-01 -1.07155947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415347070000003 meters 0.020229762108582353 Centerline is valid? [True, True] Translation: X:-22.61, Y:1.27, Z:-1.07 [[ 9.97439431e-01 4.21994755e-02 -5.77389478e-02 -2.26141965e+01] [-4.20176097e-02 9.99107354e-01 4.36075969e-03 1.27239907e+00] [ 5.78714291e-02 -1.92354110e-03 9.98322191e-01 -1.07316889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.445347070000004 meters 0.019647559506963595 Centerline is valid? [True, True] Translation: X:-22.64, Y:1.28, Z:-1.07 [[ 9.97382660e-01 4.43669291e-02 -5.70912038e-02 -2.26422620e+01] [-4.41914604e-02 9.99013684e-01 4.33294346e-03 1.27501371e+00] [ 5.72271332e-02 -1.79865900e-03 9.98359565e-01 -1.07462239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.47534707 meters 0.022176298732701247 Centerline is valid? [True, True] Translation: X:-22.67, Y:1.27, Z:-1.08 [[ 9.97432705e-01 4.08138569e-02 -5.88407025e-02 -2.26712161e+01] [-4.06205403e-02 9.99164609e-01 4.47829500e-03 1.27245352e+00] [ 5.89743240e-02 -2.07665676e-03 9.98257340e-01 -1.07637869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505347070000003 meters 0.02118885393262161 Centerline is valid? [True, True] Translation: X:-22.70, Y:1.28, Z:-1.08 [[ 9.97435716e-01 4.27618837e-02 -5.73882692e-02 -2.26993630e+01] [-4.25808281e-02 9.99083448e-01 4.37461182e-03 1.27554512e+00] [ 5.75227365e-02 -1.91975405e-03 9.98342351e-01 -1.07807565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.535347070000004 meters 0.020822000161421928 Centerline is valid? [True, True] Translation: X:-22.73, Y:1.28, Z:-1.08 [[ 9.97369394e-01 4.38657239e-02 -5.77069283e-02 -2.27270540e+01] [-4.36838176e-02 9.99035671e-01 4.41056626e-03 1.27782018e+00] [ 5.78447525e-02 -1.87810487e-03 9.98323824e-01 -1.07849571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.56534707 meters 0.02145143586744618 Centerline is valid? [True, True] Translation: X:-22.75, Y:1.28, Z:-1.08 [[ 9.97414279e-01 4.10228759e-02 -5.90074608e-02 -2.27549765e+01] [-4.08272100e-02 9.99156006e-01 4.51825215e-03 1.28018150e+00] [ 5.91430106e-02 -2.09745921e-03 9.98247317e-01 -1.08150844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595347070000003 meters 0.021754429272529324 Centerline is valid? [True, True] Translation: X:-22.78, Y:1.28, Z:-1.08 [[ 9.97359114e-01 3.90602751e-02 -6.12298306e-02 -2.27827651e+01] [-3.88453335e-02 9.99234194e-01 4.69730359e-03 1.28298713e+00] [ 6.13664184e-02 -2.30640536e-03 9.98112641e-01 -1.08129665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.625347070000004 meters 0.022222157780816706 Centerline is valid? [True, True] Translation: X:-22.81, Y:1.28, Z:-1.08 [[ 9.97312422e-01 3.90155469e-02 -6.20138712e-02 -2.28114400e+01] [-3.87942666e-02 9.99235840e-01 4.76875184e-03 1.28451168e+00] [ 6.21525382e-02 -2.35015279e-03 9.98063895e-01 -1.08252665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.65534707 meters 0.023001867822330747 Centerline is valid? [True, True] Translation: X:-22.84, Y:1.29, Z:-1.08 [[ 9.97386734e-01 3.82746263e-02 -6.12760562e-02 -2.28406563e+01] [-3.80556974e-02 9.99264395e-01 4.73632855e-03 1.28559607e+00] [ 6.14122625e-02 -2.39204821e-03 9.98109619e-01 -1.08438377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.685347070000002 meters 0.02738965653626265 Centerline is valid? [True, True] Translation: X:-22.87, Y:1.28, Z:-1.09 [[ 9.97414868e-01 3.46392414e-02 -6.29579604e-02 -2.28700372e+01] [-3.43995252e-02 9.99396209e-01 4.88784298e-03 1.27970091e+00] [ 6.30892580e-02 -2.70948331e-03 9.98004211e-01 -1.08515101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715347070000004 meters 0.02711083671850407 Centerline is valid? [True, True] Translation: X:-22.90, Y:1.28, Z:-1.09 [[ 9.97433295e-01 3.21583612e-02 -6.39739202e-02 -2.28973102e+01] [-3.19052610e-02 9.99478520e-01 4.97424047e-03 1.28382424e+00] [ 6.41005224e-02 -2.92036844e-03 9.97939174e-01 -1.08726206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.74534707 meters 0.02833440166181167 Centerline is valid? [True, True] Translation: X:-22.93, Y:1.28, Z:-1.09 [[ 9.97538833e-01 3.19352965e-02 -6.24212663e-02 -2.29250716e+01] [-3.16932519e-02 9.99485807e-01 4.86414462e-03 1.28271244e+00] [ 6.25445076e-02 -2.87384022e-03 9.98038038e-01 -1.08921020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775347070000002 meters 0.024783621231725245 Centerline is valid? [True, True] Translation: X:-22.95, Y:1.29, Z:-1.09 [[ 9.97519929e-01 3.08771762e-02 -6.32502328e-02 -2.29520475e+01] [-3.06249916e-02 9.99518673e-01 4.95294252e-03 1.29255058e+00] [ 6.33727217e-02 -3.00362102e-03 9.97985409e-01 -1.08830473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.805347070000003 meters 0.030451381779371928 Centerline is valid? [True, True] Translation: X:-22.98, Y:1.28, Z:-1.09 [[ 9.97522770e-01 2.64578996e-02 -6.51790130e-02 -2.29824314e+01] [-2.61801113e-02 9.99644169e-01 5.11250362e-03 1.28455447e+00] [ 6.52910864e-02 -3.39344496e-03 9.97860491e-01 -1.08982771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.83534707 meters 0.030451381779371928 Centerline is valid? [True, True] Translation: X:-23.01, Y:1.29, Z:-1.09 [[ 9.97512116e-01 2.68580604e-02 -6.51783965e-02 -2.30097783e+01] [-2.65806120e-02 9.99633559e-01 5.12034659e-03 1.28645175e+00] [ 6.52920350e-02 -3.37512609e-03 9.97860491e-01 -1.09129478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865347070000002 meters 0.027178530475349672 Centerline is valid? [True, True] Translation: X:-23.04, Y:1.30, Z:-1.09 [[ 9.97568659e-01 2.58644932e-02 -6.47132093e-02 -2.30368011e+01] [-2.55874240e-02 9.99659544e-01 5.10676636e-03 1.29576610e+00] [ 6.48232612e-02 -3.43850574e-03 9.97890836e-01 -1.09178921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895347070000003 meters 0.030911254215158883 Centerline is valid? [True, True] Translation: X:-23.07, Y:1.29, Z:-1.09 [[ 9.97573296e-01 2.48460236e-02 -6.50399359e-02 -2.30659563e+01] [-2.45631892e-02 9.99685041e-01 5.14478464e-03 1.29243858e+00] [ 6.51472784e-02 -3.53471152e-03 9.97869399e-01 -1.09166817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.92534707 meters 0.031027771254528862 Centerline is valid? [True, True] Translation: X:-23.09, Y:1.30, Z:-1.09 [[ 9.97338615e-01 2.02689318e-02 -7.00346821e-02 -2.30949827e+01] [-1.99279837e-02 9.99785938e-01 5.56360633e-03 1.29709870e+00] [ 7.01324587e-02 -4.15314943e-03 9.97529042e-01 -1.09315569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955347070000002 meters 0.031188871427620966 Centerline is valid? [True, True] Translation: X:-23.12, Y:1.30, Z:-1.09 [[ 9.97272701e-01 2.00050433e-02 -7.10419457e-02 -2.31239346e+01] [-1.96528402e-02 9.99790881e-01 5.65326397e-03 1.30049085e+00] [ 7.11401833e-02 -4.24166982e-03 9.97457309e-01 -1.09407206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.985347070000003 meters 0.030539919066859524 Centerline is valid? [True, True] Translation: X:-23.15, Y:1.31, Z:-1.09 [[ 9.97300542e-01 2.17234465e-02 -7.01407205e-02 -2.31525710e+01] [-2.13825142e-02 9.99755640e-01 5.60794290e-03 1.30510621e+00] [ 7.02454048e-02 -4.09301954e-03 9.97521343e-01 -1.09479397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015347070000004 meters 0.03010275284033799 Centerline is valid? [True, True] Translation: X:-23.18, Y:1.31, Z:-1.09 [[ 9.97236591e-01 2.29192908e-02 -7.06674462e-02 -2.31812238e+01] [-2.25742796e-02 9.99729050e-01 5.67705798e-03 1.31042177e+00] [ 7.07784129e-02 -4.06610326e-03 9.97483776e-01 -1.09395569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.045347070000002 meters 0.030047706220367364 Centerline is valid? [True, True] Translation: X:-23.21, Y:1.31, Z:-1.09 [[ 9.97160581e-01 2.66724373e-02 -7.04226952e-02 -2.32103757e+01] [-2.63376117e-02 9.99636974e-01 5.67894188e-03 1.31379721e+00] [ 7.05486011e-02 -3.80805139e-03 9.97501074e-01 -1.09345235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075347070000003 meters 0.02728467810778238 Centerline is valid? [True, True] Translation: X:-23.24, Y:1.32, Z:-1.09 [[ 9.97183879e-01 2.87313475e-02 -6.92735296e-02 -2.32374771e+01] [-2.84118735e-02 9.99580655e-01 5.59285679e-03 1.32238269e+00] [ 6.94051704e-02 -3.60891587e-03 9.97582026e-01 -1.09393377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.105347070000004 meters 0.026141118551894136 Centerline is valid? [True, True] Translation: X:-23.27, Y:1.33, Z:-1.10 [[ 9.97083518e-01 3.04081602e-02 -6.99985921e-02 -2.32651835e+01] [-3.00853701e-02 9.99531300e-01 5.66127465e-03 1.32852521e+00] [ 7.01379327e-02 -3.53883009e-03 9.97531026e-01 -1.09629156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.13534707 meters 0.02654390051758161 Centerline is valid? [True, True] Translation: X:-23.29, Y:1.33, Z:-1.10 [[ 9.96956219e-01 3.18053054e-02 -7.11808925e-02 -2.32942032e+01] [-3.14739765e-02 9.99487906e-01 5.77179554e-03 1.33055777e+00] [ 7.13280149e-02 -3.51388173e-03 9.97446724e-01 -1.09511076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.165347070000003 meters 0.026882970803813258 Centerline is valid? [True, True] Translation: X:-23.32, Y:1.33, Z:-1.10 [[ 9.97054611e-01 3.29835357e-02 -6.92400863e-02 -2.33228104e+01] [-3.26710163e-02 9.99450238e-01 5.64145899e-03 1.33118232e+00] [ 6.93880960e-02 -3.36269871e-03 9.97584074e-01 -1.09504354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195347070000004 meters 0.026958999861544198 Centerline is valid? [True, True] Translation: X:-23.35, Y:1.33, Z:-1.10 [[ 9.97077349e-01 3.42129406e-02 -6.83098500e-02 -2.33511616e+01] [-3.39101115e-02 9.99409264e-01 5.58814997e-03 1.33267335e+00] [ 6.84606839e-02 -3.25542312e-03 9.97648504e-01 -1.09552058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.22534707 meters 0.025693626468710817 Centerline is valid? [True, True] Translation: X:-23.38, Y:1.34, Z:-1.10 [[ 9.97191470e-01 3.51891900e-02 -6.61127255e-02 -2.33786521e+01] [-3.49071279e-02 9.99375879e-01 5.41707281e-03 1.33547986e+00] [ 6.62620855e-02 -3.09405344e-03 9.97797456e-01 -1.09545264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255347070000003 meters 0.028624487597935882 Centerline is valid? [True, True] Translation: X:-23.41, Y:1.33, Z:-1.09 [[ 9.97244267e-01 3.33093786e-02 -6.62899448e-02 -2.34085820e+01] [-3.30208832e-02 9.99439839e-01 5.44326116e-03 1.33231126e+00] [ 6.64341234e-02 -3.23930847e-03 9.97785555e-01 -1.09186571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.285347070000004 meters 0.025269986308372724 Centerline is valid? [True, True] Translation: X:-23.44, Y:1.34, Z:-1.09 [[ 9.97388007e-01 3.30220389e-02 -6.42394606e-02 -2.34350937e+01] [-3.27491708e-02 9.99449569e-01 5.29631444e-03 1.33818034e+00] [ 6.43789963e-02 -3.17869144e-03 9.97920458e-01 -1.09005211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.31534707 meters 0.026431612725881307 Centerline is valid? [True, True] Translation: X:-23.46, Y:1.34, Z:-1.09 [[ 9.97467410e-01 3.11197052e-02 -6.39556912e-02 -2.34640487e+01] [-3.08440366e-02 9.99510193e-01 5.29337048e-03 1.33795294e+00] [ 6.40890934e-02 -3.30731286e-03 9.97938700e-01 -1.08865246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.345347070000003 meters 0.029730827820145096 Centerline is valid? [True, True] Translation: X:-23.49, Y:1.33, Z:-1.09 [[ 9.97491025e-01 2.71589575e-02 -6.53761826e-02 -2.34941791e+01] [-2.68609708e-02 9.99624416e-01 5.43286040e-03 1.33466631e+00] [ 6.54991791e-02 -3.66316176e-03 9.97845899e-01 -1.09061720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375347070000004 meters 0.02896389792361194 Centerline is valid? [True, True] Translation: X:-23.52, Y:1.34, Z:-1.09 [[ 9.97636787e-01 2.80649810e-02 -6.27152109e-02 -2.35215518e+01] [-2.77923266e-02 9.99600111e-01 5.21581231e-03 1.33804484e+00] [ 6.28365134e-02 -3.46048461e-03 9.98017834e-01 -1.09078168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.40534707 meters 0.027967629979356576 Centerline is valid? [True, True] Translation: X:-23.55, Y:1.34, Z:-1.09 [[ 9.97613749e-01 2.76199317e-02 -6.32767505e-02 -2.35486434e+01] [-2.73408930e-02 9.99612268e-01 5.27163373e-03 1.34303295e+00] [ 6.33978182e-02 -3.52901143e-03 9.97982095e-01 -1.09232851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435347070000002 meters 0.02812873967731168 Centerline is valid? [True, True] Translation: X:-23.58, Y:1.35, Z:-1.09 [[ 9.97556574e-01 2.74844688e-02 -6.42299446e-02 -2.35767703e+01] [-2.71956848e-02 9.99615725e-01 5.36623617e-03 1.34781312e+00] [ 6.43527508e-02 -3.60634684e-03 9.97920697e-01 -1.09119455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.465347070000004 meters 0.027335259215112845 Centerline is valid? [True, True] Translation: X:-23.60, Y:1.35, Z:-1.09 [[ 9.97507812e-01 2.98453532e-02 -6.39329253e-02 -2.36049438e+01] [-2.95625097e-02 9.99548532e-01 5.36569606e-03 1.35365508e+00] [ 6.40642027e-02 -3.46230601e-03 9.97939773e-01 -1.09094960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.49534707 meters 0.02709234431914988 Centerline is valid? [True, True] Translation: X:-23.63, Y:1.36, Z:-1.09 [[ 9.97319255e-01 3.36309200e-02 -6.49866586e-02 -2.36344029e+01] [-3.33452780e-02 9.99428893e-01 5.47536099e-03 1.36035007e+00] [ 6.51336858e-02 -3.29368475e-03 9.97871111e-01 -1.09192162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.525347070000002 meters 0.025060944200614017 Centerline is valid? [True, True] Translation: X:-23.66, Y:1.37, Z:-1.09 [[ 9.97188532e-01 3.59099312e-02 -6.57685992e-02 -2.36618615e+01] [-3.56219892e-02 9.99349947e-01 5.54593926e-03 1.37009103e+00] [ 6.59250004e-02 -3.18753870e-03 9.97819490e-01 -1.09051134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555347070000003 meters 0.027177875518760344 Centerline is valid? [True, True] Translation: X:-23.69, Y:1.37, Z:-1.09 [[ 9.96947520e-01 3.98759342e-02 -6.71234051e-02 -2.36907332e+01] [-3.95843609e-02 9.99200152e-01 5.66879875e-03 1.37151318e+00] [ 6.72957652e-02 -2.99445777e-03 9.97728577e-01 -1.09379892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.58534707 meters 0.02577794330530221 Centerline is valid? [True, True] Translation: X:-23.72, Y:1.38, Z:-1.09 [[ 9.96885700e-01 4.21923688e-02 -6.66236037e-02 -2.37177094e+01] [-4.19098804e-02 9.99105517e-01 5.63265887e-03 1.37918390e+00] [ 6.68016652e-02 -2.82292982e-03 9.97762281e-01 -1.09462298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615347070000002 meters 0.024519089998455697 Centerline is valid? [True, True] Translation: X:-23.75, Y:1.39, Z:-1.09 [[ 9.96686500e-01 4.57617576e-02 -6.72449455e-02 -2.37460651e+01] [-4.54812817e-02 9.98948947e-01 5.69678667e-03 1.38669253e+00] [ 6.74349625e-02 -2.61952406e-03 9.97720233e-01 -1.09206680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.645347070000003 meters 0.023931382552855852 Centerline is valid? [True, True] Translation: X:-23.77, Y:1.39, Z:-1.09 [[ 9.96618900e-01 4.86712414e-02 -6.61957638e-02 -2.37744705e+01] [-4.84043352e-02 9.98811951e-01 5.63090840e-03 1.39084103e+00] [ 6.63911833e-02 -2.40770779e-03 9.97790767e-01 -1.09321500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675347070000004 meters 0.021693137612414887 Centerline is valid? [True, True] Translation: X:-23.80, Y:1.40, Z:-1.09 [[ 9.96546375e-01 4.92943065e-02 -6.68236035e-02 -2.38015644e+01] [-4.90222995e-02 9.98781390e-01 5.70518671e-03 1.39987919e+00] [ 6.70234048e-02 -2.40963643e-03 9.97748494e-01 -1.09248456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.705347070000002 meters 0.02514651451414007 Centerline is valid? [True, True] Translation: X:-23.83, Y:1.40, Z:-1.10 [[ 9.96563518e-01 4.62965567e-02 -6.86861216e-02 -2.38307016e+01] [-4.60014119e-02 9.98924108e-01 5.87335016e-03 1.39868369e+00] [ 6.88841387e-02 -2.69350792e-03 9.97621030e-01 -1.09622863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735347070000003 meters 0.02370593882640348 Centerline is valid? [True, True] Translation: X:-23.86, Y:1.41, Z:-1.09 [[ 9.96649533e-01 4.53461832e-02 -6.80693154e-02 -2.38593524e+01] [-4.50533372e-02 9.98967559e-01 5.83197366e-03 1.40581140e+00] [ 6.82634956e-02 -2.74568401e-03 9.97663549e-01 -1.09417784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.765347070000004 meters 0.023933290698852853 Centerline is valid? [True, True] Translation: X:-23.89, Y:1.41, Z:-1.09 [[ 9.96695046e-01 4.52344269e-02 -6.74746814e-02 -2.38876855e+01] [-4.49447016e-02 9.98972601e-01 5.80649958e-03 1.40803863e+00] [ 6.76680117e-02 -2.75467994e-03 9.97704090e-01 -1.09414984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795347070000002 meters 0.026319835415679775 Centerline is valid? [True, True] Translation: X:-23.92, Y:1.41, Z:-1.10 [[ 9.96614090e-01 4.49223675e-02 -6.88646197e-02 -2.39165734e+01] [-4.46178804e-02 9.98986383e-01 5.95407559e-03 1.40709965e+00] [ 6.90622885e-02 -2.86132226e-03 9.97608246e-01 -1.09703793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.825347070000003 meters 0.024765641047978064 Centerline is valid? [True, True] Translation: X:-23.94, Y:1.42, Z:-1.10 [[ 9.96548752e-01 4.54383507e-02 -6.94689971e-02 -2.39432195e+01] [-4.51280169e-02 9.98963007e-01 6.03092909e-03 1.41547920e+00] [ 6.96709937e-02 -2.87511679e-03 9.97565881e-01 -1.09718055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.855347070000004 meters 0.022632182358115902 Centerline is valid? [True, True] Translation: X:-23.97, Y:1.42, Z:-1.10 [[ 9.96413737e-01 4.85318294e-02 -6.93132516e-02 -2.39697927e+01] [-4.82291266e-02 9.98818067e-01 6.03497428e-03 1.42427032e+00] [ 6.95242163e-02 -2.67041368e-03 9.97576690e-01 -1.09728839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.88534707 meters 0.021850143545915537 Centerline is valid? [True, True] Translation: X:-24.00, Y:1.43, Z:-1.10 [[ 9.96257994e-01 5.23231498e-02 -6.87916889e-02 -2.39989592e+01] [-5.20333564e-02 9.98627329e-01 5.99898004e-03 1.43140328e+00] [ 6.90111461e-02 -2.39706936e-03 9.97613009e-01 -1.09660622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915347070000003 meters 0.02113562174050856 Centerline is valid? [True, True] Translation: X:-24.03, Y:1.44, Z:-1.10 [[ 9.96202205e-01 5.42466300e-02 -6.81063079e-02 -2.40263836e+01] [-5.39666716e-02 9.98525039e-01 5.94513301e-03 1.43820845e+00] [ 6.83283572e-02 -2.24708386e-03 9.97660356e-01 -1.09639372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.945347070000004 meters 0.02026882781887413 Centerline is valid? [True, True] Translation: X:-24.05, Y:1.45, Z:-1.09 [[ 9.96032477e-01 5.66415487e-02 -6.86370172e-02 -2.40543148e+01] [-5.63617184e-02 9.98392337e-01 6.00821832e-03 1.44551314e+00] [ 6.88669868e-02 -2.11588034e-03 9.97623607e-01 -1.09446695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.97534707 meters 0.020342031549226838 Centerline is valid? [True, True] Translation: X:-24.08, Y:1.45, Z:-1.10 [[ 9.95999650e-01 5.75741581e-02 -6.83367586e-02 -2.40821464e+01] [-5.72974390e-02 9.98339098e-01 6.00414484e-03 1.45036462e+00] [ 6.85689415e-02 -2.06460490e-03 9.97644244e-01 -1.09801683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.005347070000003 meters 0.020619422993727446 Centerline is valid? [True, True] Translation: X:-24.11, Y:1.45, Z:-1.10 [[ 9.96134005e-01 5.45504969e-02 -6.88570018e-02 -2.41096868e+01] [-5.42616796e-02 9.98508365e-01 6.05927116e-03 1.45473749e+00] [ 6.90848286e-02 -2.29954948e-03 9.97608139e-01 -1.09715989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035347070000004 meters 0.027003307158505047 Centerline is valid? [True, True] Translation: X:-24.14, Y:1.45, Z:-1.10 [[ 9.96299550e-01 4.80059794e-02 -7.12925832e-02 -2.41401840e+01] [-4.76790370e-02 9.98842956e-01 6.28159641e-03 1.44639885e+00] [ 7.15116487e-02 -2.85918997e-03 9.97435667e-01 -1.10200905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.06534707 meters 0.02743274581696333 Centerline is valid? [True, True] Translation: X:-24.17, Y:1.45, Z:-1.10 [[ 9.96340756e-01 4.65715962e-02 -7.16671832e-02 -2.41688370e+01] [-4.62369679e-02 9.98910494e-01 6.32200990e-03 1.44820141e+00] [ 7.18835274e-02 -2.98520287e-03 9.97408566e-01 -1.10279975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095347070000003 meters 0.023907402292510482 Centerline is valid? [True, True] Translation: X:-24.20, Y:1.46, Z:-1.10 [[ 9.96644375e-01 4.36300017e-02 -6.92561325e-02 -2.41964071e+01] [-4.33091711e-02 9.99042924e-01 6.12801591e-03 1.45963428e+00] [ 6.94572145e-02 -3.10802689e-03 9.97580090e-01 -1.09538267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.125347070000004 meters 0.02439731621312856 Centerline is valid? [True, True] Translation: X:-24.23, Y:1.46, Z:-1.09 [[ 9.96781452e-01 4.12811517e-02 -6.87212076e-02 -2.42257822e+01] [-4.09590087e-02 9.99142263e-01 6.09074312e-03 1.46225578e+00] [ 6.89136957e-02 -3.25638723e-03 9.97617311e-01 -1.09339729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.15534707 meters 0.0265683006299005 Centerline is valid? [True, True] Translation: X:-24.26, Y:1.46, Z:-1.10 [[ 9.97036788e-01 3.52209952e-02 -6.83895073e-02 -2.42558607e+01] [-3.48869923e-02 9.99372815e-01 6.07242710e-03 1.46292355e+00] [ 6.85604914e-02 -3.66852899e-03 9.97640216e-01 -1.09521285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.185347070000002 meters 0.033189097442664385 Centerline is valid? [True, True] Translation: X:-24.29, Y:1.45, Z:-1.10 [[ 9.97101394e-01 2.91766815e-02 -7.02675740e-02 -2.42869341e+01] [-2.88088483e-02 9.99565445e-01 6.24270641e-03 1.45497690e+00] [ 7.04191803e-02 -4.20028339e-03 9.97508645e-01 -1.09724535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215347070000004 meters 0.03260025142775233 Centerline is valid? [True, True] Translation: X:-24.32, Y:1.46, Z:-1.10 [[ 9.97001151e-01 2.58659277e-02 -7.29359961e-02 -2.43151512e+01] [-2.54605500e-02 9.99654810e-01 6.48241475e-03 1.46259698e+00] [ 7.30784929e-02 -4.60598440e-03 9.97315556e-01 -1.09658257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.24534707 meters 0.03383127342352536 Centerline is valid? [True, True] Translation: X:-24.34, Y:1.47, Z:-1.10 [[ 9.96812078e-01 2.56428178e-02 -7.55521516e-02 -2.43436678e+01] [-2.52062156e-02 9.99659640e-01 6.72687583e-03 1.46710388e+00] [ 7.56989328e-02 -4.80104725e-03 9.97119161e-01 -1.09873574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275347070000002 meters 0.0297197899571896 Centerline is valid? [True, True] Translation: X:-24.37, Y:1.49, Z:-1.10 [[ 9.96588113e-01 3.35304051e-02 -7.54177971e-02 -2.43716312e+01] [-3.31163722e-02 9.99428816e-01 6.73408915e-03 1.48582402e+00] [ 7.56005164e-02 -4.21354936e-03 9.97129283e-01 -1.09782712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.305347070000003 meters 0.02777437284569672 Centerline is valid? [True, True] Translation: X:-24.40, Y:1.50, Z:-1.10 [[ 9.96391551e-01 4.13240259e-02 -7.41363727e-02 -2.44007920e+01] [-4.09453193e-02 9.99139448e-01 6.62150188e-03 1.49786602e+00] [ 7.43462016e-02 -3.56207107e-03 9.97226130e-01 -1.09669756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.33534707 meters 0.02257039050182391 Centerline is valid? [True, True] Translation: X:-24.43, Y:1.52, Z:-1.09 [[ 9.96017942e-01 5.24565377e-02 -7.20872506e-02 -2.44286914e+01] [-5.21274594e-02 9.98619674e-01 6.44005339e-03 1.51957670e+00] [ 7.23255696e-02 -2.65668350e-03 9.97377538e-01 -1.09224819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.365347070000002 meters 0.0207073016766231 Centerline is valid? [True, True] Translation: X:-24.46, Y:1.53, Z:-1.09 [[ 9.95705439e-01 5.80433502e-02 -7.21224515e-02 -2.44575536e+01] [-5.77284564e-02 9.98311520e-01 6.44469403e-03 1.53074411e+00] [ 7.23747458e-02 -2.25349910e-03 9.97374964e-01 -1.09365313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395347070000003 meters 0.019593280758683006 Centerline is valid? [True, True] Translation: X:-24.48, Y:1.54, Z:-1.09 [[ 9.95396962e-01 6.08749256e-02 -7.40211559e-02 -2.44846461e+01] [-6.05506009e-02 9.98143177e-01 6.61982963e-03 1.53975785e+00] [ 7.42866934e-02 -2.10733283e-03 9.97234700e-01 -1.09350215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.425347070000004 meters 0.02001952829100086 Centerline is valid? [True, True] Translation: X:-24.51, Y:1.55, Z:-1.10 [[ 9.95203138e-01 6.33853326e-02 -7.45185405e-02 -2.45124122e+01] [-6.30625494e-02 9.97987228e-01 6.67894570e-03 1.54560653e+00] [ 7.47918988e-02 -1.94757858e-03 9.97197262e-01 -1.09657810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455347070000002 meters 0.02006853182133778 Centerline is valid? [True, True] Translation: X:-24.54, Y:1.55, Z:-1.10 [[ 9.95053363e-01 6.33815951e-02 -7.64956048e-02 -2.45409767e+01] [-6.30392460e-02 9.97987305e-01 6.88423203e-03 1.54968148e+00] [ 7.67779761e-02 -2.02795299e-03 9.97046152e-01 -1.09941957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.485347070000003 meters 0.021556592293280684 Centerline is valid? [True, True] Translation: X:-24.57, Y:1.55, Z:-1.10 [[ 9.95168573e-01 6.08423788e-02 -7.70565799e-02 -2.45691567e+01] [-6.04852829e-02 9.98144811e-01 6.96179391e-03 1.55216054e+00] [ 7.73371975e-02 -2.26736947e-03 9.97002416e-01 -1.10175019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515347070000004 meters 0.02103204235114689 Centerline is valid? [True, True] Translation: X:-24.60, Y:1.56, Z:-1.10 [[ 9.95192705e-01 6.08555345e-02 -7.67338477e-02 -2.45969270e+01] [-6.04998248e-02 9.98143985e-01 6.95392447e-03 1.55657818e+00] [ 7.70146133e-02 -2.27811056e-03 9.97027361e-01 -1.09986808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.545347070000002 meters 0.020928419014679706 Centerline is valid? [True, True] Translation: X:-24.63, Y:1.56, Z:-1.10 [[ 9.95508624e-01 5.99981993e-02 -7.32311143e-02 -2.46261670e+01] [-5.96710104e-02 9.98195950e-01 6.64955209e-03 1.55891703e+00] [ 7.34979628e-02 -2.24991187e-03 9.97292829e-01 -1.09749732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575347070000003 meters 0.025693350947827185 Centerline is valid? [True, True] Translation: X:-24.66, Y:1.55, Z:-1.10 [[ 9.95833749e-01 5.57030664e-02 -7.21963429e-02 -2.46554619e+01] [-5.53723686e-02 9.98444122e-01 6.57548292e-03 1.55211693e+00] [ 7.24502887e-02 -2.55040530e-03 9.97368764e-01 -1.10024529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.605347070000004 meters 0.027394603717443965 Centerline is valid? [True, True] Translation: X:-24.68, Y:1.55, Z:-1.10 [[ 9.95998676e-01 5.23347546e-02 -7.24410917e-02 -2.46844284e+01] [-5.19924146e-02 9.98625639e-01 6.60469987e-03 1.55109102e+00] [ 7.26871869e-02 -2.81188505e-03 9.97350824e-01 -1.10076614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.63534707 meters 0.0245863126762291 Centerline is valid? [True, True] Translation: X:-24.71, Y:1.56, Z:-1.10 [[ 9.96054249e-01 4.87623362e-02 -7.41496255e-02 -2.47128255e+01] [-4.83933263e-02 9.98805439e-01 6.76616086e-03 1.56129157e+00] [ 7.43909831e-02 -3.15111625e-03 9.97224173e-01 -1.09954343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.665347070000003 meters 0.026075080877783683 Centerline is valid? [True, True] Translation: X:-24.74, Y:1.56, Z:-1.10 [[ 9.95817291e-01 4.85691376e-02 -7.73883880e-02 -2.47417314e+01] [-4.81656458e-02 9.98814319e-01 7.07298845e-03 1.55940347e+00] [ 7.76401590e-02 -3.31594251e-03 9.96975933e-01 -1.10431166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695347070000004 meters 0.02820656216015515 Centerline is valid? [True, True] Translation: X:-24.77, Y:1.56, Z:-1.11 [[ 9.95692777e-01 4.89788824e-02 -7.87207942e-02 -2.47700679e+01] [-4.85604169e-02 9.98794133e-01 7.22254007e-03 1.55823510e+00] [ 7.89796193e-02 -3.36871640e-03 9.96870539e-01 -1.10872816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.72534707 meters 0.02747034401682263 Centerline is valid? [True, True] Translation: X:-24.80, Y:1.57, Z:-1.11 [[ 9.95678289e-01 5.00470563e-02 -7.82306684e-02 -2.47976709e+01] [-4.96354474e-02 9.98741461e-01 7.19836284e-03 1.56707150e+00] [ 7.84924689e-02 -3.28423937e-03 9.96909297e-01 -1.10869401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755347070000003 meters 0.02747034401682263 Centerline is valid? [True, True] Translation: X:-24.82, Y:1.57, Z:-1.11 [[ 9.95660371e-01 5.04044042e-02 -7.82292939e-02 -2.48249435e+01] [-4.99927256e-02 9.98723533e-01 7.21327029e-03 1.56932678e+00] [ 7.84930174e-02 -3.27107175e-03 9.96909297e-01 -1.11015987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.785347070000004 meters 0.02481763812119079 Centerline is valid? [True, True] Translation: X:-24.85, Y:1.58, Z:-1.11 [[ 9.95523713e-01 5.58004999e-02 -7.62813322e-02 -2.48538810e+01] [-5.54234257e-02 9.98438030e-01 7.05292757e-03 1.57866641e+00] [ 7.65557400e-02 -2.79358389e-03 9.97061390e-01 -1.10755291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.81534707 meters 0.023260897318338847 Centerline is valid? [True, True] Translation: X:-24.88, Y:1.59, Z:-1.10 [[ 9.95427801e-01 5.96483860e-02 -7.46027040e-02 -2.48832759e+01] [-5.92983738e-02 9.98216457e-01 6.89989337e-03 1.58650063e+00] [ 7.48812143e-02 -2.44452665e-03 9.97189464e-01 -1.10458618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.845347070000003 meters 0.02093056373273091 Centerline is valid? [True, True] Translation: X:-24.91, Y:1.60, Z:-1.10 [[ 9.95322862e-01 6.24099396e-02 -7.37387277e-02 -2.49102364e+01] [-6.20751956e-02 9.98048140e-01 6.82494512e-03 1.59660910e+00] [ 7.40207445e-02 -2.21567796e-03 9.97254240e-01 -1.10226426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875347070000004 meters 0.02125665856590146 Centerline is valid? [True, True] Translation: X:-24.94, Y:1.60, Z:-1.10 [[ 9.95158852e-01 6.41284204e-02 -7.44741902e-02 -2.49392591e+01] [-6.37907035e-02 9.97939397e-01 6.90700971e-03 1.59812785e+00] [ 7.47636641e-02 -2.12281087e-03 9.97199021e-01 -1.10403877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.90534707 meters 0.021098426806922033 Centerline is valid? [True, True] Translation: X:-24.97, Y:1.60, Z:-1.10 [[ 9.95165688e-01 6.15544685e-02 -7.65264776e-02 -2.49671775e+01] [-6.11884584e-02 9.98100832e-01 7.12056618e-03 1.60062892e+00] [ 7.68194436e-02 -2.40360594e-03 9.97042123e-01 -1.10410487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935347070000002 meters 0.02416143728008842 Centerline is valid? [True, True] Translation: X:-25.00, Y:1.60, Z:-1.11 [[ 9.95480176e-01 5.52434577e-02 -7.72488177e-02 -2.49968039e+01] [-5.48506816e-02 9.98468618e-01 7.19872121e-03 1.59821868e+00] [ 7.75282025e-02 -2.92903395e-03 9.96985857e-01 -1.11052297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.965347070000004 meters 0.02409744436588696 Centerline is valid? [True, True] Translation: X:-25.03, Y:1.60, Z:-1.11 [[ 9.95576587e-01 5.39532593e-02 -7.69175177e-02 -2.50263060e+01] [-5.35592196e-02 9.98538875e-01 7.17810127e-03 1.59932311e+00] [ 7.71924136e-02 -3.02670733e-03 9.97011620e-01 -1.10748651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.99534707 meters 0.024908488994535277 Centerline is valid? [True, True] Translation: X:-25.06, Y:1.60, Z:-1.11 [[ 9.95700340e-01 5.43195679e-02 -7.50347801e-02 -2.50551031e+01] [-5.39438483e-02 9.98519249e-01 7.02642213e-03 1.59924850e+00] [ 7.53053445e-02 -2.94854611e-03 9.97156162e-01 -1.10663138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.025347070000002 meters 0.024634458810275876 Centerline is valid? [True, True] Translation: X:-25.08, Y:1.60, Z:-1.11 [[ 9.95764051e-01 5.18521792e-02 -7.59296098e-02 -2.50832428e+01] [-5.14586789e-02 9.98649664e-01 7.13106240e-03 1.60249040e+00] [ 7.61968405e-02 -3.19361818e-03 9.97087680e-01 -1.10788098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055347070000003 meters 0.026755746173823407 Centerline is valid? [True, True] Translation: X:-25.11, Y:1.60, Z:-1.11 [[ 9.95731257e-01 5.19658546e-02 -7.62811533e-02 -2.51122824e+01] [-5.15680034e-02 9.98643693e-01 7.17739698e-03 1.60159912e+00] [ 7.65506722e-02 -3.21309175e-03 9.97060515e-01 -1.11178174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.08534707 meters 0.023221362348083262 Centerline is valid? [True, True] Translation: X:-25.14, Y:1.61, Z:-1.11 [[ 9.95628099e-01 5.52363405e-02 -7.53235353e-02 -2.51403033e+01] [-5.48562573e-02 9.98468967e-01 7.10721617e-03 1.61102529e+00] [ 7.56007892e-02 -2.94417690e-03 9.97133819e-01 -1.10861069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115347070000002 meters 0.023500461358236007 Centerline is valid? [True, True] Translation: X:-25.17, Y:1.62, Z:-1.11 [[ 9.95474987e-01 5.71807458e-02 -7.58940866e-02 -2.51684130e+01] [-5.67995749e-02 9.98359832e-01 7.17320264e-03 1.61544477e+00] [ 7.61797766e-02 -2.82999195e-03 9.97090083e-01 -1.10863772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.145347070000003 meters 0.02293128231083272 Centerline is valid? [True, True] Translation: X:-25.19, Y:1.62, Z:-1.11 [[ 9.95442276e-01 5.74334959e-02 -7.61319156e-02 -2.51943910e+01] [-5.70488957e-02 9.98345288e-01 7.21875159e-03 1.62020375e+00] [ 7.64205373e-02 -2.84260881e-03 9.97071623e-01 -1.11244473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175347070000004 meters 0.023551806147812562 Centerline is valid? [True, True] Translation: X:-25.22, Y:1.62, Z:-1.11 [[ 9.95284444e-01 5.93535840e-02 -7.67204455e-02 -2.52227036e+01] [-5.89673050e-02 9.98233278e-01 7.29246656e-03 1.62234692e+00] [ 7.70177358e-02 -2.73408061e-03 9.97025974e-01 -1.11497403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.205347070000002 meters 0.02203815640352114 Centerline is valid? [True, True] Translation: X:-25.25, Y:1.63, Z:-1.11 [[ 9.94966545e-01 6.26583138e-02 -7.82017314e-02 -2.52499303e+01] [-6.22653447e-02 9.98031782e-01 7.45576559e-03 1.63024174e+00] [ 7.85149790e-02 -2.54897957e-03 9.96909675e-01 -1.11368638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235347070000003 meters 0.021785083200190413 Centerline is valid? [True, True] Translation: X:-25.28, Y:1.64, Z:-1.12 [[ 9.94556582e-01 6.51298782e-02 -8.13345231e-02 -2.52781340e+01] [-6.47115787e-02 9.97873749e-01 7.77123006e-03 1.63682098e+00] [ 8.16677248e-02 -2.46564261e-03 9.96656562e-01 -1.11972160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.265347070000004 meters 0.02341661194435313 Centerline is valid? [True, True] Translation: X:-25.31, Y:1.64, Z:-1.13 [[ 9.94437907e-01 6.78972886e-02 -8.05183632e-02 -2.53066936e+01] [-6.74941344e-02 9.97689793e-01 7.72129493e-03 1.63672895e+00] [ 8.08566041e-02 -2.24383115e-03 9.96723219e-01 -1.12705698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295347070000002 meters 0.02016017492033434 Centerline is valid? [True, True] Translation: X:-25.33, Y:1.65, Z:-1.12 [[ 9.94272310e-01 7.17640608e-02 -7.91990784e-02 -2.53345698e+01] [-7.13846006e-02 9.97419791e-01 7.61578032e-03 1.64925894e+00] [ 7.95412675e-02 -1.91856491e-03 9.96829728e-01 -1.11555856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.325347070000003 meters 0.0199141976249954 Centerline is valid? [True, True] Translation: X:-25.36, Y:1.65, Z:-1.12 [[ 9.94233239e-01 7.29143937e-02 -7.86368748e-02 -2.53625320e+01] [-7.25431845e-02 9.97336538e-01 7.57079638e-03 1.64993670e+00] [ 7.89794485e-02 -1.82256808e-03 9.96874578e-01 -1.12302946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355347070000004 meters 0.02023802419268287 Centerline is valid? [True, True] Translation: X:-25.39, Y:1.65, Z:-1.13 [[ 9.94182734e-01 7.38197734e-02 -7.84304326e-02 -2.53909903e+01] [-7.34521035e-02 9.97270043e-01 7.56639342e-03 1.65191750e+00] [ 7.87748703e-02 -1.76149744e-03 9.96890875e-01 -1.12519634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.38534707 meters 0.0194517645788547 Centerline is valid? [True, True] Translation: X:-25.42, Y:1.65, Z:-1.12 [[ 9.94328579e-01 7.20667719e-02 -7.82116164e-02 -2.54189580e+01] [-7.16940846e-02 9.97397969e-01 7.56632670e-03 1.65385240e+00] [ 7.85533882e-02 -1.91610463e-03 9.96908067e-01 -1.12354556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415347070000003 meters 0.021445171714067054 Centerline is valid? [True, True] Translation: X:-25.45, Y:1.65, Z:-1.13 [[ 9.94513880e-01 6.80133257e-02 -7.94753370e-02 -2.54484370e+01] [-6.76143166e-02 9.97681789e-01 7.70402617e-03 1.65034582e+00] [ 7.98150729e-02 -2.28809036e-03 9.96807062e-01 -1.12744137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.445347070000004 meters 0.023393717241861695 Centerline is valid? [True, True] Translation: X:-25.48, Y:1.65, Z:-1.13 [[ 9.94735444e-01 6.58481944e-02 -7.85201350e-02 -2.54776004e+01] [-6.54499481e-02 9.97826625e-01 7.63751108e-03 1.64525751e+00] [ 7.88523976e-02 -2.45816421e-03 9.96883271e-01 -1.12709406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.47534707 meters 0.024750896686225054 Centerline is valid? [True, True] Translation: X:-25.51, Y:1.64, Z:-1.14 [[ 9.94857569e-01 6.00067157e-02 -8.15941898e-02 -2.55069509e+01] [-5.95553126e-02 9.98193293e-01 7.95703271e-03 1.64384239e+00] [ 8.19242484e-02 -3.05674673e-03 9.96633871e-01 -1.13581696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.505347070000003 meters 0.022565720455261243 Centerline is valid? [True, True] Translation: X:-25.53, Y:1.65, Z:-1.13 [[ 9.94950663e-01 6.02334529e-02 -8.02814438e-02 -2.55344642e+01] [-5.97967363e-02 9.98179824e-01 7.83512367e-03 1.64890321e+00] [ 8.06072540e-02 -2.99499316e-03 9.96741441e-01 -1.13053478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535347070000004 meters 0.024841652972075665 Centerline is valid? [True, True] Translation: X:-25.56, Y:1.64, Z:-1.14 [[ 9.95161491e-01 5.86286376e-02 -7.88434496e-02 -2.55634919e+01] [-5.82011318e-02 9.98275095e-01 7.71127647e-03 1.64376967e+00] [ 7.91595537e-02 -3.08518739e-03 9.96857185e-01 -1.13557427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.56534707 meters 0.024628371706580693 Centerline is valid? [True, True] Translation: X:-25.59, Y:1.65, Z:-1.14 [[ 9.95178892e-01 5.85067765e-02 -7.87142238e-02 -2.55908617e+01] [-5.80779225e-02 9.98282137e-01 7.72855649e-03 1.64570550e+00] [ 7.90311764e-02 -3.11973770e-03 9.96867263e-01 -1.13521218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595347070000003 meters 0.024811955960706063 Centerline is valid? [True, True] Translation: X:-25.62, Y:1.64, Z:-1.14 [[ 9.95307660e-01 5.75276012e-02 -7.78025511e-02 -2.56198379e+01] [-5.71033572e-02 9.98338821e-01 7.66849823e-03 1.64493767e+00] [ 7.81144575e-02 -3.18972816e-03 9.96939295e-01 -1.13811227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.625347070000004 meters 0.024494805417476073 Centerline is valid? [True, True] Translation: X:-25.65, Y:1.65, Z:-1.14 [[ 9.95418075e-01 5.43132779e-02 -7.86951297e-02 -2.56474461e+01] [-5.38674467e-02 9.98517797e-01 7.77868278e-03 1.64881515e+00] [ 7.90009733e-02 -3.50393573e-03 9.96868381e-01 -1.13966687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.65534707 meters 0.026936415319922098 Centerline is valid? [True, True] Translation: X:-25.68, Y:1.64, Z:-1.14 [[ 9.95275113e-01 5.32238538e-02 -8.12075747e-02 -2.56770524e+01] [-5.27440105e-02 9.98575666e-01 8.04413007e-03 1.64425974e+00] [ 8.15200476e-02 -3.72290930e-03 9.96664749e-01 -1.14416028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.685347070000002 meters 0.028265638730621375 Centerline is valid? [True, True] Translation: X:-25.71, Y:1.64, Z:-1.15 [[ 9.95419882e-01 5.08471203e-02 -8.09557240e-02 -2.57058504e+01] [-5.03606895e-02 9.98698729e-01 8.04047908e-03 1.64476036e+00] [ 8.12592139e-02 -3.92666665e-03 9.96685267e-01 -1.14645472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715347070000004 meters 0.027563561913883646 Centerline is valid? [True, True] Translation: X:-25.73, Y:1.65, Z:-1.15 [[ 9.95326390e-01 5.14868830e-02 -8.16974822e-02 -2.57326068e+01] [-5.09927661e-02 9.98665975e-01 8.12451517e-03 1.64910273e+00] [ 8.20068017e-02 -3.92056375e-03 9.96624058e-01 -1.14743955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.74534707 meters 0.02758195910971226 Centerline is valid? [True, True] Translation: X:-25.76, Y:1.65, Z:-1.15 [[ 9.95527315e-01 5.05857553e-02 -7.97900176e-02 -2.57602591e+01] [-5.01100303e-02 9.98712025e-01 7.95460598e-03 1.65233359e+00] [ 8.00896398e-02 -3.92074732e-03 9.96779954e-01 -1.14755074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775347070000002 meters 0.02876304420842318 Centerline is valid? [True, True] Translation: X:-25.79, Y:1.65, Z:-1.15 [[ 9.95390003e-01 5.05092649e-02 -8.15325427e-02 -2.57892260e+01] [-5.00099932e-02 9.98715420e-01 8.15544830e-03 1.65380161e+00] [ 8.18397333e-02 -4.04040981e-03 9.96637313e-01 -1.15378272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.805347070000003 meters 0.029054933345541573 Centerline is valid? [True, True] Translation: X:-25.82, Y:1.66, Z:-1.16 [[ 9.95205652e-01 5.06608883e-02 -8.36611269e-02 -2.58176220e+01] [-5.01339366e-02 9.98707272e-01 8.38884843e-03 1.65619781e+00] [ 8.39779623e-02 -4.15436775e-03 9.96458952e-01 -1.15764535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835347070000005 meters 0.029902999906928428 Centerline is valid? [True, True] Translation: X:-25.85, Y:1.66, Z:-1.16 [[ 9.95296043e-01 4.81500902e-02 -8.40675623e-02 -2.58467042e+01] [-4.76071276e-02 9.98830374e-01 8.45256859e-03 1.65980002e+00] [ 8.43762266e-02 -4.41059292e-03 9.96424206e-01 -1.16073417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.865347070000002 meters 0.031424513526784756 Centerline is valid? [True, True] Translation: X:-25.87, Y:1.66, Z:-1.16 [[ 9.95319242e-01 4.62290983e-02 -8.48674131e-02 -2.58741690e+01] [-4.56677146e-02 9.98920135e-01 8.54535418e-03 1.66348966e+00] [ 8.51708118e-02 -4.62965465e-03 9.96355609e-01 -1.15887141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895347070000003 meters 0.03226922238380718 Centerline is valid? [True, True] Translation: X:-25.90, Y:1.66, Z:-1.17 [[ 9.95116346e-01 4.65687442e-02 -8.70333816e-02 -2.59025000e+01] [-4.59779334e-02 9.98903855e-01 8.78174493e-03 1.66262423e+00] [ 8.73469352e-02 -4.73724290e-03 9.96166689e-01 -1.16918496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.925347070000004 meters 0.03492814497905126 Centerline is valid? [True, True] Translation: X:-25.93, Y:1.66, Z:-1.17 [[ 9.95061099e-01 4.73858049e-02 -8.72238165e-02 -2.59314903e+01] [-4.67929305e-02 9.98865579e-01 8.83043895e-03 1.66129183e+00] [ 8.75433055e-02 -4.70536830e-03 9.96149602e-01 -1.17257280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955347070000002 meters 0.027477773367394268 Centerline is valid? [True, True] Translation: X:-25.96, Y:1.68, Z:-1.17 [[ 9.94840452e-01 5.06603558e-02 -8.78976873e-02 -2.59587218e+01] [-5.00691852e-02 9.98705928e-01 8.91885512e-03 1.67921755e+00] [ 8.82357737e-02 -4.47187227e-03 9.96089580e-01 -1.16993886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.985347070000003 meters 0.02587859135987827 Centerline is valid? [True, True] Translation: X:-25.99, Y:1.69, Z:-1.17 [[ 9.94765749e-01 5.23826752e-02 -8.77334552e-02 -2.59868439e+01] [-5.17988924e-02 9.98617707e-01 8.91909396e-03 1.68768854e+00] [ 8.80793879e-02 -4.32791338e-03 9.96104056e-01 -1.16922531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015347070000004 meters 0.028078143455358057 Centerline is valid? [True, True] Translation: X:-26.02, Y:1.69, Z:-1.17 [[ 9.94797708e-01 5.44192010e-02 -8.61166083e-02 -2.60166573e+01] [-5.38625722e-02 9.98509794e-01 8.77579572e-03 1.68741143e+00] [ 8.64658486e-02 -4.09167943e-03 9.96246413e-01 -1.17296669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.045347070000002 meters 0.026234623764987367 Centerline is valid? [True, True] Translation: X:-26.04, Y:1.69, Z:-1.18 [[ 9.94854764e-01 5.49496938e-02 -8.51148049e-02 -2.60440099e+01] [-5.44071492e-02 9.98481084e-01 8.68260529e-03 1.69309014e+00] [ 8.54626291e-02 -4.00707734e-03 9.96333319e-01 -1.17676923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075347070000003 meters 0.029264408419924493 Centerline is valid? [True, True] Translation: X:-26.07, Y:1.69, Z:-1.18 [[ 9.94865226e-01 5.12907007e-02 -8.72493288e-02 -2.60742162e+01] [-5.07055182e-02 9.98673888e-01 8.91154920e-03 1.69060757e+00] [ 8.75907060e-02 -4.44176799e-03 9.96146645e-01 -1.18453917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.105347070000004 meters 0.028797237278671367 Centerline is valid? [True, True] Translation: X:-26.10, Y:1.69, Z:-1.19 [[ 9.94764095e-01 4.87801356e-02 -8.98047558e-02 -2.61023518e+01] [-4.81494976e-02 9.98797985e-01 9.17668199e-03 1.69431364e+00] [ 9.01444489e-02 -4.80457987e-03 9.95917112e-01 -1.18716149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.13534707 meters 0.028468154515815254 Centerline is valid? [True, True] Translation: X:-26.13, Y:1.70, Z:-1.19 [[ 9.94611234e-01 4.70270378e-02 -9.23956180e-02 -2.61307198e+01] [-4.63512327e-02 9.98880525e-01 9.44780182e-03 1.69868902e+00] [ 9.27364855e-02 -5.11423905e-03 9.95677553e-01 -1.19013759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.165347070000003 meters 0.028810984743975025 Centerline is valid? [True, True] Translation: X:-26.16, Y:1.70, Z:-1.19 [[ 9.94662628e-01 4.74284464e-02 -9.16340524e-02 -2.61589164e+01] [-4.67638886e-02 9.98861863e-01 9.38705595e-03 1.70325326e+00] [ 9.19749738e-02 -5.05178911e-03 9.95748504e-01 -1.19009224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195347070000004 meters 0.0301039378260685 Centerline is valid? [True, True] Translation: X:-26.19, Y:1.71, Z:-1.19 [[ 9.95037622e-01 4.88564392e-02 -8.66785993e-02 -2.61894309e+01] [-4.82658298e-02 9.98794894e-01 8.89776131e-03 1.70528181e+00] [ 8.70088553e-02 -4.66999273e-03 9.96196592e-01 -1.19139131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.22534707 meters 0.02832203616498092 Centerline is valid? [True, True] Translation: X:-26.22, Y:1.71, Z:-1.19 [[ 9.95018132e-01 5.00911513e-02 -8.61962513e-02 -2.62168748e+01] [-4.95113652e-02 9.98734329e-01 8.85242909e-03 1.71402759e+00] [ 8.65305835e-02 -4.54063338e-03 9.96238847e-01 -1.18931488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255347070000003 meters 0.027748281539892082 Centerline is valid? [True, True] Translation: X:-26.24, Y:1.72, Z:-1.20 [[ 9.94567379e-01 5.38529692e-02 -8.90819120e-02 -2.62446672e+01] [-5.32475603e-02 9.98539326e-01 9.16034646e-03 1.71601947e+00] [ 8.94451042e-02 -4.36718729e-03 9.95982179e-01 -1.19949508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.285347070000004 meters 0.026561187631757705 Centerline is valid? [True, True] Translation: X:-26.27, Y:1.72, Z:-1.20 [[ 9.94135644e-01 5.66552422e-02 -9.21113722e-02 -2.62717812e+01] [-5.60176827e-02 9.98384632e-01 9.49446451e-03 1.72281433e+00] [ 9.25004897e-02 -4.27891997e-03 9.95703445e-01 -1.20419775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.31534707 meters 0.02640152147809143 Centerline is valid? [True, True] Translation: X:-26.30, Y:1.73, Z:-1.21 [[ 9.93822401e-01 5.89144987e-02 -9.40537985e-02 -2.62988703e+01] [-5.82561284e-02 9.98254225e-01 9.73274618e-03 1.72972580e+00] [ 9.44630015e-02 -4.19341102e-03 9.95519541e-01 -1.20851536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.345347070000003 meters 0.025780911773217337 Centerline is valid? [True, True] Translation: X:-26.33, Y:1.74, Z:-1.20 [[ 9.93801035e-01 6.27226987e-02 -9.17897925e-02 -2.63272952e+01] [-6.21099491e-02 9.98023911e-01 9.51980967e-03 1.73880057e+00] [ 9.22055159e-02 -3.75973736e-03 9.95732900e-01 -1.20390701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375347070000004 meters 0.02162365076097063 Centerline is valid? [True, True] Translation: X:-26.35, Y:1.75, Z:-1.20 [[ 9.93761326e-01 6.48259368e-02 -9.07525463e-02 -2.63534923e+01] [-6.42351128e-02 9.97890340e-01 9.41907644e-03 1.74945293e+00] [ 9.11716898e-02 -3.53081384e-03 9.95828929e-01 -1.20482345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.40534707 meters 0.02546963258127175 Centerline is valid? [True, True] Translation: X:-26.38, Y:1.75, Z:-1.21 [[ 9.93944811e-01 6.72603684e-02 -8.68893339e-02 -2.63830479e+01] [-6.67271087e-02 9.97730396e-01 9.03045987e-03 1.74855498e+00] [ 8.72995216e-02 -3.17790470e-03 9.96177040e-01 -1.20681172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435347070000002 meters 0.022373665462512318 Centerline is valid? [True, True] Translation: X:-26.41, Y:1.75, Z:-1.21 [[ 9.93778987e-01 6.59246395e-02 -8.97622813e-02 -2.64105404e+01] [-6.53489659e-02 9.97818756e-01 9.34036731e-03 1.75149504e+00] [ 9.01822482e-02 -3.41638850e-03 9.95919420e-01 -1.21288850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.465347070000004 meters 0.02587818688189295 Centerline is valid? [True, True] Translation: X:-26.44, Y:1.75, Z:-1.22 [[ 9.93774753e-01 6.38811289e-02 -9.12739923e-02 -2.64391103e+01] [-6.32762451e-02 9.97950752e-01 9.50857680e-03 1.74936437e+00] [ 9.16943679e-02 -3.67390805e-03 9.95780420e-01 -1.21864535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.49534707 meters 0.025328079258737746 Centerline is valid? [True, True] Translation: X:-26.47, Y:1.75, Z:-1.22 [[ 9.93566570e-01 6.22964627e-02 -9.45760099e-02 -2.64693192e+01] [-6.16390683e-02 9.98049808e-01 9.85931713e-03 1.75063499e+00] [ 9.50057691e-02 -3.96631077e-03 9.95468820e-01 -1.22260261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525347070000002 meters 0.02716142261286748 Centerline is valid? [True, True] Translation: X:-26.50, Y:1.75, Z:-1.22 [[ 9.93729873e-01 6.27722528e-02 -9.25234187e-02 -2.64972752e+01] [-6.21446424e-02 9.98020485e-01 9.65168120e-03 1.75331933e+00] [ 9.29461249e-02 -3.84132917e-03 9.95663729e-01 -1.22207862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555347070000003 meters 0.026922339557506364 Centerline is valid? [True, True] Translation: X:-26.53, Y:1.75, Z:-1.22 [[ 9.94111742e-01 6.12211901e-02 -8.94081078e-02 -2.65256513e+01] [-6.06279987e-02 9.98116751e-01 9.33796627e-03 1.75411972e+00] [ 8.98114114e-02 -3.86234728e-03 9.95951300e-01 -1.22233360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.585347070000005 meters 0.027278558709941655 Centerline is valid? [True, True] Translation: X:-26.56, Y:1.76, Z:-1.23 [[ 9.94080605e-01 6.32644551e-02 -8.83253005e-02 -2.65552827e+01] [-6.26928595e-02 9.97990155e-01 9.23345453e-03 1.75688740e+00] [ 8.87319298e-02 -3.64143241e-03 9.96048887e-01 -1.22573559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615347070000002 meters 0.023737999298213422 Centerline is valid? [True, True] Translation: X:-26.58, Y:1.76, Z:-1.23 [[ 9.93893828e-01 6.36627287e-02 -9.01227811e-02 -2.65829596e+01] [-6.30685095e-02 9.97964659e-01 9.42881418e-03 1.76016430e+00] [ 9.05396146e-02 -3.68733074e-03 9.95886029e-01 -1.23025081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.645347070000003 meters 0.023737999298213422 Centerline is valid? [True, True] Translation: X:-26.61, Y:1.76, Z:-1.23 [[ 9.93867921e-01 6.40691181e-02 -9.01204956e-02 -2.66101834e+01] [-6.34745900e-02 9.97938707e-01 9.45061433e-03 1.76278193e+00] [ 9.05402234e-02 -3.67230090e-03 9.95886029e-01 -1.23171620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675347070000004 meters 0.027662655936632877 Centerline is valid? [True, True] Translation: X:-26.64, Y:1.77, Z:-1.23 [[ 9.93927073e-01 6.56979650e-02 -8.82765649e-02 -2.66393920e+01] [-6.51317487e-02 9.97833499e-01 9.28244068e-03 1.76570312e+00] [ 8.86951511e-02 -3.47646205e-03 9.96052752e-01 -1.22694693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705347070000002 meters 0.0249998155773034 Centerline is valid? [True, True] Translation: X:-26.67, Y:1.77, Z:-1.23 [[ 9.93609099e-01 6.70409409e-02 -9.08100847e-02 -2.66662316e+01] [-6.64462589e-02 9.97744211e-01 9.55954658e-03 1.77043257e+00] [ 9.12461173e-02 -3.46446206e-03 9.95822345e-01 -1.23283656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735347070000003 meters 0.02099017138215206 Centerline is valid? [True, True] Translation: X:-26.69, Y:1.78, Z:-1.24 [[ 9.93284833e-01 6.83346651e-02 -9.33574571e-02 -2.66936407e+01] [-6.77105416e-02 9.97656479e-01 9.84032158e-03 1.77734758e+00] [ 9.38111070e-02 -3.45295819e-03 9.95584026e-01 -1.23674105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.765347070000004 meters 0.02411798632571457 Centerline is valid? [True, True] Translation: X:-26.72, Y:1.78, Z:-1.24 [[ 9.93286323e-01 7.22656863e-02 -9.03324523e-02 -2.67242079e+01] [-7.16970344e-02 9.97380942e-01 9.52852035e-03 1.77797625e+00] [ 9.07844514e-02 -2.98797999e-03 9.95866083e-01 -1.23876054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795347070000002 meters 0.023375006104472316 Centerline is valid? [True, True] Translation: X:-26.75, Y:1.78, Z:-1.23 [[ 9.93322490e-01 7.43501453e-02 -8.82184091e-02 -2.67529184e+01] [-7.38158156e-02 9.97228449e-01 9.30837861e-03 1.78471976e+00] [ 8.86659866e-02 -2.73430799e-03 9.96057662e-01 -1.23167569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825347070000003 meters 0.023156665156474732 Centerline is valid? [True, True] Translation: X:-26.78, Y:1.78, Z:-1.24 [[ 9.93376169e-01 7.48384482e-02 -8.71951482e-02 -2.67815279e+01] [-7.43168318e-02 9.97192079e-01 9.21769330e-03 1.78228235e+00] [ 8.76401490e-02 -2.67656969e-03 9.96148604e-01 -1.24032053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855347070000004 meters 0.02070569636708649 Centerline is valid? [True, True] Translation: X:-26.81, Y:1.78, Z:-1.24 [[ 9.93201452e-01 7.63851246e-02 -8.78418371e-02 -2.68092418e+01] [-7.58595652e-02 9.97075041e-01 9.31072196e-03 1.78334825e+00] [ 8.82961040e-02 -2.58377900e-03 9.96090921e-01 -1.24485353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.88534707 meters 0.02246308569775935 Centerline is valid? [True, True] Translation: X:-26.84, Y:1.79, Z:-1.24 [[ 9.93409059e-01 7.50945630e-02 -8.65981990e-02 -2.68358914e+01] [-7.45778040e-02 9.97172835e-01 9.19178681e-03 1.78678032e+00] [ 8.70436248e-02 -2.67290077e-03 9.96200915e-01 -1.23855293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915347070000003 meters 0.02608551549952615 Centerline is valid? [True, True] Translation: X:-26.87, Y:1.78, Z:-1.25 [[ 9.93428116e-01 7.17018583e-02 -8.92155917e-02 -2.68660966e+01] [-7.11386084e-02 9.97421378e-01 9.48121978e-03 1.78192450e+00] [ 8.96653594e-02 -3.07223727e-03 9.95967211e-01 -1.24607653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.945347070000004 meters 0.024263381823753198 Centerline is valid? [True, True] Translation: X:-26.89, Y:1.78, Z:-1.25 [[ 9.93395496e-01 7.20378984e-02 -8.93080613e-02 -2.68935289e+01] [-7.14741132e-02 9.97397223e-01 9.49900444e-03 1.78158874e+00] [ 8.97599006e-02 -3.05305374e-03 9.95958754e-01 -1.24850905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.97534707 meters 0.023885279169945352 Centerline is valid? [True, True] Translation: X:-26.92, Y:1.79, Z:-1.24 [[ 9.93429799e-01 7.32944075e-02 -8.78929149e-02 -2.69217044e+01] [-7.27520544e-02 9.97306112e-01 9.36254996e-03 1.78512135e+00] [ 8.83423638e-02 -2.90664600e-03 9.96085929e-01 -1.24376811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.005347070000003 meters 0.022368513440121092 Centerline is valid? [True, True] Translation: X:-26.95, Y:1.79, Z:-1.25 [[ 9.93345670e-01 7.36293996e-02 -8.85612296e-02 -2.69497615e+01] [-7.30782100e-02 9.97281398e-01 9.45455500e-03 1.78621493e+00] [ 8.90166001e-02 -2.91974513e-03 9.96025863e-01 -1.25064504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035347070000004 meters 0.02340388100984047 Centerline is valid? [True, True] Translation: X:-26.98, Y:1.79, Z:-1.25 [[ 9.93010199e-01 7.70946573e-02 -8.93709059e-02 -2.69770700e+01] [-7.65446687e-02 9.97020223e-01 9.57018156e-03 1.78876520e+00] [ 8.98424104e-02 -2.66242151e-03 9.95952435e-01 -1.24901848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.06534707 meters 0.02036448190708163 Centerline is valid? [True, True] Translation: X:-27.01, Y:1.79, Z:-1.26 [[ 9.92848837e-01 7.73127165e-02 -9.09611524e-02 -2.70059640e+01] [-7.67414114e-02 9.97003192e-01 9.76685181e-03 1.78775597e+00] [ 9.14436611e-02 -2.71652025e-03 9.95806546e-01 -1.25976567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095347070000003 meters 0.023689726385765168 Centerline is valid? [True, True] Translation: X:-27.03, Y:1.79, Z:-1.26 [[ 9.93013305e-01 7.90195459e-02 -8.76383902e-02 -2.70347747e+01] [-7.84941158e-02 9.96869967e-01 9.43092148e-03 1.78948691e+00] [ 8.81093063e-02 -2.48593256e-03 9.96107710e-01 -1.25541294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.125347070000004 meters 0.02116379110652872 Centerline is valid? [True, True] Translation: X:-27.06, Y:1.79, Z:-1.26 [[ 9.92956826e-01 7.82728690e-02 -8.89387455e-02 -2.70634217e+01] [-7.77271198e-02 9.96928561e-01 9.58844811e-03 1.78819139e+00] [ 8.94160910e-02 -2.60796247e-03 9.95990944e-01 -1.25938074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.15534707 meters 0.021107926975140648 Centerline is valid? [True, True] Translation: X:-27.09, Y:1.79, Z:-1.26 [[ 9.92941974e-01 7.76987116e-02 -8.96055048e-02 -2.70911603e+01] [-7.71401237e-02 9.96973216e-01 9.68542828e-03 1.79120645e+00] [ 9.00868336e-02 -2.70488855e-03 9.95930242e-01 -1.25679625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.185347070000002 meters 0.022218945774542382 Centerline is valid? [True, True] Translation: X:-27.12, Y:1.79, Z:-1.26 [[ 9.92997600e-01 7.72546362e-02 -8.93727478e-02 -2.71194505e+01] [-7.66949667e-02 9.97007568e-01 9.68459772e-03 1.78522011e+00] [ 8.98534860e-02 -2.76234237e-03 9.95951164e-01 -1.26395904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215347070000004 meters 0.02552945464822501 Centerline is valid? [True, True] Translation: X:-27.15, Y:1.78, Z:-1.27 [[ 9.93363632e-01 7.57616878e-02 -8.65382015e-02 -2.71483196e+01] [-7.52289381e-02 9.97121929e-01 9.40566079e-03 1.77982167e+00] [ 8.70017271e-02 -2.83306436e-03 9.96204132e-01 -1.26706131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.245347070000005 meters 0.021501550493816295 Centerline is valid? [True, True] Translation: X:-27.18, Y:1.78, Z:-1.26 [[ 9.93327913e-01 7.64834632e-02 -8.63130211e-02 -2.71762184e+01] [-7.59551989e-02 9.97066991e-01 9.39275740e-03 1.78480325e+00] [ 8.67782548e-02 -2.77416541e-03 9.96223789e-01 -1.26421517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275347070000002 meters 0.027811275684922525 Centerline is valid? [True, True] Translation: X:-27.21, Y:1.77, Z:-1.28 [[ 9.93151986e-01 7.98904272e-02 -8.52446604e-02 -2.72060746e+01] [-7.93860285e-02 9.96800603e-01 9.29599742e-03 1.77272782e+00] [ 8.57145901e-02 -2.46510326e-03 9.96316683e-01 -1.27535560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.305347070000003 meters 0.02366828380601087 Centerline is valid? [True, True] Translation: X:-27.23, Y:1.77, Z:-1.29 [[ 9.92765946e-01 7.95046878e-02 -8.99710060e-02 -2.72343520e+01] [-7.89389576e-02 9.96830940e-01 9.83454398e-03 1.77340058e+00] [ 9.04677748e-02 -2.66118293e-03 9.95895828e-01 -1.28885605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335347070000005 meters 0.01813532438922418 Centerline is valid? [True, True] Translation: X:-27.26, Y:1.78, Z:-1.28 [[ 9.92703766e-01 8.22926397e-02 -8.81314619e-02 -2.72627992e+01] [-8.17603620e-02 9.96605408e-01 9.63867423e-03 1.78325069e+00] [ 8.86254835e-02 -2.36268798e-03 9.96062218e-01 -1.27760724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.365347070000002 meters 0.021938738319780302 Centerline is valid? [True, True] Translation: X:-27.29, Y:1.77, Z:-1.29 [[ 9.92684269e-01 8.52924881e-02 -8.54583761e-02 -2.72927970e+01] [-8.48025650e-02 9.96353872e-01 9.35342570e-03 1.77383819e+00] [ 8.59445609e-02 -2.03790906e-03 9.96297837e-01 -1.28600978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395347070000003 meters 0.02584476547604272 Centerline is valid? [True, True] Translation: X:-27.32, Y:1.77, Z:-1.29 [[ 9.92613747e-01 8.57621080e-02 -8.58068163e-02 -2.73212989e+01] [-8.52685171e-02 9.96313592e-01 9.40777891e-03 1.77401823e+00] [ 8.62973283e-02 -2.02167069e-03 9.96267376e-01 -1.28698889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.425347070000004 meters 0.02402229391671271 Centerline is valid? [True, True] Translation: X:-27.35, Y:1.77, Z:-1.29 [[ 9.92727533e-01 8.50156672e-02 -8.52313395e-02 -2.73492018e+01] [-8.45238864e-02 9.96377409e-01 9.36863043e-03 1.77186223e+00] [ 8.57190616e-02 -2.09641332e-03 9.96317142e-01 -1.28624096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455347070000002 meters 0.026409490277260115 Centerline is valid? [True, True] Translation: X:-27.38, Y:1.77, Z:-1.29 [[ 9.92781467e-01 8.51378127e-02 -8.44778797e-02 -2.73780369e+01] [-8.46541225e-02 9.96367015e-01 9.29787084e-03 1.76807787e+00] [ 8.49625733e-02 -2.07935306e-03 9.96381974e-01 -1.28746710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.485347070000003 meters 0.024419863239476643 Centerline is valid? [True, True] Translation: X:-27.41, Y:1.77, Z:-1.29 [[ 9.92724036e-01 8.43232221e-02 -8.59568620e-02 -2.74073866e+01] [-8.38183308e-02 9.96436029e-01 9.47248235e-03 1.76671144e+00] [ 8.64492645e-02 -2.19880022e-03 9.96253828e-01 -1.29366738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515347070000004 meters 0.02179746535165806 Centerline is valid? [True, True] Translation: X:-27.44, Y:1.77, Z:-1.30 [[ 9.92632847e-01 8.32261863e-02 -8.80535840e-02 -2.74356656e+01] [-8.26908777e-02 9.96527881e-01 9.71605799e-03 1.76624609e+00] [ 8.85564819e-02 -2.36325015e-03 9.96068353e-01 -1.30182766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.545347070000002 meters 0.024126542233525717 Centerline is valid? [True, True] Translation: X:-27.46, Y:1.76, Z:-1.30 [[ 9.93011257e-01 8.25433091e-02 -8.43519136e-02 -2.74639434e+01] [-8.20487443e-02 9.96584748e-01 9.31900823e-03 1.76307226e+00] [ 8.48330523e-02 -2.33291149e-03 9.96392448e-01 -1.29621607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575347070000003 meters 0.024239922765169706 Centerline is valid? [True, True] Translation: X:-27.49, Y:1.76, Z:-1.30 [[ 9.93084884e-01 8.35757204e-02 -8.24470211e-02 -2.74924937e+01] [-8.31056322e-02 9.96498983e-01 9.12310949e-03 1.76250712e+00] [ 8.29208431e-02 -2.20821032e-03 9.96553690e-01 -1.29613137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.605347070000004 meters 0.024364618212083963 Centerline is valid? [True, True] Translation: X:-27.52, Y:1.76, Z:-1.30 [[ 9.93270365e-01 8.15234745e-02 -8.22672808e-02 -2.75202071e+01] [-8.10475949e-02 9.96668570e-01 9.11310830e-03 1.76128143e+00] [ 8.27361453e-02 -2.38421516e-03 9.96568636e-01 -1.29902778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.63534707 meters 0.0250825582572753 Centerline is valid? [True, True] Translation: X:-27.55, Y:1.76, Z:-1.30 [[ 9.93115789e-01 8.22474782e-02 -8.34049324e-02 -2.75486737e+01] [-8.17599995e-02 9.96609127e-01 9.24934523e-03 1.75935909e+00] [ 8.38828522e-02 -2.36648355e-03 9.96472813e-01 -1.30322227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.665347070000003 meters 0.027808413020267916 Centerline is valid? [True, True] Translation: X:-27.58, Y:1.76, Z:-1.30 [[ 9.93163226e-01 8.08140171e-02 -8.42371675e-02 -2.75771031e+01] [-8.03101063e-02 9.96725987e-01 9.35913092e-03 1.75953050e+00] [ 8.47177229e-02 -2.53004879e-03 9.96401780e-01 -1.30468331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695347070000004 meters 0.02834911428374977 Centerline is valid? [True, True] Translation: X:-27.60, Y:1.76, Z:-1.31 [[ 9.93183736e-01 7.91736775e-02 -8.55429477e-02 -2.76049852e+01] [-7.86457566e-02 9.96857081e-01 9.52918579e-03 1.75964600e+00] [ 8.60285538e-02 -2.73664249e-03 9.96288913e-01 -1.30826915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.72534707 meters 0.026532750344070717 Centerline is valid? [True, True] Translation: X:-27.63, Y:1.76, Z:-1.31 [[ 9.93037333e-01 8.03629712e-02 -8.61315742e-02 -2.76327880e+01] [-7.98309550e-02 9.96762100e-01 9.60908097e-03 1.75811585e+00] [ 8.66249031e-02 -2.66621031e-03 9.96237430e-01 -1.31164386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755347070000003 meters 0.027458134928257546 Centerline is valid? [True, True] Translation: X:-27.66, Y:1.76, Z:-1.31 [[ 9.92877232e-01 8.13686732e-02 -8.70283965e-02 -2.76596934e+01] [-8.08281812e-02 9.96680631e-01 9.72234158e-03 1.75991734e+00] [ 8.75306112e-02 -2.61874459e-03 9.96158388e-01 -1.31241399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.785347070000004 meters 0.027409237099549788 Centerline is valid? [True, True] Translation: X:-27.69, Y:1.76, Z:-1.31 [[ 9.92908809e-01 8.24722052e-02 -8.56179473e-02 -2.76882280e+01] [-8.19513503e-02 9.96590224e-01 9.58649359e-03 1.76220041e+00] [ 8.61166286e-02 -2.50200754e-03 9.96281921e-01 -1.31239874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.81534707 meters 0.027777788129637566 Centerline is valid? [True, True] Translation: X:-27.72, Y:1.76, Z:-1.31 [[ 9.93010777e-01 8.42616780e-02 -8.26411907e-02 -2.77179792e+01] [-8.37809588e-02 9.96441041e-01 9.27381518e-03 1.76441660e+00] [ 8.31285012e-02 -2.28524023e-03 9.96536216e-01 -1.31128945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.845347070000003 meters 0.025911416551586217 Centerline is valid? [True, True] Translation: X:-27.75, Y:1.77, Z:-1.31 [[ 9.92808988e-01 8.65776822e-02 -8.26717541e-02 -2.77462738e+01] [-8.61040441e-02 9.96242892e-01 9.28408516e-03 1.76521536e+00] [ 8.31649419e-02 -2.09895083e-03 9.96533585e-01 -1.31433545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875347070000004 meters 0.02521123895881825 Centerline is valid? [True, True] Translation: X:-27.77, Y:1.77, Z:-1.32 [[ 9.92687234e-01 8.77844451e-02 -8.28610075e-02 -2.77736297e+01] [-8.73111463e-02 9.96137441e-01 9.32540164e-03 1.76553427e+00] [ 8.33595771e-02 -2.02251762e-03 9.96517481e-01 -1.31923315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.90534707 meters 0.027485472998867826 Centerline is valid? [True, True] Translation: X:-27.80, Y:1.76, Z:-1.32 [[ 9.92661541e-01 8.62410779e-02 -8.47675758e-02 -2.78029996e+01] [-8.57371172e-02 9.96271787e-01 9.57457946e-03 1.76496633e+00] [ 8.52772663e-02 -2.23658921e-03 9.96354749e-01 -1.32329144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935347070000002 meters 0.02617603283335316 Centerline is valid? [True, True] Translation: X:-27.83, Y:1.77, Z:-1.33 [[ 9.92651484e-01 8.63100360e-02 -8.48151492e-02 -2.78309529e+01] [-8.58029760e-02 9.96265753e-01 9.61245149e-03 1.76506675e+00] [ 8.53280795e-02 -2.26442202e-03 9.96350336e-01 -1.32579600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.965347070000004 meters 0.027360644102063028 Centerline is valid? [True, True] Translation: X:-27.86, Y:1.76, Z:-1.33 [[ 9.92832127e-01 8.50998611e-02 -8.39188967e-02 -2.78591692e+01] [-8.45960792e-02 9.96369585e-01 9.54740889e-03 1.76182649e+00] [ 8.44267195e-02 -2.37976464e-03 9.96426849e-01 -1.32868709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995347070000005 meters 0.029273247402763714 Centerline is valid? [True, True] Translation: X:-27.89, Y:1.76, Z:-1.33 [[ 9.93092657e-01 8.35467753e-02 -8.23827082e-02 -2.78876720e+01] [-8.30529996e-02 9.96500717e-01 9.40849670e-03 1.76154918e+00] [ 8.28804774e-02 -2.50137796e-03 9.96556355e-01 -1.32936436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.025347070000002 meters 0.027197766709901972 Centerline is valid? [True, True] Translation: X:-27.92, Y:1.76, Z:-1.33 [[ 9.93288908e-01 8.40531082e-02 -7.94494859e-02 -2.79150663e+01] [-8.35932298e-02 9.96458386e-01 9.10259579e-03 1.76321960e+00] [ 7.99332080e-02 -2.40006830e-03 9.96797332e-01 -1.32845750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055347070000003 meters 0.02967416568225714 Centerline is valid? [True, True] Translation: X:-27.94, Y:1.76, Z:-1.33 [[ 9.93342382e-01 8.23128398e-02 -8.05947121e-02 -2.79439891e+01] [-8.18319073e-02 9.96603146e-01 9.25784608e-03 1.76171224e+00] [ 8.10829832e-02 -2.60099188e-03 9.96703960e-01 -1.33149905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.085347070000005 meters 0.029687828328391366 Centerline is valid? [True, True] Translation: X:-27.97, Y:1.76, Z:-1.34 [[ 9.93354012e-01 8.11991555e-02 -8.15751430e-02 -2.79724548e+01] [-8.07000111e-02 9.96694083e-01 9.40283933e-03 1.76147227e+00] [ 8.20689649e-02 -2.75723322e-03 9.96622839e-01 -1.33504945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115347070000002 meters 0.030887695778795486 Centerline is valid? [True, True] Translation: X:-28.00, Y:1.76, Z:-1.34 [[ 9.93546294e-01 7.95480475e-02 -8.08570948e-02 -2.80005404e+01] [-7.90501790e-02 9.96826835e-01 9.34508045e-03 1.76316477e+00] [ 8.13439048e-02 -2.89300223e-03 9.96681895e-01 -1.33526491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.145347070000003 meters 0.03171154228840369 Centerline is valid? [True, True] Translation: X:-28.03, Y:1.77, Z:-1.34 [[ 9.93489672e-01 8.13627671e-02 -7.97393960e-02 -2.80286368e+01] [-8.08834954e-02 9.96680848e-01 9.22748967e-03 1.76612520e+00] [ 8.02255030e-02 -2.71781462e-03 9.96773034e-01 -1.33660395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175347070000004 meters 0.03066922223508314 Centerline is valid? [True, True] Translation: X:-28.06, Y:1.77, Z:-1.34 [[ 9.93480051e-01 8.19807349e-02 -7.92246700e-02 -2.80573612e+01] [-8.15081085e-02 9.96630340e-01 9.18663233e-03 1.76866020e+00] [ 7.97108367e-02 -2.66928295e-03 9.96814455e-01 -1.33864907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.205347070000002 meters 0.03178711816382032 Centerline is valid? [True, True] Translation: X:-28.09, Y:1.77, Z:-1.34 [[ 9.93329434e-01 8.35908778e-02 -7.94304783e-02 -2.80856217e+01] [-8.31182853e-02 9.96496819e-01 9.24336141e-03 1.77055276e+00] [ 7.99248796e-02 -2.57957781e-03 9.96797552e-01 -1.34400436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235347070000003 meters 0.03228497838915372 Centerline is valid? [True, True] Translation: X:-28.11, Y:1.77, Z:-1.35 [[ 9.93287987e-01 8.33961682e-02 -8.01501976e-02 -2.81134651e+01] [-8.29116310e-02 9.96512943e-01 9.36035012e-03 1.77464388e+00] [ 8.06513266e-02 -2.65213972e-03 9.96738847e-01 -1.34662221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.265347070000004 meters 0.03508170785319307 Centerline is valid? [True, True] Translation: X:-28.14, Y:1.77, Z:-1.35 [[ 9.93669793e-01 8.03188940e-02 -7.85443619e-02 -2.81426790e+01] [-7.98414637e-02 9.96765070e-01 9.20520927e-03 1.77131054e+00] [ 7.90296287e-02 -2.87584157e-03 9.96868119e-01 -1.35390520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295347070000002 meters 0.03590596890751066 Centerline is valid? [True, True] Translation: X:-28.17, Y:1.78, Z:-1.36 [[ 9.93633280e-01 7.91603300e-02 -8.01657424e-02 -2.81702598e+01] [-7.86570265e-02 9.96857212e-01 9.42181347e-03 1.77535483e+00] [ 8.06596323e-02 -3.05622851e-03 9.96737018e-01 -1.35589451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.325347070000003 meters 0.035529181123490954 Centerline is valid? [True, True] Translation: X:-28.20, Y:1.78, Z:-1.36 [[ 9.93748500e-01 7.97229124e-02 -7.81548181e-02 -2.81975733e+01] [-7.92453305e-02 9.96812706e-01 9.19820045e-03 1.77906556e+00] [ 7.86390231e-02 -2.94729351e-03 9.96898800e-01 -1.35826095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355347070000004 meters 0.03544901449622863 Centerline is valid? [True, True] Translation: X:-28.23, Y:1.78, Z:-1.36 [[ 9.93730015e-01 8.05733102e-02 -7.75151558e-02 -2.82260162e+01] [-8.01044290e-02 9.96744531e-01 9.14441573e-03 1.78368881e+00] [ 7.79996034e-02 -2.87777308e-03 9.96949237e-01 -1.36037618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.38534707 meters 0.037574548797860575 Centerline is valid? [True, True] Translation: X:-28.25, Y:1.79, Z:-1.36 [[ 9.94029756e-01 8.08419869e-02 -7.32763044e-02 -2.82543485e+01] [-8.04216980e-02 9.96723196e-01 8.67296412e-03 1.78576980e+00] [ 7.37373320e-02 -2.72817959e-03 9.97273966e-01 -1.36472275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415347070000003 meters 0.03776764043536796 Centerline is valid? [True, True] Translation: X:-28.28, Y:1.79, Z:-1.37 [[ 9.93801266e-01 8.42947111e-02 -7.24806603e-02 -2.82823949e+01] [-8.38909874e-02 9.96437811e-01 8.60185235e-03 1.79351491e+00] [ 7.29475611e-02 -2.46805759e-03 9.97332724e-01 -1.36773661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.445347070000004 meters 0.039039496077885164 Centerline is valid? [True, True] Translation: X:-28.31, Y:1.80, Z:-1.37 [[ 9.93636706e-01 8.63931632e-02 -7.22656014e-02 -2.83103086e+01] [-8.59964479e-02 9.96258420e-01 8.58899738e-03 1.79726437e+00] [ 7.27372445e-02 -2.31975804e-03 9.97348441e-01 -1.37487796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.47534707 meters 0.03824169990973961 Centerline is valid? [True, True] Translation: X:-28.34, Y:1.80, Z:-1.38 [[ 9.93676392e-01 8.86744744e-02 -6.88771786e-02 -2.83383362e+01] [-8.83177078e-02 9.96058490e-01 8.21377807e-03 1.80108856e+00] [ 6.93340510e-02 -2.07876281e-03 9.97591333e-01 -1.37987662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.505347070000003 meters 0.03579736581675519 Centerline is valid? [True, True] Translation: X:-28.37, Y:1.81, Z:-1.38 [[ 9.93605000e-01 8.97689134e-02 -6.84882877e-02 -2.83668780e+01] [-8.94168539e-02 9.95960575e-01 8.19505780e-03 1.80749598e+00] [ 6.89472958e-02 -2.01864319e-03 9.97618261e-01 -1.38238639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535347070000004 meters 0.03707189327342209 Centerline is valid? [True, True] Translation: X:-28.39, Y:1.81, Z:-1.38 [[ 9.93419516e-01 9.21026780e-02 -6.80790855e-02 -2.83948779e+01] [-9.17584541e-02 9.95747755e-01 8.17278555e-03 1.81248290e+00] [ 6.85423320e-02 -1.87217303e-03 9.97646452e-01 -1.38433991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.56534707 meters 0.03707189327342209 Centerline is valid? [True, True] Translation: X:-28.42, Y:1.82, Z:-1.39 [[ 9.93378779e-01 9.25434316e-02 -6.80757943e-02 -2.84220792e+01] [-9.21983690e-02 9.95706894e-01 8.20011889e-03 1.81552815e+00] [ 6.85424048e-02 -1.86934689e-03 9.97646453e-01 -1.38580824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595347070000003 meters 0.03655795708721045 Centerline is valid? [True, True] Translation: X:-28.45, Y:1.82, Z:-1.39 [[ 9.93283932e-01 9.60886203e-02 -6.44515968e-02 -2.84503636e+01] [-9.57852890e-02 9.95371558e-01 7.78710305e-03 1.82261472e+00] [ 6.49015384e-02 -1.56128951e-03 9.97890451e-01 -1.38793106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.625347070000004 meters 0.03748680667091547 Centerline is valid? [True, True] Translation: X:-28.48, Y:1.83, Z:-1.39 [[ 9.93092205e-01 9.84580312e-02 -6.38270162e-02 -2.84787775e+01] [-9.81648712e-02 9.95140217e-01 7.72052601e-03 1.82741118e+00] [ 6.42769786e-02 -1.40162338e-03 9.97931113e-01 -1.39165292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.65534707 meters 0.03731484251375524 Centerline is valid? [True, True] Translation: X:-28.51, Y:1.83, Z:-1.39 [[ 9.93116285e-01 9.98700021e-02 -6.12047990e-02 -2.85073068e+01] [-9.96016684e-02 9.94999671e-01 7.42720079e-03 1.83261909e+00] [ 6.16405094e-02 -1.27997396e-03 9.98097595e-01 -1.39289719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.685347070000002 meters 0.03823902542364223 Centerline is valid? [True, True] Translation: X:-28.54, Y:1.84, Z:-1.40 [[ 9.93060476e-01 1.02247882e-01 -5.81056124e-02 -2.85353326e+01] [-1.02008913e-01 9.94758348e-01 7.07185402e-03 1.83703376e+00] [ 5.85241251e-02 -1.09548836e-03 9.98285393e-01 -1.39631257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715347070000004 meters 0.0410354329015712 Centerline is valid? [True, True] Translation: X:-28.57, Y:1.84, Z:-1.40 [[ 9.93363443e-01 1.01796678e-01 -5.35397687e-02 -2.85655374e+01] [-1.01592933e-01 9.94804684e-01 6.52049708e-03 1.83817079e+00] [ 5.39253776e-02 -1.03796129e-03 9.98544429e-01 -1.39935157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.745347070000005 meters 0.04029906633446829 Centerline is valid? [True, True] Translation: X:-28.60, Y:1.84, Z:-1.41 [[ 9.93530795e-01 1.00845373e-01 -5.22184805e-02 -2.85962105e+01] [-1.00650255e-01 9.94901544e-01 6.35962498e-03 1.84100775e+00] [ 5.25935857e-02 -1.06267990e-03 9.98615434e-01 -1.40532741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775347070000002 meters 0.04132710261687439 Centerline is valid? [True, True] Translation: X:-28.63, Y:1.85, Z:-1.41 [[ 9.93791495e-01 9.93983174e-02 -4.99843900e-02 -2.86269443e+01] [-9.92178499e-02 9.95047130e-01 6.08500190e-03 1.84514075e+00] [ 5.03416627e-02 -1.08787943e-03 9.98731462e-01 -1.40924549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.805347070000003 meters 0.040921633411015054 Centerline is valid? [True, True] Translation: X:-28.66, Y:1.85, Z:-1.41 [[ 9.94077628e-01 9.71201013e-02 -4.87581336e-02 -2.86581811e+01] [-9.69458549e-02 9.95271982e-01 5.93152841e-03 1.84670488e+00] [ 4.91036749e-02 -1.16950075e-03 9.98793002e-01 -1.41111322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835347070000005 meters 0.04321364998354407 Centerline is valid? [True, True] Translation: X:-28.69, Y:1.85, Z:-1.41 [[ 9.94487907e-01 9.36261298e-02 -4.72011723e-02 -2.86886766e+01] [-9.34590430e-02 9.95606583e-01 5.73932883e-03 1.84888269e+00] [ 4.75311490e-02 -1.29631672e-03 9.98868915e-01 -1.41401968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.865347070000002 meters 0.04384600593542264 Centerline is valid? [True, True] Translation: X:-28.72, Y:1.85, Z:-1.42 [[ 9.94774881e-01 9.23069165e-02 -4.36161627e-02 -2.87204973e+01] [-9.21630221e-02 9.95729811e-01 5.30283226e-03 1.85107734e+00] [ 4.39194016e-02 -1.25532696e-03 9.99034289e-01 -1.41590767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895347070000003 meters 0.04484074624706702 Centerline is valid? [True, True] Translation: X:-28.75, Y:1.86, Z:-1.42 [[ 9.94912643e-01 9.18657329e-02 -4.13463425e-02 -2.87527319e+01] [-9.17361848e-02 9.95770674e-01 5.02372686e-03 1.85523086e+00] [ 4.16329836e-02 -1.20521366e-03 9.99132245e-01 -1.41793569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.925347070000004 meters 0.04558596734855853 Centerline is valid? [True, True] Translation: X:-28.78, Y:1.86, Z:-1.42 [[ 9.95015765e-01 9.13339982e-02 -4.00216057e-02 -2.87846480e+01] [-9.12123742e-02 9.95819612e-01 4.85828629e-03 1.85915380e+00] [ 4.02980266e-02 -1.18360577e-03 9.99187004e-01 -1.41974034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955347070000002 meters 0.042561794974372576 Centerline is valid? [True, True] Translation: X:-28.82, Y:1.86, Z:-1.42 [[ 9.95098225e-01 9.08979962e-02 -3.89496750e-02 -2.88170811e+01] [-9.07826281e-02 9.95859527e-01 4.72413309e-03 1.86237071e+00] [ 3.92178192e-02 -1.16502259e-03 9.99230006e-01 -1.42286860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.985347070000003 meters 0.0402657022066519 Centerline is valid? [True, True] Translation: X:-28.85, Y:1.87, Z:-1.43 [[ 9.94927359e-01 9.29515911e-02 -3.84649409e-02 -2.88470590e+01] [-9.28408738e-02 9.95670061e-01 4.65855310e-03 1.86944166e+00] [ 3.87314100e-02 -1.06380321e-03 9.99249091e-01 -1.42544549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015347070000004 meters 0.034791294088837084 Centerline is valid? [True, True] Translation: X:-28.88, Y:1.88, Z:-1.43 [[ 9.94768551e-01 9.50602192e-02 -3.74043378e-02 -2.88782660e+01] [-9.49570598e-02 9.95471067e-01 4.52891371e-03 1.87650461e+00] [ 3.76654556e-02 -9.53414993e-04 9.99289950e-01 -1.42729274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.045347070000002 meters 0.0298316746876083 Centerline is valid? [True, True] Translation: X:-28.91, Y:1.88, Z:-1.43 [[ 9.94751072e-01 9.57277379e-02 -3.61456045e-02 -2.89100467e+01] [-9.56319995e-02 9.95407155e-01 4.37234592e-03 1.88112717e+00] [ 3.63981481e-02 -8.92719362e-04 9.99336969e-01 -1.43141805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075347070000003 meters 0.025820984144945863 Centerline is valid? [True, True] Translation: X:-28.94, Y:1.89, Z:-1.44 [[ 9.94756846e-01 9.62723072e-02 -3.45030598e-02 -2.89414337e+01] [-9.61855380e-02 9.95354688e-01 4.16977240e-03 1.88511294e+00] [ 3.47442159e-02 -8.29214275e-04 9.99395893e-01 -1.43608892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.105347070000004 meters 0.023662007307637133 Centerline is valid? [True, True] Translation: X:-28.97, Y:1.89, Z:-1.44 [[ 9.94837030e-01 9.58219313e-02 -3.34281366e-02 -2.89719632e+01] [-9.57403698e-02 9.95398159e-01 4.03578401e-03 1.88921125e+00] [ 3.36610222e-02 -8.14525226e-04 9.99432975e-01 -1.44098560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.13534707 meters 0.023647645265260118 Centerline is valid? [True, True] Translation: X:-29.00, Y:1.89, Z:-1.45 [[ 9.95108123e-01 9.29272733e-02 -3.35312493e-02 -2.90043501e+01] [-9.28436440e-02 9.95672480e-01 4.04590790e-03 1.89039743e+00] [ 3.37621173e-02 -9.12952445e-04 9.99429480e-01 -1.44669513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.165347070000003 meters 0.024356216391596377 Centerline is valid? [True, True] Translation: X:-29.04, Y:1.89, Z:-1.45 [[ 9.95661416e-01 8.68967632e-02 -3.32760667e-02 -2.90358680e+01] [-8.68111900e-02 9.96216710e-01 4.01054428e-03 1.89166378e+00] [ 3.34986770e-02 -1.10440925e-03 9.99438152e-01 -1.45121819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195347070000004 meters 0.02422896336422259 Centerline is valid? [True, True] Translation: X:-29.07, Y:1.90, Z:-1.45 [[ 9.95825734e-01 8.53400066e-02 -3.23757838e-02 -2.90666176e+01] [-8.52582688e-02 9.96351255e-01 3.89935306e-03 1.89568877e+00] [ 3.25904237e-02 -1.12277284e-03 9.99468160e-01 -1.45153578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.22534707 meters 0.02476759351551796 Centerline is valid? [True, True] Translation: X:-29.10, Y:1.90, Z:-1.45 [[ 9.96154719e-01 8.20815967e-02 -3.06331182e-02 -2.90982284e+01] [-8.20069607e-02 9.96624937e-01 3.68703212e-03 1.89845828e+00] [ 3.08323670e-02 -1.16072553e-03 9.99523896e-01 -1.45299630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255347070000003 meters 0.026599291589660796 Centerline is valid? [True, True] Translation: X:-29.13, Y:1.90, Z:-1.45 [[ 9.96576141e-01 7.64995915e-02 -3.13657107e-02 -2.91298860e+01] [-7.64186734e-02 9.97068682e-01 3.77227866e-03 1.90052184e+00] [ 3.15623456e-02 -1.36243691e-03 9.99500856e-01 -1.45357561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.285347070000004 meters 0.026924137234276224 Centerline is valid? [True, True] Translation: X:-29.16, Y:1.91, Z:-1.45 [[ 9.96782280e-01 7.34929357e-02 -3.19980360e-02 -2.91600047e+01] [-7.34073081e-02 9.97294635e-01 3.84419218e-03 1.90581928e+00] [ 3.21939906e-02 -1.48293296e-03 9.99480539e-01 -1.45359049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.31534707 meters 0.027797174228302246 Centerline is valid? [True, True] Translation: X:-29.19, Y:1.91, Z:-1.46 [[ 9.96964327e-01 6.97344610e-02 -3.46299962e-02 -2.91911561e+01] [-6.96319185e-02 9.97564079e-01 4.15982200e-03 1.91059210e+00] [ 3.48357232e-02 -1.73584107e-03 9.99391545e-01 -1.45617807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.345347070000003 meters 0.027587112105460224 Centerline is valid? [True, True] Translation: X:-29.22, Y:1.92, Z:-1.46 [[ 9.97006536e-01 6.93243836e-02 -3.42359163e-02 -2.92222851e+01] [-6.92239885e-02 9.97592674e-01 4.11054300e-03 1.91750649e+00] [ 3.44384602e-02 -1.72829155e-03 9.99405326e-01 -1.45733469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375347070000004 meters 0.026964876779806083 Centerline is valid? [True, True] Translation: X:-29.25, Y:1.93, Z:-1.46 [[ 9.96891470e-01 7.04777309e-02 -3.52177105e-02 -2.92529004e+01] [-7.03722844e-02 9.97511844e-01 4.22632033e-03 1.92732825e+00] [ 3.54279448e-02 -1.73483195e-03 9.99370728e-01 -1.45721057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.405347070000005 meters 0.025818385528316504 Centerline is valid? [True, True] Translation: X:-29.28, Y:1.94, Z:-1.46 [[ 9.96841160e-01 7.08536103e-02 -3.58812956e-02 -2.92829562e+01] [-7.07444517e-02 9.97485185e-01 4.30433880e-03 1.93696408e+00] [ 3.60960388e-02 -1.75233950e-03 9.99346789e-01 -1.45761729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435347070000002 meters 0.025490079404921005 Centerline is valid? [True, True] Translation: X:-29.31, Y:1.95, Z:-1.46 [[ 9.96709464e-01 7.27661586e-02 -3.57117622e-02 -2.93132663e+01] [-7.26593809e-02 9.97347628e-01 4.28046688e-03 1.94597520e+00] [ 3.59285145e-02 -1.67158731e-03 9.99352964e-01 -1.45652684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.465347070000004 meters 0.02720680268865856 Centerline is valid? [True, True] Translation: X:-29.35, Y:1.95, Z:-1.46 [[ 9.96683327e-01 7.23257217e-02 -3.73006213e-02 -2.93458512e+01] [-7.22089713e-02 9.97379511e-01 4.46950155e-03 1.94832331e+00] [ 3.75261354e-02 -1.76123818e-03 9.99294094e-01 -1.45750167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495347070000005 meters 0.027274211619953814 Centerline is valid? [True, True] Translation: X:-29.38, Y:1.95, Z:-1.46 [[ 9.96725979e-01 7.14937457e-02 -3.77619843e-02 -2.93772216e+01] [-7.13736811e-02 9.97439406e-01 4.51981380e-03 1.95368830e+00] [ 3.79884297e-02 -1.80980401e-03 9.99276540e-01 -1.45980704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.525347070000002 meters 0.027701670165761128 Centerline is valid? [True, True] Translation: X:-29.41, Y:1.96, Z:-1.46 [[ 9.96833790e-01 6.92538327e-02 -3.90679009e-02 -2.94073077e+01] [-6.91237567e-02 9.97597152e-01 4.67211862e-03 1.95937334e+00] [ 3.92975888e-02 -1.95680564e-03 9.99225635e-01 -1.45818331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555347070000003 meters 0.028980857478852734 Centerline is valid? [True, True] Translation: X:-29.44, Y:1.96, Z:-1.46 [[ 9.97080026e-01 6.53194081e-02 -3.95575203e-02 -2.94378306e+01] [-6.51830189e-02 9.97862119e-01 4.72923709e-03 1.96208899e+00] [ 3.97818620e-02 -2.13694925e-03 9.99206103e-01 -1.45954493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.585347070000005 meters 0.02876871517414385 Centerline is valid? [True, True] Translation: X:-29.47, Y:1.97, Z:-1.46 [[ 9.97175413e-01 6.31484052e-02 -4.06629422e-02 -2.94673280e+01] [-6.30024961e-02 9.98001531e-01 4.86105895e-03 1.96599228e+00] [ 4.08886467e-02 -2.28546161e-03 9.99161096e-01 -1.45630291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615347070000002 meters 0.030621858997089257 Centerline is valid? [True, True] Translation: X:-29.50, Y:1.97, Z:-1.46 [[ 9.97441522e-01 5.74925424e-02 -4.24854930e-02 -2.94968672e+01] [-5.73280990e-02 9.98342468e-01 5.07986076e-03 1.96855611e+00] [ 4.27071260e-02 -2.63125151e-03 9.99084170e-01 -1.45602114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.645347070000003 meters 0.032173648436416784 Centerline is valid? [True, True] Translation: X:-29.53, Y:1.97, Z:-1.46 [[ 9.97500462e-01 5.36399872e-02 -4.59954282e-02 -2.95273039e+01] [-5.34430114e-02 9.98555741e-01 5.50247136e-03 1.96975353e+00] [ 4.62241514e-02 -3.03058352e-03 9.98926495e-01 -1.45526575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675347070000004 meters 0.03520100634980231 Centerline is valid? [True, True] Translation: X:-29.56, Y:1.97, Z:-1.46 [[ 9.97650328e-01 4.95266808e-02 -4.73384701e-02 -2.95577245e+01] [-4.93133513e-02 9.98767294e-01 5.66448051e-03 1.96842758e+00] [ 4.75606585e-02 -3.31675224e-03 9.98862845e-01 -1.45604300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705347070000002 meters 0.037192217890723994 Centerline is valid? [True, True] Translation: X:-29.59, Y:1.97, Z:-1.45 [[ 9.97602630e-01 5.01641319e-02 -4.76713000e-02 -2.95868930e+01] [-4.99485375e-02 9.98735506e-01 5.70379424e-03 1.96675206e+00] [ 4.78971458e-02 -3.30900842e-03 9.98846792e-01 -1.45491691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735347070000003 meters 0.035523952038793445 Centerline is valid? [True, True] Translation: X:-29.62, Y:1.97, Z:-1.46 [[ 9.97672551e-01 4.74718434e-02 -4.89479773e-02 -2.96151262e+01] [-4.72403471e-02 9.98866268e-01 5.87614421e-03 1.97494084e+00] [ 4.91714348e-02 -3.55014834e-03 9.98784044e-01 -1.45792271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.765347070000004 meters 0.037379143318760535 Centerline is valid? [True, True] Translation: X:-29.64, Y:1.97, Z:-1.46 [[ 9.97575055e-01 4.93874417e-02 -4.90396755e-02 -2.96448197e+01] [-4.91572568e-02 9.98773686e-01 5.88959822e-03 1.97419649e+00] [ 4.92704097e-02 -3.46466035e-03 9.98779467e-01 -1.45623494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795347070000002 meters 0.03678119247870058 Centerline is valid? [True, True] Translation: X:-29.67, Y:1.98, Z:-1.45 [[ 9.97594622e-01 4.91936977e-02 -4.88359549e-02 -2.96717774e+01] [-4.89650133e-02 9.98783252e-01 5.86878096e-03 1.98002130e+00] [ 4.90652409e-02 -3.46341115e-03 9.98789571e-01 -1.45449907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825347070000003 meters 0.03739810733209084 Centerline is valid? [True, True] Translation: X:-29.70, Y:1.98, Z:-1.46 [[ 9.97549347e-01 4.97017092e-02 -4.92446951e-02 -2.96998684e+01] [-4.94695298e-02 9.98758069e-01 5.92319486e-03 1.98307650e+00] [ 4.94779295e-02 -3.47256726e-03 9.98769180e-01 -1.45691568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855347070000004 meters 0.036844129074904246 Centerline is valid? [True, True] Translation: X:-29.73, Y:1.99, Z:-1.45 [[ 9.97766920e-01 4.76166693e-02 -4.68382947e-02 -2.97290395e+01] [-4.74035537e-02 9.98859835e-01 5.65094520e-03 1.99232687e+00] [ 4.70539705e-02 -3.41802457e-03 9.98886501e-01 -1.45144021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.88534707 meters 0.03429762682190306 Centerline is valid? [True, True] Translation: X:-29.75, Y:2.00, Z:-1.45 [[ 9.97767662e-01 4.78371734e-02 -4.65971742e-02 -2.97546509e+01] [-4.76264209e-02 9.98849389e-01 5.62327742e-03 2.00290421e+00] [ 4.68125607e-02 -3.39146774e-03 9.98897934e-01 -1.45223026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915347070000003 meters 0.03261383226035427 Centerline is valid? [True, True] Translation: X:-29.78, Y:2.01, Z:-1.45 [[ 9.97493395e-01 5.29170146e-02 -4.69757035e-02 -2.97846020e+01] [-5.27079712e-02 9.98593824e-01 5.67848500e-03 2.01097804e+00] [ 4.72101359e-02 -3.18825725e-03 9.98879892e-01 -1.45043361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.945347070000004 meters 0.03175203477629554 Centerline is valid? [True, True] Translation: X:-29.81, Y:2.02, Z:-1.45 [[ 9.97400278e-01 5.55702174e-02 -4.58763246e-02 -2.98133887e+01] [-5.53736277e-02 9.98450301e-01 5.54596695e-03 2.01800998e+00] [ 4.61134207e-02 -2.99121045e-03 9.98931732e-01 -1.45126242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.97534707 meters 0.029754009489259527 Centerline is valid? [True, True] Translation: X:-29.84, Y:2.03, Z:-1.45 [[ 9.97175272e-01 5.88119495e-02 -4.67186416e-02 -2.98411858e+01] [-5.86114999e-02 9.98264879e-01 5.65010582e-03 2.02632616e+00] [ 4.69698728e-02 -2.89589615e-03 9.98892109e-01 -1.45392910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.005347070000003 meters 0.028155675501397467 Centerline is valid? [True, True] Translation: X:-29.87, Y:2.04, Z:-1.45 [[ 9.96945640e-01 6.25102428e-02 -4.68173146e-02 -2.98698751e+01] [-6.23128410e-02 9.98040586e-01 5.66551492e-03 2.03556395e+00] [ 4.70797328e-02 -2.73089052e-03 9.98887402e-01 -1.45166450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035347070000004 meters 0.02730019427193018 Centerline is valid? [True, True] Translation: X:-29.90, Y:2.04, Z:-1.45 [[ 9.96855342e-01 6.46320167e-02 -4.58489816e-02 -2.98984368e+01] [-6.44447815e-02 9.97905831e-01 5.55174097e-03 2.04183569e+00] [ 4.61117863e-02 -2.57955504e-03 9.98932955e-01 -1.45042049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.06534707 meters 0.026881211654939226 Centerline is valid? [True, True] Translation: X:-29.93, Y:2.05, Z:-1.45 [[ 9.96627022e-01 6.75839764e-02 -4.65508940e-02 -2.99276886e+01] [-6.73932289e-02 9.97710456e-01 5.65675230e-03 2.04690621e+00] [ 4.68266195e-02 -2.50045714e-03 9.98899903e-01 -1.45225122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095347070000003 meters 0.028984024386250164 Centerline is valid? [True, True] Translation: X:-29.96, Y:2.05, Z:-1.45 [[ 9.96298040e-01 7.00831046e-02 -4.97852861e-02 -2.99573079e+01] [-6.98678633e-02 9.97537892e-01 6.05273674e-03 2.05084501e+00] [ 5.00869039e-02 -2.55193819e-03 9.98741603e-01 -1.45270254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.125347070000004 meters 0.023669645009398332 Centerline is valid? [True, True] Translation: X:-29.98, Y:2.07, Z:-1.45 [[ 9.95961044e-01 7.59572257e-02 -4.78758731e-02 -2.99847418e+01] [-7.57648391e-02 9.97108711e-01 5.82304065e-03 2.06765756e+00] [ 4.81797521e-02 -2.17221382e-03 9.98836319e-01 -1.45257207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155347070000005 meters 0.023848347547150844 Centerline is valid? [True, True] Translation: X:-30.02, Y:2.08, Z:-1.44 [[ 9.95296594e-01 8.56255546e-02 -4.53095387e-02 -3.00154319e+01] [-8.54631136e-02 9.96326078e-01 5.51378664e-03 2.07700908e+00] [ 4.56151961e-02 -1.61555881e-03 9.98957779e-01 -1.44144104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.185347070000002 meters 0.020040275950816963 Centerline is valid? [True, True] Translation: X:-30.05, Y:2.09, Z:-1.45 [[ 9.94784329e-01 9.04521805e-02 -4.71438343e-02 -3.00450890e+01] [-9.02817573e-02 9.95899744e-01 5.73619076e-03 2.08625145e+00] [ 4.74693834e-02 -1.45004448e-03 9.98871641e-01 -1.44969656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215347070000004 meters 0.019893942167459742 Centerline is valid? [True, True] Translation: X:-30.08, Y:2.09, Z:-1.45 [[ 9.94617696e-01 9.21852491e-02 -4.73024233e-02 -3.00765188e+01] [-9.20156716e-02 9.95740930e-01 5.75468256e-03 2.09183898e+00] [ 4.76314558e-02 -1.37114486e-03 9.98864037e-01 -1.45059157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.245347070000005 meters 0.01903590109474877 Centerline is valid? [True, True] Translation: X:-30.11, Y:2.10, Z:-1.45 [[ 9.94338600e-01 9.54496276e-02 -4.66917337e-02 -3.01073398e+01] [-9.52882386e-02 9.95433545e-01 5.67525528e-03 2.09817507e+00] [ 4.70202190e-02 -1.19395232e-03 9.98893224e-01 -1.44903491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275347070000002 meters 0.01950850264733934 Centerline is valid? [True, True] Translation: X:-30.14, Y:2.10, Z:-1.45 [[ 9.94360279e-01 9.47152427e-02 -4.77143397e-02 -3.01395661e+01] [-9.45460397e-02 9.95503619e-01 5.79575230e-03 2.10467196e+00] [ 4.80487440e-02 -1.25186402e-03 9.98844208e-01 -1.44711122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.305347070000003 meters 0.019029657618706904 Centerline is valid? [True, True] Translation: X:-30.17, Y:2.11, Z:-1.45 [[ 9.94210159e-01 9.64080034e-02 -4.74516251e-02 -3.01709885e+01] [-9.62428314e-02 9.95341225e-01 5.75869808e-03 2.11091923e+00] [ 4.77857433e-02 -1.15847739e-03 9.98856937e-01 -1.44687405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335347070000005 meters 0.01990275893445516 Centerline is valid? [True, True] Translation: X:-30.20, Y:2.12, Z:-1.44 [[ 9.93899369e-01 1.00131738e-01 -4.62350415e-02 -3.02017967e+01] [-9.99791854e-02 9.94973735e-01 5.60613001e-03 2.12019358e+00] [ 4.65640035e-02 -9.49387296e-04 9.98914857e-01 -1.44156650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.365347070000002 meters 0.018289260110722006 Centerline is valid? [True, True] Translation: X:-30.23, Y:2.12, Z:-1.44 [[ 9.93928529e-01 9.78003106e-02 -5.04100964e-02 -3.02341056e+01] [-9.76161622e-02 9.95205394e-01 6.10806428e-03 2.12461257e+00] [ 5.07657704e-02 -1.15013919e-03 9.98709925e-01 -1.44472650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395347070000003 meters 0.018161524643349008 Centerline is valid? [True, True] Translation: X:-30.27, Y:2.13, Z:-1.44 [[ 9.93949659e-01 9.73774894e-02 -5.08104297e-02 -3.02659415e+01] [-9.71902129e-02 9.95246827e-01 6.14949145e-03 2.13158538e+00] [ 5.11677409e-02 -1.17400845e-03 9.98689383e-01 -1.44212437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.425347070000004 meters 0.018141598168025408 Centerline is valid? [True, True] Translation: X:-30.30, Y:2.14, Z:-1.44 [[ 9.93891173e-01 9.81624838e-02 -5.04426611e-02 -3.02975461e+01] [-9.79791938e-02 9.95169771e-01 6.09961025e-03 2.13889841e+00] [ 5.07977644e-02 -1.12001752e-03 9.98708332e-01 -1.44060698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455347070000002 meters 0.018141598168025408 Centerline is valid? [True, True] Translation: X:-30.33, Y:2.14, Z:-1.44 [[ 9.93901651e-01 9.80560085e-02 -5.04433159e-02 -3.03289697e+01] [-9.78728565e-02 9.95180267e-01 6.09419004e-03 2.14279110e+00] [ 5.07977646e-02 -1.11999413e-03 9.98708332e-01 -1.44229934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.485347070000003 meters 0.019453698962675313 Centerline is valid? [True, True] Translation: X:-30.36, Y:2.15, Z:-1.44 [[ 9.93969400e-01 9.63824159e-02 -5.22997353e-02 -3.03606632e+01] [-9.61835189e-02 9.95343600e-01 6.31257963e-03 2.14644587e+00] [ 5.26646284e-02 -1.24413841e-03 9.98611481e-01 -1.44314576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515347070000004 meters 0.0192699102520557 Centerline is valid? [True, True] Translation: X:-30.39, Y:2.15, Z:-1.44 [[ 9.94161165e-01 9.62898653e-02 -4.87015402e-02 -3.03929468e+01] [-9.61175462e-02 9.95352662e-01 5.87336674e-03 2.15363519e+00] [ 4.90407534e-02 -1.15800058e-03 9.98796107e-01 -1.43723461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.545347070000002 meters 0.020305300638218123 Centerline is valid? [True, True] Translation: X:-30.42, Y:2.16, Z:-1.44 [[ 9.94297878e-01 9.34764873e-02 -5.13212950e-02 -3.04233994e+01] [-9.32816445e-02 9.95620557e-01 6.18400302e-03 2.16051162e+00] [ 5.16745952e-02 -1.36140628e-03 9.98663048e-01 -1.43655465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575347070000003 meters 0.021714034987793687 Centerline is valid? [True, True] Translation: X:-30.46, Y:2.16, Z:-1.44 [[ 9.94420209e-01 9.11886276e-02 -5.30384963e-02 -3.04558354e+01] [-9.09775495e-02 9.95832471e-01 6.38559958e-03 2.16486151e+00] [ 5.33997509e-02 -1.52465685e-03 9.98572051e-01 -1.43678487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.605347070000004 meters 0.021104359732229853 Centerline is valid? [True, True] Translation: X:-30.49, Y:2.17, Z:-1.44 [[ 9.94518345e-01 8.95524613e-02 -5.39779354e-02 -3.04866852e+01] [-8.93317927e-02 9.95980766e-01 6.49195497e-03 2.17194843e+00] [ 5.43423560e-02 -1.63442258e-03 9.98521025e-01 -1.43723863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.63534707 meters 0.020760789906404353 Centerline is valid? [True, True] Translation: X:-30.52, Y:2.18, Z:-1.43 [[ 9.94677180e-01 8.89436130e-02 -5.20225087e-02 -3.05176882e+01] [-8.87380233e-02 9.96035372e-01 6.25302225e-03 2.18035078e+00] [ 5.23724252e-02 -1.60336395e-03 9.98626336e-01 -1.43498991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.665347070000003 meters 0.02166359984341645 Centerline is valid? [True, True] Translation: X:-30.55, Y:2.19, Z:-1.43 [[ 9.94625092e-01 8.97177524e-02 -5.16880180e-02 -3.05498457e+01] [-8.95160453e-02 9.95966027e-01 6.20895628e-03 2.18789403e+00] [ 5.20365635e-02 -1.54867676e-03 9.98643979e-01 -1.42987508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695347070000004 meters 0.02049264765323855 Centerline is valid? [True, True] Translation: X:-30.58, Y:2.20, Z:-1.43 [[ 9.94572830e-01 8.82500359e-02 -5.51073165e-02 -3.05805838e+01] [-8.80188128e-02 9.96096856e-01 6.61370578e-03 2.19607314e+00] [ 5.54758845e-02 -1.72733150e-03 9.98458533e-01 -1.43208016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.72534707 meters 0.021404087176929116 Centerline is valid? [True, True] Translation: X:-30.61, Y:2.20, Z:-1.43 [[ 9.94521450e-01 8.90207026e-02 -5.47941645e-02 -3.06122790e+01] [-8.87935076e-02 9.96028375e-01 6.57182806e-03 2.20423980e+00] [ 5.51615713e-02 -1.67045791e-03 9.98476044e-01 -1.42926991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755347070000003 meters 0.02001728960727604 Centerline is valid? [True, True] Translation: X:-30.64, Y:2.22, Z:-1.43 [[ 9.94413424e-01 9.07223347e-02 -5.39573986e-02 -3.06426466e+01] [-9.05048367e-02 9.95875026e-01 6.46589449e-03 2.21730359e+00] [ 5.43214268e-02 -1.54636673e-03 9.98522304e-01 -1.42660667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.785347070000004 meters 0.0196661428776167 Centerline is valid? [True, True] Translation: X:-30.67, Y:2.23, Z:-1.43 [[ 9.94275347e-01 9.11983936e-02 -5.56721344e-02 -3.06741861e+01] [-9.09678358e-02 9.95831515e-01 6.66685307e-03 2.22635806e+00] [ 5.60480722e-02 -1.56431408e-03 9.98426846e-01 -1.42614527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815347070000005 meters 0.019435074083699985 Centerline is valid? [True, True] Translation: X:-30.71, Y:2.24, Z:-1.43 [[ 9.94065691e-01 9.30222054e-02 -5.63939019e-02 -3.07058880e+01] [-9.27888944e-02 9.95662943e-01 6.74729643e-03 2.23589221e+00] [ 5.67769667e-02 -1.47452808e-03 9.98385798e-01 -1.42692901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.845347070000003 meters 0.01952826003147302 Centerline is valid? [True, True] Translation: X:-30.74, Y:2.25, Z:-1.43 [[ 9.93885166e-01 9.39238242e-02 -5.80568048e-02 -3.07375229e+01] [-9.36784436e-02 9.95578318e-01 6.93988297e-03 2.24532690e+00] [ 5.84519164e-02 -1.45877562e-03 9.98289159e-01 -1.42677834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875347070000004 meters 0.019684343822925335 Centerline is valid? [True, True] Translation: X:-30.77, Y:2.25, Z:-1.43 [[ 9.93838095e-01 9.27134303e-02 -6.07458660e-02 -3.07678397e+01] [-9.24429537e-02 9.95691559e-01 7.25400490e-03 2.25445465e+00] [ 6.11566897e-02 -1.59377913e-03 9.98126905e-01 -1.42525707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.905347070000005 meters 0.018763382751503663 Centerline is valid? [True, True] Translation: X:-30.80, Y:2.27, Z:-1.43 [[ 9.93592960e-01 9.52694673e-02 -6.08009727e-02 -3.07988518e+01] [-9.50038797e-02 9.95450496e-01 7.25074513e-03 2.26715385e+00] [ 6.12151331e-02 -1.42796102e-03 9.98123574e-01 -1.42550248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935347070000002 meters 0.019512046813700546 Centerline is valid? [True, True] Translation: X:-30.83, Y:2.27, Z:-1.43 [[ 9.93488280e-01 9.48367189e-02 -6.31429638e-02 -3.08309134e+01] [-9.45498372e-02 9.95491706e-01 7.52280068e-03 2.27432456e+00] [ 6.35717345e-02 -1.50365736e-03 9.97976139e-01 -1.42653610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.965347070000004 meters 0.01991733907501456 Centerline is valid? [True, True] Translation: X:-30.86, Y:2.28, Z:-1.43 [[ 9.93355799e-01 9.54760324e-02 -6.42540635e-02 -3.08628019e+01] [-9.51808294e-02 9.95430628e-01 7.64680270e-03 2.28066797e+00] [ 6.46905492e-02 -1.48024074e-03 9.97904275e-01 -1.42801356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995347070000005 meters 0.018329446177071544 Centerline is valid? [True, True] Translation: X:-30.89, Y:2.29, Z:-1.42 [[ 9.93111446e-01 9.80170122e-02 -6.42053007e-02 -3.08929389e+01] [-9.77279632e-02 9.95183880e-01 7.63475442e-03 2.29433498e+00] [ 6.46444161e-02 -1.30750874e-03 9.97907506e-01 -1.42290666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.02534707 meters 0.018961703761288477 Centerline is valid? [True, True] Translation: X:-30.92, Y:2.30, Z:-1.43 [[ 9.92990715e-01 9.89698789e-02 -6.46096241e-02 -3.09248306e+01] [-9.86795484e-02 9.95089647e-01 7.67728614e-03 2.30076367e+00] [ 6.50521881e-02 -1.24782532e-03 9.97881083e-01 -1.42529234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055347069999996 meters 0.018305402852210887 Centerline is valid? [True, True] Translation: X:-30.95, Y:2.31, Z:-1.42 [[ 9.92833429e-01 1.00130036e-01 -6.52361665e-02 -3.09547827e+01] [-9.98369828e-02 9.94973664e-01 7.74500864e-03 2.31229108e+00] [ 6.56837756e-02 -1.17652146e-03 9.97839795e-01 -1.42338655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.08534707 meters 0.019242091351131845 Centerline is valid? [True, True] Translation: X:-30.98, Y:2.32, Z:-1.42 [[ 9.92487140e-01 1.03517016e-01 -6.52189003e-02 -3.09848804e+01] [-1.03231821e-01 9.94627233e-01 7.73683907e-03 2.32239710e+00] [ 6.56693888e-02 -9.46047440e-04 9.97840988e-01 -1.42034345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.11534707 meters 0.01840182290797277 Centerline is valid? [True, True] Translation: X:-31.02, Y:2.33, Z:-1.43 [[ 9.92400732e-01 1.02643145e-01 -6.78614131e-02 -3.10154829e+01] [-1.02333060e-01 9.94717707e-01 8.03917332e-03 2.33105511e+00] [ 6.83281153e-02 -1.03361541e-03 9.97662368e-01 -1.42857846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.14534707 meters 0.017844127804203642 Centerline is valid? [True, True] Translation: X:-31.05, Y:2.34, Z:-1.43 [[ 9.92144270e-01 1.04912316e-01 -6.81406877e-02 -3.10468461e+01] [-1.04605490e-01 9.94481092e-01 8.06533011e-03 2.33988464e+00] [ 6.86107780e-02 -8.74081004e-04 9.97643121e-01 -1.42793782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17534707 meters 0.017869517256795534 Centerline is valid? [True, True] Translation: X:-31.08, Y:2.35, Z:-1.43 [[ 9.91967034e-01 1.05888060e-01 -6.92034805e-02 -3.10784120e+01] [-1.05574411e-01 9.94377724e-01 8.18444912e-03 2.34894254e+00] [ 6.96810349e-02 -8.12587041e-04 9.97568992e-01 -1.42811322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.20534707 meters 0.017407806763523104 Centerline is valid? [True, True] Translation: X:-31.11, Y:2.36, Z:-1.43 [[ 9.91663645e-01 1.08969126e-01 -6.87673201e-02 -3.11094301e+01] [-1.08667270e-01 9.94044962e-01 8.12637849e-03 2.35941510e+00] [ 6.92433324e-02 -5.85877181e-04 9.97599628e-01 -1.42854164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23534707 meters 0.01716799355099307 Centerline is valid? [True, True] Translation: X:-31.14, Y:2.37, Z:-1.43 [[ 9.91441802e-01 1.10706040e-01 -6.91905100e-02 -3.11408144e+01] [-1.10405128e-01 9.93853088e-01 8.16991819e-03 2.36738911e+00] [ 6.96696613e-02 -4.61011327e-04 9.97570010e-01 -1.42748198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.26534707 meters 0.017909132727083266 Centerline is valid? [True, True] Translation: X:-31.17, Y:2.38, Z:-1.42 [[ 9.91317796e-01 1.12292055e-01 -6.84070353e-02 -3.11714789e+01] [-1.12002105e-01 9.93675188e-01 8.07152279e-03 2.37883755e+00] [ 6.88807415e-02 -3.39712205e-04 9.97624843e-01 -1.42216428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.29534707 meters 0.016593194036141214 Centerline is valid? [True, True] Translation: X:-31.20, Y:2.39, Z:-1.43 [[ 9.91372664e-01 1.10921688e-01 -6.98328002e-02 -3.12021116e+01] [-1.10616766e-01 9.93829055e-01 8.23050177e-03 2.38597704e+00] [ 7.03148069e-02 -4.34815961e-04 9.97524756e-01 -1.42833695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.32534707 meters 0.016619165384037543 Centerline is valid? [True, True] Translation: X:-31.23, Y:2.39, Z:-1.43 [[ 9.91396964e-01 1.10177588e-01 -7.06608674e-02 -3.12334106e+01] [-1.09864842e-01 9.93911804e-01 8.30919860e-03 2.39309649e+00] [ 7.11461576e-02 -4.74569262e-04 9.97465788e-01 -1.43112203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.35534707 meters 0.01668020847526453 Centerline is valid? [True, True] Translation: X:-31.26, Y:2.40, Z:-1.43 [[ 9.91238707e-01 1.10391746e-01 -7.25223238e-02 -3.12643703e+01] [-1.10063390e-01 9.93888046e-01 8.52074790e-03 2.40341035e+00] [ 7.30196909e-02 -4.64042349e-04 9.97330391e-01 -1.43180250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38534707 meters 0.016446976021628312 Centerline is valid? [True, True] Translation: X:-31.29, Y:2.41, Z:-1.43 [[ 9.91045507e-01 1.12266877e-01 -7.22838232e-02 -3.12939105e+01] [-1.11946113e-01 9.93678040e-01 8.48651683e-03 2.41476579e+00] [ 7.27796024e-02 -3.18631308e-04 9.97347997e-01 -1.43314002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41534707 meters 0.016282506833112293 Centerline is valid? [True, True] Translation: X:-31.32, Y:2.42, Z:-1.43 [[ 9.90694707e-01 1.14506519e-01 -7.35680254e-02 -3.13242275e+01] [-1.14180901e-01 9.93422485e-01 8.63059964e-03 2.42498375e+00] [ 7.40723906e-02 -1.50225931e-04 9.97252856e-01 -1.43273045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44534707 meters 0.01606973464501533 Centerline is valid? [True, True] Translation: X:-31.36, Y:2.43, Z:-1.44 [[ 9.90670800e-01 1.15051368e-01 -7.30380018e-02 -3.13559240e+01] [-1.14733246e-01 9.93359539e-01 8.55031022e-03 2.43445602e+00] [ 7.35367207e-02 -9.06556470e-05 9.97292506e-01 -1.43526983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47534707 meters 0.01659596557491015 Centerline is valid? [True, True] Translation: X:-31.39, Y:2.45, Z:-1.44 [[ 9.90225231e-01 1.19036292e-01 -7.26935519e-02 -3.13877630e+01] [-1.18733581e-01 9.92889878e-01 8.48689474e-03 2.44841775e+00] [ 7.31869404e-02 2.27228394e-04 9.97318214e-01 -1.43812373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.50534707 meters 0.016352399656124478 Centerline is valid? [True, True] Translation: X:-31.42, Y:2.46, Z:-1.44 [[ 9.89821153e-01 1.21626903e-01 -7.38984596e-02 -3.14186242e+01] [-1.21322353e-01 9.92575792e-01 8.61301558e-03 2.45923326e+00] [ 7.43973964e-02 4.40189953e-04 9.97228576e-01 -1.43978378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.53534707 meters 0.016447234346342637 Centerline is valid? [True, True] Translation: X:-31.45, Y:2.47, Z:-1.44 [[ 9.89604020e-01 1.23299148e-01 -7.40351565e-02 -3.14483407e+01] [-1.22999833e-01 9.92369373e-01 8.60630969e-03 2.47214420e+00] [ 7.45313725e-02 5.89473190e-04 9.97218495e-01 -1.43894330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.56534707 meters 0.016846400087117856 Centerline is valid? [True, True] Translation: X:-31.48, Y:2.48, Z:-1.44 [[ 9.89214785e-01 1.25853104e-01 -7.49340029e-02 -3.14789454e+01] [-1.25555518e-01 9.92048554e-01 8.68784289e-03 2.48111420e+00] [ 7.54315612e-02 8.14234945e-04 9.97150649e-01 -1.43767980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59534707 meters 0.017863771250506998 Centerline is valid? [True, True] Translation: X:-31.51, Y:2.49, Z:-1.44 [[ 9.89146142e-01 1.27875383e-01 -7.23726140e-02 -3.15101686e+01] [-1.27604924e-01 9.91789780e-01 8.36752597e-03 2.49083979e+00] [ 7.28484195e-02 9.58395854e-04 9.97342564e-01 -1.43831621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.62534707 meters 0.018114613409682158 Centerline is valid? [True, True] Translation: X:-31.54, Y:2.50, Z:-1.44 [[ 9.88935735e-01 1.28651092e-01 -7.38580338e-02 -3.15413586e+01] [-1.28373483e-01 9.91689351e-01 8.51353306e-03 2.50250236e+00] [ 7.43395009e-02 1.06207600e-03 9.97232426e-01 -1.44379491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.65534707 meters 0.017890720296575114 Centerline is valid? [True, True] Translation: X:-31.57, Y:2.51, Z:-1.44 [[ 9.88878510e-01 1.28790504e-01 -7.43794189e-02 -3.15724261e+01] [-1.28511124e-01 9.91671210e-01 8.55003738e-03 2.50773391e+00] [ 7.48610920e-02 1.10363447e-03 9.97193361e-01 -1.44134580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.68534707 meters 0.01762140407656008 Centerline is valid? [True, True] Translation: X:-31.60, Y:2.51, Z:-1.44 [[ 9.89056620e-01 1.28171532e-01 -7.30688846e-02 -3.16027541e+01] [-1.27901647e-01 9.91751451e-01 8.38020003e-03 2.51303573e+00] [ 7.35402754e-02 1.05713837e-03 9.97291688e-01 -1.44206486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.71534707 meters 0.017300075527408282 Centerline is valid? [True, True] Translation: X:-31.63, Y:2.52, Z:-1.44 [[ 9.89164583e-01 1.26778083e-01 -7.40320635e-02 -3.16345475e+01] [-1.26498371e-01 9.91930619e-01 8.47408528e-03 2.51827947e+00] [ 7.45089988e-02 9.82670372e-04 9.97219857e-01 -1.44201244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.74534707 meters 0.01727071399450301 Centerline is valid? [True, True] Translation: X:-31.67, Y:2.52, Z:-1.44 [[ 9.89543754e-01 1.23705701e-01 -7.41623824e-02 -3.16664000e+01] [-1.23418378e-01 9.92318645e-01 8.46235581e-03 2.52263521e+00] [ 7.46395564e-02 7.79129594e-04 9.97210274e-01 -1.44412337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77534707 meters 0.017257460667880222 Centerline is valid? [True, True] Translation: X:-31.70, Y:2.53, Z:-1.45 [[ 9.89751062e-01 1.22916903e-01 -7.26929924e-02 -3.16985903e+01] [-1.22640535e-01 9.92416698e-01 8.27022277e-03 2.52818690e+00] [ 7.31582897e-02 7.29645717e-04 9.97320075e-01 -1.44740204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.805347069999996 meters 0.01696677613862523 Centerline is valid? [True, True] Translation: X:-31.73, Y:2.53, Z:-1.45 [[ 9.89958570e-01 1.21473654e-01 -7.22923346e-02 -3.17298910e+01] [-1.21198205e-01 9.92594448e-01 8.20104342e-03 2.53174622e+00] [ 7.27531807e-02 6.43007987e-04 9.97349769e-01 -1.44639305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.83534707 meters 0.016762806452030304 Centerline is valid? [True, True] Translation: X:-31.76, Y:2.54, Z:-1.45 [[ 9.90443399e-01 1.18317685e-01 -7.08717021e-02 -3.17621829e+01] [-1.18046418e-01 9.92975702e-01 8.01858883e-03 2.53518379e+00] [ 7.13226190e-02 4.24192202e-04 9.97453209e-01 -1.44584238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.86534707 meters 0.01640989998170794 Centerline is valid? [True, True] Translation: X:-31.79, Y:2.54, Z:-1.45 [[ 9.90527732e-01 1.17232951e-01 -7.14929886e-02 -3.17928523e+01] [-1.16955571e-01 9.93104374e-01 8.06821037e-03 2.53910193e+00] [ 7.19458598e-02 3.69717186e-04 9.97408470e-01 -1.44695094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.89534707 meters 0.017117998094070375 Centerline is valid? [True, True] Translation: X:-31.82, Y:2.54, Z:-1.44 [[ 9.90589774e-01 1.18798104e-01 -6.79625643e-02 -3.18245511e+01] [-1.18552106e-01 9.92918318e-01 7.65583344e-03 2.54194338e+00] [ 6.83907736e-02 4.73314814e-04 9.97658498e-01 -1.44469278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.92534707 meters 0.016407589722813882 Centerline is valid? [True, True] Translation: X:-31.86, Y:2.55, Z:-1.45 [[ 9.91018199e-01 1.15743151e-01 -6.69809797e-02 -3.18562314e+01] [-1.15498678e-01 9.93279137e-01 7.52400714e-03 2.54578090e+00] [ 6.74016620e-02 2.79786585e-04 9.97725883e-01 -1.44506685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95534707 meters 0.016385493782996394 Centerline is valid? [True, True] Translation: X:-31.89, Y:2.55, Z:-1.45 [[ 9.91153168e-01 1.14692570e-01 -6.67908024e-02 -3.18887708e+01] [-1.14448597e-01 9.93401007e-01 7.48045812e-03 2.54899509e+00] [ 6.72080034e-02 2.29833827e-04 9.97738960e-01 -1.44753159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.98534707 meters 0.016924912483271902 Centerline is valid? [True, True] Translation: X:-31.92, Y:2.55, Z:-1.45 [[ 9.91453584e-01 1.12221404e-01 -6.65292938e-02 -3.19212980e+01] [-1.11975448e-01 9.93683224e-01 7.42630906e-03 2.55205912e+00] [ 6.69424339e-02 8.68067384e-05 9.97756836e-01 -1.45038681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01534707 meters 0.016725677168589012 Centerline is valid? [True, True] Translation: X:-31.95, Y:2.56, Z:-1.45 [[ 9.91307277e-01 1.13507768e-01 -6.65272096e-02 -3.19526824e+01] [-1.13266381e-01 9.93537089e-01 7.40132242e-03 2.55609849e+00] [ 6.69373578e-02 1.98311514e-04 9.97757160e-01 -1.45260970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.04534707 meters 0.016752746053384317 Centerline is valid? [True, True] Translation: X:-31.99, Y:2.56, Z:-1.45 [[ 9.91244778e-01 1.14658807e-01 -6.54763129e-02 -3.19856591e+01] [-1.14429055e-01 9.93404888e-01 7.26088222e-03 2.56044895e+00] [ 6.58770133e-02 2.95081026e-04 9.97827707e-01 -1.45232492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.07534707 meters 0.016766286561471628 Centerline is valid? [True, True] Translation: X:-32.02, Y:2.56, Z:-1.45 [[ 9.91516832e-01 1.13396611e-01 -6.35262154e-02 -3.20181777e+01] [-1.13179266e-01 9.93549776e-01 7.02120762e-03 2.56334608e+00] [ 6.39126382e-02 2.28204863e-04 9.97955471e-01 -1.45339987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.10534707 meters 0.01714770475480993 Centerline is valid? [True, True] Translation: X:-32.05, Y:2.57, Z:-1.45 [[ 9.91543628e-01 1.13973077e-01 -6.20594233e-02 -3.20496135e+01] [-1.13767959e-01 9.93483800e-01 6.84038660e-03 2.56586105e+00] [ 6.24346516e-02 2.77832194e-04 9.98049015e-01 -1.45078646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.13534707 meters 0.016858848238625428 Centerline is valid? [True, True] Translation: X:-32.08, Y:2.57, Z:-1.45 [[ 9.91784126e-01 1.12428999e-01 -6.10243113e-02 -3.20811006e+01] [-1.12228411e-01 9.93659743e-01 6.71558856e-03 2.56784568e+00] [ 6.13924284e-02 1.88247352e-04 9.98113688e-01 -1.45299120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16534707 meters 0.016862688983905794 Centerline is valid? [True, True] Translation: X:-32.11, Y:2.57, Z:-1.45 [[ 9.91626991e-01 1.13592915e-01 -6.14211690e-02 -3.21134312e+01] [-1.13392722e-01 9.93527339e-01 6.74657899e-03 2.57010884e+00] [ 6.17899742e-02 2.74623723e-04 9.98089136e-01 -1.45396829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.19534707 meters 0.01689705391940046 Centerline is valid? [True, True] Translation: X:-32.15, Y:2.57, Z:-1.46 [[ 9.91797894e-01 1.12925458e-01 -5.98730150e-02 -3.21468524e+01] [-1.12735334e-01 9.93603431e-01 6.55479596e-03 2.57272015e+00] [ 6.02302365e-02 2.48771539e-04 9.98184480e-01 -1.45591232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.22534707 meters 0.01705415169881563 Centerline is valid? [True, True] Translation: X:-32.18, Y:2.57, Z:-1.46 [[ 9.92210997e-01 1.09327425e-01 -5.97063715e-02 -3.21800054e+01] [-1.09133265e-01 9.94005790e-01 6.51299444e-03 2.57483243e+00] [ 6.00605279e-02 5.36865638e-05 9.98194736e-01 -1.46110713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.25534707 meters 0.01673965699815629 Centerline is valid? [True, True] Translation: X:-32.21, Y:2.58, Z:-1.46 [[ 9.92013535e-01 1.11170839e-01 -5.95834735e-02 -3.22122188e+01] [-1.10982209e-01 9.93801293e-01 6.47612672e-03 2.57538981e+00] [ 5.99340894e-02 1.88300163e-04 9.98202319e-01 -1.45781423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.28534707 meters 0.016794662838450984 Centerline is valid? [True, True] Translation: X:-32.25, Y:2.58, Z:-1.46 [[ 9.92261984e-01 1.10153607e-01 -5.72916996e-02 -3.22453078e+01] [-1.09978729e-01 9.93914565e-01 6.20618055e-03 2.57672372e+00] [ 5.76266879e-02 1.42711302e-04 9.98338191e-01 -1.46092195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.31534707 meters 0.016763294530840248 Centerline is valid? [True, True] Translation: X:-32.28, Y:2.58, Z:-1.46 [[ 9.92388454e-01 1.08916624e-01 -5.74658544e-02 -3.22782218e+01] [-1.08739949e-01 9.94050884e-01 6.20188662e-03 2.57784189e+00] [ 5.77994720e-02 9.41533872e-05 9.98328209e-01 -1.46129380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.34534707 meters 0.016852191784194025 Centerline is valid? [True, True] Translation: X:-32.31, Y:2.58, Z:-1.46 [[ 9.92440941e-01 1.09043057e-01 -5.63079960e-02 -3.23103076e+01] [-1.08874841e-01 9.94037020e-01 6.05573236e-03 2.57917523e+00] [ 5.66325682e-02 1.20567397e-04 9.98395081e-01 -1.46228970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.37534707 meters 0.016852191784194025 Centerline is valid? [True, True] Translation: X:-32.34, Y:2.58, Z:-1.46 [[ 9.92483906e-01 1.08650149e-01 -5.63102178e-02 -3.23427592e+01] [-1.08482476e-01 9.94080043e-01 6.03500457e-03 2.58287917e+00] [ 5.66325678e-02 1.19026957e-04 9.98395081e-01 -1.46402761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.40534707 meters 0.01724268753034855 Centerline is valid? [True, True] Translation: X:-32.38, Y:2.58, Z:-1.47 [[ 9.92565089e-01 1.08958662e-01 -5.42453207e-02 -3.23758680e+01] [-1.08804673e-01 9.94046270e-01 5.79278889e-03 2.58244341e+00] [ 5.45535332e-02 1.52424359e-04 9.98510836e-01 -1.46605948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.43534707 meters 0.01703082289025617 Centerline is valid? [True, True] Translation: X:-32.41, Y:2.58, Z:-1.47 [[ 9.92682046e-01 1.07875342e-01 -5.42703071e-02 -3.24087308e+01] [-1.07720780e-01 9.94164422e-01 5.77373115e-03 2.58331981e+00] [ 5.45764517e-02 1.14560567e-04 9.98509588e-01 -1.46519753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.46534707 meters 0.016670076092989983 Centerline is valid? [True, True] Translation: X:-32.44, Y:2.58, Z:-1.47 [[ 9.92819363e-01 1.06955122e-01 -5.35753079e-02 -3.24424965e+01] [-1.06804227e-01 9.94263846e-01 5.67998557e-03 2.58264930e+00] [ 5.38754952e-02 8.28696754e-05 9.98547657e-01 -1.46669213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.49534707 meters 0.017130231792712614 Centerline is valid? [True, True] Translation: X:-32.48, Y:2.58, Z:-1.47 [[ 9.92905576e-01 1.06046118e-01 -5.37841880e-02 -3.24756276e+01] [-1.05893887e-01 9.94361211e-01 5.68039235e-03 2.58494138e+00] [ 5.40832939e-02 5.53234908e-05 9.98536426e-01 -1.46991920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.52534707 meters 0.017160487133126595 Centerline is valid? [True, True] Translation: X:-32.51, Y:2.59, Z:-1.47 [[ 9.93022862e-01 1.05534044e-01 -5.26133212e-02 -3.25081921e+01] [-1.05388719e-01 9.94415689e-01 5.53666716e-03 2.58555955e+00] [ 5.29038190e-02 4.68134297e-05 9.98599611e-01 -1.47120172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555347069999996 meters 0.016668057970775797 Centerline is valid? [True, True] Translation: X:-32.54, Y:2.59, Z:-1.47 [[ 9.93361573e-01 1.02415581e-01 -5.23816115e-02 -3.25404730e+01] [-1.02268208e-01 9.94741695e-01 5.49316151e-03 2.58511626e+00] [ 5.26687584e-02 -9.97220240e-05 9.98612033e-01 -1.47263125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.58534707 meters 0.01675303643374427 Centerline is valid? [True, True] Translation: X:-32.57, Y:2.59, Z:-1.47 [[ 9.93448918e-01 1.02227784e-01 -5.10757091e-02 -3.25732911e+01] [-1.02088397e-01 9.94761013e-01 5.33730832e-03 2.58621381e+00] [ 5.13537453e-02 -8.81059164e-05 9.98680522e-01 -1.47407734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.61534707 meters 0.016440014742030953 Centerline is valid? [True, True] Translation: X:-32.61, Y:2.59, Z:-1.47 [[ 9.93378496e-01 1.03135983e-01 -5.06175160e-02 -3.26059895e+01] [-1.03000619e-01 9.94667265e-01 5.28248043e-03 2.58631524e+00] [ 5.08924000e-02 -3.38669886e-05 9.98704142e-01 -1.47306253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.64534707 meters 0.016593089617681748 Centerline is valid? [True, True] Translation: X:-32.64, Y:2.59, Z:-1.48 [[ 9.93741657e-01 9.96428619e-02 -5.04858324e-02 -3.26379086e+01] [-9.95046462e-02 9.95023247e-01 5.25002689e-03 2.58689963e+00] [ 5.07577046e-02 -1.93595525e-04 9.98710978e-01 -1.47520532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67534707 meters 0.016513125814419504 Centerline is valid? [True, True] Translation: X:-32.67, Y:2.59, Z:-1.48 [[ 9.93910308e-01 9.78627783e-02 -5.06475690e-02 -3.26700254e+01] [-9.77216154e-02 9.95199878e-01 5.26193589e-03 2.58805992e+00] [ 5.09194022e-02 -2.80530068e-04 9.98702726e-01 -1.47554095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.70534707 meters 0.016590755404175865 Centerline is valid? [True, True] Translation: X:-32.70, Y:2.59, Z:-1.48 [[ 9.94087948e-01 9.62923288e-02 -5.01691131e-02 -3.27024819e+01] [-9.61520567e-02 9.95353034e-01 5.20760501e-03 2.58857535e+00] [ 5.04374313e-02 -3.52953968e-04 9.98727160e-01 -1.47767234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73534707 meters 0.01616594367990521 Centerline is valid? [True, True] Translation: X:-32.73, Y:2.59, Z:-1.48 [[ 9.93923624e-01 9.81329870e-02 -4.98572609e-02 -3.27342669e+01] [-9.79970029e-02 9.95173278e-01 5.17056351e-03 2.59178011e+00] [ 5.01240166e-02 -2.53283079e-04 9.98742969e-01 -1.47615074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.76534707 meters 0.016756409689331484 Centerline is valid? [True, True] Translation: X:-32.77, Y:2.59, Z:-1.48 [[ 9.94302492e-01 9.41548206e-02 -4.99742298e-02 -3.27654267e+01] [-9.40133700e-02 9.95557465e-01 5.17879614e-03 2.59451299e+00] [ 5.02398262e-02 -4.51044156e-04 9.98737081e-01 -1.48076303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.79534707 meters 0.019063669997934334 Centerline is valid? [True, True] Translation: X:-32.80, Y:2.60, Z:-1.48 [[ 9.94210465e-01 9.55413140e-02 -4.91671462e-02 -3.27973215e+01] [-9.54067990e-02 9.95425400e-01 5.08088643e-03 2.60078424e+00] [ 4.94276607e-02 -3.60590424e-04 9.98777641e-01 -1.47583491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.82534707 meters 0.01623782419871049 Centerline is valid? [True, True] Translation: X:-32.83, Y:2.60, Z:-1.48 [[ 9.94193002e-01 9.60541282e-02 -4.85167979e-02 -3.28300461e+01] [-9.59246602e-02 9.95376063e-01 4.99526036e-03 2.60388892e+00] [ 4.87722747e-02 -3.12295538e-04 9.98809876e-01 -1.48043400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.85534707 meters 0.01592654672534943 Centerline is valid? [True, True] Translation: X:-32.86, Y:2.61, Z:-1.48 [[ 9.94171400e-01 9.59879019e-02 -4.90871617e-02 -3.28629144e+01] [-9.58556508e-02 9.95382452e-01 5.04666573e-03 2.60882528e+00] [ 4.93449182e-02 -3.11968904e-04 9.98781749e-01 -1.48087241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.88534707 meters 0.015783454009341794 Centerline is valid? [True, True] Translation: X:-32.89, Y:2.61, Z:-1.48 [[ 9.94057534e-01 9.73362918e-02 -4.87366982e-02 -3.28944044e+01] [-9.72079012e-02 9.95251521e-01 5.00333375e-03 2.61354779e+00] [ 4.89922790e-02 -2.36009463e-04 9.98799129e-01 -1.48178040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91534707 meters 0.01581294161485046 Centerline is valid? [True, True] Translation: X:-32.93, Y:2.62, Z:-1.48 [[ 9.94258275e-01 9.52956068e-02 -4.86747324e-02 -3.29258458e+01] [-9.51652848e-02 9.95448962e-01 4.99316386e-03 2.61712761e+00] [ 4.89290385e-02 -3.32349714e-04 9.98802202e-01 -1.48357107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.94534707 meters 0.015677725629444025 Centerline is valid? [True, True] Translation: X:-32.96, Y:2.62, Z:-1.48 [[ 9.94398478e-01 9.41576042e-02 -4.80209553e-02 -3.29580892e+01] [-9.40301224e-02 9.95557236e-01 4.91188588e-03 2.61895460e+00] [ 4.82701009e-02 -3.68955535e-04 9.98834251e-01 -1.48409932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.97534707 meters 0.016035929960391437 Centerline is valid? [True, True] Translation: X:-32.99, Y:2.62, Z:-1.49 [[ 9.94676882e-01 9.11118782e-02 -4.81303021e-02 -3.29899409e+01] [-9.09812000e-02 9.95840538e-01 4.90346893e-03 2.62091669e+00] [ 4.83768702e-02 -4.98414549e-04 9.98829029e-01 -1.48740471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.00534707 meters 0.0164216993952111 Centerline is valid? [True, True] Translation: X:-33.02, Y:2.62, Z:-1.49 [[ 9.94929447e-01 8.78158952e-02 -4.90281949e-02 -3.30207601e+01] [-8.76765484e-02 9.96136499e-01 4.98975306e-03 2.62315488e+00] [ 4.92769540e-02 -6.65829357e-04 9.98784931e-01 -1.48771556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03534707 meters 0.01730691711937938 Centerline is valid? [True, True] Translation: X:-33.05, Y:2.62, Z:-1.49 [[ 9.95242302e-01 8.39511466e-02 -4.94465950e-02 -3.30528432e+01] [-8.38048249e-02 9.96469500e-01 5.02866359e-03 2.62362092e+00] [ 4.96941859e-02 -8.60875492e-04 9.98764110e-01 -1.48869662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.06534707 meters 0.017791414979228617 Centerline is valid? [True, True] Translation: X:-33.09, Y:2.63, Z:-1.49 [[ 9.95502698e-01 8.12335225e-02 -4.87390239e-02 -3.30852653e+01] [-8.10883424e-02 9.96694617e-01 4.95190293e-03 2.62622907e+00] [ 4.89801833e-02 -9.77466068e-04 9.98799272e-01 -1.49187003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09534707 meters 0.018359886918410902 Centerline is valid? [True, True] Translation: X:-33.12, Y:2.63, Z:-1.49 [[ 9.95710749e-01 7.86420396e-02 -4.87394502e-02 -3.31177691e+01] [-7.84940428e-02 9.96902313e-01 4.94607652e-03 2.62803993e+00] [ 4.89774401e-02 -1.09910507e-03 9.98799280e-01 -1.49288816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.12534707 meters 0.018658295395923872 Centerline is valid? [True, True] Translation: X:-33.15, Y:2.63, Z:-1.50 [[ 9.95877196e-01 7.61939977e-02 -4.92248370e-02 -3.31487945e+01] [-7.60402843e-02 9.97092257e-01 4.99057174e-03 2.63191479e+00] [ 4.94619554e-02 -1.22692599e-03 9.98775255e-01 -1.49505562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.15534707 meters 0.019260807052349636 Centerline is valid? [True, True] Translation: X:-33.18, Y:2.64, Z:-1.50 [[ 9.96099951e-01 7.33750191e-02 -4.89999320e-02 -3.31811967e+01] [-7.32194601e-02 9.97303496e-01 4.96454554e-03 2.63527484e+00] [ 4.92320772e-02 -1.35743500e-03 9.98786444e-01 -1.49661202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.18534707 meters 0.01983501400094696 Centerline is valid? [True, True] Translation: X:-33.21, Y:2.64, Z:-1.50 [[ 9.96239498e-01 7.14785621e-02 -4.89660873e-02 -3.32137301e+01] [-7.13212210e-02 9.97441091e-01 4.95521554e-03 2.63761710e+00] [ 4.91949792e-02 -1.44426031e-03 9.98788150e-01 -1.49558135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.21534707 meters 0.019242251583043244 Centerline is valid? [True, True] Translation: X:-33.24, Y:2.64, Z:-1.50 [[ 9.96316856e-01 7.01583662e-02 -4.93003656e-02 -3.32449778e+01] [-6.99974936e-02 9.97534715e-01 4.98420419e-03 2.64220591e+00] [ 4.95285098e-02 -1.51494462e-03 9.98771561e-01 -1.49748673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.24534707 meters 0.019978776026085596 Centerline is valid? [True, True] Translation: X:-33.28, Y:2.65, Z:-1.50 [[ 9.96526104e-01 6.66362541e-02 -4.99533196e-02 -3.32762717e+01] [-6.64668369e-02 9.97775871e-01 5.04688047e-03 2.64579354e+00] [ 5.01785221e-02 -1.70910898e-03 9.98738802e-01 -1.49791122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27534707 meters 0.02441496401599952 Centerline is valid? [True, True] Translation: X:-33.31, Y:2.64, Z:-1.50 [[ 9.96711294e-01 6.36058692e-02 -5.02084577e-02 -3.33088736e+01] [-6.34313898e-02 9.97973361e-01 5.06250195e-03 2.63853250e+00] [ 5.04287081e-02 -1.86106062e-03 9.98725929e-01 -1.50085692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.305347069999996 meters 0.02140307684983751 Centerline is valid? [True, True] Translation: X:-33.34, Y:2.65, Z:-1.50 [[ 9.96797325e-01 6.28107098e-02 -4.94965376e-02 -3.33382716e+01] [-6.26403500e-02 9.98023705e-01 4.98709494e-03 2.64934652e+00] [ 4.97119608e-02 -1.87064246e-03 9.98761844e-01 -1.49905237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.33534707 meters 0.021557412783537275 Centerline is valid? [True, True] Translation: X:-33.37, Y:2.65, Z:-1.50 [[ 9.96948240e-01 6.01235397e-02 -4.97932308e-02 -3.33679415e+01] [-5.99480093e-02 9.98188916e-01 5.01249876e-03 2.65389004e+00] [ 5.00044202e-02 -2.01219676e-03 9.98746969e-01 -1.50031177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.36534707 meters 0.023442820843016608 Centerline is valid? [True, True] Translation: X:-33.40, Y:2.65, Z:-1.50 [[ 9.97120450e-01 5.69399352e-02 -5.00864433e-02 -3.33985657e+01] [-5.67583886e-02 9.98375218e-01 5.04069034e-03 2.65391103e+00] [ 5.02920804e-02 -2.18334960e-03 9.98732166e-01 -1.50129883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39534707 meters 0.023557441774681047 Centerline is valid? [True, True] Translation: X:-33.43, Y:2.66, Z:-1.50 [[ 9.97229359e-01 5.43407640e-02 -5.08004619e-02 -3.34270195e+01] [-5.41506432e-02 9.98519690e-01 5.11238612e-03 2.65808655e+00] [ 5.10030724e-02 -2.34734385e-03 9.98695738e-01 -1.50289489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42534707 meters 0.025239936547386124 Centerline is valid? [True, True] Translation: X:-33.46, Y:2.66, Z:-1.50 [[ 9.97251789e-01 5.33880743e-02 -5.13671408e-02 -3.34561916e+01] [-5.31922635e-02 9.98570893e-01 5.17251165e-03 2.65563622e+00] [ 5.15698821e-02 -2.42596200e-03 9.98666442e-01 -1.50425685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45534707 meters 0.026215776709667307 Centerline is valid? [True, True] Translation: X:-33.49, Y:2.66, Z:-1.50 [[ 9.97346260e-01 5.08809097e-02 -5.20727407e-02 -3.34853001e+01] [-5.06753051e-02 9.98701319e-01 5.26197900e-03 2.65670239e+00] [ 5.22728491e-02 -2.60921306e-03 9.98629431e-01 -1.50484289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.48534707 meters 0.025600656018888737 Centerline is valid? [True, True] Translation: X:-33.51, Y:2.66, Z:-1.51 [[ 9.97464032e-01 4.98221543e-02 -5.08257595e-02 -3.35123064e+01] [-4.96241367e-02 9.98754679e-01 5.15128992e-03 2.66071385e+00] [ 5.10191134e-02 -2.61604198e-03 9.98694251e-01 -1.50660439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.51534707 meters 0.0268132432147341 Centerline is valid? [True, True] Translation: X:-33.54, Y:2.66, Z:-1.51 [[ 9.97595070e-01 4.63204675e-02 -5.15605607e-02 -3.35422535e+01] [-4.61115232e-02 9.98922579e-01 5.23525536e-03 2.66188564e+00] [ 5.17475077e-02 -2.84512894e-03 9.98656147e-01 -1.50599554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.54534707 meters 0.026292264024266772 Centerline is valid? [True, True] Translation: X:-33.57, Y:2.66, Z:-1.51 [[ 9.97689406e-01 4.52154047e-02 -5.07091425e-02 -3.35702954e+01] [-4.50118042e-02 9.98973178e-01 5.15047824e-03 2.66448204e+00] [ 5.08899542e-02 -2.85606758e-03 9.98700183e-01 -1.50657440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.57534707 meters 0.026351496012264816 Centerline is valid? [True, True] Translation: X:-33.60, Y:2.67, Z:-1.51 [[ 9.97689475e-01 4.54490394e-02 -5.04984786e-02 -3.35976452e+01] [-4.52465623e-02 9.98962595e-01 5.14612245e-03 2.66591490e+00] [ 5.06799775e-02 -2.84934965e-03 9.98710880e-01 -1.50685738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60534707 meters 0.027603086934243536 Centerline is valid? [True, True] Translation: X:-33.63, Y:2.67, Z:-1.51 [[ 9.97804165e-01 4.22900780e-02 -5.09744829e-02 -3.36276804e+01] [-4.20785746e-02 9.99100690e-01 5.21573048e-03 2.66742007e+00] [ 5.11492147e-02 -3.05934402e-03 9.98686336e-01 -1.51043966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.63534707 meters 0.028756149022810228 Centerline is valid? [True, True] Translation: X:-33.66, Y:2.67, Z:-1.51 [[ 9.97768333e-01 4.25936457e-02 -5.14211607e-02 -3.36558877e+01] [-4.23787837e-02 9.99087759e-01 5.26206958e-03 2.66767773e+00] [ 5.15983829e-02 -3.07116015e-03 9.98663194e-01 -1.50985941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66534707 meters 0.02793494635709479 Centerline is valid? [True, True] Translation: X:-33.68, Y:2.67, Z:-1.51 [[ 9.97737287e-01 4.23346643e-02 -5.22310552e-02 -3.36831532e+01] [-4.21115157e-02 9.99098507e-01 5.36597478e-03 2.67287139e+00] [ 5.24111361e-02 -3.15430421e-03 9.98620610e-01 -1.50977210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69534707 meters 0.027105656966930694 Centerline is valid? [True, True] Translation: X:-33.71, Y:2.68, Z:-1.51 [[ 9.97742094e-01 4.24636723e-02 -5.20341300e-02 -3.37095583e+01] [-4.22418835e-02 9.99093061e-01 5.35523711e-03 2.67710363e+00] [ 5.22143413e-02 -3.14512583e-03 9.98630948e-01 -1.50804267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72534707 meters 0.029583006321917776 Centerline is valid? [True, True] Translation: X:-33.74, Y:2.68, Z:-1.51 [[ 9.97742247e-01 4.20567691e-02 -5.23606361e-02 -3.37382069e+01] [-4.18311559e-02 9.99110113e-01 5.39779228e-03 2.67505959e+00] [ 5.25410548e-02 -3.19529947e-03 9.98613653e-01 -1.50929084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.75534707 meters 0.028233418362602635 Centerline is valid? [True, True] Translation: X:-33.77, Y:2.68, Z:-1.51 [[ 9.97719892e-01 4.32748209e-02 -5.17909947e-02 -3.37650016e+01] [-4.30547930e-02 9.99058350e-01 5.35706499e-03 2.67993694e+00] [ 5.19740518e-02 -3.11499975e-03 9.98643577e-01 -1.51087465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.78534707 meters 0.029138775222433716 Centerline is valid? [True, True] Translation: X:-33.79, Y:2.68, Z:-1.51 [[ 9.97655133e-01 4.26873852e-02 -5.34978831e-02 -3.37938882e+01] [-4.24513256e-02 9.99083167e-01 5.54162370e-03 2.68155763e+00] [ 5.36853919e-02 -3.25757328e-03 9.98552586e-01 -1.51100608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.81534707 meters 0.03083578357307689 Centerline is valid? [True, True] Translation: X:-33.82, Y:2.68, Z:-1.51 [[ 9.97626203e-01 4.35403064e-02 -5.33498042e-02 -3.38232723e+01] [-4.33058065e-02 9.99046480e-01 5.54421187e-03 2.68011454e+00] [ 5.35403307e-02 -3.22069474e-03 9.98560494e-01 -1.50925815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84534707 meters 0.029272771750617793 Centerline is valid? [True, True] Translation: X:-33.85, Y:2.69, Z:-1.51 [[ 9.97687959e-01 4.12909023e-02 -5.39796085e-02 -3.38507231e+01] [-4.10465808e-02 9.99141386e-01 5.62749503e-03 2.68814502e+00] [ 5.41656252e-02 -3.39880566e-03 9.98526181e-01 -1.51137807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.87534707 meters 0.028696167320899663 Centerline is valid? [True, True] Translation: X:-33.88, Y:2.69, Z:-1.51 [[ 9.97506137e-01 4.53269035e-02 -5.41015533e-02 -3.38807793e+01] [-4.50871096e-02 9.98967108e-01 5.64525726e-03 2.69050475e+00] [ 5.43015543e-02 -3.19189610e-03 9.98519481e-01 -1.50946647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.90534707 meters 0.027311210667642555 Centerline is valid? [True, True] Translation: X:-33.91, Y:2.70, Z:-1.51 [[ 9.97497448e-01 4.58739871e-02 -5.37997968e-02 -3.39085879e+01] [-4.56375840e-02 9.98942281e-01 5.61510986e-03 2.69563941e+00] [ 5.40004793e-02 -3.14576501e-03 9.98535954e-01 -1.50959595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.93534707 meters 0.030167445311399716 Centerline is valid? [True, True] Translation: X:-33.94, Y:2.69, Z:-1.51 [[ 9.97384146e-01 4.78340213e-02 -5.41919933e-02 -3.39380910e+01] [-4.75966660e-02 9.98850584e-01 5.66283041e-03 2.69036234e+00] [ 5.44005801e-02 -3.06865907e-03 9.98514477e-01 -1.51024884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.96534707 meters 0.027356219135502978 Centerline is valid? [True, True] Translation: X:-33.97, Y:2.70, Z:-1.51 [[ 9.97584556e-01 4.41756911e-02 -5.36056061e-02 -3.39660145e+01] [-4.39372299e-02 9.99018490e-01 5.61937913e-03 2.70019851e+00] [ 5.38012316e-02 -3.25052399e-03 9.98546374e-01 -1.51143971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.99534707 meters 0.03253092510290966 Centerline is valid? [True, True] Translation: X:-34.00, Y:2.69, Z:-1.51 [[ 9.97573295e-01 4.47950298e-02 -5.33003493e-02 -3.39965142e+01] [-4.45600198e-02 9.98991069e-01 5.59000013e-03 2.69129678e+00] [ 5.34969772e-02 -3.20137023e-03 9.98562880e-01 -1.50722973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.02534707 meters 0.028873620724611585 Centerline is valid? [True, True] Translation: X:-34.02, Y:2.70, Z:-1.51 [[ 9.97521392e-01 4.46725214e-02 -5.43639398e-02 -3.40234921e+01] [-4.44268209e-02 9.98996264e-01 5.72029440e-03 2.70014693e+00] [ 5.45649127e-02 -3.29089902e-03 9.98504802e-01 -1.51064230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05534707 meters 0.029842338633689305 Centerline is valid? [True, True] Translation: X:-34.05, Y:2.70, Z:-1.51 [[ 9.97466156e-01 4.66919117e-02 -5.36761840e-02 -3.40526028e+01] [-4.64549687e-02 9.98904383e-01 5.65420666e-03 2.69834050e+00] [ 5.38813812e-02 -3.14635433e-03 9.98542386e-01 -1.50921294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.08534707 meters 0.02987343910222461 Centerline is valid? [True, True] Translation: X:-34.08, Y:2.70, Z:-1.51 [[ 9.97246391e-01 4.99628339e-02 -5.48028419e-02 -3.40822967e+01] [-4.97197564e-02 9.98746420e-01 5.79082800e-03 2.69945226e+00] [ 5.50234684e-02 -3.05009837e-03 9.98480403e-01 -1.50963908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.11534707 meters 0.03078628604484097 Centerline is valid? [True, True] Translation: X:-34.11, Y:2.70, Z:-1.51 [[ 9.97299082e-01 4.83212428e-02 -5.53136372e-02 -3.41113018e+01] [-4.80709454e-02 9.98826808e-01 5.84743660e-03 2.70041420e+00] [ 5.55312991e-02 -3.17266432e-03 9.98451906e-01 -1.51220553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.14534707 meters 0.027203306182153407 Centerline is valid? [True, True] Translation: X:-34.14, Y:2.71, Z:-1.51 [[ 9.97345057e-01 4.80655209e-02 -5.47041434e-02 -3.41377435e+01] [-4.78200692e-02 9.98839197e-01 5.78780166e-03 2.71096851e+00] [ 5.49188363e-02 -3.15647945e-03 9.98485833e-01 -1.51256494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.17534707 meters 0.025992768423248665 Centerline is valid? [True, True] Translation: X:-34.16, Y:2.72, Z:-1.51 [[ 9.97264601e-01 4.99449203e-02 -5.44868838e-02 -3.41647766e+01] [-4.97038552e-02 9.98747325e-01 5.77130121e-03 2.71612835e+00] [ 5.47068766e-02 -3.04730621e-03 9.98497807e-01 -1.51301498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.20534707 meters 0.027127679472039718 Centerline is valid? [True, True] Translation: X:-34.20, Y:2.72, Z:-1.51 [[ 9.96960544e-01 5.54872976e-02 -5.46885158e-02 -3.41953207e+01] [-5.52523155e-02 9.98455575e-01 5.80054373e-03 2.71573949e+00] [ 5.49259100e-02 -2.76124611e-03 9.98486615e-01 -1.51079315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23534707 meters 0.02488014060380349 Centerline is valid? [True, True] Translation: X:-34.22, Y:2.72, Z:-1.51 [[ 9.96683222e-01 6.00754995e-02 -5.48952604e-02 -3.42233933e+01] [-5.98455940e-02 9.98190657e-01 5.82387110e-03 2.72359529e+00] [ 5.51458080e-02 -2.51931515e-03 9.98475134e-01 -1.51163408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.26534707 meters 0.02488014060380349 Centerline is valid? [True, True] Translation: X:-34.25, Y:2.73, Z:-1.51 [[ 9.96661548e-01 6.04342986e-02 -5.48949421e-02 -3.42505815e+01] [-6.02047709e-02 9.98169040e-01 5.82686969e-03 2.72624708e+00] [ 5.51465744e-02 -2.50247955e-03 9.98475134e-01 -1.51309653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.29534707 meters 0.022740436184035515 Centerline is valid? [True, True] Translation: X:-34.28, Y:2.73, Z:-1.51 [[ 9.96536445e-01 6.25102888e-02 -5.48413851e-02 -3.42773104e+01] [-6.22832630e-02 9.98041422e-01 5.84077324e-03 2.73482142e+00] [ 5.50990824e-02 -2.40484299e-03 9.98477996e-01 -1.51218319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32534707 meters 0.02218406869175831 Centerline is valid? [True, True] Translation: X:-34.31, Y:2.74, Z:-1.51 [[ 9.96142104e-01 6.70868943e-02 -5.65708192e-02 -3.43058248e+01] [-6.68522013e-02 9.97744649e-01 6.03310010e-03 2.74007067e+00] [ 5.68479741e-02 -2.22794123e-03 9.98380360e-01 -1.51488414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.35534707 meters 0.020723966086682918 Centerline is valid? [True, True] Translation: X:-34.33, Y:2.75, Z:-1.51 [[ 9.95913440e-01 7.09959209e-02 -5.58211376e-02 -3.43347468e+01] [-7.07733131e-02 9.97474636e-01 5.95718184e-03 2.74759809e+00] [ 5.61031046e-02 -1.98219061e-03 9.98423013e-01 -1.51202446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.38534707 meters 0.021196553523730333 Centerline is valid? [True, True] Translation: X:-34.37, Y:2.75, Z:-1.51 [[ 9.95677911e-01 7.34579261e-02 -5.68280786e-02 -3.43650714e+01] [-7.32309858e-02 9.97296544e-01 6.06849287e-03 2.75006030e+00] [ 5.71202253e-02 -1.88068809e-03 9.98365536e-01 -1.51435557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41534707 meters 0.01875209838967337 Centerline is valid? [True, True] Translation: X:-34.39, Y:2.76, Z:-1.51 [[ 9.95538422e-01 7.64210274e-02 -5.53450629e-02 -3.43943091e+01] [-7.62103753e-02 9.97074246e-01 5.90985764e-03 2.75868840e+00] [ 5.56347743e-02 -1.66562233e-03 9.98449797e-01 -1.51281876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.44534707 meters 0.020203510297664665 Centerline is valid? [True, True] Translation: X:-34.43, Y:2.76, Z:-1.51 [[ 9.95422368e-01 7.78815106e-02 -5.53965704e-02 -3.44263576e+01] [-7.76730942e-02 9.96961372e-01 5.90871127e-03 2.76199921e+00] [ 5.56884202e-02 -1.57884033e-03 9.98446948e-01 -1.50932364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.47534707 meters 0.018747589692157604 Centerline is valid? [True, True] Translation: X:-34.46, Y:2.77, Z:-1.52 [[ 9.95467435e-01 7.62371553e-02 -5.68549292e-02 -3.44570875e+01] [-7.60152524e-02 9.97088248e-01 6.05863620e-03 2.76871744e+00] [ 5.71512749e-02 -1.70933325e-03 9.98364067e-01 -1.51675575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.50534707 meters 0.018771269520747223 Centerline is valid? [True, True] Translation: X:-34.49, Y:2.77, Z:-1.52 [[ 9.95130387e-01 8.02149535e-02 -5.72806540e-02 -3.44888015e+01] [-7.99965345e-02 9.96776478e-01 6.09972891e-03 2.77057062e+00] [ 5.75852981e-02 -1.48777178e-03 9.98339481e-01 -1.51618078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53534707 meters 0.01864883455678686 Centerline is valid? [True, True] Translation: X:-34.52, Y:2.77, Z:-1.52 [[ 9.95125778e-01 8.06588457e-02 -5.67347877e-02 -3.45205042e+01] [-8.04454681e-02 9.96740720e-01 6.03856732e-03 2.77446832e+00] [ 5.70369370e-02 -1.44507744e-03 9.98371023e-01 -1.51784247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.56534707 meters 0.0188798460767708 Centerline is valid? [True, True] Translation: X:-34.55, Y:2.78, Z:-1.52 [[ 9.94973927e-01 8.20040013e-02 -5.74650112e-02 -3.45520736e+01] [-8.17876376e-02 9.96631044e-01 6.11096038e-03 2.77878349e+00] [ 5.77725373e-02 -1.38031874e-03 9.98328818e-01 -1.51628844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59534707 meters 0.017082507896281927 Centerline is valid? [True, True] Translation: X:-34.58, Y:2.79, Z:-1.51 [[ 9.94904875e-01 8.30979045e-02 -5.70878995e-02 -3.45824340e+01] [-8.28864019e-02 9.96540535e-01 6.06687104e-03 2.78827912e+00] [ 5.73945502e-02 -1.30414899e-03 9.98350722e-01 -1.51432399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.62534707 meters 0.017380070544419198 Centerline is valid? [True, True] Translation: X:-34.61, Y:2.79, Z:-1.52 [[ 9.94695688e-01 8.54986587e-02 -5.71880073e-02 -3.46139891e+01] [-8.52906274e-02 9.96337606e-01 6.07312057e-03 2.79084489e+00] [ 5.74978060e-02 -1.16330582e-03 9.98344955e-01 -1.51627196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.65534707 meters 0.017194950430966915 Centerline is valid? [True, True] Translation: X:-34.64, Y:2.80, Z:-1.52 [[ 9.94754252e-01 8.45924996e-02 -5.75159735e-02 -3.46442858e+01] [-8.43808192e-02 9.96414886e-01 6.10347205e-03 2.79717140e+00] [ 5.78260802e-02 -1.21820981e-03 9.98325929e-01 -1.51743598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.68534707 meters 0.017411451760736354 Centerline is valid? [True, True] Translation: X:-34.68, Y:2.80, Z:-1.52 [[ 9.94626599e-01 8.68257065e-02 -5.63846225e-02 -3.46767138e+01] [-8.66261022e-02 9.96222951e-01 5.97922009e-03 2.80020630e+00] [ 5.66908051e-02 -1.06271127e-03 9.98391218e-01 -1.51760290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71534707 meters 0.017315897929779205 Centerline is valid? [True, True] Translation: X:-34.71, Y:2.81, Z:-1.52 [[ 9.94522022e-01 8.75431394e-02 -5.71152036e-02 -3.47089167e+01] [-8.73398379e-02 9.96160198e-01 6.05090849e-03 2.80587114e+00] [ 5.74256080e-02 -1.02932913e-03 9.98349258e-01 -1.51724268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.74534707 meters 0.017242442615402583 Centerline is valid? [True, True] Translation: X:-34.74, Y:2.81, Z:-1.52 [[ 9.94528334e-01 8.74441786e-02 -5.71568716e-02 -3.47403783e+01] [-8.72407181e-02 9.96168888e-01 6.05008818e-03 2.80975508e+00] [ 5.74669422e-02 -1.03057760e-03 9.98346878e-01 -1.51858523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77534707 meters 0.018777104073426077 Centerline is valid? [True, True] Translation: X:-34.77, Y:2.81, Z:-1.51 [[ 9.94440861e-01 8.89223984e-02 -5.63930890e-02 -3.47723381e+01] [-8.87270088e-02 9.96038125e-01 5.96413510e-03 2.81464685e+00] [ 5.67000119e-02 -9.27389543e-04 9.98390830e-01 -1.51324243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.80534707 meters 0.017233673836335187 Centerline is valid? [True, True] Translation: X:-34.80, Y:2.82, Z:-1.52 [[ 9.94497887e-01 8.70548177e-02 -5.82701653e-02 -3.48027985e+01] [-8.68433057e-02 9.96202956e-01 6.15722828e-03 2.82041551e+00] [ 5.85849273e-02 -1.06297673e-03 9.98281862e-01 -1.52168476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.83534707 meters 0.017808411488116207 Centerline is valid? [True, True] Translation: X:-34.83, Y:2.83, Z:-1.52 [[ 9.94540250e-01 8.64480185e-02 -5.84502411e-02 -3.48344076e+01] [-8.62344001e-02 9.96255758e-01 6.17199166e-03 2.82537120e+00] [ 5.87649456e-02 -1.09787266e-03 9.98271244e-01 -1.52275540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.86534707 meters 0.017550210479647027 Centerline is valid? [True, True] Translation: X:-34.87, Y:2.83, Z:-1.52 [[ 9.94477598e-01 8.72566127e-02 -5.83145793e-02 -3.48661437e+01] [-8.70456984e-02 9.96185323e-01 6.15214681e-03 2.82990819e+00] [ 5.86289435e-02 -1.04213890e-03 9.98279300e-01 -1.52406732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.89534707 meters 0.016805915298956694 Centerline is valid? [True, True] Translation: X:-34.90, Y:2.84, Z:-1.53 [[ 9.94333361e-01 8.79608137e-02 -5.96997774e-02 -3.48967308e+01] [-8.77413440e-02 9.96123414e-01 6.29283068e-03 2.84013731e+00] [ 6.00218686e-02 -1.01903278e-03 9.98196542e-01 -1.52582914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92534707 meters 0.018014458471262464 Centerline is valid? [True, True] Translation: X:-34.93, Y:2.85, Z:-1.53 [[ 9.94137918e-01 9.01897749e-02 -5.96288916e-02 -3.49284439e+01] [-8.99750958e-02 9.95924210e-01 6.28094694e-03 2.84574031e+00] [ 5.99523340e-02 -8.79012277e-04 9.98200854e-01 -1.52696250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95534707 meters 0.016863634133926688 Centerline is valid? [True, True] Translation: X:-34.96, Y:2.86, Z:-1.53 [[ 9.93819417e-01 9.23960294e-02 -6.15299920e-02 -3.49587515e+01] [-9.21720133e-02 9.95722045e-01 6.47532678e-03 2.85627423e+00] [ 6.18650639e-02 -7.63962247e-04 9.98084230e-01 -1.53010782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.98534707 meters 0.015963067539964317 Centerline is valid? [True, True] Translation: X:-34.99, Y:2.86, Z:-1.54 [[ 9.93647722e-01 9.35945059e-02 -6.24841863e-02 -3.49892435e+01] [-9.33661208e-02 9.95610157e-01 6.57138169e-03 2.86435536e+00] [ 6.28249358e-02 -6.95732349e-04 9.98024320e-01 -1.53615239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01534707 meters 0.017502264903147786 Centerline is valid? [True, True] Translation: X:-35.02, Y:2.87, Z:-1.53 [[ 9.93409508e-01 9.57216053e-02 -6.30470026e-02 -3.50214233e+01] [-9.54936563e-02 9.95407986e-01 6.62591781e-03 2.87137926e+00] [ 6.33917334e-02 -5.61660953e-04 9.97988563e-01 -1.53130231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.04534707 meters 0.015539361831431123 Centerline is valid? [True, True] Translation: X:-35.05, Y:2.88, Z:-1.54 [[ 9.93075682e-01 9.82086680e-02 -6.44650932e-02 -3.50518970e+01] [-9.79759482e-02 9.95165761e-01 6.76912528e-03 2.88182717e+00] [ 6.48182403e-02 -4.06225061e-04 9.97897004e-01 -1.53710994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.07534707 meters 0.015099943335265311 Centerline is valid? [True, True] Translation: X:-35.08, Y:2.89, Z:-1.54 [[ 9.92685559e-01 1.02318486e-01 -6.40804838e-02 -3.50823717e+01] [-1.02097365e-01 9.94751683e-01 6.72444999e-03 2.89034070e+00] [ 6.44322046e-02 -1.32815860e-04 9.97922078e-01 -1.53807698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.10534707 meters 0.015238274475735974 Centerline is valid? [True, True] Translation: X:-35.11, Y:2.90, Z:-1.54 [[ 9.92366555e-01 1.04547796e-01 -6.54093213e-02 -3.51136619e+01] [-1.04322553e-01 9.94519863e-01 6.85906895e-03 2.90103948e+00] [ 6.57679698e-02 1.69567854e-05 9.97834943e-01 -1.54027447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.13534707 meters 0.015204605327123895 Centerline is valid? [True, True] Translation: X:-35.14, Y:2.91, Z:-1.54 [[ 9.92190777e-01 1.05971011e-01 -6.57845502e-02 -3.51439682e+01] [-1.05746790e-01 9.94369212e-01 6.89100128e-03 2.90880670e+00] [ 6.61443777e-02 1.19317099e-04 9.97810056e-01 -1.53923074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.16534707 meters 0.01545518571918678 Centerline is valid? [True, True] Translation: X:-35.18, Y:2.92, Z:-1.54 [[ 9.91817371e-01 1.09573613e-01 -6.55127976e-02 -3.51755300e+01] [-1.09359861e-01 9.93978615e-01 6.85084126e-03 2.91846984e+00] [ 6.58689912e-02 3.69687083e-04 9.97828211e-01 -1.54027476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19534707 meters 0.015594176232074503 Centerline is valid? [True, True] Translation: X:-35.21, Y:2.93, Z:-1.54 [[ 9.91623501e-01 1.10887034e-01 -6.62336552e-02 -3.52067628e+01] [-1.10672114e-01 9.93832905e-01 6.91662619e-03 2.92563493e+00] [ 6.65921502e-02 4.71529580e-04 9.97780168e-01 -1.54051660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22534707 meters 0.01617374078125863 Centerline is valid? [True, True] Translation: X:-35.24, Y:2.94, Z:-1.54 [[ 9.91450709e-01 1.12212590e-01 -6.65869828e-02 -3.52378014e+01] [-1.11999561e-01 9.93684053e-01 6.93554487e-03 2.93520808e+00] [ 6.69446784e-02 5.81461956e-04 9.97756519e-01 -1.54317156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.25534707 meters 0.015901243073048143 Centerline is valid? [True, True] Translation: X:-35.27, Y:2.94, Z:-1.54 [[ 9.91469871e-01 1.11079837e-01 -6.81818528e-02 -3.52681956e+01] [-1.10854467e-01 9.93811346e-01 7.09188130e-03 2.94126701e+00] [ 6.85476640e-02 5.26876341e-04 9.97647703e-01 -1.54429274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28534707 meters 0.016271781640028803 Centerline is valid? [True, True] Translation: X:-35.30, Y:2.95, Z:-1.54 [[ 9.91436031e-01 1.10916976e-01 -6.89349026e-02 -3.53004941e+01] [-1.10687513e-01 9.93829529e-01 7.15135308e-03 2.94783325e+00] [ 6.93027482e-02 5.40123813e-04 9.97595528e-01 -1.54468893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.31534707 meters 0.016195276401909035 Centerline is valid? [True, True] Translation: X:-35.33, Y:2.95, Z:-1.55 [[ 9.91486149e-01 1.09533209e-01 -7.04108844e-02 -3.53322848e+01] [-1.09291103e-01 9.93983028e-01 7.29341600e-03 2.95357180e+00] [ 7.07860954e-02 4.63962261e-04 9.97491410e-01 -1.54680724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34534707 meters 0.016179929232888617 Centerline is valid? [True, True] Translation: X:-35.36, Y:2.96, Z:-1.55 [[ 9.91506393e-01 1.09731765e-01 -6.98141293e-02 -3.53638397e+01] [-1.09494971e-01 9.93961118e-01 7.22124039e-03 2.95863604e+00] [ 7.01849295e-02 4.84390042e-04 9.97533880e-01 -1.54599497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.37534707 meters 0.01615794494272565 Centerline is valid? [True, True] Translation: X:-35.40, Y:2.97, Z:-1.55 [[ 9.91614456e-01 1.09108499e-01 -6.92539237e-02 -3.53957728e+01] [-1.08875320e-01 9.94029742e-01 7.14402930e-03 2.96593109e+00] [ 6.96199342e-02 4.55920374e-04 9.97573484e-01 -1.54662264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40534707 meters 0.016355751978208825 Centerline is valid? [True, True] Translation: X:-35.43, Y:2.97, Z:-1.55 [[ 9.91786755e-01 1.06966199e-01 -7.01232179e-02 -3.54273837e+01] [-1.06722516e-01 9.94262606e-01 7.22320080e-03 2.96985533e+00] [ 7.04935317e-02 3.19851351e-04 9.97512185e-01 -1.54731684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.43534707 meters 0.01633285655192172 Centerline is valid? [True, True] Translation: X:-35.46, Y:2.97, Z:-1.55 [[ 9.91984183e-01 1.04670436e-01 -7.07918125e-02 -3.54592500e+01] [-1.04417611e-01 9.94506947e-01 7.27284210e-03 2.97433918e+00] [ 7.11642009e-02 1.77367587e-04 9.97464598e-01 -1.54939882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46534707 meters 0.016513730145671302 Centerline is valid? [True, True] Translation: X:-35.49, Y:2.98, Z:-1.55 [[ 9.92097204e-01 1.04498252e-01 -6.94496375e-02 -3.54910654e+01] [-1.04254935e-01 9.94525056e-01 7.12891041e-03 2.97816338e+00] [ 6.98143633e-02 1.67895393e-04 9.97559986e-01 -1.54883411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49534707 meters 0.016347581475439202 Centerline is valid? [True, True] Translation: X:-35.52, Y:2.98, Z:-1.55 [[ 9.92203576e-01 1.02884901e-01 -7.03332206e-02 -3.55224853e+01] [-1.02631713e-01 9.94693266e-01 7.21373694e-03 2.98248990e+00] [ 7.07021656e-02 6.09233268e-05 9.97497469e-01 -1.54776358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52534707 meters 0.016601366058715334 Centerline is valid? [True, True] Translation: X:-35.56, Y:2.99, Z:-1.55 [[ 9.92465868e-01 1.00479139e-01 -7.01102288e-02 -3.55555638e+01] [-1.00221958e-01 9.94939160e-01 7.18521898e-03 2.98584030e+00] [ 7.04773767e-02 -1.04500163e-04 9.97513373e-01 -1.55064216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55534707 meters 0.016649663108552322 Centerline is valid? [True, True] Translation: X:-35.59, Y:2.99, Z:-1.55 [[ 9.92590362e-01 9.96499408e-02 -6.95288655e-02 -3.55878256e+01] [-9.93955588e-02 9.95022545e-01 7.11738928e-03 2.99012238e+00] [ 6.98920361e-02 -1.53791557e-04 9.97554550e-01 -1.55037734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.58534707 meters 0.01653768667722955 Centerline is valid? [True, True] Translation: X:-35.62, Y:2.99, Z:-1.55 [[ 9.92659121e-01 9.86810789e-02 -6.99279220e-02 -3.56184926e+01] [-9.84217588e-02 9.95119087e-01 7.15263004e-03 2.99466356e+00] [ 7.02924392e-02 -2.17694370e-04 9.97526403e-01 -1.54712806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.61534707 meters 0.016843088092279638 Centerline is valid? [True, True] Translation: X:-35.65, Y:3.00, Z:-1.55 [[ 9.92778195e-01 9.76860963e-02 -6.96339131e-02 -3.56511269e+01] [-9.74269103e-02 9.95217236e-01 7.11685722e-03 3.00001759e+00] [ 6.99960886e-02 -2.81243660e-04 9.97547226e-01 -1.54685243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.64534707 meters 0.01726788872895555 Centerline is valid? [True, True] Translation: X:-35.68, Y:3.00, Z:-1.55 [[ 9.93069880e-01 9.47755816e-02 -6.94967743e-02 -3.56827392e+01] [-9.45108960e-02 9.95498549e-01 7.09428349e-03 3.00439795e+00] [ 6.98563028e-02 -4.76916856e-04 9.97556951e-01 -1.55136186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.67534707 meters 0.017066386856445525 Centerline is valid? [True, True] Translation: X:-35.71, Y:3.01, Z:-1.55 [[ 9.92985675e-01 9.54216340e-02 -6.98151987e-02 -3.57146566e+01] [-9.51566937e-02 9.95436854e-01 7.11847064e-03 3.01090178e+00] [ 7.01758779e-02 -4.25155891e-04 9.97534543e-01 -1.54911891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.70534707 meters 0.017320790278142907 Centerline is valid? [True, True] Translation: X:-35.75, Y:3.02, Z:-1.55 [[ 9.92962000e-01 9.53664500e-02 -7.02261182e-02 -3.57450862e+01] [-9.50991213e-02 9.95442145e-01 7.14790846e-03 3.01643369e+00] [ 7.05877084e-02 -4.19159336e-04 9.97505489e-01 -1.54951426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73534707 meters 0.017001596763373303 Centerline is valid? [True, True] Translation: X:-35.78, Y:3.02, Z:-1.55 [[ 9.92963441e-01 9.54285763e-02 -7.01212692e-02 -3.57780378e+01] [-9.51626019e-02 9.95436196e-01 7.13156374e-03 3.02316189e+00] [ 7.04818044e-02 -4.08459647e-04 9.97512982e-01 -1.55096081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.76534707 meters 0.01721022280625722 Centerline is valid? [True, True] Translation: X:-35.81, Y:3.03, Z:-1.55 [[ 9.92987868e-01 9.51502338e-02 -7.01535901e-02 -3.58102110e+01] [-9.48839679e-02 9.95462836e-01 7.12568598e-03 3.02977497e+00] [ 7.05133024e-02 -4.19268742e-04 9.97510751e-01 -1.55023709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.79534707 meters 0.016732016911890774 Centerline is valid? [True, True] Translation: X:-35.84, Y:3.04, Z:-1.55 [[ 9.92763103e-01 9.73456299e-02 -7.03224712e-02 -3.58406677e+01] [-9.70842718e-02 9.95250603e-01 7.13305518e-03 3.03786420e+00] [ 7.06828536e-02 -2.54228091e-04 9.97498807e-01 -1.55067464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82534707 meters 0.017079321510153893 Centerline is valid? [True, True] Translation: X:-35.87, Y:3.04, Z:-1.55 [[ 9.92707491e-01 9.76478188e-02 -7.06876315e-02 -3.58721222e+01] [-9.73852635e-02 9.95221007e-01 7.15938610e-03 3.04346605e+00] [ 7.10489143e-02 -2.23242595e-04 9.97472808e-01 -1.55334322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85534707 meters 0.016619612432544076 Centerline is valid? [True, True] Translation: X:-35.90, Y:3.05, Z:-1.55 [[ 9.92648256e-01 9.83761097e-02 -7.05094350e-02 -3.59032752e+01] [-9.81171334e-02 9.95149292e-01 7.13542117e-03 3.05015232e+00] [ 7.08693694e-02 -1.64779738e-04 9.97485592e-01 -1.54957626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88534707 meters 0.0164923757702127 Centerline is valid? [True, True] Translation: X:-35.93, Y:3.06, Z:-1.55 [[ 9.92474895e-01 1.00502368e-01 -6.99489609e-02 -3.59344777e+01] [-1.00253130e-01 9.94936819e-01 7.07361131e-03 3.05576199e+00] [ 7.03057113e-02 -7.77936191e-06 9.97525492e-01 -1.55385260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91534707 meters 0.01604854117854033 Centerline is valid? [True, True] Translation: X:-35.97, Y:3.06, Z:-1.55 [[ 9.92363539e-01 1.01578593e-01 -6.99742530e-02 -3.59662968e+01] [-1.01332316e-01 9.94827515e-01 7.06951172e-03 3.06124153e+00] [ 7.03304233e-02 7.51274432e-05 9.97523747e-01 -1.55224801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.94534707 meters 0.016110389296143696 Centerline is valid? [True, True] Translation: X:-36.00, Y:3.07, Z:-1.55 [[ 9.92162344e-01 1.03882742e-01 -6.94424887e-02 -3.59986403e+01] [-1.03646386e-01 9.94589521e-01 7.00789760e-03 3.06617009e+00] [ 6.97947712e-02 2.44490859e-04 9.97561342e-01 -1.55431331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.97534707 meters 0.01625292521019938 Centerline is valid? [True, True] Translation: X:-36.03, Y:3.07, Z:-1.55 [[ 9.92189715e-01 1.02725446e-01 -7.07605214e-02 -3.60295912e+01] [-1.02477820e-01 9.94709732e-01 7.13056440e-03 3.06912530e+00] [ 7.11186697e-02 1.76511282e-04 9.97467846e-01 -1.55447462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.00534707 meters 0.015715392683586592 Centerline is valid? [True, True] Translation: X:-36.06, Y:3.07, Z:-1.55 [[ 9.92081306e-01 1.03944150e-01 -7.05003266e-02 -3.60624618e+01] [-1.03702267e-01 9.94583098e-01 7.09237688e-03 3.07353904e+00] [ 7.08556443e-02 2.74829147e-04 9.97486542e-01 -1.55441024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03534707 meters 0.015554798091145466 Centerline is valid? [True, True] Translation: X:-36.09, Y:3.08, Z:-1.56 [[ 9.91995451e-01 1.04958907e-01 -7.02043697e-02 -3.60948417e+01] [-1.04722272e-01 9.94476496e-01 7.05296377e-03 3.07685127e+00] [ 7.05568670e-02 3.55453136e-04 9.97507695e-01 -1.55640086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.06534707 meters 0.01617425111296137 Centerline is valid? [True, True] Translation: X:-36.13, Y:3.08, Z:-1.56 [[ 9.91714434e-01 1.07946957e-01 -6.96414846e-02 -3.61271789e+01] [-1.07722078e-01 9.94156490e-01 6.98762465e-03 3.08099031e+00] [ 6.99888267e-02 5.72197196e-04 9.97547611e-01 -1.55880007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09534707 meters 0.0160498314368731 Centerline is valid? [True, True] Translation: X:-36.16, Y:3.08, Z:-1.56 [[ 9.91801184e-01 1.06513327e-01 -7.06068187e-02 -3.61580844e+01] [-1.06279101e-01 9.94311156e-01 7.07654005e-03 3.08352690e+00] [ 7.09588933e-02 4.85508385e-04 9.97479122e-01 -1.56337241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12534707 meters 0.016256770827479474 Centerline is valid? [True, True] Translation: X:-36.19, Y:3.09, Z:-1.56 [[ 9.91405360e-01 1.09876474e-01 -7.10110790e-02 -3.61896008e+01] [-1.09649187e-01 9.93944971e-01 7.10279080e-03 3.08582045e+00] [ 7.13615345e-02 7.44562246e-04 9.97450238e-01 -1.56027978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15534707 meters 0.01641464339370257 Centerline is valid? [True, True] Translation: X:-36.22, Y:3.09, Z:-1.56 [[ 9.91423443e-01 1.09478054e-01 -7.13730543e-02 -3.62213611e+01] [-1.09248654e-01 9.93988940e-01 7.12171380e-03 3.08882103e+00] [ 7.17236980e-02 7.36776112e-04 9.97424267e-01 -1.56199074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.18534707 meters 0.01641464339370257 Centerline is valid? [True, True] Translation: X:-36.25, Y:3.09, Z:-1.56 [[ 9.91437243e-01 1.09352543e-01 -7.13737590e-02 -3.62537240e+01] [-1.09123327e-01 9.94002757e-01 7.11464517e-03 3.09221027e+00] [ 7.17237178e-02 7.34817868e-04 9.97424267e-01 -1.56372883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21534707 meters 0.017102380174369398 Centerline is valid? [True, True] Translation: X:-36.29, Y:3.09, Z:-1.56 [[ 9.91020462e-01 1.13989142e-01 -6.98921946e-02 -3.62856360e+01] [-1.13781684e-01 9.93481431e-01 6.95525612e-03 3.09459696e+00] [ 7.02294211e-02 1.05965048e-03 9.97530303e-01 -1.56158833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.24534707 meters 0.01711744348233437 Centerline is valid? [True, True] Translation: X:-36.32, Y:3.10, Z:-1.56 [[ 9.90978193e-01 1.13785387e-01 -7.08174181e-02 -3.63179134e+01] [-1.13573424e-01 9.93504765e-01 7.02564078e-03 3.09841795e+00] [ 7.11568575e-02 1.08071983e-03 9.97464553e-01 -1.56499276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27534707 meters 0.01761410270409577 Centerline is valid? [True, True] Translation: X:-36.35, Y:3.10, Z:-1.57 [[ 9.90773699e-01 1.14961195e-01 -7.17732640e-02 -3.63495683e+01] [-1.14748150e-01 9.93369255e-01 7.09829665e-03 3.10164043e+00] [ 7.21133824e-02 1.20304360e-03 9.97395715e-01 -1.56893738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.30534707 meters 0.018185123549643 Centerline is valid? [True, True] Translation: X:-36.38, Y:3.11, Z:-1.57 [[ 9.90359956e-01 1.18781291e-01 -7.12612219e-02 -3.63806993e+01] [-1.18582682e-01 9.92919322e-01 7.02624555e-03 3.10572350e+00] [ 7.15912306e-02 1.49183460e-03 9.97432940e-01 -1.56730587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.33534707 meters 0.018767103424847324 Centerline is valid? [True, True] Translation: X:-36.41, Y:3.11, Z:-1.57 [[ 9.90379769e-01 1.18311949e-01 -7.17648698e-02 -3.64129502e+01] [-1.18110903e-01 9.92975358e-01 7.05360773e-03 3.11113933e+00] [ 7.20952734e-02 1.49046318e-03 9.97396636e-01 -1.57049042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.36534707 meters 0.018955400558174986 Centerline is valid? [True, True] Translation: X:-36.44, Y:3.11, Z:-1.57 [[ 9.90238561e-01 1.19673104e-01 -7.14558606e-02 -3.64440058e+01] [-1.19479069e-01 9.92812050e-01 6.99899047e-03 3.11230546e+00] [ 7.17798303e-02 1.60680943e-03 9.97419207e-01 -1.56888839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39534707 meters 0.01911947973494297 Centerline is valid? [True, True] Translation: X:-36.48, Y:3.11, Z:-1.57 [[ 9.90137443e-01 1.20738118e-01 -7.10644145e-02 -3.64750823e+01] [-1.20550369e-01 9.92682948e-01 6.94070596e-03 3.11400771e+00] [ 7.13824403e-02 1.69458855e-03 9.97447580e-01 -1.56960130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42534707 meters 0.018652437191629467 Centerline is valid? [True, True] Translation: X:-36.51, Y:3.11, Z:-1.57 [[ 9.90329346e-01 1.18645897e-01 -7.19092328e-02 -3.65074393e+01] [-1.18449672e-01 9.92935368e-01 7.00218535e-03 3.11419815e+00] [ 7.22320011e-02 1.58315538e-03 9.97386601e-01 -1.57210648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45534707 meters 0.019187616139704093 Centerline is valid? [True, True] Translation: X:-36.54, Y:3.11, Z:-1.57 [[ 9.90291635e-01 1.19837844e-01 -7.04369825e-02 -3.65403159e+01] [-1.19654134e-01 9.92792095e-01 6.83697467e-03 3.11402381e+00] [ 7.07486078e-02 1.65747733e-03 9.97492801e-01 -1.56886531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48534707 meters 0.01839348515931353 Centerline is valid? [True, True] Translation: X:-36.57, Y:3.12, Z:-1.57 [[ 9.90708852e-01 1.15849463e-01 -7.12381444e-02 -3.65724060e+01] [-1.15652955e-01 9.93265779e-01 6.89098400e-03 3.11537269e+00] [ 7.15567278e-02 1.41194307e-03 9.97435532e-01 -1.57169913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51534707 meters 0.018222621471522326 Centerline is valid? [True, True] Translation: X:-36.60, Y:3.12, Z:-1.57 [[ 9.90808467e-01 1.14979441e-01 -7.12622564e-02 -3.66045518e+01] [-1.14782184e-01 9.93366924e-01 6.87059225e-03 3.11588006e+00] [ 7.15795452e-02 1.37219643e-03 9.97433951e-01 -1.57203327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.54534707 meters 0.01829838362369705 Centerline is valid? [True, True] Translation: X:-36.64, Y:3.12, Z:-1.57 [[ 9.90890704e-01 1.14568333e-01 -7.07792984e-02 -3.66379324e+01] [-1.14374377e-01 9.93414443e-01 6.80043645e-03 3.11665282e+00] [ 7.10922920e-02 1.35684890e-03 9.97468819e-01 -1.57174231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57534707 meters 0.01845456417041239 Centerline is valid? [True, True] Translation: X:-36.67, Y:3.12, Z:-1.57 [[ 9.90922840e-01 1.14029459e-01 -7.11983715e-02 -3.66714026e+01] [-1.13833610e-01 9.93476450e-01 6.81557502e-03 3.11936069e+00] [ 7.15110817e-02 1.35105870e-03 9.97438890e-01 -1.57204929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60534707 meters 0.017833746143945145 Centerline is valid? [True, True] Translation: X:-36.70, Y:3.12, Z:-1.57 [[ 9.90998237e-01 1.13900128e-01 -7.03509379e-02 -3.67036754e+01] [-1.13710295e-01 9.93491288e-01 6.71040650e-03 3.11907664e+00] [ 7.06573601e-02 1.34962489e-03 9.97499732e-01 -1.56952742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63534707 meters 0.018151063810633177 Centerline is valid? [True, True] Translation: X:-36.74, Y:3.12, Z:-1.57 [[ 9.91091182e-01 1.12690262e-01 -7.09871385e-02 -3.67361179e+01] [-1.12495306e-01 9.93629321e-01 6.75111345e-03 3.12256274e+00] [ 7.12956870e-02 1.29475088e-03 9.97454384e-01 -1.57033005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66534707 meters 0.017573317803049663 Centerline is valid? [True, True] Translation: X:-36.77, Y:3.12, Z:-1.57 [[ 9.91271324e-01 1.11429727e-01 -7.04597585e-02 -3.67679307e+01] [-1.11235186e-01 9.93771585e-01 6.69100785e-03 3.12256576e+00] [ 7.07664831e-02 1.20500011e-03 9.97492182e-01 -1.57197969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.69534707 meters 0.017997512715801054 Centerline is valid? [True, True] Translation: X:-36.80, Y:3.13, Z:-1.57 [[ 9.91536890e-01 1.09203096e-01 -7.02088312e-02 -3.67995678e+01] [-1.09005824e-01 9.94018890e-01 6.64652107e-03 3.12613538e+00] [ 7.05147251e-02 1.06290069e-03 9.97510172e-01 -1.57333043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.72534707 meters 0.018012795906337208 Centerline is valid? [True, True] Translation: X:-36.83, Y:3.13, Z:-1.57 [[ 9.91408923e-01 1.10078905e-01 -7.06468857e-02 -3.68306585e+01] [-1.09882862e-01 9.93922183e-01 6.66718143e-03 3.12854169e+00] [ 7.09514228e-02 1.15297880e-03 9.97479106e-01 -1.57246495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.75534707 meters 0.01813096702436989 Centerline is valid? [True, True] Translation: X:-36.86, Y:3.13, Z:-1.57 [[ 9.91220676e-01 1.12305612e-01 -6.97783650e-02 -3.68625798e+01] [-1.12121018e-01 9.93672847e-01 6.56888527e-03 3.13160213e+00] [ 7.00745893e-02 1.31240639e-03 9.97540891e-01 -1.57104123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78534707 meters 0.017939940691347425 Centerline is valid? [True, True] Translation: X:-36.89, Y:3.13, Z:-1.57 [[ 9.91012630e-01 1.14253023e-01 -6.95716479e-02 -3.68936889e+01] [-1.14074988e-01 9.93450617e-01 6.53976181e-03 3.13348495e+00] [ 6.98631841e-02 1.45539836e-03 9.97555521e-01 -1.56974029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.81534707 meters 0.018828534914674115 Centerline is valid? [True, True] Translation: X:-36.93, Y:3.14, Z:-1.57 [[ 9.90810509e-01 1.15440007e-01 -7.04850319e-02 -3.69256409e+01] [-1.15261546e-01 9.93313202e-01 6.60751935e-03 3.13929719e+00] [ 7.07764848e-02 1.57741416e-03 9.97490953e-01 -1.57112975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84534707 meters 0.018708470560512898 Centerline is valid? [True, True] Translation: X:-36.96, Y:3.14, Z:-1.58 [[ 9.90805002e-01 1.15368868e-01 -7.06786551e-02 -3.69570963e+01] [-1.15189716e-01 9.93321457e-01 6.61903784e-03 3.14344412e+00] [ 7.09702556e-02 1.58327843e-03 9.97477176e-01 -1.57560386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87534707 meters 0.019767814917590328 Centerline is valid? [True, True] Translation: X:-36.99, Y:3.15, Z:-1.57 [[ 9.90490015e-01 1.17926767e-01 -7.08717682e-02 -3.69887824e+01] [-1.17753912e-01 9.93020696e-01 6.62671225e-03 3.14913517e+00] [ 7.11585994e-02 1.78173562e-03 9.97463422e-01 -1.57478758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90534707 meters 0.020416616801167055 Centerline is valid? [True, True] Translation: X:-37.02, Y:3.15, Z:-1.58 [[ 9.90355742e-01 1.19652997e-01 -6.98474435e-02 -3.70203697e+01] [-1.19490913e-01 9.92813956e-01 6.50924208e-03 3.15412523e+00] [ 7.01243670e-02 1.89966950e-03 9.97536448e-01 -1.57860350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.93534707 meters 0.020490549316491 Centerline is valid? [True, True] Translation: X:-37.05, Y:3.16, Z:-1.58 [[ 9.90314454e-01 1.19031955e-01 -7.14750082e-02 -3.70529244e+01] [-1.18862216e-01 9.92888565e-01 6.63863161e-03 3.15697152e+00] [ 7.17569276e-02 1.92134505e-03 9.97420298e-01 -1.57792707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96534707 meters 0.021203024228834518 Centerline is valid? [True, True] Translation: X:-37.08, Y:3.16, Z:-1.58 [[ 9.90210641e-01 1.19969959e-01 -7.13448999e-02 -3.70846651e+01] [-1.19804823e-01 9.92775493e-01 6.60488735e-03 3.16078452e+00] [ 7.16218562e-02 2.00723336e-03 9.97429837e-01 -1.58082603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99534707 meters 0.02071924276624186 Centerline is valid? [True, True] Translation: X:-37.12, Y:3.16, Z:-1.58 [[ 9.90180247e-01 1.20350589e-01 -7.11253437e-02 -3.71163456e+01] [-1.20188826e-01 9.92729340e-01 6.56529080e-03 3.16189180e+00] [ 7.13983522e-02 2.04765033e-03 9.97445779e-01 -1.57904241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02534707 meters 0.01976490449983451 Centerline is valid? [True, True] Translation: X:-37.15, Y:3.16, Z:-1.58 [[ 9.90197504e-01 1.19885657e-01 -7.16682152e-02 -3.71485527e+01] [-1.19721348e-01 9.92785599e-01 6.59949131e-03 3.16087397e+00] [ 7.19423563e-02 2.04541551e-03 9.97406694e-01 -1.57654434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05534707 meters 0.021256497672468393 Centerline is valid? [True, True] Translation: X:-37.18, Y:3.17, Z:-1.58 [[ 9.90197602e-01 1.19598773e-01 -7.21445888e-02 -3.71803455e+01] [-1.19433380e-01 9.92820162e-01 6.61762978e-03 3.16895872e+00] [ 7.24180628e-02 2.06371098e-03 9.97372230e-01 -1.58115705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08534707 meters 0.02138496184443171 Centerline is valid? [True, True] Translation: X:-37.21, Y:3.17, Z:-1.58 [[ 9.90209959e-01 1.19429121e-01 -7.22559458e-02 -3.72135841e+01] [-1.19264560e-01 9.92840553e-01 6.60318629e-03 3.17218906e+00] [ 7.25272459e-02 2.07903274e-03 9.97364265e-01 -1.58391280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.11534707 meters 0.020670694966155756 Centerline is valid? [True, True] Translation: X:-37.25, Y:3.17, Z:-1.58 [[ 9.90117858e-01 1.20455702e-01 -7.18126123e-02 -3.72452607e+01] [-1.20297559e-01 9.92716344e-01 6.53900455e-03 3.17375626e+00] [ 7.20772143e-02 2.16449677e-03 9.97396706e-01 -1.58338653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14534707 meters 0.020957068915790304 Centerline is valid? [True, True] Translation: X:-37.28, Y:3.18, Z:-1.59 [[ 9.90247921e-01 1.18949007e-01 -7.25271644e-02 -3.72769777e+01] [-1.18785254e-01 9.92898150e-01 6.58233005e-03 3.17748238e+00] [ 7.27950490e-02 2.09701903e-03 9.97344716e-01 -1.58632099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17534707 meters 0.021045432413356685 Centerline is valid? [True, True] Translation: X:-37.31, Y:3.18, Z:-1.59 [[ 9.90083124e-01 1.20709156e-01 -7.18659007e-02 -3.73086406e+01] [-1.20554636e-01 9.92685415e-01 6.49971439e-03 3.18078619e+00] [ 7.21248065e-02 2.22850996e-03 9.97393125e-01 -1.58630074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20534707 meters 0.021728156239157363 Centerline is valid? [True, True] Translation: X:-37.34, Y:3.19, Z:-1.59 [[ 9.90093853e-01 1.20753592e-01 -7.16430944e-02 -3.73415666e+01] [-1.20601846e-01 9.92679966e-01 6.45595280e-03 3.18502635e+00] [ 7.18982440e-02 2.24829030e-03 9.97409438e-01 -1.58766273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23534707 meters 0.021632120288928552 Centerline is valid? [True, True] Translation: X:-37.37, Y:3.19, Z:-1.59 [[ 9.90213058e-01 1.18992840e-01 -7.29301355e-02 -3.73732363e+01] [-1.18832734e-01 9.92892709e-01 6.54597624e-03 3.18876604e+00] [ 7.31907241e-02 2.18457624e-03 9.97315570e-01 -1.59137298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26534707 meters 0.022097105630480545 Centerline is valid? [True, True] Translation: X:-37.40, Y:3.19, Z:-1.60 [[ 9.90311094e-01 1.17791453e-01 -7.35466598e-02 -3.74045198e+01] [-1.17626673e-01 9.93036066e-01 6.58306371e-03 3.19292623e+00] [ 7.38099144e-02 2.13176786e-03 9.97270050e-01 -1.59805208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.29534707 meters 0.021690022707248797 Centerline is valid? [True, True] Translation: X:-37.44, Y:3.20, Z:-1.60 [[ 9.90339454e-01 1.17953630e-01 -7.29020427e-02 -3.74366834e+01] [-1.17792955e-01 9.93016808e-01 6.51458093e-03 3.19544021e+00] [ 7.31613722e-02 2.13570052e-03 9.97317829e-01 -1.59551118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.32534707 meters 0.02115719964821456 Centerline is valid? [True, True] Translation: X:-37.47, Y:3.20, Z:-1.60 [[ 9.90500695e-01 1.16415103e-01 -7.31839928e-02 -3.74681894e+01] [-1.16250650e-01 9.93198526e-01 6.51724850e-03 3.19731363e+00] [ 7.34449399e-02 2.05234759e-03 9.97297162e-01 -1.59916103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.35534707 meters 0.020260337578161033 Centerline is valid? [True, True] Translation: X:-37.50, Y:3.20, Z:-1.60 [[ 9.90384730e-01 1.17045545e-01 -7.37456942e-02 -3.74995573e+01] [-1.16881873e-01 9.93124250e-01 6.54610190e-03 3.19735737e+00] [ 7.40048294e-02 2.13637554e-03 9.97255595e-01 -1.59650747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.38534707 meters 0.021054181781510715 Centerline is valid? [True, True] Translation: X:-37.53, Y:3.21, Z:-1.60 [[ 9.90595816e-01 1.14867063e-01 -7.43336152e-02 -3.75312181e+01] [-1.14696013e-01 9.93378844e-01 6.58005225e-03 3.20518516e+00] [ 7.45972720e-02 2.00759711e-03 9.97211721e-01 -1.60204009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41534707 meters 0.02155390575580198 Centerline is valid? [True, True] Translation: X:-37.56, Y:3.21, Z:-1.60 [[ 9.90432319e-01 1.16845758e-01 -7.34226797e-02 -3.75631876e+01] [-1.16684794e-01 9.93147775e-01 6.49272778e-03 3.21133245e+00] [ 7.36782187e-02 2.13670285e-03 9.97279777e-01 -1.60157317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44534707 meters 0.021956626238592097 Centerline is valid? [True, True] Translation: X:-37.60, Y:3.22, Z:-1.61 [[ 9.90427400e-01 1.16540416e-01 -7.39722749e-02 -3.75954260e+01] [-1.16376985e-01 9.93183643e-01 6.53055564e-03 3.21616527e+00] [ 7.42291272e-02 2.14062909e-03 9.97238915e-01 -1.60521340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.47534707 meters 0.022100707074823336 Centerline is valid? [True, True] Translation: X:-37.63, Y:3.22, Z:-1.60 [[ 9.90295272e-01 1.17479998e-01 -7.42544542e-02 -3.76261460e+01] [-1.17319408e-01 9.93072725e-01 6.53599794e-03 3.22037001e+00] [ 7.45079222e-02 2.23892072e-03 9.97217908e-01 -1.60473223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.50534707 meters 0.022366778129133614 Centerline is valid? [True, True] Translation: X:-37.66, Y:3.23, Z:-1.61 [[ 9.90195224e-01 1.18427279e-01 -7.40837206e-02 -3.76578640e+01] [-1.18271212e-01 9.92960018e-01 6.50565426e-03 3.22588227e+00] [ 7.43326195e-02 2.32010366e-03 9.97230805e-01 -1.60768334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.53534707 meters 0.021417309307021563 Centerline is valid? [True, True] Translation: X:-37.69, Y:3.23, Z:-1.61 [[ 9.90313233e-01 1.17240478e-01 -7.43933485e-02 -3.76891901e+01] [-1.17081434e-01 9.93100977e-01 6.51052775e-03 3.22546526e+00] [ 7.46434044e-02 2.26261811e-03 9.97207723e-01 -1.60798615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.56534707 meters 0.021497938993678776 Centerline is valid? [True, True] Translation: X:-37.72, Y:3.23, Z:-1.61 [[ 9.90608990e-01 1.14572422e-01 -7.46122576e-02 -3.77207942e+01] [-1.14406214e-01 9.93412710e-01 6.51201081e-03 3.23138026e+00] [ 7.48668619e-02 2.08524945e-03 9.97191358e-01 -1.61009734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59534707 meters 0.021010628281501062 Centerline is valid? [True, True] Translation: X:-37.75, Y:3.23, Z:-1.62 [[ 9.90916044e-01 1.11600244e-01 -7.50385238e-02 -3.77525548e+01] [-1.11424133e-01 9.93751407e-01 6.54248744e-03 3.23344788e+00] [ 7.52997818e-02 1.87804666e-03 9.97159173e-01 -1.61650578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.625347070000004 meters 0.020218417848001154 Centerline is valid? [True, True] Translation: X:-37.78, Y:3.24, Z:-1.62 [[ 9.91119665e-01 1.08546593e-01 -7.68078621e-02 -3.77841952e+01] [-1.08353395e-01 9.94089924e-01 6.69064787e-03 3.23513052e+00] [ 7.70801689e-02 1.69115995e-03 9.97023464e-01 -1.61864313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.65534707 meters 0.019885260895257474 Centerline is valid? [True, True] Translation: X:-37.82, Y:3.24, Z:-1.62 [[ 9.91329299e-01 1.07127460e-01 -7.60915725e-02 -3.78158669e+01] [-1.06934039e-01 9.94244055e-01 6.62352502e-03 3.23679457e+00] [ 7.63631550e-02 1.57068476e-03 9.97078834e-01 -1.61931359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.68534707 meters 0.01936309997340429 Centerline is valid? [True, True] Translation: X:-37.85, Y:3.24, Z:-1.62 [[ 9.91568199e-01 1.05369861e-01 -7.54300956e-02 -3.78476766e+01] [-1.05175105e-01 9.94432076e-01 6.56077720e-03 3.23805117e+00] [ 7.57014147e-02 1.42791021e-03 9.97129509e-01 -1.62055804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.71534707 meters 0.018737926368898098 Centerline is valid? [True, True] Translation: X:-37.88, Y:3.24, Z:-1.62 [[ 9.92004019e-01 1.01198211e-01 -7.54118538e-02 -3.78786143e+01] [-1.00991955e-01 9.94865659e-01 6.55332808e-03 3.23887178e+00] [ 7.56878487e-02 1.11506279e-03 9.97130937e-01 -1.62364261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.74534707 meters 0.01876657689578366 Centerline is valid? [True, True] Translation: X:-37.91, Y:3.24, Z:-1.62 [[ 9.92113866e-01 9.99453319e-02 -7.56373372e-02 -3.79103428e+01] [-9.97346057e-02 9.94992399e-01 6.56765870e-03 3.24102084e+00] [ 7.59149824e-02 1.02779474e-03 9.97113764e-01 -1.62390263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77534707 meters 0.017984314806203175 Centerline is valid? [True, True] Translation: X:-37.94, Y:3.24, Z:-1.63 [[ 9.92395067e-01 9.64726683e-02 -7.64529587e-02 -3.79420819e+01] [-9.62475443e-02 9.95335331e-01 6.63240534e-03 3.23999389e+00] [ 7.67361769e-02 7.76443193e-04 9.97051130e-01 -1.62700218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.80534707 meters 0.017709557696918437 Centerline is valid? [True, True] Translation: X:-37.97, Y:3.24, Z:-1.63 [[ 9.92674128e-01 9.31679572e-02 -7.69272862e-02 -3.79738550e+01] [-9.29305022e-02 9.95650266e-01 6.66858510e-03 3.24051732e+00] [ 7.72139714e-02 5.29159446e-04 9.97014404e-01 -1.62794018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.83534707 meters 0.018012049923334838 Centerline is valid? [True, True] Translation: X:-38.01, Y:3.24, Z:-1.63 [[ 9.92964462e-01 9.02806746e-02 -7.66222983e-02 -3.80066085e+01] [-9.00369361e-02 9.95916314e-01 6.63669508e-03 3.24055676e+00] [ 7.69085622e-02 3.08834614e-04 9.97038102e-01 -1.62926242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.86534707 meters 0.018754669514947607 Centerline is valid? [True, True] Translation: X:-38.04, Y:3.24, Z:-1.63 [[ 9.93251322e-01 8.71495159e-02 -7.65295552e-02 -3.80373800e+01] [-8.68974798e-02 9.96195240e-01 6.62353614e-03 3.24250873e+00] [ 7.68156166e-02 7.13894434e-05 9.97045313e-01 -1.62713244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.89534707 meters 0.01808896823697915 Centerline is valid? [True, True] Translation: X:-38.07, Y:3.24, Z:-1.63 [[ 9.93169955e-01 8.72403636e-02 -7.74761807e-02 -3.80682804e+01] [-8.69823823e-02 9.96187288e-01 6.70467227e-03 3.24386576e+00] [ 7.77657044e-02 8.01837185e-05 9.96971659e-01 -1.62905078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.92534707 meters 0.018125684227095897 Centerline is valid? [True, True] Translation: X:-38.10, Y:3.25, Z:-1.63 [[ 9.93244446e-01 8.63451827e-02 -7.75240624e-02 -3.80989715e+01] [-8.60840925e-02 9.96265281e-01 6.70967015e-03 3.24693218e+00] [ 7.78138795e-02 9.24594813e-06 9.96967903e-01 -1.62840569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95534707 meters 0.017927000017537043 Centerline is valid? [True, True] Translation: X:-38.13, Y:3.25, Z:-1.63 [[ 9.93239158e-01 8.67234353e-02 -7.71687748e-02 -3.81294905e+01] [-8.64658763e-02 9.96232425e-01 6.67892018e-03 3.25009700e+00] [ 7.74572546e-02 3.87006734e-05 9.96995673e-01 -1.63228262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.98534707 meters 0.018101973789219912 Centerline is valid? [True, True] Translation: X:-38.16, Y:3.25, Z:-1.64 [[ 9.93245538e-01 8.65581053e-02 -7.72722225e-02 -3.81597471e+01] [-8.62993547e-02 9.96246804e-01 6.68787353e-03 3.25412787e+00] [ 7.75610943e-02 2.58423965e-05 9.96987601e-01 -1.63523464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.01534707 meters 0.018202898592605994 Centerline is valid? [True, True] Translation: X:-38.19, Y:3.26, Z:-1.63 [[ 9.93063597e-01 8.75184610e-02 -7.85188616e-02 -3.81894389e+01] [-8.72542992e-02 9.96162893e-01 6.79550160e-03 3.25791728e+00] [ 7.88123082e-02 1.02742983e-04 9.96889467e-01 -1.63451157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.04534707 meters 0.018213292010115477 Centerline is valid? [True, True] Translation: X:-38.22, Y:3.26, Z:-1.64 [[ 9.92910633e-01 8.94205300e-02 -7.83099210e-02 -3.82184891e+01] [-8.91636805e-02 9.95993928e-01 6.77740990e-03 3.26169670e+00] [ 7.86022454e-02 2.53038426e-04 9.96906025e-01 -1.63530176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.07534707 meters 0.018213292010115477 Centerline is valid? [True, True] Translation: X:-38.25, Y:3.26, Z:-1.64 [[ 9.92914580e-01 8.93766929e-02 -7.83099163e-02 -3.82491955e+01] [-8.91197031e-02 9.95997864e-01 6.77746386e-03 3.26440933e+00] [ 7.86022567e-02 2.49513813e-04 9.96906025e-01 -1.63695160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.10534707 meters 0.018353974425377367 Centerline is valid? [True, True] Translation: X:-38.28, Y:3.27, Z:-1.64 [[ 9.92803988e-01 9.05661517e-02 -7.83454770e-02 -3.82807112e+01] [-9.03129011e-02 9.95890381e-01 6.77704771e-03 3.26827727e+00] [ 7.86372781e-02 3.47327318e-04 9.96903234e-01 -1.63833447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.13534707 meters 0.01847747589986682 Centerline is valid? [True, True] Translation: X:-38.31, Y:3.27, Z:-1.64 [[ 9.92700884e-01 9.16821796e-02 -7.83538898e-02 -3.83120888e+01] [-9.14327116e-02 9.95788222e-01 6.77312882e-03 3.27286052e+00] [ 7.86448558e-02 4.40417641e-04 9.96902599e-01 -1.64269874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.16534707 meters 0.018638455184280076 Centerline is valid? [True, True] Translation: X:-38.34, Y:3.28, Z:-1.64 [[ 9.92507019e-01 9.48858083e-02 -7.69837662e-02 -3.83437693e+01] [-9.46551401e-02 9.95487925e-01 6.64796657e-03 3.27676454e+00] [ 7.72672074e-02 6.88755690e-04 9.97010183e-01 -1.64373714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.19534707 meters 0.018742890942065445 Centerline is valid? [True, True] Translation: X:-38.38, Y:3.28, Z:-1.64 [[ 9.92430781e-01 9.47884412e-02 -7.80787814e-02 -3.83751841e+01] [-9.45515061e-02 9.95497194e-01 6.73425148e-03 3.27966033e+00] [ 7.83655370e-02 6.99187920e-04 9.96924447e-01 -1.64236631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.22534707 meters 0.019242534213213088 Centerline is valid? [True, True] Translation: X:-38.41, Y:3.28, Z:-1.65 [[ 9.92235523e-01 9.67274094e-02 -7.81823196e-02 -3.84074280e+01] [-9.64966583e-02 9.95310536e-01 6.73294817e-03 3.28323504e+00] [ 7.84669471e-02 8.63662235e-04 9.96916342e-01 -1.64529999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.25534707 meters 0.019096075283787536 Centerline is valid? [True, True] Translation: X:-38.44, Y:3.28, Z:-1.65 [[ 9.92451257e-01 9.42949595e-02 -7.84153221e-02 -3.84383511e+01] [-9.40557585e-02 9.95544072e-01 6.74654092e-03 3.28419427e+00] [ 7.87020739e-02 6.79799588e-04 9.96897949e-01 -1.64836166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28534707 meters 0.019238924886630177 Centerline is valid? [True, True] Translation: X:-38.47, Y:3.29, Z:-1.65 [[ 9.92275541e-01 9.69988455e-02 -7.73335333e-02 -3.84704243e+01] [-9.67748289e-02 9.95284098e-01 6.64799278e-03 3.28582981e+00] [ 7.76136836e-02 8.87298830e-04 9.96983114e-01 -1.64627513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.31534707 meters 0.019607461122575606 Centerline is valid? [True, True] Translation: X:-38.50, Y:3.29, Z:-1.65 [[ 9.92367081e-01 9.66305529e-02 -7.66166565e-02 -3.85022301e+01] [-9.64100908e-02 9.95319949e-01 6.57972646e-03 3.28729770e+00] [ 7.68938893e-02 8.57114865e-04 9.97038914e-01 -1.64846514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34534707 meters 0.01923757589277553 Centerline is valid? [True, True] Translation: X:-38.53, Y:3.29, Z:-1.65 [[ 9.92709843e-01 9.26409390e-02 -7.71026879e-02 -3.85331805e+01] [-9.24062921e-02 9.95699424e-01 6.61317964e-03 3.28580412e+00] [ 7.73837531e-02 5.59804979e-04 9.97001224e-01 -1.65002834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375347070000004 meters 0.01911350396317133 Centerline is valid? [True, True] Translation: X:-38.56, Y:3.29, Z:-1.65 [[ 9.92716244e-01 9.22104020e-02 -7.75351538e-02 -3.85643171e+01] [-9.19726952e-02 9.95739398e-01 6.63881617e-03 3.28680399e+00] [ 7.78169753e-02 5.40656415e-04 9.96967515e-01 -1.65386651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.40534707 meters 0.018935742359184354 Centerline is valid? [True, True] Translation: X:-38.60, Y:3.28, Z:-1.65 [[ 9.93027729e-01 8.81594453e-02 -7.82549731e-02 -3.85955709e+01] [-8.79053795e-02 9.96106349e-01 6.69227433e-03 3.28437855e+00] [ 7.85402627e-02 2.33419127e-04 9.96910915e-01 -1.65189467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.43534707 meters 0.019583335693189298 Centerline is valid? [True, True] Translation: X:-38.62, Y:3.28, Z:-1.66 [[ 9.93514232e-01 8.24303637e-02 -7.83243616e-02 -3.86245392e+01] [-8.21580671e-02 9.96596803e-01 6.69814472e-03 3.28401436e+00] [ 7.86099389e-02 -2.19723952e-04 9.96905426e-01 -1.66065218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46534707 meters 0.019015793996342553 Centerline is valid? [True, True] Translation: X:-38.65, Y:3.28, Z:-1.66 [[ 9.93540529e-01 8.37000018e-02 -7.66258854e-02 -3.86521919e+01] [-8.34426228e-02 9.96490991e-01 6.56005522e-03 3.28338058e+00] [ 7.69060811e-02 -1.23815883e-04 9.97038334e-01 -1.65610616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49534707 meters 0.019514981023095745 Centerline is valid? [True, True] Translation: X:-38.68, Y:3.28, Z:-1.66 [[ 9.93953486e-01 7.83328422e-02 -7.69443522e-02 -3.86810786e+01] [-7.80558457e-02 9.96927105e-01 6.60547078e-03 3.28120106e+00] [ 7.72253356e-02 -5.59574220e-04 9.97013508e-01 -1.65917442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52534707 meters 0.02044118627443938 Centerline is valid? [True, True] Translation: X:-38.71, Y:3.28, Z:-1.67 [[ 9.94310442e-01 7.38251231e-02 -7.67892930e-02 -3.87096701e+01] [-7.35339368e-02 9.97270767e-01 6.61649481e-03 3.27790905e+00] [ 7.70681807e-02 -9.32230859e-04 9.97025389e-01 -1.66793857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55534707 meters 0.021541963171703735 Centerline is valid? [True, True] Translation: X:-38.74, Y:3.28, Z:-1.67 [[ 9.94472036e-01 6.95460757e-02 -7.86683764e-02 -3.87378412e+01] [-6.92255406e-02 9.97577875e-01 6.79767641e-03 3.27663811e+00] [ 7.89505835e-02 -1.31423821e-03 9.96877665e-01 -1.67124684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.58534707 meters 0.021718175082302893 Centerline is valid? [True, True] Translation: X:-38.77, Y:3.28, Z:-1.67 [[ 9.94604583e-01 6.74229001e-02 -7.88408213e-02 -3.87660145e+01] [-6.70937098e-02 9.97723370e-01 6.81996650e-03 3.27861226e+00] [ 7.91211518e-02 -1.49344675e-03 9.96863889e-01 -1.67019020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.61534707 meters 0.02187194468753261 Centerline is valid? [True, True] Translation: X:-38.79, Y:3.28, Z:-1.68 [[ 9.94555506e-01 6.84018160e-02 -7.86163879e-02 -3.87941516e+01] [-6.80764609e-02 9.97656835e-01 6.81435831e-03 3.27981222e+00] [ 7.88982912e-02 -1.42533213e-03 9.96881652e-01 -1.67525562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.64534707 meters 0.021498274064829695 Centerline is valid? [True, True] Translation: X:-38.82, Y:3.28, Z:-1.68 [[ 9.94491022e-01 7.05802515e-02 -7.74986130e-02 -3.88222915e+01] [-7.02688568e-02 9.97505311e-01 6.74113256e-03 3.28372231e+00] [ 7.77810688e-02 -1.25825687e-03 9.96969670e-01 -1.67722672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.67534707 meters 0.021347401507669967 Centerline is valid? [True, True] Translation: X:-38.85, Y:3.29, Z:-1.68 [[ 9.94321761e-01 7.19970725e-02 -7.83623420e-02 -3.88491993e+01] [-7.16811465e-02 9.97404140e-01 6.84071372e-03 3.29040988e+00] [ 7.86514357e-02 -1.18476800e-03 9.96901474e-01 -1.67857841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70534707 meters 0.02103340397367847 Centerline is valid? [True, True] Translation: X:-38.88, Y:3.30, Z:-1.68 [[ 9.94239096e-01 7.22782349e-02 -7.91484469e-02 -3.88768382e+01] [-7.19547448e-02 9.97383786e-01 6.93531123e-03 3.29703115e+00] [ 7.94426497e-02 -1.20025126e-03 9.96838716e-01 -1.68055676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73534707 meters 0.020523291949843078 Centerline is valid? [True, True] Translation: X:-38.90, Y:3.30, Z:-1.68 [[ 9.94059945e-01 7.48814834e-02 -7.89784075e-02 -3.89041677e+01] [-7.45660550e-02 9.97191930e-01 6.93964842e-03 3.30327432e+00] [ 7.92762817e-02 -1.00931825e-03 9.96852172e-01 -1.68420496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.76534707 meters 0.021051934989697856 Centerline is valid? [True, True] Translation: X:-38.93, Y:3.30, Z:-1.69 [[ 9.94069408e-01 7.50110665e-02 -7.87359697e-02 -3.89319866e+01] [-7.46967675e-02 9.97182189e-01 6.93365459e-03 3.30491674e+00] [ 7.90342075e-02 -1.01121148e-03 9.96871392e-01 -1.68960380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.79534707 meters 0.020197763841118144 Centerline is valid? [True, True] Translation: X:-38.96, Y:3.31, Z:-1.69 [[ 9.94017098e-01 7.63890755e-02 -7.80686735e-02 -3.89593143e+01] [-7.60824778e-02 9.97077664e-01 6.89850508e-03 3.30989050e+00] [ 7.83675010e-02 -9.17573885e-04 9.96924116e-01 -1.68595575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.82534707 meters 0.02095129173711218 Centerline is valid? [True, True] Translation: X:-38.99, Y:3.31, Z:-1.70 [[ 9.94082931e-01 7.55394639e-02 -7.80571313e-02 -3.89870141e+01] [-7.52288962e-02 9.97142309e-01 6.91588053e-03 3.31031833e+00] [ 7.83564900e-02 -1.00280697e-03 9.96924899e-01 -1.69624133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.85534707 meters 0.020682524664850776 Centerline is valid? [True, True] Translation: X:-39.01, Y:3.31, Z:-1.69 [[ 9.94165352e-01 7.27857943e-02 -7.96082965e-02 -3.90148517e+01] [-7.24520698e-02 9.97346791e-01 7.07641027e-03 3.31428543e+00] [ 7.99121412e-02 -1.26733605e-03 9.96801105e-01 -1.69253782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.88534707 meters 0.021535999947609397 Centerline is valid? [True, True] Translation: X:-39.04, Y:3.31, Z:-1.70 [[ 9.94253839e-01 7.21218803e-02 -7.91058664e-02 -3.90422310e+01] [-7.17889860e-02 9.97394942e-01 7.04781653e-03 3.31264033e+00] [ 7.94080928e-02 -1.32838870e-03 9.96841306e-01 -1.70326099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91534707 meters 0.02283850538343223 Centerline is valid? [True, True] Translation: X:-39.07, Y:3.31, Z:-1.70 [[ 9.94436613e-01 6.81362262e-02 -8.03322913e-02 -3.90708884e+01] [-6.77780797e-02 9.97674587e-01 7.17989251e-03 3.31290731e+00] [ 8.06346963e-02 -1.69517955e-03 9.96742280e-01 -1.70461702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.94534707 meters 0.023380032401771184 Centerline is valid? [True, True] Translation: X:-39.10, Y:3.31, Z:-1.71 [[ 9.94666155e-01 6.56458538e-02 -7.95604242e-02 -3.90994538e+01] [-6.52856414e-02 9.97841193e-01 7.12312774e-03 3.31231967e+00] [ 7.98562724e-02 -1.89098076e-03 9.96804595e-01 -1.70633448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97534707 meters 0.02367333434543883 Centerline is valid? [True, True] Translation: X:-39.13, Y:3.31, Z:-1.71 [[ 9.94771816e-01 6.42510261e-02 -7.93778299e-02 -3.91268446e+01] [-6.38865625e-02 9.97931730e-01 7.12523767e-03 3.31467358e+00] [ 7.96714590e-02 -2.01680892e-03 9.96819137e-01 -1.70814157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.00534707 meters 0.02478996499324005 Centerline is valid? [True, True] Translation: X:-39.16, Y:3.31, Z:-1.71 [[ 9.94920271e-01 6.15679378e-02 -7.96432246e-02 -3.91552976e+01] [-6.11913563e-02 9.98100353e-01 7.16268886e-03 3.31443365e+00] [ 7.99329225e-02 -2.25282741e-03 9.96797699e-01 -1.71119216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03534707 meters 0.024937929064067953 Centerline is valid? [True, True] Translation: X:-39.18, Y:3.32, Z:-1.71 [[ 9.94941319e-01 6.15806531e-02 -7.93699892e-02 -3.91832128e+01] [-6.12047118e-02 9.98099532e-01 7.16296362e-03 3.31547926e+00] [ 7.96602491e-02 -2.26891115e-03 9.96819491e-01 -1.71356738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.06534707 meters 0.025792436623476928 Centerline is valid? [True, True] Translation: X:-39.21, Y:3.32, Z:-1.71 [[ 9.95027439e-01 5.92769818e-02 -8.00414532e-02 -3.92117356e+01] [-5.88855409e-02 9.98238456e-01 7.24416941e-03 3.31658888e+00] [ 8.03298692e-02 -2.49486307e-03 9.96765212e-01 -1.71398791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09534707 meters 0.026135216755588907 Centerline is valid? [True, True] Translation: X:-39.24, Y:3.32, Z:-1.72 [[ 9.95143075e-01 5.79534717e-02 -7.95716996e-02 -3.92390324e+01] [-5.75618240e-02 9.98315916e-01 7.20887821e-03 3.31958278e+00] [ 7.98554737e-02 -2.59357306e-03 9.96803078e-01 -1.71633190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.125347070000004 meters 0.027404509398212824 Centerline is valid? [True, True] Translation: X:-39.27, Y:3.32, Z:-1.72 [[ 9.95275099e-01 5.50596502e-02 -7.99744437e-02 -3.92679447e+01] [-5.46536556e-02 9.98478991e-01 7.25833665e-03 3.32050632e+00] [ 8.02524433e-02 -2.85314603e-03 9.96770488e-01 -1.72261921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15534707 meters 0.027359362484005743 Centerline is valid? [True, True] Translation: X:-39.30, Y:3.32, Z:-1.72 [[ 9.95312083e-01 5.44501530e-02 -7.99314581e-02 -3.92953461e+01] [-5.40412314e-02 9.98512226e-01 7.27189035e-03 3.32360895e+00] [ 8.02084937e-02 -2.91820591e-03 9.96773837e-01 -1.72206089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.18534707 meters 0.028018487071522553 Centerline is valid? [True, True] Translation: X:-39.32, Y:3.32, Z:-1.73 [[ 9.95342579e-01 5.32569471e-02 -8.03545191e-02 -3.93239548e+01] [-5.28386824e-02 9.98576202e-01 7.32416157e-03 3.32428605e+00] [ 8.06301729e-02 -3.04422295e-03 9.96739438e-01 -1.72629778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21534707 meters 0.02951788443584573 Centerline is valid? [True, True] Translation: X:-39.35, Y:3.33, Z:-1.73 [[ 9.95521582e-01 4.88873482e-02 -8.09123463e-02 -3.93522609e+01] [-4.84474072e-02 9.98798376e-01 7.39274761e-03 3.32512601e+00] [ 8.11765320e-02 -3.43964640e-03 9.96693804e-01 -1.73091184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24534707 meters 0.03000682982665961 Centerline is valid? [True, True] Translation: X:-39.38, Y:3.33, Z:-1.73 [[ 9.95662360e-01 4.60986211e-02 -8.08169692e-02 -3.93804211e+01] [-4.56500524e-02 9.98930156e-01 7.39032695e-03 3.32587016e+00] [ 8.10711915e-02 -3.66897149e-03 9.96701560e-01 -1.72901803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27534707 meters 0.03150018847628065 Centerline is valid? [True, True] Translation: X:-39.41, Y:3.32, Z:-1.73 [[ 9.95857121e-01 4.40229177e-02 -7.95649217e-02 -3.94092601e+01] [-4.35804925e-02 9.99023326e-01 7.28936561e-03 3.32458588e+00] [ 7.98081118e-02 -3.79168817e-03 9.96803034e-01 -1.73364572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.30534707 meters 0.0323330218390447 Centerline is valid? [True, True] Translation: X:-39.44, Y:3.32, Z:-1.74 [[ 9.95884498e-01 4.22065350e-02 -8.02039548e-02 -3.94382641e+01] [-4.17495993e-02 9.99100950e-01 7.36634956e-03 3.32498763e+00] [ 8.04427555e-02 -3.98755036e-03 9.96751254e-01 -1.73613326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.33534707 meters 0.03328413570220565 Centerline is valid? [True, True] Translation: X:-39.47, Y:3.33, Z:-1.74 [[ 9.96080799e-01 3.88324726e-02 -7.94674814e-02 -3.94681439e+01] [-3.83727765e-02 9.99236798e-01 7.30424179e-03 3.32520971e+00] [ 7.96904734e-02 -4.22622710e-03 9.96810698e-01 -1.73769701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.36534707 meters 0.03474321476482786 Centerline is valid? [True, True] Translation: X:-39.50, Y:3.33, Z:-1.74 [[ 9.96154365e-01 3.54333994e-02 -8.01308633e-02 -3.94977034e+01] [-3.49547559e-02 9.99361731e-01 7.36857997e-03 3.32559468e+00] [ 8.03408120e-02 -4.53928833e-03 9.96757116e-01 -1.74267051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.39534707 meters 0.03633699777886897 Centerline is valid? [True, True] Translation: X:-39.53, Y:3.33, Z:-1.75 [[ 9.96287267e-01 3.17020597e-02 -8.00416204e-02 -3.95275934e+01] [-3.12122780e-02 9.99485657e-01 7.36315551e-03 3.32616050e+00] [ 8.02338787e-02 -4.83753677e-03 9.96764327e-01 -1.74525132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.42534707 meters 0.03609460589904869 Centerline is valid? [True, True] Translation: X:-39.56, Y:3.33, Z:-1.75 [[ 9.96258186e-01 3.25632537e-02 -8.00578585e-02 -3.95558565e+01] [-3.20753180e-02 9.99458255e-01 7.37359897e-03 3.32788424e+00] [ 8.02545959e-02 -4.77812707e-03 9.96762945e-01 -1.74529728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45534707 meters 0.036159017814038144 Centerline is valid? [True, True] Translation: X:-39.58, Y:3.33, Z:-1.75 [[ 9.96288235e-01 2.98881471e-02 -8.07245421e-02 -3.95849214e+01] [-2.93819287e-02 9.99540481e-01 7.45179892e-03 3.33184440e+00] [ 8.09101681e-02 -5.05229686e-03 9.96708593e-01 -1.74673248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.48534707 meters 0.037234700244347135 Centerline is valid? [True, True] Translation: X:-39.61, Y:3.33, Z:-1.75 [[ 9.96316987e-01 2.93550649e-02 -8.05651385e-02 -3.96132736e+01] [-2.88482712e-02 9.99556057e-01 7.44751825e-03 3.33259641e+00] [ 8.07479946e-02 -5.09592398e-03 9.96721522e-01 -1.74965028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.51534707 meters 0.03485089299835651 Centerline is valid? [True, True] Translation: X:-39.64, Y:3.34, Z:-1.75 [[ 9.96260703e-01 3.15479593e-02 -8.04321973e-02 -3.96415736e+01] [-3.10485197e-02 9.99490092e-01 7.45289499e-03 3.34097920e+00] [ 8.06263079e-02 -4.92772573e-03 9.96732219e-01 -1.75037327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.54534707 meters 0.03555744580194027 Centerline is valid? [True, True] Translation: X:-39.67, Y:3.34, Z:-1.75 [[ 9.96305514e-01 3.13625438e-02 -7.99481922e-02 -3.96697208e+01] [-3.08675820e-02 9.99495943e-01 7.41971954e-03 3.34470870e+00] [ 8.01405951e-02 -4.92450012e-03 9.96771405e-01 -1.74848528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.57534707 meters 0.03669592180354995 Centerline is valid? [True, True] Translation: X:-39.70, Y:3.34, Z:-1.76 [[ 9.96250068e-01 3.17685213e-02 -8.04770956e-02 -3.96972820e+01] [-3.12661894e-02 9.99482994e-01 7.49472270e-03 3.34486398e+00] [ 8.06735846e-02 -4.95040589e-03 9.96728281e-01 -1.75737581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.60534707 meters 0.03182959932535228 Centerline is valid? [True, True] Translation: X:-39.72, Y:3.36, Z:-1.76 [[ 9.95951492e-01 3.68624074e-02 -8.19865155e-02 -3.97248402e+01] [-3.63565648e-02 9.99309565e-01 7.65468953e-03 3.36073657e+00] [ 8.22120794e-02 -4.64295139e-03 9.96604042e-01 -1.75581624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63534707 meters 0.033980190742458734 Centerline is valid? [True, True] Translation: X:-39.75, Y:3.36, Z:-1.76 [[ 9.95946003e-01 3.84890067e-02 -8.13028582e-02 -3.97535793e+01] [-3.79961599e-02 9.99248977e-01 7.60092555e-03 3.35953152e+00] [ 8.15343500e-02 -4.48091502e-03 9.96660459e-01 -1.76083518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.66534707 meters 0.03050220549073185 Centerline is valid? [True, True] Translation: X:-39.78, Y:3.37, Z:-1.76 [[ 9.95625048e-01 4.41506756e-02 -8.23497562e-02 -3.97819444e+01] [-4.36628069e-02 9.99016522e-01 7.71672120e-03 3.37325065e+00] [ 8.26094655e-02 -4.08733941e-03 9.96573615e-01 -1.76229255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.69534707 meters 0.028671784047433153 Centerline is valid? [True, True] Translation: X:-39.81, Y:3.38, Z:-1.76 [[ 9.95503592e-01 4.62406641e-02 -8.26704229e-02 -3.98091047e+01] [-4.57557750e-02 9.98922583e-01 7.75132358e-03 3.38461075e+00] [ 8.29397787e-02 -3.93382120e-03 9.96546797e-01 -1.76403176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.72534707 meters 0.027884015355009915 Centerline is valid? [True, True] Translation: X:-39.84, Y:3.39, Z:-1.77 [[ 9.95102616e-01 5.44836478e-02 -8.24761494e-02 -3.98388581e+01] [-5.40287109e-02 9.98509388e-01 7.73947749e-03 3.39070541e+00] [ 8.27748844e-02 -3.24549427e-03 9.96562986e-01 -1.76656340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.75534707 meters 0.025646962730905797 Centerline is valid? [True, True] Translation: X:-39.87, Y:3.40, Z:-1.77 [[ 9.94871423e-01 5.82087915e-02 -8.27199357e-02 -3.98666433e+01] [-5.77637759e-02 9.98300081e-01 7.76489160e-03 3.40193750e+00] [ 8.30313035e-02 -2.94685293e-03 9.96542582e-01 -1.76595917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78534707 meters 0.025488418922465273 Centerline is valid? [True, True] Translation: X:-39.90, Y:3.41, Z:-1.77 [[ 9.94574712e-01 6.32063131e-02 -8.26202447e-02 -3.98958049e+01] [-6.27791500e-02 9.97997271e-01 7.76048378e-03 3.40619789e+00] [ 8.29452903e-02 -2.53155219e-03 9.96550887e-01 -1.77350221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.81534707 meters 0.024115105604855337 Centerline is valid? [True, True] Translation: X:-39.92, Y:3.41, Z:-1.77 [[ 9.94372059e-01 6.73098534e-02 -8.18143780e-02 -3.99249923e+01] [-6.69045538e-02 9.97729757e-01 7.68843830e-03 3.41478146e+00] [ 8.21461472e-02 -2.17141377e-03 9.96617929e-01 -1.77234865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84534707 meters 0.024106317520329268 Centerline is valid? [True, True] Translation: X:-39.95, Y:3.42, Z:-1.77 [[ 9.94328670e-01 6.98873935e-02 -8.01638793e-02 -3.99538694e+01] [-6.95058415e-02 9.97553022e-01 7.54366694e-03 3.41761506e+00] [ 8.04949272e-02 -1.92902643e-03 9.96753152e-01 -1.77265060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875347070000004 meters 0.02363047578990762 Centerline is valid? [True, True] Translation: X:-39.98, Y:3.42, Z:-1.78 [[ 9.94279260e-01 6.99143888e-02 -8.07510493e-02 -3.99815351e+01] [-6.95253059e-02 9.97551059e-01 7.62346586e-03 3.42286813e+00] [ 8.10862847e-02 -1.96561259e-03 9.96705147e-01 -1.77568656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.90534707 meters 0.024718197627523853 Centerline is valid? [True, True] Translation: X:-40.01, Y:3.42, Z:-1.78 [[ 9.94355817e-01 6.70865606e-02 -8.21942964e-02 -4.00104927e+01] [-6.66721819e-02 9.97744611e-01 7.77891449e-03 3.42225264e+00] [ 8.25307769e-02 -2.25493579e-03 9.96585965e-01 -1.78019533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.93534707 meters 0.023645601008415167 Centerline is valid? [True, True] Translation: X:-40.04, Y:3.43, Z:-1.78 [[ 9.94370804e-01 6.74981931e-02 -8.16743387e-02 -4.00377759e+01] [-6.70897890e-02 9.97716939e-01 7.73759665e-03 3.42673150e+00] [ 8.20101450e-02 -2.21452605e-03 9.96629034e-01 -1.77949463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.96534707 meters 0.024099970918992873 Centerline is valid? [True, True] Translation: X:-40.07, Y:3.43, Z:-1.78 [[ 9.94529965e-01 6.57348910e-02 -8.11731092e-02 -4.00660340e+01] [-6.53244153e-02 9.97834331e-01 7.70504656e-03 3.42802599e+00] [ 8.15038056e-02 -2.36031379e-03 9.96670236e-01 -1.78034589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.99534707 meters 0.024099970918992873 Centerline is valid? [True, True] Translation: X:-40.09, Y:3.43, Z:-1.78 [[ 9.94506145e-01 6.60974407e-02 -8.11705358e-02 -4.00931922e+01] [-6.56859652e-02 9.97810387e-01 7.73207804e-03 3.43037767e+00] [ 8.15038744e-02 -2.35783414e-03 9.96670236e-01 -1.78181383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02534707 meters 0.02614321457687925 Centerline is valid? [True, True] Translation: X:-40.12, Y:3.43, Z:-1.79 [[ 9.94824416e-01 6.30635782e-02 -7.96703625e-02 -4.01225431e+01] [-6.26553316e-02 9.98006164e-01 7.61620849e-03 3.42723244e+00] [ 7.99918182e-02 -2.58501718e-03 9.96792168e-01 -1.78611726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05534707 meters 0.026075542660136057 Centerline is valid? [True, True] Translation: X:-40.15, Y:3.43, Z:-1.79 [[ 9.94879845e-01 6.29443197e-02 -7.90702649e-02 -4.01496867e+01] [-6.25403662e-02 9.98013671e-01 7.57733260e-03 3.42955483e+00] [ 7.93901554e-02 -2.59345216e-03 9.96840247e-01 -1.78910737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.08534707 meters 0.026825873888109503 Centerline is valid? [True, True] Translation: X:-40.18, Y:3.43, Z:-1.79 [[ 9.94915276e-01 6.03836607e-02 -8.06064955e-02 -4.01780249e+01] [-5.99547718e-02 9.98171143e-01 7.73274187e-03 3.43198235e+00] [ 8.09260090e-02 -2.86067896e-03 9.96716006e-01 -1.79017357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.11534707 meters 0.02842960489038678 Centerline is valid? [True, True] Translation: X:-40.21, Y:3.43, Z:-1.80 [[ 9.95020922e-01 5.80728569e-02 -8.09994373e-02 -4.02064548e+01] [-5.76315542e-02 9.98307625e-01 7.77750602e-03 3.43202370e+00] [ 8.13140179e-02 -3.07065775e-03 9.96683802e-01 -1.79618058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.14534707 meters 0.028093603357359404 Centerline is valid? [True, True] Translation: X:-40.23, Y:3.43, Z:-1.79 [[ 9.95113754e-01 5.92727939e-02 -7.89642459e-02 -4.02349824e+01] [-5.88562483e-02 9.98237582e-01 7.59417533e-03 3.43357487e+00] [ 7.92752059e-02 -2.90952906e-03 9.96848522e-01 -1.79460578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.17534707 meters 0.027729138777792827 Centerline is valid? [True, True] Translation: X:-40.26, Y:3.44, Z:-1.80 [[ 9.95155918e-01 5.93603253e-02 -7.83648533e-02 -4.02625575e+01] [-5.89484793e-02 9.98232396e-01 7.56042691e-03 3.43580106e+00] [ 7.86751247e-02 -2.90431464e-03 9.96896078e-01 -1.79640618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20534707 meters 0.02750019573520479 Centerline is valid? [True, True] Translation: X:-40.29, Y:3.44, Z:-1.80 [[ 9.95254177e-01 5.85858415e-02 -7.76969948e-02 -4.02901708e+01] [-5.81770622e-02 9.98277985e-01 7.51627003e-03 3.43952917e+00] [ 7.80035464e-02 -2.96041623e-03 9.96948686e-01 -1.79515883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23534707 meters 0.02711671229977959 Centerline is valid? [True, True] Translation: X:-40.32, Y:3.44, Z:-1.79 [[ 9.95312672e-01 6.05707378e-02 -7.53914464e-02 -4.03194852e+01] [-6.01910637e-02 9.98160179e-01 7.30016578e-03 3.44048187e+00] [ 7.56949161e-02 -2.72805615e-03 9.97127292e-01 -1.79284229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26534707 meters 0.027583626732854895 Centerline is valid? [True, True] Translation: X:-40.35, Y:3.44, Z:-1.79 [[ 9.95399389e-01 5.96017459e-02 -7.50179137e-02 -4.03485005e+01] [-5.92223434e-02 9.98218315e-01 7.27386125e-03 3.44125414e+00] [ 7.53177903e-02 -2.79766040e-03 9.97155657e-01 -1.79432087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.29534707 meters 0.02705546973054497 Centerline is valid? [True, True] Translation: X:-40.38, Y:3.45, Z:-1.79 [[ 9.95446318e-01 5.93753495e-02 -7.45734324e-02 -4.03751816e+01] [-5.89983983e-02 9.98231753e-01 7.24951018e-03 3.44630344e+00] [ 7.48720104e-02 -2.81678514e-03 9.97189174e-01 -1.79360819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32534707 meters 0.026865500852021024 Centerline is valid? [True, True] Translation: X:-40.40, Y:3.45, Z:-1.80 [[ 9.95528784e-01 5.88115168e-02 -7.39164811e-02 -4.04030451e+01] [-5.84386044e-02 9.98265043e-01 7.19959223e-03 3.45014412e+00] [ 7.42116581e-02 -2.84782529e-03 9.97238447e-01 -1.79653525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35534707 meters 0.026292003252514143 Centerline is valid? [True, True] Translation: X:-40.43, Y:3.45, Z:-1.80 [[ 9.95647740e-01 5.75507661e-02 -7.33040713e-02 -4.04309833e+01] [-5.71792212e-02 9.98338263e-01 7.15880440e-03 3.45363708e+00] [ 7.35942539e-02 -2.93617771e-03 9.97283944e-01 -1.79581194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38534707 meters 0.02771279106098219 Centerline is valid? [True, True] Translation: X:-40.46, Y:3.45, Z:-1.80 [[ 9.95801485e-01 5.73174332e-02 -7.13730712e-02 -4.04593127e+01] [-5.69636456e-02 9.98351824e-01 6.98416258e-03 3.45222847e+00] [ 7.16557501e-02 -2.88916914e-03 9.97425238e-01 -1.79934878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41534707 meters 0.0275690213625966 Centerline is valid? [True, True] Translation: X:-40.49, Y:3.46, Z:-1.80 [[ 9.95779324e-01 5.62073639e-02 -7.25552854e-02 -4.04866815e+01] [-5.58373629e-02 9.98414494e-01 7.11947176e-03 3.45654963e+00] [ 7.28404153e-02 -3.03812698e-03 9.97338981e-01 -1.80050812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.44534707 meters 0.025802284487278532 Centerline is valid? [True, True] Translation: X:-40.51, Y:3.46, Z:-1.80 [[ 9.95832973e-01 5.46344201e-02 -7.30189680e-02 -4.05138138e+01] [-5.42546594e-02 9.98501348e-01 7.17571522e-03 3.46495128e+00] [ 7.33015790e-02 -3.18419458e-03 9.97304737e-01 -1.79983139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.47534707 meters 0.027335741614838576 Centerline is valid? [True, True] Translation: X:-40.54, Y:3.46, Z:-1.80 [[ 9.95869419e-01 5.38932798e-02 -7.30726681e-02 -4.05428469e+01] [-5.35100261e-02 9.98541399e-01 7.19383027e-03 3.46242724e+00] [ 7.33537833e-02 -3.25399519e-03 9.97300674e-01 -1.80234488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.50534707 meters 0.028293431532751902 Centerline is valid? [True, True] Translation: X:-40.57, Y:3.46, Z:-1.80 [[ 9.95972622e-01 5.54229181e-02 -7.04757795e-02 -4.05720354e+01] [-5.50687034e-02 9.98458306e-01 6.96057415e-03 3.45997809e+00] [ 7.07529028e-02 -3.05153149e-03 9.97489205e-01 -1.80136235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.53534707 meters 0.027523672437846525 Centerline is valid? [True, True] Translation: X:-40.60, Y:3.46, Z:-1.80 [[ 9.96123173e-01 5.50712466e-02 -6.85986980e-02 -4.05996453e+01] [-5.47336209e-02 9.98477884e-01 6.79303869e-03 3.46261768e+00] [ 6.88683840e-02 -3.01204812e-03 9.97621207e-01 -1.79932875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.56534707 meters 0.027019311460418135 Centerline is valid? [True, True] Translation: X:-40.63, Y:3.47, Z:-1.80 [[ 9.96243966e-01 5.28042362e-02 -6.86270518e-02 -4.06270220e+01] [-5.24604541e-02 9.98599828e-01 6.80329852e-03 3.46684980e+00] [ 6.88902051e-02 -3.17753880e-03 9.97619187e-01 -1.80071371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59534707 meters 0.02777889949337977 Centerline is valid? [True, True] Translation: X:-40.66, Y:3.47, Z:-1.80 [[ 9.96338058e-01 5.25884577e-02 -6.74160900e-02 -4.06553717e+01] [-5.22555059e-02 9.98611312e-01 6.69394352e-03 3.46521744e+00] [ 6.76744942e-02 -3.14656880e-03 9.97702492e-01 -1.80026263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.625347070000004 meters 0.029101047194222993 Centerline is valid? [True, True] Translation: X:-40.68, Y:3.46, Z:-1.80 [[ 9.96436712e-01 5.29659349e-02 -6.56390848e-02 -4.06848488e+01] [-5.26497437e-02 9.98591632e-01 6.53881722e-03 3.46089062e+00] [ 6.58929754e-02 -3.05963654e-03 9.97822005e-01 -1.79961413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.65534707 meters 0.030634345089880926 Centerline is valid? [True, True] Translation: X:-40.71, Y:3.46, Z:-1.80 [[ 9.96632074e-01 4.99081643e-02 -6.50667605e-02 -4.07148298e+01] [-4.95898832e-02 9.98748523e-01 6.49851284e-03 3.45674716e+00] [ 6.53096598e-02 -3.24997327e-03 9.97859753e-01 -1.80115550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.68534707 meters 0.030923686691171348 Centerline is valid? [True, True] Translation: X:-40.74, Y:3.46, Z:-1.80 [[ 9.96696141e-01 4.86838443e-02 -6.50129700e-02 -4.07425874e+01] [-4.83632311e-02 9.98808683e-01 6.49717375e-03 3.45801647e+00] [ 6.52518263e-02 -3.33147071e-03 9.97863267e-01 -1.80097314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.71534707 meters 0.030889923530055898 Centerline is valid? [True, True] Translation: X:-40.77, Y:3.46, Z:-1.80 [[ 9.96794917e-01 4.85301598e-02 -6.35980930e-02 -4.07709668e+01] [-4.82223318e-02 9.98816332e-01 6.36718761e-03 3.45777459e+00] [ 6.38318147e-02 -3.27993189e-03 9.97955280e-01 -1.80060096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.74534707 meters 0.029707087463621655 Centerline is valid? [True, True] Translation: X:-40.80, Y:3.46, Z:-1.80 [[ 9.96869371e-01 4.71505831e-02 -6.34687293e-02 -4.07987228e+01] [-4.68400212e-02 9.98882073e-01 6.37305485e-03 3.46073041e+00] [ 6.36982692e-02 -3.38022655e-03 9.97963479e-01 -1.79974677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77534707 meters 0.03231250167524877 Centerline is valid? [True, True] Translation: X:-40.83, Y:3.45, Z:-1.80 [[ 9.97119625e-01 4.39714449e-02 -6.17977824e-02 -4.08295321e+01] [-4.36705883e-02 9.99026676e-01 6.21132089e-03 3.45304922e+00] [ 6.20107539e-02 -3.49468444e-03 9.98069363e-01 -1.79723395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.80534707 meters 0.029889319501738773 Centerline is valid? [True, True] Translation: X:-40.86, Y:3.46, Z:-1.80 [[ 9.97167120e-01 4.34271791e-02 -6.14151074e-02 -4.08567132e+01] [-4.31287862e-02 9.99050428e-01 6.17656460e-03 3.45891653e+00] [ 6.16250202e-02 -3.51030809e-03 9.98093199e-01 -1.79623227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.83534707 meters 0.03204811052323017 Centerline is valid? [True, True] Translation: X:-40.89, Y:3.45, Z:-1.80 [[ 9.97260378e-01 4.12680625e-02 -6.13896260e-02 -4.08859985e+01] [-4.09652496e-02 9.99141437e-01 6.18363489e-03 3.45390900e+00] [ 6.15921058e-02 -3.65185271e-03 9.98094723e-01 -1.79595610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.86534707 meters 0.03285141206844531 Centerline is valid? [True, True] Translation: X:-40.91, Y:3.45, Z:-1.80 [[ 9.97322359e-01 4.09980511e-02 -6.05580054e-02 -4.09144882e+01] [-4.07024794e-02 9.99152648e-01 6.10684861e-03 3.45382185e+00] [ 6.07570604e-02 -3.62563569e-03 9.98145999e-01 -1.79548565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.89534707 meters 0.032225112499141284 Centerline is valid? [True, True] Translation: X:-40.94, Y:3.45, Z:-1.80 [[ 9.97363898e-01 3.93265703e-02 -6.09809437e-02 -4.09426975e+01] [-3.90226965e-02 9.99219297e-01 6.16650504e-03 3.45353801e+00] [ 6.11758431e-02 -3.77060866e-03 9.98119882e-01 -1.79523494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.92534707 meters 0.03154037440369853 Centerline is valid? [True, True] Translation: X:-40.97, Y:3.45, Z:-1.79 [[ 9.97410005e-01 4.17613469e-02 -5.85599810e-02 -4.09729035e+01] [-4.14849881e-02 9.99121544e-01 5.92758323e-03 3.45314708e+00] [ 5.87560825e-02 -3.48287071e-03 9.98266293e-01 -1.79094232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95534707 meters 0.03111092553559323 Centerline is valid? [True, True] Translation: X:-41.00, Y:3.45, Z:-1.79 [[ 9.97475877e-01 4.14244874e-02 -5.76705022e-02 -4.10006424e+01] [-4.11557469e-02 9.99135674e-01 5.84039231e-03 3.45472136e+00] [ 5.78625913e-02 -3.45217785e-03 9.98318588e-01 -1.79074115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.98534707 meters 0.031916464872204994 Centerline is valid? [True, True] Translation: X:-41.03, Y:3.45, Z:-1.79 [[ 9.97506034e-01 4.05845028e-02 -5.77460920e-02 -4.10294910e+01] [-4.03132286e-02 9.99169934e-01 5.85539614e-03 3.45434297e+00] [ 5.79357973e-02 -3.51286157e-03 9.98314131e-01 -1.79053465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01534707 meters 0.03160844856048669 Centerline is valid? [True, True] Translation: X:-41.06, Y:3.45, Z:-1.79 [[ 9.97523733e-01 4.04759968e-02 -5.75160436e-02 -4.10574895e+01] [-4.02057196e-02 9.99174303e-01 5.84908704e-03 3.45397156e+00] [ 5.77053004e-02 -3.52212922e-03 9.98327448e-01 -1.78615988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.04534707 meters 0.030954997456348363 Centerline is valid? [True, True] Translation: X:-41.09, Y:3.45, Z:-1.78 [[ 9.97522167e-01 4.23872204e-02 -5.61502480e-02 -4.10871517e+01] [-4.21323273e-02 9.99095688e-01 5.71606984e-03 3.45497856e+00] [ 5.63417590e-02 -3.33616574e-03 9.98405968e-01 -1.78372521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.07534707 meters 0.03151130033923013 Centerline is valid? [True, True] Translation: X:-41.12, Y:3.45, Z:-1.78 [[ 9.97462945e-01 4.34454556e-02 -5.63929553e-02 -4.11161214e+01] [-4.31898422e-02 9.99050370e-01 5.74418016e-03 3.45335875e+00] [ 5.65889613e-02 -3.29400402e-03 9.98392127e-01 -1.78381891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.10534707 meters 0.030657786526677392 Centerline is valid? [True, True] Translation: X:-41.14, Y:3.46, Z:-1.78 [[ 9.97476753e-01 4.46268827e-02 -5.52138529e-02 -4.11444963e+01] [-4.43827516e-02 9.98998677e-01 5.64050164e-03 3.45609803e+00] [ 5.54102840e-02 -3.17572654e-03 9.98458620e-01 -1.78064660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13534707 meters 0.02940241421016006 Centerline is valid? [True, True] Translation: X:-41.17, Y:3.46, Z:-1.78 [[ 9.97459502e-01 4.56426559e-02 -5.46926807e-02 -4.11721638e+01] [-4.54043087e-02 9.98953034e-01 5.59326172e-03 3.45989140e+00] [ 5.48907107e-02 -3.09576869e-03 9.98487569e-01 -1.77944634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.16534707 meters 0.03165578963088511 Centerline is valid? [True, True] Translation: X:-41.20, Y:3.45, Z:-1.78 [[ 9.97496233e-01 4.47338984e-02 -5.47735675e-02 -4.12021131e+01] [-4.44929447e-02 9.98993940e-01 5.61125995e-03 3.45278181e+00] [ 5.49694755e-02 -3.16017335e-03 9.98483034e-01 -1.77558850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195347070000004 meters 0.0315883496865863 Centerline is valid? [True, True] Translation: X:-41.23, Y:3.45, Z:-1.78 [[ 9.97487023e-01 4.49871171e-02 -5.47338818e-02 -4.12301974e+01] [-4.47459254e-02 9.98982564e-01 5.62477343e-03 3.45402760e+00] [ 5.49312359e-02 -3.16152031e-03 9.98485135e-01 -1.77763867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22534707 meters 0.02873701112484039 Centerline is valid? [True, True] Translation: X:-41.26, Y:3.46, Z:-1.77 [[ 9.97389250e-01 4.76416170e-02 -5.42674811e-02 -4.12585135e+01] [-4.74074316e-02 9.98859964e-01 5.59527054e-03 3.46212469e+00] [ 5.44721820e-02 -3.00798079e-03 9.98510758e-01 -1.77417080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25534707 meters 0.030152440887309877 Centerline is valid? [True, True] Translation: X:-41.29, Y:3.46, Z:-1.77 [[ 9.97197834e-01 5.19874072e-02 -5.37939581e-02 -4.12890428e+01] [-5.17633956e-02 9.98643954e-01 5.55013914e-03 3.45829231e+00] [ 5.40095484e-02 -2.75002879e-03 9.98536632e-01 -1.77438912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.28534707 meters 0.027656916647191998 Centerline is valid? [True, True] Translation: X:-41.32, Y:3.47, Z:-1.77 [[ 9.97008535e-01 5.55593169e-02 -5.37321431e-02 -4.13165863e+01] [-5.53409199e-02 9.98452119e-01 5.54506478e-03 3.46729959e+00] [ 5.39570522e-02 -2.55489069e-03 9.98539989e-01 -1.77210001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31534707 meters 0.02805760295134078 Centerline is valid? [True, True] Translation: X:-41.35, Y:3.47, Z:-1.77 [[ 9.96792947e-01 5.88168216e-02 -5.42623432e-02 -4.13465485e+01] [-5.85985863e-02 9.98265888e-01 5.60552876e-03 3.46837014e+00] [ 5.44979456e-02 -2.40785494e-03 9.98510979e-01 -1.76805758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34534707 meters 0.02625133551171824 Centerline is valid? [True, True] Translation: X:-41.37, Y:3.48, Z:-1.77 [[ 9.96574112e-01 6.22505076e-02 -5.44510168e-02 -4.13739851e+01] [-6.20357225e-02 9.98058064e-01 5.62755478e-03 3.47639915e+00] [ 5.46955946e-02 -2.23036724e-03 9.98500585e-01 -1.76997161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375347070000004 meters 0.02443051328573122 Centerline is valid? [True, True] Translation: X:-41.40, Y:3.48, Z:-1.77 [[ 9.96263925e-01 6.72934352e-02 -5.41274823e-02 -4.14023900e+01] [-6.70883647e-02 9.97731329e-01 5.59883852e-03 3.48350818e+00] [ 5.43814499e-02 -1.94659658e-03 9.98518337e-01 -1.76776037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.40534707 meters 0.024182757275688263 Centerline is valid? [True, True] Translation: X:-41.43, Y:3.49, Z:-1.77 [[ 9.95984370e-01 7.07570773e-02 -5.48504478e-02 -4.14313641e+01] [-7.05515180e-02 9.97491980e-01 5.67740014e-03 3.48633499e+00] [ 5.51145980e-02 -1.78481945e-03 9.98478440e-01 -1.76643077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.43534707 meters 0.022706897014582565 Centerline is valid? [True, True] Translation: X:-41.46, Y:3.49, Z:-1.77 [[ 9.95712495e-01 7.48023920e-02 -5.44171828e-02 -4.14588721e+01] [-7.46058957e-02 9.97197168e-01 5.63628808e-03 3.49299981e+00] [ 5.46862685e-02 -1.55227980e-03 9.98502380e-01 -1.76622419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.46534707 meters 0.023357155761782246 Centerline is valid? [True, True] Translation: X:-41.49, Y:3.49, Z:-1.76 [[ 9.95609271e-01 7.62944503e-02 -5.42340894e-02 -4.14894574e+01] [-7.61012116e-02 9.97084247e-01 5.62234431e-03 3.49093847e+00] [ 5.45049099e-02 -1.47037821e-03 9.98512420e-01 -1.76474954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49534707 meters 0.022844017387847446 Centerline is valid? [True, True] Translation: X:-41.52, Y:3.49, Z:-1.76 [[ 9.95506828e-01 7.70643847e-02 -5.50203228e-02 -4.15194843e+01] [-7.68665371e-02 9.97025062e-01 5.70626393e-03 3.49404595e+00] [ 5.52963905e-02 -1.45140302e-03 9.98468929e-01 -1.76047292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52534707 meters 0.02292989465294403 Centerline is valid? [True, True] Translation: X:-41.55, Y:3.49, Z:-1.76 [[ 9.95488337e-01 7.72426952e-02 -5.51047848e-02 -4.15500787e+01] [-7.70447003e-02 9.97011280e-01 5.71162370e-03 3.49423658e+00] [ 5.53812732e-02 -1.44032315e-03 9.98464241e-01 -1.75898557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55534707 meters 0.023183228977550107 Centerline is valid? [True, True] Translation: X:-41.58, Y:3.49, Z:-1.76 [[ 9.95577648e-01 7.55452787e-02 -5.58395780e-02 -4.15796489e+01] [-7.53392983e-02 9.97141160e-01 5.78774771e-03 3.49366715e+00] [ 5.61171786e-02 -1.55523762e-03 9.98422978e-01 -1.75927933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.58534707 meters 0.02378171320253175 Centerline is valid? [True, True] Translation: X:-41.61, Y:3.49, Z:-1.76 [[ 9.95640908e-01 7.47481861e-02 -5.57843271e-02 -4.16094410e+01] [-7.45413594e-02 9.97201160e-01 5.78211030e-03 3.48952657e+00] [ 5.60603980e-02 -1.59866597e-03 9.98426099e-01 -1.75723060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.61534707 meters 0.023841318104981586 Centerline is valid? [True, True] Translation: X:-41.64, Y:3.49, Z:-1.76 [[ 9.95693661e-01 7.41921158e-02 -5.55847377e-02 -4.16371154e+01] [-7.39849625e-02 9.97242617e-01 5.77823188e-03 3.48956134e+00] [ 5.58601686e-02 -1.64091412e-03 9.98437253e-01 -1.75737312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.64534707 meters 0.024004865169443692 Centerline is valid? [True, True] Translation: X:-41.67, Y:3.49, Z:-1.76 [[ 9.95664672e-01 7.40970540e-02 -5.62271013e-02 -4.16654771e+01] [-7.38845184e-02 9.97249632e-01 5.85225028e-03 3.48777719e+00] [ 5.65060906e-02 -1.67256656e-03 9.98400853e-01 -1.75728430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.67534707 meters 0.025392274940500763 Centerline is valid? [True, True] Translation: X:-41.70, Y:3.48, Z:-1.75 [[ 9.95784990e-01 7.15838914e-02 -5.73410871e-02 -4.16954172e+01] [-7.13574609e-02 9.97432825e-01 5.98932845e-03 3.48286429e+00] [ 5.76226219e-02 -1.87236900e-03 9.98336681e-01 -1.75424536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70534707 meters 0.02629263591865031 Centerline is valid? [True, True] Translation: X:-41.72, Y:3.48, Z:-1.76 [[ 9.95932377e-01 6.92173217e-02 -5.76859012e-02 -4.17249176e+01] [-6.89832255e-02 9.97599523e-01 6.04201993e-03 3.48064388e+00] [ 5.79656400e-02 -2.03808374e-03 9.98316498e-01 -1.75697381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73534707 meters 0.0262589162755144 Centerline is valid? [True, True] Translation: X:-41.75, Y:3.48, Z:-1.75 [[ 9.95898200e-01 6.93649481e-02 -5.80971474e-02 -4.17531972e+01] [-6.91271705e-02 9.97589237e-01 6.09497986e-03 3.47928382e+00] [ 5.83798669e-02 -2.05388806e-03 9.98292328e-01 -1.75396147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.76534707 meters 0.0272191602246276 Centerline is valid? [True, True] Translation: X:-41.78, Y:3.47, Z:-1.75 [[ 9.96010610e-01 6.76220485e-02 -5.82247661e-02 -4.17826516e+01] [-6.73790865e-02 9.97708626e-01 6.12825200e-03 3.47273302e+00] [ 5.85057563e-02 -2.18067246e-03 9.98284689e-01 -1.75315654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.79534707 meters 0.027693088071870833 Centerline is valid? [True, True] Translation: X:-41.81, Y:3.47, Z:-1.75 [[ 9.96123540e-01 6.51499824e-02 -5.91047572e-02 -4.18103924e+01] [-6.48942652e-02 9.97872650e-01 6.23774379e-03 3.47217182e+00] [ 5.93854096e-02 -2.37800364e-03 9.98232297e-01 -1.75432495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82534707 meters 0.027887610140177366 Centerline is valid? [True, True] Translation: X:-41.84, Y:3.47, Z:-1.76 [[ 9.96116734e-01 6.42286640e-02 -6.02173675e-02 -4.18390863e+01] [-6.39610491e-02 9.97932109e-01 6.36319408e-03 3.47121706e+00] [ 6.05015440e-02 -2.48691811e-03 9.98165006e-01 -1.75506151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.85534707 meters 0.028253492405678107 Centerline is valid? [True, True] Translation: X:-41.87, Y:3.47, Z:-1.75 [[ 9.96288834e-01 6.27751780e-02 -5.88883380e-02 -4.18692427e+01] [-6.25156881e-02 9.98024472e-01 6.24031836e-03 3.46606013e+00] [ 5.91637395e-02 -2.53571454e-03 9.98245071e-01 -1.75150005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88534707 meters 0.028253492405678107 Centerline is valid? [True, True] Translation: X:-41.90, Y:3.47, Z:-1.75 [[ 9.96266984e-01 6.31226750e-02 -5.88865364e-02 -4.18964328e+01] [-6.28627900e-02 9.98002563e-01 6.25727499e-03 3.46871138e+00] [ 5.91638902e-02 -2.53214451e-03 9.98245071e-01 -1.75296804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91534707 meters 0.02909226805573767 Centerline is valid? [True, True] Translation: X:-41.92, Y:3.47, Z:-1.75 [[ 9.96266154e-01 6.31193536e-02 -5.89041325e-02 -4.19247194e+01] [-6.28580764e-02 9.98002718e-01 6.27990565e-03 3.46532834e+00] [ 5.91828679e-02 -2.55385700e-03 9.98243891e-01 -1.75410311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.945347070000004 meters 0.029735689978403385 Centerline is valid? [True, True] Translation: X:-41.95, Y:3.46, Z:-1.75 [[ 9.96380599e-01 6.09501529e-02 -5.92518376e-02 -4.19538942e+01] [-6.06807980e-02 9.98137111e-01 6.33633841e-03 3.46333991e+00] [ 5.95276588e-02 -2.71795587e-03 9.98222956e-01 -1.75408142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.97534707 meters 0.028912020008548363 Centerline is valid? [True, True] Translation: X:-41.98, Y:3.46, Z:-1.75 [[ 9.96468387e-01 5.95889727e-02 -5.91600169e-02 -4.19817705e+01] [-5.93177510e-02 9.98219071e-01 6.33172939e-03 3.46490554e+00] [ 5.94319584e-02 -2.80012901e-03 9.98228432e-01 -1.75194637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00534707 meters 0.0313343365710404 Centerline is valid? [True, True] Translation: X:-42.01, Y:3.46, Z:-1.75 [[ 9.96594979e-01 5.67643480e-02 -5.98018158e-02 -4.20113934e+01] [-5.64817341e-02 9.98383075e-01 6.40702495e-03 3.45787541e+00] [ 6.00688113e-02 -3.00749863e-03 9.98189708e-01 -1.75344103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03534707 meters 0.03126998459829705 Centerline is valid? [True, True] Translation: X:-42.04, Y:3.46, Z:-1.75 [[ 9.96725065e-01 5.63746906e-02 -5.79744747e-02 -4.20396220e+01] [-5.61081513e-02 9.98405344e-01 6.21638578e-03 3.45630978e+00] [ 5.82324722e-02 -2.94318692e-03 9.98298711e-01 -1.74979968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06534707 meters 0.03179978624556517 Centerline is valid? [True, True] Translation: X:-42.07, Y:3.45, Z:-1.75 [[ 9.96995473e-01 5.29294884e-02 -5.65552523e-02 -4.20696840e+01] [-5.26700067e-02 9.98593524e-01 6.06992535e-03 3.45214676e+00] [ 5.67969868e-02 -3.07292258e-03 9.98381019e-01 -1.74858250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09534707 meters 0.03488990550848715 Centerline is valid? [True, True] Translation: X:-42.10, Y:3.45, Z:-1.75 [[ 9.97239189e-01 4.70047802e-02 -5.74852136e-02 -4.21013018e+01] [-4.67267394e-02 9.98888641e-01 6.17211465e-03 3.44540824e+00] [ 5.77114457e-02 -3.46897802e-03 9.98327279e-01 -1.75102843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.125347070000004 meters 0.03503837953756343 Centerline is valid? [True, True] Translation: X:-42.13, Y:3.45, Z:-1.75 [[ 9.97442054e-01 4.24719161e-02 -5.74933467e-02 -4.21308734e+01] [-4.21862736e-02 9.99090690e-01 6.17345479e-03 3.44534876e+00] [ 5.77032659e-02 -3.73223337e-03 9.98326802e-01 -1.75171557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.15534707 meters 0.035597856625079534 Centerline is valid? [True, True] Translation: X:-42.16, Y:3.44, Z:-1.75 [[ 9.97504108e-01 4.09844405e-02 -5.74963417e-02 -4.21601840e+01] [-4.06961776e-02 9.99152480e-01 6.17606288e-03 3.44363504e+00] [ 5.77007349e-02 -3.82076677e-03 9.98326613e-01 -1.75431067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.18534707 meters 0.03555176873724999 Centerline is valid? [True, True] Translation: X:-42.19, Y:3.45, Z:-1.76 [[ 9.97447789e-01 4.13906865e-02 -5.81783385e-02 -4.21873737e+01] [-4.10958338e-02 9.99135624e-01 6.25595175e-03 3.44508231e+00] [ 5.83869887e-02 -3.84909791e-03 9.98286604e-01 -1.75890055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.21534707 meters 0.03288264603688787 Centerline is valid? [True, True] Translation: X:-42.22, Y:3.46, Z:-1.76 [[ 9.96933967e-01 5.02456142e-02 -5.99836936e-02 -4.22159158e+01] [-4.99468938e-02 9.98730918e-01 6.46998254e-03 3.45753187e+00] [ 6.02326576e-02 -3.45414618e-03 9.98178389e-01 -1.76213531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.24534707 meters 0.029015765337848786 Centerline is valid? [True, True] Translation: X:-42.24, Y:3.47, Z:-1.75 [[ 9.96616242e-01 6.02702845e-02 -5.58888167e-02 -4.22443914e+01] [-6.00266513e-02 9.98178566e-01 6.02930145e-03 3.47012652e+00] [ 5.61504066e-02 -2.65408124e-03 9.98418794e-01 -1.75067362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27534707 meters 0.029384546449868577 Centerline is valid? [True, True] Translation: X:-42.27, Y:3.48, Z:-1.75 [[ 9.96421850e-01 6.32010598e-02 -5.61170476e-02 -4.22733439e+01] [-6.29600605e-02 9.97997685e-01 6.05397992e-03 3.47582930e+00] [ 5.63873016e-02 -2.49918516e-03 9.98405842e-01 -1.74815157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.30534707 meters 0.0275563834523356 Centerline is valid? [True, True] Translation: X:-42.30, Y:3.49, Z:-1.76 [[ 9.95770786e-01 6.76151799e-02 -6.21991017e-02 -4.22995985e+01] [-6.73273036e-02 9.97708346e-01 6.71500511e-03 3.48971593e+00] [ 6.25105991e-02 -2.49890812e-03 9.98041172e-01 -1.75954988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.33534707 meters 0.027544182486143085 Centerline is valid? [True, True] Translation: X:-42.33, Y:3.49, Z:-1.76 [[ 9.95522539e-01 6.92565747e-02 -6.43304117e-02 -4.23280690e+01] [-6.89514695e-02 9.97595781e-01 6.95355172e-03 3.49339121e+00] [ 6.46573265e-02 -2.48674104e-03 9.97904427e-01 -1.76213406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.36534707 meters 0.028219797137227682 Centerline is valid? [True, True] Translation: X:-42.36, Y:3.50, Z:-1.76 [[ 9.95570814e-01 6.89648447e-02 -6.38952671e-02 -4.23562690e+01] [-6.86619758e-02 9.97615937e-01 6.92647543e-03 3.49610976e+00] [ 6.42206201e-02 -2.50862150e-03 9.97932572e-01 -1.76260166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39534707 meters 0.029000237520913807 Centerline is valid? [True, True] Translation: X:-42.39, Y:3.50, Z:-1.77 [[ 9.95686420e-01 6.62007557e-02 -6.50077989e-02 -4.23851348e+01] [-6.58800417e-02 9.97802523e-01 7.06712522e-03 3.49872007e+00] [ 6.53327948e-02 -2.75392410e-03 9.97859731e-01 -1.76531691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42534707 meters 0.028080813833003808 Centerline is valid? [True, True] Translation: X:-42.41, Y:3.50, Z:-1.76 [[ 9.95840981e-01 6.69160677e-02 -6.18302566e-02 -4.24138083e+01] [-6.66264182e-02 9.97755248e-01 6.73683392e-03 3.49999373e+00] [ 6.21422655e-02 -2.58928676e-03 9.98063943e-01 -1.75659066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45534707 meters 0.02943648806254167 Centerline is valid? [True, True] Translation: X:-42.44, Y:3.50, Z:-1.75 [[ 9.96150377e-01 6.14580140e-02 -6.25087043e-02 -4.24430319e+01] [-6.11508497e-02 9.98105256e-01 6.81704708e-03 3.49916350e+00] [ 6.28092285e-02 -2.96834364e-03 9.98021137e-01 -1.75381645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.48534707 meters 0.028659153508498895 Centerline is valid? [True, True] Translation: X:-42.47, Y:3.50, Z:-1.76 [[ 9.96337566e-01 6.03309877e-02 -6.05939476e-02 -4.24702004e+01] [-6.00400850e-02 9.98174069e-01 6.61180402e-03 3.50265418e+00] [ 6.08822039e-02 -2.94952296e-03 9.98140600e-01 -1.75609380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.51534707 meters 0.03235262628082574 Centerline is valid? [True, True] Translation: X:-42.50, Y:3.50, Z:-1.76 [[ 9.96551579e-01 5.57025319e-02 -6.14994183e-02 -4.25006851e+01] [-5.53934673e-02 9.98441986e-01 6.72037772e-03 3.49663081e+00] [ 6.17779435e-02 -3.29053701e-03 9.98084494e-01 -1.76220145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.54534707 meters 0.03253885598226273 Centerline is valid? [True, True] Translation: X:-42.53, Y:3.50, Z:-1.76 [[ 9.96625957e-01 5.17429388e-02 -6.37131858e-02 -4.25294218e+01] [-5.14029010e-02 9.98653704e-01 6.96578084e-03 3.49776932e+00] [ 6.39878389e-02 -3.66723542e-03 9.97943940e-01 -1.75834672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.57534707 meters 0.03256290188157896 Centerline is valid? [True, True] Translation: X:-42.56, Y:3.50, Z:-1.76 [[ 9.96825213e-01 4.77332647e-02 -6.37262129e-02 -4.25575713e+01] [-4.73846562e-02 9.98852388e-01 6.97147086e-03 3.50281196e+00] [ 6.39858510e-02 -3.92969324e-03 9.97943069e-01 -1.76132103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.60534707 meters 0.03589241510548595 Centerline is valid? [True, True] Translation: X:-42.59, Y:3.50, Z:-1.77 [[ 9.96887270e-01 4.52387883e-02 -6.45695217e-02 -4.25881446e+01] [-4.48754095e-02 9.98967590e-01 7.06771354e-03 3.50008377e+00] [ 6.48225942e-02 -4.14812993e-03 9.97888182e-01 -1.76618899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63534707 meters 0.032967387997775745 Centerline is valid? [True, True] Translation: X:-42.62, Y:3.51, Z:-1.76 [[ 9.96925087e-01 4.60730163e-02 -6.33849222e-02 -4.26154759e+01] [-4.57243961e-02 9.98929982e-01 6.94044746e-03 3.51009168e+00] [ 6.36368666e-02 -4.02086889e-03 9.97965020e-01 -1.76259034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66534707 meters 0.033898762840016236 Centerline is valid? [True, True] Translation: X:-42.64, Y:3.51, Z:-1.76 [[ 9.96995049e-01 4.55216280e-02 -6.26789653e-02 -4.26445178e+01] [-4.51790808e-02 9.98955265e-01 6.87232228e-03 3.51006840e+00] [ 6.29263217e-02 -4.01989325e-03 9.98010079e-01 -1.76112675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695347070000004 meters 0.03391585899065905 Centerline is valid? [True, True] Translation: X:-42.67, Y:3.52, Z:-1.77 [[ 9.97012392e-01 4.36825802e-02 -6.37033986e-02 -4.26719800e+01] [-4.33238016e-02 9.99036538e-01 7.00318361e-03 3.51582894e+00] [ 6.39479399e-02 -4.22238744e-03 9.97944303e-01 -1.76578388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72534707 meters 0.036670845099682305 Centerline is valid? [True, True] Translation: X:-42.70, Y:3.51, Z:-1.77 [[ 9.97054874e-01 4.02582791e-02 -6.52751798e-02 -4.27020127e+01] [-3.98738999e-02 9.99178914e-01 7.18125025e-03 3.51354902e+00] [ 6.55106880e-02 -4.55732458e-03 9.97841461e-01 -1.77013677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75534707 meters 0.03641386118386809 Centerline is valid? [True, True] Translation: X:-42.73, Y:3.52, Z:-1.77 [[ 9.97105861e-01 4.00497366e-02 -6.46213698e-02 -4.27314023e+01] [-3.96723015e-02 9.99187420e-01 7.11387925e-03 3.51532477e+00] [ 6.48537688e-02 -4.52961222e-03 9.97884498e-01 -1.76670851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78534707 meters 0.03769957837010028 Centerline is valid? [True, True] Translation: X:-42.76, Y:3.52, Z:-1.77 [[ 9.97275070e-01 3.58737246e-02 -6.44632547e-02 -4.27619936e+01] [-3.54884601e-02 9.99344780e-01 7.11200438e-03 3.51727582e+00] [ 6.46761512e-02 -4.80492303e-03 9.97894738e-01 -1.76731584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81534707 meters 0.04144740546073822 Centerline is valid? [True, True] Translation: X:-42.79, Y:3.51, Z:-1.77 [[ 9.97369868e-01 3.20929212e-02 -6.49876215e-02 -4.27929779e+01] [-3.16933192e-02 9.99471917e-01 7.17077829e-03 3.51058847e+00] [ 6.51834339e-02 -5.09224477e-03 9.97860305e-01 -1.77010020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84534707 meters 0.041043895277183655 Centerline is valid? [True, True] Translation: X:-42.82, Y:3.51, Z:-1.76 [[ 9.97526864e-01 3.12959884e-02 -6.29342209e-02 -4.28209142e+01] [-3.09195941e-02 9.99497739e-01 6.94604397e-03 3.51251864e+00] [ 6.31199949e-02 -4.98296490e-03 9.97993505e-01 -1.76121620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875347070000004 meters 0.03884292829322679 Centerline is valid? [True, True] Translation: X:-42.85, Y:3.52, Z:-1.75 [[ 9.97630740e-01 3.34975012e-02 -6.00901384e-02 -4.28490712e+01] [-3.31580015e-02 9.99428076e-01 6.63838798e-03 3.51834042e+00] [ 6.02781408e-02 -4.63019101e-03 9.98170881e-01 -1.75395006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90534707 meters 0.04209300829845107 Centerline is valid? [True, True] Translation: X:-42.88, Y:3.52, Z:-1.77 [[ 9.97728565e-01 2.24927046e-02 -6.34963626e-02 -4.28784928e+01] [-2.20910378e-02 9.99731310e-01 7.02090108e-03 3.52023397e+00] [ 6.36372209e-02 -5.60225302e-03 9.97957373e-01 -1.77094187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.93534707 meters 0.04637632042430579 Centerline is valid? [True, True] Translation: X:-42.91, Y:3.51, Z:-1.78 [[ 9.97651260e-01 1.72218185e-02 -6.62976122e-02 -4.29090071e+01] [-1.67722598e-02 9.99832456e-01 7.33159083e-03 3.51140920e+00] [ 6.64127678e-02 -6.20241005e-03 9.97772957e-01 -1.77635882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96534707 meters 0.04815255991545578 Centerline is valid? [True, True] Translation: X:-42.94, Y:3.51, Z:-1.77 [[ 9.97735658e-01 1.33627875e-02 -6.59165652e-02 -4.29394609e+01] [-1.29099077e-02 9.99890077e-01 7.29169371e-03 3.50829534e+00] [ 6.60067568e-02 -6.42420605e-03 9.97798496e-01 -1.77445482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99534707 meters 0.04538551706423794 Centerline is valid? [True, True] Translation: X:-42.97, Y:3.51, Z:-1.77 [[ 9.97906231e-01 1.21364009e-02 -6.35284319e-02 -4.29664293e+01] [-1.17131890e-02 9.99906686e-01 7.02998803e-03 3.51479236e+00] [ 6.36078226e-02 -6.27114833e-03 9.97955268e-01 -1.77308934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02534707 meters 0.04983889563420803 Centerline is valid? [True, True] Translation: X:-43.00, Y:3.51, Z:-1.78 [[ 9.97856195e-01 6.98269319e-03 -6.50711693e-02 -4.29970818e+01] [-6.52721014e-03 9.99952707e-01 7.20973488e-03 3.50852076e+00] [ 6.51184352e-02 -6.76954542e-03 9.97854580e-01 -1.77928039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05534707 meters 0.04989407761692084 Centerline is valid? [True, True] Translation: X:-43.03, Y:3.51, Z:-1.78 [[ 9.97824394e-01 4.65915594e-03 -6.57629971e-02 -4.30259834e+01] [-4.18875873e-03 9.99964662e-01 7.28898746e-03 3.50931162e+00] [ 6.57946337e-02 -6.99766417e-03 9.97808648e-01 -1.77911130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08534707 meters 0.04904020565209144 Centerline is valid? [True, True] Translation: X:-43.05, Y:3.51, Z:-1.78 [[ 9.97832499e-01 2.88116042e-03 -6.57419483e-02 -4.30544427e+01] [-2.40706513e-03 9.99970534e-01 7.28952714e-03 3.51374406e+00] [ 6.57610135e-02 -7.11548193e-03 9.97810032e-01 -1.78129251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.11534707 meters 0.04760445909289813 Centerline is valid? [True, True] Translation: X:-43.08, Y:3.52, Z:-1.78 [[ 9.97838658e-01 2.42380413e-03 -6.56668623e-02 -4.30816615e+01] [-1.94956577e-03 9.99971564e-01 7.28500034e-03 3.52000250e+00] [ 6.56826524e-02 -7.14123309e-03 9.97815009e-01 -1.78321883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14534707 meters 0.054633459459408326 Centerline is valid? [True, True] Translation: X:-43.11, Y:3.51, Z:-1.79 [[ 9.97771018e-01 8.91932204e-04 -6.67248060e-02 -4.31125929e+01] [-3.98419996e-04 9.99972472e-01 7.40917442e-03 3.50640044e+00] [ 6.67295777e-02 -7.36607501e-03 9.97743907e-01 -1.78755043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17534707 meters 0.05149620054258054 Centerline is valid? [True, True] Translation: X:-43.14, Y:3.52, Z:-1.78 [[ 9.97742209e-01 3.02024251e-03 -6.70921904e-02 -4.31409751e+01] [-2.52581169e-03 9.99969036e-01 7.45302925e-03 3.51799520e+00] [ 6.71126229e-02 -7.26673963e-03 9.97718944e-01 -1.78255045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20534707 meters 0.04697762014412855 Centerline is valid? [True, True] Translation: X:-43.17, Y:3.53, Z:-1.79 [[ 9.97775320e-01 1.06177953e-02 -6.58154453e-02 -4.31686512e+01] [-1.01582322e-02 9.99921660e-01 7.31333013e-03 3.53142992e+00] [ 6.58879407e-02 -6.62849174e-03 9.97805012e-01 -1.78561833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23534707 meters 0.0495601722566207 Centerline is valid? [True, True] Translation: X:-43.20, Y:3.53, Z:-1.79 [[ 9.97635328e-01 1.43612073e-02 -6.72124130e-02 -4.31993429e+01] [-1.38903051e-02 9.99875634e-01 7.46829643e-03 3.53015497e+00] [ 6.73113078e-02 -6.51703544e-03 9.97710738e-01 -1.79164452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.26534707 meters 0.04399889225832557 Centerline is valid? [True, True] Translation: X:-43.23, Y:3.55, Z:-1.79 [[ 9.97545885e-01 1.93897701e-02 -6.72773664e-02 -4.32267117e+01] [-1.89291920e-02 9.99792870e-01 7.47675471e-03 3.54787457e+00] [ 6.74084038e-02 -6.18489971e-03 9.97706297e-01 -1.78826538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.29534707 meters 0.043533828948778656 Centerline is valid? [True, True] Translation: X:-43.26, Y:3.55, Z:-1.79 [[ 9.97488202e-01 2.54761828e-02 -6.60927440e-02 -4.32566946e+01] [-2.50447824e-02 9.99659327e-01 7.34768672e-03 3.55263811e+00] [ 6.62574190e-02 -5.67395243e-03 9.97786430e-01 -1.78835297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.32534707 meters 0.042458775686857554 Centerline is valid? [True, True] Translation: X:-43.28, Y:3.56, Z:-1.79 [[ 9.97313001e-01 2.77229488e-02 -6.78101420e-02 -4.32844745e+01] [-2.72737985e-02 9.99599559e-01 7.54066571e-03 3.56223118e+00] [ 6.79920375e-02 -5.67096381e-03 9.97669746e-01 -1.79239576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.35534707 meters 0.0424303822579279 Centerline is valid? [True, True] Translation: X:-43.31, Y:3.57, Z:-1.79 [[ 9.97193644e-01 3.00819511e-02 -6.85559012e-02 -4.33140520e+01] [-2.96280892e-02 9.99531887e-01 7.62774805e-03 3.56594210e+00] [ 6.87532669e-02 -5.57516152e-03 9.97618116e-01 -1.79459963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38534707 meters 0.041611119255564606 Centerline is valid? [True, True] Translation: X:-43.34, Y:3.57, Z:-1.79 [[ 9.97176654e-01 3.16920499e-02 -6.80759449e-02 -4.33436772e+01] [-3.12480553e-02 9.99482938e-01 7.57729990e-03 3.57064247e+00] [ 6.82808855e-02 -5.42866567e-03 9.97651367e-01 -1.79471021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41534707 meters 0.04101161227923796 Centerline is valid? [True, True] Translation: X:-43.37, Y:3.57, Z:-1.80 [[ 9.97234904e-01 3.26188845e-02 -6.67724051e-02 -4.33723190e+01] [-3.21934002e-02 9.99453977e-01 7.43857452e-03 3.57347479e+00] [ 6.69785838e-02 -5.26837539e-03 9.97740504e-01 -1.79707167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.445347070000004 meters 0.04187605850248096 Centerline is valid? [True, True] Translation: X:-43.40, Y:3.58, Z:-1.80 [[ 9.97254272e-01 3.19495597e-02 -6.68067537e-02 -4.34008356e+01] [-3.15207955e-02 9.99475238e-01 7.46250474e-03 3.57527231e+00] [ 6.70101198e-02 -5.33621271e-03 9.97738026e-01 -1.79564353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.47534707 meters 0.043698025799917196 Centerline is valid? [True, True] Translation: X:-43.43, Y:3.57, Z:-1.80 [[ 9.97268626e-01 2.72674220e-02 -6.86423786e-02 -4.34312300e+01] [-2.68025506e-02 9.99611211e-01 7.68443451e-03 3.57187674e+00] [ 6.88252259e-02 -5.82365461e-03 9.97611735e-01 -1.80112416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50534707 meters 0.043085830953051234 Centerline is valid? [True, True] Translation: X:-43.46, Y:3.57, Z:-1.80 [[ 9.97414378e-01 2.53186909e-02 -6.72571314e-02 -4.34600474e+01] [-2.48678883e-02 9.99662375e-01 7.53159213e-03 3.57428117e+00] [ 6.74251137e-02 -5.83957545e-03 9.97707248e-01 -1.80160903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.53534707 meters 0.04837121443561478 Centerline is valid? [True, True] Translation: X:-43.49, Y:3.56, Z:-1.81 [[ 9.97448569e-01 2.07686523e-02 -6.83009176e-02 -4.34911489e+01] [-2.02929546e-02 9.99764799e-01 7.65127338e-03 3.56298494e+00] [ 6.84437599e-02 -6.24572426e-03 9.97635426e-01 -1.80784940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56534707 meters 0.04703212167874445 Centerline is valid? [True, True] Translation: X:-43.52, Y:3.56, Z:-1.81 [[ 9.97594220e-01 1.55511717e-02 -6.75568895e-02 -4.35198892e+01] [-1.50737964e-02 9.99857725e-01 7.57031608e-03 3.56362543e+00] [ 6.76650052e-02 -6.53376477e-03 9.97686703e-01 -1.80700744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59534707 meters 0.046515891041655835 Centerline is valid? [True, True] Translation: X:-43.55, Y:3.56, Z:-1.81 [[ 9.97672281e-01 1.21906532e-02 -6.70925249e-02 -4.35490368e+01] [-1.17120769e-02 9.99903120e-01 7.52181726e-03 3.56375070e+00] [ 6.71777209e-02 -6.71851577e-03 9.97718405e-01 -1.80699417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.625347070000004 meters 0.05023965151118783 Centerline is valid? [True, True] Translation: X:-43.58, Y:3.55, Z:-1.81 [[ 9.97706594e-01 7.51887963e-03 -6.72682622e-02 -4.35805223e+01] [-7.02711614e-03 9.99946852e-01 7.54412084e-03 3.55375130e+00] [ 6.73214103e-02 -7.05411722e-03 9.97706403e-01 -1.80681486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65534707 meters 0.05236827505218797 Centerline is valid? [True, True] Translation: X:-43.61, Y:3.55, Z:-1.81 [[ 9.97731379e-01 1.34674386e-03 -6.73073706e-02 -4.36113892e+01] [-8.40354826e-04 9.99971136e-01 7.55127714e-03 3.54796423e+00] [ 6.73155975e-02 -7.47758407e-03 9.97703712e-01 -1.81086547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.68534707 meters 0.05659206516416709 Centerline is valid? [True, True] Translation: X:-43.64, Y:3.54, Z:-1.81 [[ 9.97678923e-01 -3.64305535e-03 -6.79962801e-02 -4.36428906e+01] [ 4.17138039e-03 9.99962194e-01 7.62954495e-03 3.53790067e+00] [ 6.79659146e-02 -7.89547454e-03 9.97656402e-01 -1.81291770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71534707 meters 0.048825577949501896 Centerline is valid? [True, True] Translation: X:-43.67, Y:3.55, Z:-1.81 [[ 9.97820281e-01 -3.97992495e-03 -6.58699285e-02 -4.36695602e+01] [ 4.47652257e-03 9.99962650e-01 7.39318703e-03 3.55272572e+00] [ 6.58380439e-02 -7.67194017e-03 9.97800828e-01 -1.80903759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74534707 meters 0.0550912350573275 Centerline is valid? [True, True] Translation: X:-43.70, Y:3.54, Z:-1.82 [[ 9.97701111e-01 -7.85497836e-03 -6.73111602e-02 -4.37002441e+01] [ 8.38275262e-03 9.99936271e-01 7.56195300e-03 3.54015025e+00] [ 6.72474716e-02 -8.10882171e-03 9.97703375e-01 -1.81962737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77534707 meters 0.05239819106570358 Centerline is valid? [True, True] Translation: X:-43.73, Y:3.55, Z:-1.82 [[ 9.97638660e-01 -3.63928601e-03 -6.85846858e-02 -4.37295072e+01] [ 4.17763854e-03 9.99961569e-01 7.70766187e-03 3.54581676e+00] [ 6.85539996e-02 -7.97598348e-03 9.97615524e-01 -1.81724722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80534707 meters 0.05239819106570358 Centerline is valid? [True, True] Translation: X:-43.76, Y:3.55, Z:-1.82 [[ 9.97639960e-01 -3.27956042e-03 -6.85839272e-02 -4.37568792e+01] [ 3.81753243e-03 9.99962957e-01 7.71440173e-03 3.54866488e+00] [ 6.85560868e-02 -7.95801680e-03 9.97615524e-01 -1.81871984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83534707 meters 0.0580464088086302 Centerline is valid? [True, True] Translation: X:-43.79, Y:3.54, Z:-1.83 [[ 9.97560379e-01 -1.57338212e-03 -6.97912240e-02 -4.37874024e+01] [ 2.12782651e-03 9.99966762e-01 7.87069725e-03 3.54085372e+00] [ 6.97765207e-02 -7.99999935e-03 9.97530570e-01 -1.82717150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.86534707 meters 0.05038468113160704 Centerline is valid? [True, True] Translation: X:-43.82, Y:3.56, Z:-1.83 [[ 9.97566959e-01 7.80041982e-03 -6.92770920e-02 -4.38151341e+01] [-7.27624585e-03 9.99942986e-01 7.81546417e-03 3.55931631e+00] [ 6.93341061e-02 -7.29237167e-03 9.97566841e-01 -1.82512990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89534707 meters 0.046357179424571564 Centerline is valid? [True, True] Translation: X:-43.84, Y:3.57, Z:-1.83 [[ 9.97385744e-01 1.61046175e-02 -7.04437360e-02 -4.38433714e+01] [-1.55829613e-02 9.99846984e-01 7.94860978e-03 3.57223158e+00] [ 7.05609663e-02 -6.83010806e-03 9.97484085e-01 -1.82879976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92534707 meters 0.042702939273681045 Centerline is valid? [True, True] Translation: X:-43.87, Y:3.58, Z:-1.83 [[ 9.97056846e-01 2.76782290e-02 -7.14951908e-02 -4.38721808e+01] [-2.71701806e-02 9.99598256e-01 8.06900201e-03 3.58442811e+00] [ 7.16898037e-02 -6.10271645e-03 9.97408306e-01 -1.82979002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95534707 meters 0.04095957183189797 Centerline is valid? [True, True] Translation: X:-43.90, Y:3.59, Z:-1.84 [[ 9.96749022e-01 3.46367286e-02 -7.27439567e-02 -4.39016637e+01] [-3.41290261e-02 9.99383704e-01 8.21111160e-03 3.59352849e+00] [ 7.29835309e-02 -5.70173707e-03 9.97316848e-01 -1.83695123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.98534707 meters 0.03729381835448974 Centerline is valid? [True, True] Translation: X:-43.93, Y:3.61, Z:-1.84 [[ 9.96421166e-01 4.31447505e-02 -7.26869371e-02 -4.39310091e+01] [-4.26603042e-02 9.99055943e-01 8.20490391e-03 3.60608079e+00] [ 7.29723151e-02 -5.07469307e-03 9.97321056e-01 -1.83828631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01534707 meters 0.03382580680736636 Centerline is valid? [True, True] Translation: X:-43.96, Y:3.62, Z:-1.84 [[ 9.96044052e-01 5.11060873e-02 -7.26939767e-02 -4.39596221e+01] [-5.06425335e-02 9.98683123e-01 8.20690559e-03 3.61523797e+00] [ 7.30176705e-02 -4.49303235e-03 9.97320526e-01 -1.83798554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.04534707 meters 0.03191232194666643 Centerline is valid? [True, True] Translation: X:-43.99, Y:3.62, Z:-1.84 [[ 9.95672494e-01 5.67761252e-02 -7.35714338e-02 -4.39890901e+01] [-5.63165929e-02 9.98378401e-01 8.30722611e-03 3.62306322e+00] [ 7.39237825e-02 -4.12798405e-03 9.97255351e-01 -1.84029763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07534707 meters 0.03055847223362349 Centerline is valid? [True, True] Translation: X:-44.02, Y:3.63, Z:-1.85 [[ 9.95160131e-01 6.38706213e-02 -7.46783599e-02 -4.40188626e+01] [-6.34169217e-02 9.97951488e-01 8.43335871e-03 3.62848236e+00] [ 7.50640242e-02 -3.65667065e-03 9.97172012e-01 -1.84730432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10534707 meters 0.027193171868361843 Centerline is valid? [True, True] Translation: X:-44.05, Y:3.64, Z:-1.85 [[ 9.94852062e-01 6.88085373e-02 -7.43959721e-02 -4.40474773e+01] [-6.83719642e-02 9.97624517e-01 8.40225894e-03 3.63718429e+00] [ 7.47973929e-02 -3.27240588e-03 9.97193382e-01 -1.84654062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13534707 meters 0.0277597474856787 Centerline is valid? [True, True] Translation: X:-44.08, Y:3.64, Z:-1.85 [[ 9.94748790e-01 6.95806079e-02 -7.50558669e-02 -4.40750420e+01] [-6.91377447e-02 9.97571032e-01 8.48582418e-03 3.63793996e+00] [ 7.54640074e-02 -3.25206998e-03 9.97143223e-01 -1.85342455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.16534707 meters 0.027078877040659245 Centerline is valid? [True, True] Translation: X:-44.10, Y:3.64, Z:-1.85 [[ 9.94580745e-01 7.25693815e-02 -7.44501553e-02 -4.41044504e+01] [-7.21404253e-02 9.97358789e-01 8.43829630e-03 3.63986654e+00] [ 7.48658787e-02 -3.02170116e-03 9.97189034e-01 -1.85499838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195347070000004 meters 0.026109223869121997 Centerline is valid? [True, True] Translation: X:-44.13, Y:3.64, Z:-1.86 [[ 9.94426561e-01 7.38819514e-02 -7.52148452e-02 -4.41317362e+01] [-7.34473745e-02 9.97262603e-01 8.53138944e-03 3.64251801e+00] [ 7.56392680e-02 -2.95950735e-03 9.97130855e-01 -1.85883876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.22534707 meters 0.02533088657673986 Centerline is valid? [True, True] Translation: X:-44.16, Y:3.64, Z:-1.86 [[ 9.94309708e-01 7.55951600e-02 -7.50571493e-02 -4.41608129e+01] [-7.51660131e-02 9.97134548e-01 8.53015521e-03 3.64156209e+00] [ 7.54869151e-02 -2.83986947e-03 9.97142748e-01 -1.86007716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.25534707 meters 0.02519494909342872 Centerline is valid? [True, True] Translation: X:-44.19, Y:3.64, Z:-1.86 [[ 9.94177405e-01 7.77665239e-02 -7.45899075e-02 -4.41888891e+01] [-7.73473027e-02 9.96968001e-01 8.49706251e-03 3.64350025e+00] [ 7.50245379e-02 -2.67825941e-03 9.97178091e-01 -1.85958729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28534707 meters 0.023850601563236113 Centerline is valid? [True, True] Translation: X:-44.22, Y:3.65, Z:-1.86 [[ 9.94083417e-01 7.81474745e-02 -7.54395909e-02 -4.42162870e+01] [-7.77190188e-02 9.96938183e-01 8.60308793e-03 3.64540727e+00] [ 7.58809183e-02 -2.68909606e-03 9.97113261e-01 -1.86163652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31534707 meters 0.025452363047993296 Centerline is valid? [True, True] Translation: X:-44.25, Y:3.64, Z:-1.87 [[ 9.93908145e-01 7.96072274e-02 -7.62186847e-02 -4.42457273e+01] [-7.91729941e-02 9.96822867e-01 8.70680180e-03 3.63903049e+00] [ 7.66696522e-02 -2.61929976e-03 9.97053110e-01 -1.87078122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34534707 meters 0.024531479422579428 Centerline is valid? [True, True] Translation: X:-44.27, Y:3.64, Z:-1.87 [[ 9.93762421e-01 8.19910535e-02 -7.55891420e-02 -4.42747422e+01] [-8.15689016e-02 9.96630077e-01 8.66051396e-03 3.63838767e+00] [ 7.60444971e-02 -2.44077003e-03 9.97101438e-01 -1.87281277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375347070000004 meters 0.025396449050738082 Centerline is valid? [True, True] Translation: X:-44.30, Y:3.64, Z:-1.88 [[ 9.93725471e-01 8.15491009e-02 -7.65469241e-02 -4.43027700e+01] [-8.11129908e-02 9.96666114e-01 8.79435059e-03 3.63996186e+00] [ 7.70088968e-02 -2.53022024e-03 9.97027195e-01 -1.88008770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40534707 meters 0.02272635924316978 Centerline is valid? [True, True] Translation: X:-44.33, Y:3.64, Z:-1.88 [[ 9.93386591e-01 8.63574636e-02 -7.56668257e-02 -4.43315029e+01] [-8.59438795e-02 9.96261895e-01 8.71125198e-03 3.64499425e+00] [ 7.61362568e-02 -2.15054035e-03 9.97095104e-01 -1.87706672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.43534707 meters 0.022343370524812476 Centerline is valid? [True, True] Translation: X:-44.36, Y:3.65, Z:-1.88 [[ 9.93036600e-01 8.99313092e-02 -7.60964560e-02 -4.43600652e+01] [-8.95225999e-02 9.95946161e-01 8.77207526e-03 3.64648195e+00] [ 7.65768574e-02 -1.89863920e-03 9.97061874e-01 -1.88175966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46534707 meters 0.021320152355738534 Centerline is valid? [True, True] Translation: X:-44.39, Y:3.65, Z:-1.88 [[ 9.92756744e-01 9.32091804e-02 -7.58030125e-02 -4.43878310e+01] [-9.28116207e-02 9.95645165e-01 8.75832491e-03 3.64980890e+00] [ 7.62892592e-02 -1.65948567e-03 9.97084347e-01 -1.88201773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49534707 meters 0.020234901082489508 Centerline is valid? [True, True] Translation: X:-44.42, Y:3.65, Z:-1.88 [[ 9.92367304e-01 9.79010992e-02 -7.49833844e-02 -4.44157850e+01] [-9.75247170e-02 9.95195307e-01 8.67357325e-03 3.65345854e+00] [ 7.54722646e-02 -1.29463715e-03 9.97147061e-01 -1.88225757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52534707 meters 0.019403245529016296 Centerline is valid? [True, True] Translation: X:-44.44, Y:3.66, Z:-1.88 [[ 9.92004546e-01 1.02068793e-01 -7.42222454e-02 -4.44438153e+01] [-1.01710786e-01 9.94776861e-01 8.59730873e-03 3.65661958e+00] [ 7.47120892e-02 -9.79366447e-04 9.97204665e-01 -1.88443685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55534707 meters 0.019200176558858913 Centerline is valid? [True, True] Translation: X:-44.47, Y:3.66, Z:-1.89 [[ 9.91760525e-01 1.04472520e-01 -7.41387406e-02 -4.44723628e+01] [-1.04121050e-01 9.94527443e-01 8.60064381e-03 3.65955623e+00] [ 7.46315431e-02 -8.10375470e-04 9.97210848e-01 -1.88679272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58534707 meters 0.018540435641337262 Centerline is valid? [True, True] Translation: X:-44.50, Y:3.66, Z:-1.89 [[ 9.91344545e-01 1.08799676e-01 -7.34753242e-02 -4.44996477e+01] [-1.08464794e-01 9.94063569e-01 8.54453307e-03 3.66380607e+00] [ 7.39687855e-02 -5.01090330e-04 9.97260431e-01 -1.88765709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.61534707 meters 0.01863821381452521 Centerline is valid? [True, True] Translation: X:-44.53, Y:3.66, Z:-1.89 [[ 9.91270551e-01 1.08972136e-01 -7.42143337e-02 -4.45276458e+01] [-1.08629699e-01 9.94044674e-01 8.64725750e-03 3.66496644e+00] [ 7.47146733e-02 -5.09891000e-04 9.97204822e-01 -1.89404091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64534707 meters 0.018516417009227754 Centerline is valid? [True, True] Translation: X:-44.56, Y:3.67, Z:-1.89 [[ 9.90867499e-01 1.12752362e-01 -7.39493388e-02 -4.45553157e+01] [-1.12421363e-01 9.93623090e-01 8.63666901e-03 3.66830799e+00] [ 7.44515754e-02 -2.44309167e-04 9.97224600e-01 -1.89280369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67534707 meters 0.018270147647397997 Centerline is valid? [True, True] Translation: X:-44.58, Y:3.67, Z:-1.89 [[ 9.90483094e-01 1.16613084e-01 -7.31069772e-02 -4.45840980e+01] [-1.16299114e-01 9.93177420e-01 8.55151849e-03 3.67098616e+00] [ 7.36054179e-02 3.21421520e-05 9.97287442e-01 -1.89387854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70534707 meters 0.018030220834192263 Centerline is valid? [True, True] Translation: X:-44.61, Y:3.67, Z:-1.90 [[ 9.90306617e-01 1.18150149e-01 -7.30297708e-02 -4.46116850e+01] [-1.17839092e-01 9.92995734e-01 8.56858154e-03 3.67440797e+00] [ 7.35306301e-02 1.20238861e-04 9.97292952e-01 -1.90215719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73534707 meters 0.01820476069893885 Centerline is valid? [True, True] Translation: X:-44.64, Y:3.68, Z:-1.90 [[ 9.90240627e-01 1.18663030e-01 -7.30929921e-02 -4.46388502e+01] [-1.18351014e-01 9.92934574e-01 8.60058723e-03 3.67625762e+00] [ 7.35971307e-02 1.33978829e-04 9.97288045e-01 -1.90456964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.765347070000004 meters 0.017885418370530887 Centerline is valid? [True, True] Translation: X:-44.67, Y:3.68, Z:-1.90 [[ 9.89904021e-01 1.22008652e-01 -7.21381913e-02 -4.46659824e+01] [-1.21712763e-01 9.92528969e-01 8.49990678e-03 3.68020811e+00] [ 7.26363068e-02 3.66046686e-04 9.97358428e-01 -1.90487341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.79534707 meters 0.01816451443923846 Centerline is valid? [True, True] Translation: X:-44.69, Y:3.68, Z:-1.91 [[ 9.89579087e-01 1.24716737e-01 -7.19650341e-02 -4.46935505e+01] [-1.24428352e-01 9.92192237e-01 8.49416566e-03 3.68212368e+00] [ 7.24625128e-02 5.48841926e-04 9.97370986e-01 -1.90902671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82534707 meters 0.018182966684873153 Centerline is valid? [True, True] Translation: X:-44.72, Y:3.68, Z:-1.91 [[ 9.89515333e-01 1.25379965e-01 -7.16887063e-02 -4.47206683e+01] [-1.25093693e-01 9.92108633e-01 8.48694479e-03 3.68379368e+00] [ 7.21870772e-02 5.69843012e-04 9.97390947e-01 -1.91057018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85534707 meters 0.018141467046757155 Centerline is valid? [True, True] Translation: X:-44.75, Y:3.69, Z:-1.91 [[ 9.89277499e-01 1.27091776e-01 -7.19563112e-02 -4.47480486e+01] [-1.26806576e-01 9.91890729e-01 8.53659537e-03 3.68629018e+00] [ 7.24577291e-02 6.79471730e-04 9.97371253e-01 -1.91457056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88534707 meters 0.018826972759436806 Centerline is valid? [True, True] Translation: X:-44.78, Y:3.69, Z:-1.92 [[ 9.89113908e-01 1.29209975e-01 -7.04163330e-02 -4.47755877e+01] [-1.28940137e-01 9.91616943e-01 8.38325078e-03 3.69036975e+00] [ 7.09092285e-02 7.87501659e-04 9.97482462e-01 -1.92176354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91534707 meters 0.01853118807729632 Centerline is valid? [True, True] Translation: X:-44.80, Y:3.69, Z:-1.92 [[ 9.89022162e-01 1.29808084e-01 -7.06047072e-02 -4.48049236e+01] [-1.29536720e-01 9.91538807e-01 8.42813491e-03 3.69318586e+00] [ 7.11013472e-02 8.10289952e-04 9.97468767e-01 -1.92428579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.945347070000004 meters 0.018898538956755005 Centerline is valid? [True, True] Translation: X:-44.84, Y:3.70, Z:-1.93 [[ 9.88882297e-01 1.30268707e-01 -7.17068162e-02 -4.48351319e+01] [-1.29989915e-01 9.91478357e-01 8.56094184e-03 3.69700618e+00] [ 7.22109791e-02 8.55399104e-04 9.97389013e-01 -1.92845316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.97534707 meters 0.01902571227748226 Centerline is valid? [True, True] Translation: X:-44.86, Y:3.70, Z:-1.93 [[ 9.88675435e-01 1.32770491e-01 -6.99491253e-02 -4.48639673e+01] [-1.32511469e-01 9.91146292e-01 8.35100265e-03 3.70095736e+00] [ 7.04385829e-02 1.01263020e-03 9.97515604e-01 -1.93038529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.00534707 meters 0.019419168996723437 Centerline is valid? [True, True] Translation: X:-44.90, Y:3.71, Z:-1.93 [[ 9.88518673e-01 1.33913563e-01 -6.99856455e-02 -4.48955926e+01] [-1.33657211e-01 9.90992410e-01 8.35422451e-03 3.70514427e+00] [ 7.04739875e-02 1.09577929e-03 9.97513016e-01 -1.93032916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.03534707 meters 0.019273611280139685 Centerline is valid? [True, True] Translation: X:-44.93, Y:3.71, Z:-1.93 [[ 9.88201816e-01 1.36832560e-01 -6.88042323e-02 -4.49255562e+01] [-1.36592011e-01 9.90593359e-01 8.21100548e-03 3.70635162e+00] [ 6.92805485e-02 1.28397791e-03 9.97596390e-01 -1.92768753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06534707 meters 0.02011764528872156 Centerline is valid? [True, True] Translation: X:-44.96, Y:3.71, Z:-1.93 [[ 9.88172277e-01 1.37287085e-01 -6.83213466e-02 -4.49562054e+01] [-1.37050948e-01 9.90530439e-01 8.15396345e-03 3.71167131e+00] [ 6.87938073e-02 1.30598467e-03 9.97630045e-01 -1.93130875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09534707 meters 0.020563751498629483 Centerline is valid? [True, True] Translation: X:-44.99, Y:3.72, Z:-1.94 [[ 9.88299117e-01 1.36024815e-01 -6.90080084e-02 -4.49871359e+01] [-1.35781142e-01 9.90704661e-01 8.23144173e-03 3.71703978e+00] [ 6.94862359e-02 1.23485961e-03 9.97582146e-01 -1.94129749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.125347070000004 meters 0.0194558017630017 Centerline is valid? [True, True] Translation: X:-45.02, Y:3.72, Z:-1.94 [[ 9.87986305e-01 1.38867047e-01 -6.78159648e-02 -4.50179529e+01] [-1.38638858e-01 9.90310021e-01 8.08267879e-03 3.71615418e+00] [ 6.82812472e-02 1.41635197e-03 9.97665107e-01 -1.94103534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.15534707 meters 0.020094914783523442 Centerline is valid? [True, True] Translation: X:-45.05, Y:3.72, Z:-1.95 [[ 9.88278600e-01 1.36240911e-01 -6.88754194e-02 -4.50492304e+01] [-1.35999646e-01 9.90674933e-01 8.20198296e-03 3.72151736e+00] [ 6.93505971e-02 1.26118845e-03 9.97591552e-01 -1.94601753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.18534707 meters 0.02205077235814855 Centerline is valid? [True, True] Translation: X:-45.08, Y:3.73, Z:-1.95 [[ 9.87927435e-01 1.39151473e-01 -6.80900154e-02 -4.50811224e+01] [-1.38923114e-01 9.90270037e-01 8.10073307e-03 3.72922992e+00] [ 6.85547311e-02 1.45634051e-03 9.97646294e-01 -1.94924163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21534707 meters 0.02082951162811338 Centerline is valid? [True, True] Translation: X:-45.11, Y:3.73, Z:-1.95 [[ 9.87640822e-01 1.41133643e-01 -6.81681814e-02 -4.51119717e+01] [-1.40910044e-01 9.89989253e-01 8.10169936e-03 3.73109205e+00] [ 6.86291894e-02 1.60401241e-03 9.97640948e-01 -1.94821007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24534707 meters 0.02218651869168629 Centerline is valid? [True, True] Translation: X:-45.14, Y:3.74, Z:-1.95 [[ 9.87698756e-01 1.40679271e-01 -6.82679263e-02 -4.51430270e+01] [-1.40454311e-01 9.90053961e-01 8.10808295e-03 3.73806280e+00] [ 6.87295701e-02 1.58018109e-03 9.97634076e-01 -1.95448329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27534707 meters 0.02351334058750115 Centerline is valid? [True, True] Translation: X:-45.17, Y:3.74, Z:-1.95 [[ 9.86844725e-01 1.47701838e-01 -6.57393029e-02 -4.51737446e+01] [-1.47509179e-01 9.89029916e-01 7.80174318e-03 3.74362024e+00] [ 6.61704690e-02 1.99804151e-03 9.97806332e-01 -1.95185246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.30534707 meters 0.024740593732840314 Centerline is valid? [True, True] Translation: X:-45.21, Y:3.75, Z:-1.96 [[ 9.86412793e-01 1.50251458e-01 -6.64402123e-02 -4.52058965e+01] [-1.50060806e-01 9.88645371e-01 7.87939829e-03 3.74860107e+00] [ 6.68696995e-02 2.19773257e-03 9.97759296e-01 -1.95511109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33534707 meters 0.024168358466264302 Centerline is valid? [True, True] Translation: X:-45.24, Y:3.76, Z:-1.96 [[ 9.86193396e-01 1.51341265e-01 -6.72190962e-02 -4.52364867e+01] [-1.51149199e-01 9.88478883e-01 7.96355285e-03 3.75564552e+00] [ 6.76498713e-02 2.30650929e-03 9.97706457e-01 -1.96162752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.36534707 meters 0.024249816895433082 Centerline is valid? [True, True] Translation: X:-45.27, Y:3.76, Z:-1.96 [[ 9.85887662e-01 1.53322263e-01 -6.72145951e-02 -4.52669626e+01] [-1.53135155e-01 9.88173211e-01 7.95798630e-03 3.76046605e+00] [ 6.76397987e-02 2.44723695e-03 9.97706805e-01 -1.96286870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39534707 meters 0.02557786387901713 Centerline is valid? [True, True] Translation: X:-45.30, Y:3.77, Z:-1.97 [[ 9.85149279e-01 1.58263607e-01 -6.65847492e-02 -4.52973897e+01] [-1.58091555e-01 9.87393025e-01 7.87868253e-03 3.76835434e+00] [ 6.69922256e-02 2.76480814e-03 9.97749667e-01 -1.96812377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42534707 meters 0.029389267505849283 Centerline is valid? [True, True] Translation: X:-45.33, Y:3.78, Z:-1.98 [[ 9.85040220e-01 1.58994855e-01 -6.64560101e-02 -4.53282175e+01] [-1.58825405e-01 9.87275403e-01 7.85930272e-03 3.78158192e+00] [ 6.68599728e-02 2.81317341e-03 9.97758403e-01 -1.97529380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45534707 meters 0.027166355758369457 Centerline is valid? [True, True] Translation: X:-45.36, Y:3.78, Z:-1.97 [[ 9.83855132e-01 1.66290293e-01 -6.61560053e-02 -4.53585648e+01] [-1.66139155e-01 9.86071323e-01 7.81833036e-03 3.77934792e+00] [ 6.65346522e-02 3.29899837e-03 9.97778661e-01 -1.97148285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48534707 meters 0.028122465937378445 Centerline is valid? [True, True] Translation: X:-45.39, Y:3.79, Z:-1.97 [[ 9.83306400e-01 1.69621075e-01 -6.58575345e-02 -4.53893044e+01] [-1.69478780e-01 9.85503109e-01 7.78235672e-03 3.78540367e+00] [ 6.62228567e-02 3.50901345e-03 9.97798687e-01 -1.97218412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515347070000004 meters 0.03006756637468061 Centerline is valid? [True, True] Translation: X:-45.42, Y:3.80, Z:-1.98 [[ 9.83139611e-01 1.70356480e-01 -6.64467864e-02 -4.54201186e+01] [-1.70213598e-01 9.85375942e-01 7.84758766e-03 3.79513888e+00] [ 6.68119521e-02 3.59487227e-03 9.97759109e-01 -1.98086660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.54534707 meters 0.03226412332034044 Centerline is valid? [True, True] Translation: X:-45.45, Y:3.81, Z:-1.99 [[ 9.82971430e-01 1.71375721e-01 -6.63138732e-02 -4.54515275e+01] [-1.71236222e-01 9.85198932e-01 7.82434533e-03 3.80549366e+00] [ 6.66732598e-02 3.66422921e-03 9.97768134e-01 -1.98615558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.57534707 meters 0.03537843957276364 Centerline is valid? [True, True] Translation: X:-45.48, Y:3.82, Z:-1.99 [[ 9.82030440e-01 1.77020835e-01 -6.54204702e-02 -4.54811086e+01] [-1.76897971e-01 9.84198979e-01 7.71215854e-03 3.81517987e+00] [ 6.57519727e-02 3.99917397e-03 9.97827984e-01 -1.98514029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60534707 meters 0.031210840956157976 Centerline is valid? [True, True] Translation: X:-45.51, Y:3.81, Z:-1.99 [[ 9.81136803e-01 1.81692514e-01 -6.60182130e-02 -4.55115980e+01] [-1.81577906e-01 9.83345765e-01 7.78266203e-03 3.80985607e+00] [ 6.63327816e-02 4.35159275e-03 9.97788067e-01 -1.98652384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63534707 meters 0.03375443929096569 Centerline is valid? [True, True] Translation: X:-45.54, Y:3.82, Z:-1.99 [[ 9.81075568e-01 1.82182225e-01 -6.55771763e-02 -4.55428153e+01] [-1.82070551e-01 9.83255118e-01 7.72579315e-03 3.81948393e+00] [ 6.58865964e-02 4.36008570e-03 9.97817592e-01 -1.99264399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66534707 meters 0.033817009616544484 Centerline is valid? [True, True] Translation: X:-45.57, Y:3.82, Z:-1.99 [[ 9.80579658e-01 1.84846015e-01 -6.55399443e-02 -4.55732132e+01] [-1.84741765e-01 9.82756930e-01 7.70043431e-03 3.82293779e+00] [ 6.58332290e-02 4.55707572e-03 9.97820234e-01 -1.99244285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695347070000004 meters 0.033817009616544484 Centerline is valid? [True, True] Translation: X:-45.61, Y:3.83, Z:-1.99 [[ 9.80657719e-01 1.84431158e-01 -6.55407262e-02 -4.56056657e+01] [-1.84326430e-01 9.82834967e-01 7.69376843e-03 3.82703514e+00] [ 6.58346881e-02 4.53593464e-03 9.97820234e-01 -1.99419224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72534707 meters 0.034783600172734304 Centerline is valid? [True, True] Translation: X:-45.64, Y:3.83, Z:-2.00 [[ 9.80628182e-01 1.84516985e-01 -6.57407903e-02 -4.56375251e+01] [-1.84413635e-01 9.82818641e-01 7.68965984e-03 3.83283526e+00] [ 6.60301470e-02 4.58280096e-03 9.97807104e-01 -1.99830881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75534707 meters 0.03326840099696399 Centerline is valid? [True, True] Translation: X:-45.67, Y:3.83, Z:-2.00 [[ 9.79985617e-01 1.88483788e-01 -6.40472666e-02 -4.56691632e+01] [-1.88395364e-01 9.82064844e-01 7.47188739e-03 3.82640176e+00] [ 6.43068985e-02 4.74386596e-03 9.97918894e-01 -1.99671215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78534707 meters 0.03492434535967976 Centerline is valid? [True, True] Translation: X:-45.70, Y:3.84, Z:-2.01 [[ 9.80708696e-01 1.83743126e-01 -6.67002014e-02 -4.56987239e+01] [-1.83636462e-01 9.82963442e-01 7.77958965e-03 3.83806703e+00] [ 6.69933056e-02 4.61907777e-03 9.97742733e-01 -2.00620152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81534707 meters 0.03329725710854227 Centerline is valid? [True, True] Translation: X:-45.73, Y:3.84, Z:-2.01 [[ 9.81239605e-01 1.80972900e-01 -6.64653820e-02 -4.57293682e+01] [-1.80860825e-01 9.83478166e-01 7.74977506e-03 3.83667314e+00] [ 6.67697512e-02 4.41659758e-03 9.97758635e-01 -2.00844409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84534707 meters 0.032587871771130164 Centerline is valid? [True, True] Translation: X:-45.76, Y:3.84, Z:-2.01 [[ 9.81838449e-01 1.78195780e-01 -6.51116262e-02 -4.57605617e+01] [-1.78082421e-01 9.83986321e-01 7.58760925e-03 3.83713564e+00] [ 6.54210295e-02 4.14542955e-03 9.97849139e-01 -2.00957032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875347070000004 meters 0.03167464898335099 Centerline is valid? [True, True] Translation: X:-45.79, Y:3.84, Z:-2.01 [[ 9.82039841e-01 1.77936109e-01 -6.27414618e-02 -4.57926701e+01] [-1.77830611e-01 9.84033986e-01 7.30669620e-03 3.83618632e+00] [ 6.30398558e-02 3.98188572e-03 9.98003067e-01 -2.00787897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90534707 meters 0.028837226101415984 Centerline is valid? [True, True] Translation: X:-45.82, Y:3.83, Z:-2.01 [[ 9.82729596e-01 1.74084892e-01 -6.27454493e-02 -4.58235694e+01] [-1.73972741e-01 9.84723496e-01 7.28851323e-03 3.83306814e+00] [ 6.30557382e-02 3.75336016e-03 9.98002949e-01 -2.01000816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.93534707 meters 0.027292607391515827 Centerline is valid? [True, True] Translation: X:-45.85, Y:3.83, Z:-2.02 [[ 9.84086683e-01 1.66296224e-01 -6.26016396e-02 -4.58545637e+01] [-1.66168968e-01 9.86070493e-01 7.27027771e-03 3.83107816e+00] [ 6.29386493e-02 3.24786637e-03 9.98012113e-01 -2.01708361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96534707 meters 0.027982627374452985 Centerline is valid? [True, True] Translation: X:-45.89, Y:3.83, Z:-2.02 [[ 9.84436095e-01 1.64264554e-01 -6.24718493e-02 -4.58868729e+01] [-1.64133832e-01 9.86411408e-01 7.25384703e-03 3.83380112e+00] [ 6.28144948e-02 3.11279520e-03 9.98020365e-01 -2.01660439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99534707 meters 0.02423832197756963 Centerline is valid? [True, True] Translation: X:-45.92, Y:3.83, Z:-2.02 [[ 9.84807466e-01 1.62467060e-01 -6.13083101e-02 -4.59201195e+01] [-1.62338085e-01 9.86709563e-01 7.11231114e-03 3.82648849e+00] [ 6.16490122e-02 2.94841652e-03 9.98093536e-01 -2.01888863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02534707 meters 0.02286907825491551 Centerline is valid? [True, True] Translation: X:-45.95, Y:3.83, Z:-2.02 [[ 9.85878947e-01 1.55445934e-01 -6.22837278e-02 -4.59508877e+01] [-1.55299256e-01 9.87841095e-01 7.21882576e-03 3.82597337e+00] [ 6.26485630e-02 2.55572823e-03 9.98032377e-01 -2.02488447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05534707 meters 0.0231642373312193 Centerline is valid? [True, True] Translation: X:-45.98, Y:3.83, Z:-2.03 [[ 9.86463780e-01 1.51256397e-01 -6.33301923e-02 -4.59832115e+01] [-1.51096443e-01 9.88491810e-01 7.33523012e-03 3.82892570e+00] [ 6.37108769e-02 2.33302793e-03 9.97965671e-01 -2.02542164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08534707 meters 0.021337866790433365 Centerline is valid? [True, True] Translation: X:-46.01, Y:3.83, Z:-2.03 [[ 9.86578699e-01 1.50772163e-01 -6.26915072e-02 -4.60148068e+01] [-1.50614945e-01 9.88565894e-01 7.25332502e-03 3.82917229e+00] [ 6.30682854e-02 2.28630192e-03 9.98006595e-01 -2.03042085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.11534707 meters 0.02270841525547555 Centerline is valid? [True, True] Translation: X:-46.05, Y:3.84, Z:-2.03 [[ 9.86488954e-01 1.51224961e-01 -6.30123346e-02 -4.60469163e+01] [-1.51067448e-01 9.88496619e-01 7.28419893e-03 3.83678697e+00] [ 6.33890324e-02 2.33333079e-03 9.97986165e-01 -2.03053632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14534707 meters 0.024354129510417717 Centerline is valid? [True, True] Translation: X:-46.08, Y:3.84, Z:-2.03 [[ 9.85816154e-01 1.55557589e-01 -6.29948243e-02 -4.60774788e+01] [-1.55409645e-01 9.87823347e-01 7.27169353e-03 3.84428910e+00] [ 6.33589253e-02 2.62145036e-03 9.97987362e-01 -2.03332163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17534707 meters 0.024006305966918114 Centerline is valid? [True, True] Translation: X:-46.11, Y:3.85, Z:-2.03 [[ 9.85654288e-01 1.56368966e-01 -6.35167058e-02 -4.61089115e+01] [-1.56220473e-01 9.87695024e-01 7.32832244e-03 3.84684202e+00] [ 6.38810564e-02 2.69941738e-03 9.97953869e-01 -2.03423293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20534707 meters 0.02366129406888733 Centerline is valid? [True, True] Translation: X:-46.14, Y:3.85, Z:-2.04 [[ 9.84241766e-01 1.65684187e-01 -6.17810404e-02 -4.61387694e+01] [-1.65562203e-01 9.86173617e-01 7.12416948e-03 3.84677637e+00] [ 6.21071943e-02 3.21670002e-03 9.98064301e-01 -2.03543925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23534707 meters 0.02584351924236385 Centerline is valid? [True, True] Translation: X:-46.17, Y:3.86, Z:-2.04 [[ 9.84871280e-01 1.61142457e-01 -6.37312402e-02 -4.61683199e+01] [-1.61003130e-01 9.86926529e-01 7.34973010e-03 3.85693463e+00] [ 6.40824052e-02 3.02239106e-03 9.97940034e-01 -2.03956310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.265347070000004 meters 0.025402630997661053 Centerline is valid? [True, True] Translation: X:-46.20, Y:3.86, Z:-2.04 [[ 9.84987292e-01 1.60864117e-01 -6.26320228e-02 -4.61991714e+01] [-1.60729140e-01 9.86972141e-01 7.22059736e-03 3.85905176e+00] [ 6.29775966e-02 2.95459454e-03 9.98010567e-01 -2.03983891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.29534707 meters 0.0274378205426744 Centerline is valid? [True, True] Translation: X:-46.23, Y:3.86, Z:-2.04 [[ 9.85120166e-01 1.60226736e-01 -6.21743674e-02 -4.62315667e+01] [-1.60092785e-01 9.87075983e-01 7.16263152e-03 3.86193861e+00] [ 6.25184699e-02 2.89761486e-03 9.98039601e-01 -2.03971211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32534707 meters 0.025796619590296287 Centerline is valid? [True, True] Translation: X:-46.26, Y:3.86, Z:-2.04 [[ 9.85580272e-01 1.57173082e-01 -6.26749535e-02 -4.62632258e+01] [-1.57031219e-01 9.87567293e-01 7.21378339e-03 3.86242110e+00] [ 6.30295467e-02 2.73216174e-03 9.98007922e-01 -2.04434085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35534707 meters 0.024740957885996315 Centerline is valid? [True, True] Translation: X:-46.30, Y:3.86, Z:-2.05 [[ 9.86064744e-01 1.53483504e-01 -6.41804793e-02 -4.62950120e+01] [-1.53327280e-01 9.88147890e-01 7.38191508e-03 3.86289155e+00] [ 6.45528074e-02 2.56157213e-03 9.97911005e-01 -2.04748714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38534707 meters 0.023544424036856342 Centerline is valid? [True, True] Translation: X:-46.33, Y:3.86, Z:-2.05 [[ 9.86335361e-01 1.52144660e-01 -6.32025189e-02 -4.63260928e+01] [-1.51990788e-01 9.88355219e-01 7.26363445e-03 3.86052470e+00] [ 6.35716627e-02 2.44182118e-03 9.97974289e-01 -2.05128654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41534707 meters 0.021241718274280872 Centerline is valid? [True, True] Translation: X:-46.36, Y:3.86, Z:-2.05 [[ 9.86576072e-01 1.50697780e-01 -6.29113140e-02 -4.63576039e+01] [-1.50543037e-01 9.88577092e-01 7.21991318e-03 3.85645679e+00] [ 6.32807087e-02 2.34786670e-03 9.97993006e-01 -2.05173831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.445347070000004 meters 0.02059868045482168 Centerline is valid? [True, True] Translation: X:-46.39, Y:3.86, Z:-2.06 [[ 9.87730290e-01 1.42844687e-01 -6.31210648e-02 -4.63884802e+01] [-1.42673196e-01 9.89743377e-01 7.23920127e-03 3.85533966e+00] [ 6.35077373e-02 1.85530566e-03 9.97979622e-01 -2.05560124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.47534707 meters 0.019017105729132986 Centerline is valid? [True, True] Translation: X:-46.42, Y:3.85, Z:-2.06 [[ 9.88433501e-01 1.37456674e-01 -6.40693207e-02 -4.64202059e+01] [-1.37268836e-01 9.90506592e-01 7.34556913e-03 3.85132607e+00] [ 6.44707820e-02 1.53411448e-03 9.97918416e-01 -2.05835712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50534707 meters 0.018215686878685983 Centerline is valid? [True, True] Translation: X:-46.45, Y:3.85, Z:-2.06 [[ 9.89423293e-01 1.30058033e-01 -6.42374895e-02 -4.64521980e+01] [-1.29853923e-01 9.91505818e-01 7.36018631e-03 3.84768994e+00] [ 6.46490959e-02 1.05915027e-03 9.97907497e-01 -2.05953117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53534707 meters 0.016602613631858575 Centerline is valid? [True, True] Translation: X:-46.48, Y:3.84, Z:-2.06 [[ 9.90000760e-01 1.26210998e-01 -6.30022154e-02 -4.64813259e+01] [-1.26006996e-01 9.92003102e-01 7.21688981e-03 3.84070017e+00] [ 6.34092439e-02 7.93993476e-04 9.97987293e-01 -2.05987998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56534707 meters 0.01627893432709001 Centerline is valid? [True, True] Translation: X:-46.51, Y:3.84, Z:-2.06 [[ 9.90809220e-01 1.20619328e-01 -6.12214618e-02 -4.65098431e+01] [-1.20415665e-01 9.92698747e-01 7.01886515e-03 3.83633279e+00] [ 6.16210793e-02 4.17666708e-04 9.98099528e-01 -2.05970410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59534707 meters 0.015804630029252 Centerline is valid? [True, True] Translation: X:-46.54, Y:3.83, Z:-2.06 [[ 9.91795578e-01 1.12913286e-01 -5.99343007e-02 -4.65389271e+01] [-1.12703541e-01 9.93604844e-01 6.87942696e-03 3.83108351e+00] [ 6.03277901e-02 -6.81773061e-05 9.98178618e-01 -2.06047764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.625347070000004 meters 0.016367840724980723 Centerline is valid? [True, True] Translation: X:-46.57, Y:3.83, Z:-2.06 [[ 9.92515810e-01 1.06251822e-01 -6.01906788e-02 -4.65684671e+01] [-1.06027418e-01 9.94339135e-01 6.91895023e-03 3.82710885e+00] [ 6.05850986e-02 -4.85305238e-04 9.98162918e-01 -2.06121167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65534707 meters 0.01621681484857319 Centerline is valid? [True, True] Translation: X:-46.60, Y:3.83, Z:-2.06 [[ 9.92699448e-01 1.05215933e-01 -5.89696060e-02 -4.65954873e+01] [-1.04997497e-01 9.94449243e-01 6.79922236e-03 3.82832991e+00] [ 5.93576665e-02 -5.57923263e-04 9.98236623e-01 -2.06239134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.68534707 meters 0.01730808930861861 Centerline is valid? [True, True] Translation: X:-46.62, Y:3.82, Z:-2.06 [[ 9.93012075e-01 1.01466179e-01 -6.02630395e-02 -4.66244480e+01] [-1.01230292e-01 9.94838657e-01 6.96237985e-03 3.82465946e+00] [ 6.06584473e-02 -8.13282145e-04 9.98158250e-01 -2.06344061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71534707 meters 0.017249776609235143 Centerline is valid? [True, True] Translation: X:-46.65, Y:3.83, Z:-2.06 [[ 9.93011928e-01 1.01525140e-01 -6.01660686e-02 -4.66512205e+01] [-1.01288730e-01 9.94832627e-01 6.97410542e-03 3.82696726e+00] [ 6.05632151e-02 -8.31225169e-04 9.98164018e-01 -2.06306614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74534707 meters 0.01649477568096891 Centerline is valid? [True, True] Translation: X:-46.68, Y:3.83, Z:-2.07 [[ 9.92729847e-01 1.04556183e-01 -5.96276323e-02 -4.66783178e+01] [-1.04328813e-01 9.94518768e-01 6.92228455e-03 3.83181866e+00] [ 6.00245671e-02 -6.51078368e-04 9.98196688e-01 -2.06649210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77534707 meters 0.016867594947737475 Centerline is valid? [True, True] Translation: X:-46.71, Y:3.83, Z:-2.07 [[ 9.92445626e-01 1.05776898e-01 -6.21524590e-02 -4.67060484e+01] [-1.05531471e-01 9.94389698e-01 7.22756071e-03 3.83386184e+00] [ 6.25682738e-02 -6.13920585e-04 9.98040497e-01 -2.06863924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80534707 meters 0.017399808138896782 Centerline is valid? [True, True] Translation: X:-46.73, Y:3.84, Z:-2.07 [[ 9.92289335e-01 1.06744986e-01 -6.29871689e-02 -4.67337213e+01] [-1.06493006e-01 9.94286257e-01 7.35385727e-03 3.83762210e+00] [ 6.34122638e-02 -5.89461213e-04 9.97987243e-01 -2.06832797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83534707 meters 0.016602367486425452 Centerline is valid? [True, True] Translation: X:-46.76, Y:3.84, Z:-2.07 [[ 9.91898866e-01 1.11215564e-01 -6.13818978e-02 -4.67610988e+01] [-1.10983399e-01 9.93796255e-01 7.18947919e-03 3.84394393e+00] [ 6.18006821e-02 -3.18864616e-04 9.98088460e-01 -2.06962850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.86534707 meters 0.0168300194909336 Centerline is valid? [True, True] Translation: X:-46.79, Y:3.85, Z:-2.07 [[ 9.91626903e-01 1.14056376e-01 -6.05576437e-02 -4.67888904e+01] [-1.13835192e-01 9.93474268e-01 7.10127142e-03 3.84823009e+00] [ 6.09724061e-02 -1.48220808e-04 9.98139441e-01 -2.06893826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89534707 meters 0.01752250310474086 Centerline is valid? [True, True] Translation: X:-46.82, Y:3.85, Z:-2.07 [[ 9.91574601e-01 1.14478594e-01 -6.06173387e-02 -4.68162475e+01] [-1.14256881e-01 9.93425706e-01 7.12267128e-03 3.85170123e+00] [ 6.10342158e-02 -1.36711914e-04 9.98135665e-01 -2.06624532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92534707 meters 0.016563282622608203 Centerline is valid? [True, True] Translation: X:-46.84, Y:3.85, Z:-2.07 [[ 9.91570311e-01 1.15631974e-01 -5.84599444e-02 -4.68439839e+01] [-1.15426443e-01 9.93292122e-01 6.89180789e-03 3.85382580e+00] [ 5.88647156e-02 -8.58886495e-05 9.98265966e-01 -2.06958351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95534707 meters 0.01657843541281844 Centerline is valid? [True, True] Translation: X:-46.87, Y:3.86, Z:-2.07 [[ 9.91468048e-01 1.16119177e-01 -5.92237036e-02 -4.68720624e+01] [-1.15908503e-01 9.93235285e-01 6.99190627e-03 3.85517847e+00] [ 5.96349666e-02 -6.77208055e-05 9.98220249e-01 -2.07206121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98534707 meters 0.018139698190947996 Centerline is valid? [True, True] Translation: X:-46.90, Y:3.86, Z:-2.07 [[ 9.91632020e-01 1.15306938e-01 -5.80538319e-02 -4.69005656e+01] [-1.15101689e-01 9.93329900e-01 6.87824101e-03 3.85674826e+00] [ 5.84597159e-02 -1.38589899e-04 9.98289759e-01 -2.06829327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015347070000004 meters 0.017014506949174356 Centerline is valid? [True, True] Translation: X:-46.93, Y:3.86, Z:-2.07 [[ 9.91884424e-01 1.12660028e-01 -5.89322361e-02 -4.69284634e+01] [-1.12442828e-01 9.93633543e-01 6.99944701e-03 3.85512660e+00] [ 5.93456045e-02 -3.16135195e-04 9.98237446e-01 -2.07031314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.04534707 meters 0.016754427135201037 Centerline is valid? [True, True] Translation: X:-46.96, Y:3.86, Z:-2.07 [[ 9.92144312e-01 1.10660061e-01 -5.83439381e-02 -4.69566563e+01] [-1.10442376e-01 9.93858211e-01 6.95248939e-03 3.85522096e+00] [ 5.87549649e-02 -4.54229660e-04 9.98272331e-01 -2.07225740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07534707 meters 0.01716259712134524 Centerline is valid? [True, True] Translation: X:-46.99, Y:3.86, Z:-2.07 [[ 9.92230834e-01 1.09948317e-01 -5.82180330e-02 -4.69850391e+01] [-1.09729793e-01 9.93937177e-01 6.94692569e-03 3.85681611e+00] [ 5.86288702e-02 -5.04701174e-04 9.98279721e-01 -2.07230132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10534707 meters 0.017122708021518638 Centerline is valid? [True, True] Translation: X:-47.01, Y:3.86, Z:-2.07 [[ 9.92346485e-01 1.09570467e-01 -5.69452857e-02 -4.70121747e+01] [-1.09359502e-01 9.93978885e-01 6.81729746e-03 3.85799208e+00] [ 5.73493861e-02 -5.37613064e-04 9.98354025e-01 -2.07321954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13534707 meters 0.017480949566396384 Centerline is valid? [True, True] Translation: X:-47.04, Y:3.86, Z:-2.07 [[ 9.92422393e-01 1.08594965e-01 -5.74885003e-02 -4.70402418e+01] [-1.08377582e-01 9.94085891e-01 6.89499836e-03 3.85744134e+00] [ 5.78972691e-02 -6.12286123e-04 9.98322358e-01 -2.06974549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16534707 meters 0.017821322108551887 Centerline is valid? [True, True] Translation: X:-47.07, Y:3.86, Z:-2.07 [[ 9.92385712e-01 1.09182525e-01 -5.70067983e-02 -4.70679643e+01] [-1.08968261e-01 9.94021538e-01 6.86297420e-03 3.85790871e+00] [ 5.74153022e-02 -5.98785847e-04 9.98350201e-01 -2.07124689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195347070000004 meters 0.018294240417728234 Centerline is valid? [True, True] Translation: X:-47.10, Y:3.86, Z:-2.07 [[ 9.92491791e-01 1.07845966e-01 -5.77000288e-02 -4.70955849e+01] [-1.07622781e-01 9.94167363e-01 6.97076452e-03 3.85996536e+00] [ 5.81152543e-02 -7.08589019e-04 9.98309629e-01 -2.07048405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22534707 meters 0.01818786440309396 Centerline is valid? [True, True] Translation: X:-47.12, Y:3.86, Z:-2.07 [[ 9.92506237e-01 1.08223685e-01 -5.67362555e-02 -4.71232315e+01] [-1.08008072e-01 9.94126334e-01 6.86210218e-03 3.86179913e+00] [ 5.71456476e-02 -6.82705653e-04 9.98365619e-01 -2.06733295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25534707 meters 0.018740426522914466 Centerline is valid? [True, True] Translation: X:-47.15, Y:3.86, Z:-2.06 [[ 9.92565116e-01 1.07837596e-01 -5.64406099e-02 -4.71509260e+01] [-1.07623087e-01 9.94168270e-01 6.83541584e-03 3.86337115e+00] [ 5.68485783e-02 -7.10282664e-04 9.98382559e-01 -2.06390842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28534707 meters 0.018765054455213852 Centerline is valid? [True, True] Translation: X:-47.18, Y:3.86, Z:-2.06 [[ 9.92598254e-01 1.07675134e-01 -5.61673584e-02 -4.71789235e+01] [-1.07460973e-01 9.94185855e-01 6.82818346e-03 3.86433237e+00] [ 5.65760188e-02 -7.41844012e-04 9.98398019e-01 -2.06075703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31534707 meters 0.02004266655887912 Centerline is valid? [True, True] Translation: X:-47.21, Y:3.87, Z:-2.06 [[ 9.92614409e-01 1.07860561e-01 -5.55223688e-02 -4.72064640e+01] [-1.07650154e-01 9.94165750e-01 6.77531732e-03 3.86571113e+00] [ 5.59292270e-02 -7.48286057e-04 9.98434455e-01 -2.06005573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34534707 meters 0.019372667868492167 Centerline is valid? [True, True] Translation: X:-47.24, Y:3.87, Z:-2.06 [[ 9.92634606e-01 1.07189749e-01 -5.64525994e-02 -4.72351910e+01] [-1.06969621e-01 9.94238239e-01 6.91552172e-03 3.86517920e+00] [ 5.68686060e-02 -8.25873000e-04 9.98381330e-01 -2.05909653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375347070000004 meters 0.019466409060586227 Centerline is valid? [True, True] Translation: X:-47.26, Y:3.87, Z:-2.06 [[ 9.92801543e-01 1.06378495e-01 -5.50337348e-02 -4.72632771e+01] [-1.06166735e-01 9.94325325e-01 6.76555052e-03 3.86588480e+00] [ 5.54411454e-02 -8.74097062e-04 9.98461574e-01 -2.05978079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.40534707 meters 0.019391903418104584 Centerline is valid? [True, True] Translation: X:-47.29, Y:3.87, Z:-2.06 [[ 9.92894504e-01 1.05877626e-01 -5.43178789e-02 -4.72906012e+01] [-1.05669293e-01 9.94378747e-01 6.70130322e-03 3.86851483e+00] [ 5.47220624e-02 -9.13955288e-04 9.98501207e-01 -2.05926501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.43534707 meters 0.019801616763678864 Centerline is valid? [True, True] Translation: X:-47.32, Y:3.87, Z:-2.06 [[ 9.92732177e-01 1.06915011e-01 -5.52449644e-02 -4.73187427e+01] [-1.06699717e-01 9.94267759e-01 6.84055034e-03 3.86938671e+00] [ 5.56596445e-02 -8.96212370e-04 9.98449398e-01 -2.05917857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46534707 meters 0.019379822843774607 Centerline is valid? [True, True] Translation: X:-47.35, Y:3.87, Z:-2.06 [[ 9.92973439e-01 1.05062798e-01 -5.44569358e-02 -4.73462393e+01] [-1.04849520e-01 9.94465077e-01 6.76672489e-03 3.87223580e+00] [ 5.48664520e-02 -1.00939453e-03 9.98493192e-01 -2.05704382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49534707 meters 0.01985329440035473 Centerline is valid? [True, True] Translation: X:-47.37, Y:3.87, Z:-2.05 [[ 9.92730725e-01 1.06059568e-01 -5.68952978e-02 -4.73746141e+01] [-1.05827610e-01 9.94359265e-01 7.08306789e-03 3.87343404e+00] [ 5.73255936e-02 -1.01048572e-03 9.98355025e-01 -2.05489320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52534707 meters 0.019543731579838988 Centerline is valid? [True, True] Translation: X:-47.40, Y:3.88, Z:-2.05 [[ 9.92710050e-01 1.06425009e-01 -5.65727275e-02 -4.74012321e+01] [-1.06194831e-01 9.94320220e-01 7.06810723e-03 3.87626099e+00] [ 5.70036302e-02 -1.00884984e-03 9.98373461e-01 -2.04884073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55534707 meters 0.019304242919072772 Centerline is valid? [True, True] Translation: X:-47.43, Y:3.88, Z:-2.05 [[ 9.92726125e-01 1.06216002e-01 -5.66833390e-02 -4.74289328e+01] [-1.05983259e-01 9.94342530e-01 7.10504829e-03 3.87884773e+00] [ 5.71173246e-02 -1.04588203e-03 9.98366925e-01 -2.05049599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58534707 meters 0.0191490866987751 Centerline is valid? [True, True] Translation: X:-47.46, Y:3.88, Z:-2.05 [[ 9.92744171e-01 1.06194724e-01 -5.64064931e-02 -4.74570213e+01] [-1.05962820e-01 9.94344781e-01 7.09489033e-03 3.88072003e+00] [ 5.68409419e-02 -1.06641995e-03 9.98382677e-01 -2.04789062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.61534707 meters 0.0191490866987751 Centerline is valid? [True, True] Translation: X:-47.48, Y:3.88, Z:-2.05 [[ 9.92698378e-01 1.06623581e-01 -5.64033879e-02 -4.74841886e+01] [-1.06390971e-01 9.94298886e-01 7.11949342e-03 3.88391681e+00] [ 5.68409316e-02 -1.06669837e-03 9.98382677e-01 -2.04935911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64534707 meters 0.01999611518282156 Centerline is valid? [True, True] Translation: X:-47.51, Y:3.88, Z:-2.05 [[ 9.92756298e-01 1.05301848e-01 -5.78485364e-02 -4.75128999e+01] [-1.05053411e-01 9.94439585e-01 7.32758534e-03 3.88384759e+00] [ 5.82984828e-02 -1.19732041e-03 9.98298479e-01 -2.04795765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67534707 meters 0.020052014782128102 Centerline is valid? [True, True] Translation: X:-47.54, Y:3.89, Z:-2.05 [[ 9.92851680e-01 1.04704114e-01 -5.72938910e-02 -4.75410562e+01] [-1.04458235e-01 9.94502644e-01 7.27799922e-03 3.88705440e+00] [ 5.77409625e-02 -1.24115506e-03 9.98330827e-01 -2.04765724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70534707 meters 0.01895724962915766 Centerline is valid? [True, True] Translation: X:-47.57, Y:3.89, Z:-2.05 [[ 9.92783066e-01 1.06166196e-01 -5.57720568e-02 -4.75681862e+01] [-1.05935128e-01 9.94347755e-01 7.09166525e-03 3.89288846e+00] [ 5.62097146e-02 -1.13226519e-03 9.98418342e-01 -2.04501248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73534707 meters 0.01841547440027954 Centerline is valid? [True, True] Translation: X:-47.60, Y:3.90, Z:-2.05 [[ 9.92518733e-01 1.08803936e-01 -5.53919513e-02 -4.75970916e+01] [-1.08579648e-01 9.94062742e-01 7.05163561e-03 3.89666820e+00] [ 5.58303207e-02 -9.84441835e-04 9.98439786e-01 -2.04503239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.765347070000004 meters 0.01800011965070549 Centerline is valid? [True, True] Translation: X:-47.62, Y:3.90, Z:-2.04 [[ 9.92372237e-01 1.09582681e-01 -5.64710425e-02 -4.76244096e+01] [-1.09349574e-01 9.93977200e-01 7.21086793e-03 3.90254491e+00] [ 5.69211150e-02 -9.80780692e-04 9.98378197e-01 -2.04294050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.79534707 meters 0.019200537948858343 Centerline is valid? [True, True] Translation: X:-47.65, Y:3.90, Z:-2.04 [[ 9.92130879e-01 1.10564696e-01 -5.87517348e-02 -4.76523454e+01] [-1.10313446e-01 9.93868453e-01 7.51275947e-03 3.90314208e+00] [ 5.92221418e-02 -9.72534346e-04 9.98244355e-01 -2.04379236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82534707 meters 0.017958725264069584 Centerline is valid? [True, True] Translation: X:-47.68, Y:3.91, Z:-2.04 [[ 9.91728871e-01 1.14419062e-01 -5.81560283e-02 -4.76788202e+01] [-1.14178017e-01 9.93432283e-01 7.46189833e-03 3.91425885e+00] [ 5.86278593e-02 -7.60040020e-04 9.98279618e-01 -2.04470549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85534707 meters 0.01776429459532737 Centerline is valid? [True, True] Translation: X:-47.71, Y:3.92, Z:-2.04 [[ 9.91609603e-01 1.15372903e-01 -5.83051307e-02 -4.77060870e+01] [-1.15131723e-01 9.93321993e-01 7.49024246e-03 3.92018474e+00] [ 5.87799397e-02 -7.14626202e-04 9.98270709e-01 -2.04241274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88534707 meters 0.01757804106818482 Centerline is valid? [True, True] Translation: X:-47.73, Y:3.93, Z:-2.04 [[ 9.91311886e-01 1.17415247e-01 -5.92824175e-02 -4.77332823e+01] [-1.17168015e-01 9.93082708e-01 7.64148056e-03 3.92548432e+00] [ 5.97695700e-02 -6.29087307e-04 9.98212003e-01 -2.04474824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91534707 meters 0.01739775103831152 Centerline is valid? [True, True] Translation: X:-47.76, Y:3.93, Z:-2.04 [[ 9.91139673e-01 1.18826645e-01 -5.93496184e-02 -4.77602146e+01] [-1.18579934e-01 9.92914853e-01 7.67424712e-03 3.93098360e+00] [ 5.98410226e-02 -5.68576950e-04 9.98207758e-01 -2.04469209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.945347070000004 meters 0.017164130107996126 Centerline is valid? [True, True] Translation: X:-47.79, Y:3.94, Z:-2.04 [[ 9.90934065e-01 1.20256198e-01 -5.99009698e-02 -4.77879560e+01] [-1.20006648e-01 9.92742764e-01 7.75938540e-03 3.93708067e+00] [ 6.03993686e-02 -5.00524689e-04 9.98174166e-01 -2.04401429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.97534707 meters 0.017032705252533958 Centerline is valid? [True, True] Translation: X:-47.82, Y:3.94, Z:-2.04 [[ 9.90820860e-01 1.21358096e-01 -5.95502813e-02 -4.78155788e+01] [-1.21111877e-01 9.92608686e-01 7.74012114e-03 3.94192940e+00] [ 6.00494528e-02 -4.56827157e-04 9.98195299e-01 -2.04464348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.00534707 meters 0.01704332984213376 Centerline is valid? [True, True] Translation: X:-47.84, Y:3.95, Z:-2.04 [[ 9.90838912e-01 1.20683746e-01 -6.06109253e-02 -4.78431773e+01] [-1.20425735e-01 9.92690863e-01 7.90529664e-03 3.94562983e+00] [ 6.11219525e-02 -5.33760294e-04 9.98130163e-01 -2.04355046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03534707 meters 0.0182784200051805 Centerline is valid? [True, True] Translation: X:-47.87, Y:3.95, Z:-2.05 [[ 9.90875764e-01 1.21372892e-01 -5.85989878e-02 -4.78719119e+01] [-1.21131530e-01 9.92606857e-01 7.66681546e-03 3.95012474e+00] [ 5.90963006e-02 -4.98676606e-04 9.98252162e-01 -2.04563403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06534707 meters 0.01764512871208012 Centerline is valid? [True, True] Translation: X:-47.90, Y:3.95, Z:-2.05 [[ 9.91090410e-01 1.17997877e-01 -6.17762052e-02 -4.79005720e+01] [-1.17721659e-01 9.93013556e-01 8.10480199e-03 3.95279817e+00] [ 6.23009586e-02 -7.60194151e-04 9.98057119e-01 -2.04770694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09534707 meters 0.017644626026150877 Centerline is valid? [True, True] Translation: X:-47.93, Y:3.96, Z:-2.04 [[ 9.91248718e-01 1.16312758e-01 -6.24285376e-02 -4.79285253e+01] [-1.16026034e-01 9.93212233e-01 8.21094089e-03 3.95645328e+00] [ 6.29598245e-02 -8.95749001e-04 9.98015660e-01 -2.04467106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.125347070000004 meters 0.017269075123224613 Centerline is valid? [True, True] Translation: X:-47.96, Y:3.96, Z:-2.05 [[ 9.91206357e-01 1.17624488e-01 -6.06171381e-02 -4.79567756e+01] [-1.17356042e-01 9.93057824e-01 7.98229596e-03 3.96162576e+00] [ 6.11352367e-02 -7.98315127e-04 9.98129173e-01 -2.04562152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15534707 meters 0.01781812293831248 Centerline is valid? [True, True] Translation: X:-47.99, Y:3.97, Z:-2.05 [[ 9.91275775e-01 1.16417158e-01 -6.18011594e-02 -4.79856805e+01] [-1.16134256e-01 9.93199985e-01 8.16239081e-03 3.96529388e+00] [ 6.23311529e-02 -9.13948634e-04 9.98055105e-01 -2.04609530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.18534707 meters 0.01815492883659415 Centerline is valid? [True, True] Translation: X:-48.01, Y:3.97, Z:-2.05 [[ 9.91628247e-01 1.13390156e-01 -6.17745197e-02 -4.80140681e+01] [-1.13100127e-01 9.93549898e-01 8.18294390e-03 3.96851271e+00] [ 6.23039331e-02 -1.12773230e-03 9.98056586e-01 -2.04564617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21534707 meters 0.018706925304572426 Centerline is valid? [True, True] Translation: X:-48.04, Y:3.97, Z:-2.05 [[ 9.91759669e-01 1.11587004e-01 -6.29372593e-02 -4.80422769e+01] [-1.11280761e-01 9.93753832e-01 8.36138267e-03 3.97133105e+00] [ 6.34771643e-02 -1.28877601e-03 9.97982459e-01 -2.04584196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24534707 meters 0.01910076845348017 Centerline is valid? [True, True] Translation: X:-48.07, Y:3.98, Z:-2.04 [[ 9.91992132e-01 1.09547719e-01 -6.28562424e-02 -4.80699439e+01] [-1.09236859e-01 9.93980497e-01 8.37135001e-03 3.97571753e+00] [ 6.33949414e-02 -1.43809486e-03 9.97987482e-01 -2.04388447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27534707 meters 0.019696888753751033 Centerline is valid? [True, True] Translation: X:-48.10, Y:3.98, Z:-2.05 [[ 9.92241503e-01 1.07132060e-01 -6.30834510e-02 -4.80981158e+01] [-1.06813389e-01 9.94243498e-01 8.41228719e-03 3.97935086e+00] [ 6.36215366e-02 -1.60886329e-03 9.97972801e-01 -2.04501684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30534707 meters 0.02020549688320655 Centerline is valid? [True, True] Translation: X:-48.13, Y:3.98, Z:-2.04 [[ 9.92462234e-01 1.04776011e-01 -6.35665063e-02 -4.81270324e+01] [-1.04446216e-01 9.94494226e-01 8.49837717e-03 3.98474489e+00] [ 6.41069496e-02 -1.79503732e-03 9.97941420e-01 -2.04474196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335347070000005 meters 0.021810486656481963 Centerline is valid? [True, True] Translation: X:-48.16, Y:3.98, Z:-2.05 [[ 9.92623092e-01 1.02310603e-01 -6.50533499e-02 -4.81559657e+01] [-1.01958941e-01 9.94750462e-01 8.71161178e-03 3.98499630e+00] [ 6.56031401e-02 -2.01457633e-03 9.97843760e-01 -2.04832725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.36534707 meters 0.020633641228307006 Centerline is valid? [True, True] Translation: X:-48.18, Y:4.00, Z:-2.04 [[ 9.92712754e-01 1.01538052e-01 -6.48953871e-02 -4.81823328e+01] [-1.01185011e-01 9.94829476e-01 8.71242915e-03 3.99583185e+00] [ 6.54444871e-02 -2.08249908e-03 9.97854039e-01 -2.04408050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39534707 meters 0.021802988584416982 Centerline is valid? [True, True] Translation: X:-48.21, Y:4.00, Z:-2.05 [[ 9.92700621e-01 1.01102283e-01 -6.57556543e-02 -4.82109860e+01] [-1.00737937e-01 9.94873707e-01 8.84169333e-03 3.99970460e+00] [ 6.63124870e-02 -2.15306552e-03 9.97796582e-01 -2.04709630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42534707 meters 0.020790190723496204 Centerline is valid? [True, True] Translation: X:-48.24, Y:4.01, Z:-2.05 [[ 9.92574126e-01 1.02261816e-01 -6.58720334e-02 -4.82381005e+01] [-1.01897869e-01 9.94755319e-01 8.87018108e-03 4.01068861e+00] [ 6.64336364e-02 -2.09209239e-03 9.97788653e-01 -2.04500385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45534707 meters 0.020635751144202415 Centerline is valid? [True, True] Translation: X:-48.27, Y:4.02, Z:-2.05 [[ 9.92336157e-01 1.04703360e-01 -6.56213226e-02 -4.82656810e+01] [-1.04346932e-01 9.94501625e-01 8.84512877e-03 4.01765368e+00] [ 6.61866266e-02 -1.92995743e-03 9.97805395e-01 -2.04540584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48534707 meters 0.02206287572103943 Centerline is valid? [True, True] Translation: X:-48.29, Y:4.02, Z:-2.05 [[ 9.92244192e-01 1.03994561e-01 -6.80925458e-02 -4.82935404e+01] [-1.03608186e-01 9.94575722e-01 9.19108972e-03 4.02178350e+00] [ 6.86790163e-02 -2.06486021e-03 9.97636672e-01 -2.05112627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515347070000004 meters 0.02028091384620886 Centerline is valid? [True, True] Translation: X:-48.32, Y:4.03, Z:-2.05 [[ 9.91985569e-01 1.06756261e-01 -6.75849916e-02 -4.83200353e+01] [-1.06380599e-01 9.94283443e-01 9.14350471e-03 4.03384361e+00] [ 6.81747645e-02 -1.88049285e-03 9.97671622e-01 -2.04748203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.54534707 meters 0.020241523555590803 Centerline is valid? [True, True] Translation: X:-48.35, Y:4.04, Z:-2.05 [[ 9.91751031e-01 1.08689952e-01 -6.79439917e-02 -4.83482960e+01] [-1.08313965e-01 9.94074124e-01 9.20437076e-03 4.04082640e+00] [ 6.85417867e-02 -1.76916103e-03 9.97646678e-01 -2.05003953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57534707 meters 0.019458300353965115 Centerline is valid? [True, True] Translation: X:-48.38, Y:4.05, Z:-2.05 [[ 9.91524658e-01 1.10844005e-01 -6.77676906e-02 -4.83753108e+01] [-1.10473542e-01 9.93836469e-01 9.20163368e-03 4.04984824e+00] [ 6.83699482e-02 -1.63710984e-03 9.97658694e-01 -2.05003143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60534707 meters 0.019099471148129658 Centerline is valid? [True, True] Translation: X:-48.40, Y:4.06, Z:-2.05 [[ 9.91044984e-01 1.14179765e-01 -6.92301968e-02 -4.84025559e+01] [-1.13800317e-01 9.93459046e-01 9.41333844e-03 4.06006191e+00] [ 6.98521781e-02 -1.45062353e-03 9.97556299e-01 -2.05226148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63534707 meters 0.01879499478185027 Centerline is valid? [True, True] Translation: X:-48.43, Y:4.07, Z:-2.05 [[ 9.90906845e-01 1.15376175e-01 -6.92240100e-02 -4.84293150e+01] [-1.14998190e-01 9.93320901e-01 9.43419088e-03 4.06818500e+00] [ 6.98501368e-02 -1.38776848e-03 9.97556531e-01 -2.05078605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66534707 meters 0.018268302509143616 Centerline is valid? [True, True] Translation: X:-48.46, Y:4.08, Z:-2.05 [[ 9.90734702e-01 1.16777907e-01 -6.93373699e-02 -4.84573396e+01] [-1.16401226e-01 9.93157199e-01 9.46220783e-03 4.07657990e+00] [ 6.99678849e-02 -1.30358276e-03 9.97548393e-01 -2.05325934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695347070000004 meters 0.01783535027119469 Centerline is valid? [True, True] Translation: X:-48.49, Y:4.08, Z:-2.05 [[ 9.90377768e-01 1.19179446e-01 -7.03429865e-02 -4.84855305e+01] [-1.18796027e-01 9.92872035e-01 9.62419009e-03 4.08427960e+00] [ 7.09885898e-02 -1.17511656e-03 9.97476435e-01 -2.05414866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72534707 meters 0.018376293817143317 Centerline is valid? [True, True] Translation: X:-48.51, Y:4.09, Z:-2.06 [[ 9.90201164e-01 1.19747114e-01 -7.18490326e-02 -4.85133500e+01] [-1.19346603e-01 9.92803718e-01 9.85725751e-03 4.09169336e+00] [ 7.25123648e-02 -1.18572989e-03 9.97366809e-01 -2.05945029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.75534707 meters 0.01760125210361277 Centerline is valid? [True, True] Translation: X:-48.54, Y:4.10, Z:-2.06 [[ 9.89931165e-01 1.21489207e-01 -7.26406344e-02 -4.85403580e+01] [-1.21082836e-01 9.92592152e-01 9.98835294e-03 4.09991761e+00] [ 7.33160007e-02 -1.09224785e-03 9.97308163e-01 -2.06157094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78534707 meters 0.01756093671306723 Centerline is valid? [True, True] Translation: X:-48.57, Y:4.11, Z:-2.06 [[ 9.89803259e-01 1.22529101e-01 -7.26369550e-02 -4.85677947e+01] [-1.22124466e-01 9.92464386e-01 1.00028262e-02 4.10727348e+00] [ 7.33152283e-02 -1.03008061e-03 9.97308285e-01 -2.06437588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81534707 meters 0.019027895557582542 Centerline is valid? [True, True] Translation: X:-48.60, Y:4.11, Z:-2.06 [[ 9.89677506e-01 1.23287520e-01 -7.30658670e-02 -4.85950655e+01] [-1.22877893e-01 9.92370479e-01 1.00923864e-02 4.11205341e+00] [ 7.37526748e-02 -1.01002804e-03 9.97276051e-01 -2.06318873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84534707 meters 0.01845816886800724 Centerline is valid? [True, True] Translation: X:-48.62, Y:4.12, Z:-2.06 [[ 9.89552769e-01 1.24410593e-01 -7.28513655e-02 -4.86225135e+01] [-1.24004619e-01 9.92230369e-01 1.00870454e-02 4.12040131e+00] [ 7.35402726e-02 -9.47757895e-04 9.97291798e-01 -2.06229952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875347070000004 meters 0.017508441967483166 Centerline is valid? [True, True] Translation: X:-48.65, Y:4.13, Z:-2.07 [[ 9.89240366e-01 1.26672768e-01 -7.31949970e-02 -4.86502342e+01] [-1.26268120e-01 9.91944240e-01 1.01482514e-02 4.12611551e+00] [ 7.38908628e-02 -7.96865336e-04 9.97266015e-01 -2.07114902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90534707 meters 0.016771257343675572 Centerline is valid? [True, True] Translation: X:-48.68, Y:4.14, Z:-2.06 [[ 9.89056825e-01 1.28101874e-01 -7.31881546e-02 -4.86778772e+01] [-1.27699638e-01 9.91760760e-01 1.01684957e-02 4.13507083e+00] [ 7.38877432e-02 -7.11119240e-04 9.97266311e-01 -2.06457463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.93534707 meters 0.016983675617287513 Centerline is valid? [True, True] Translation: X:-48.70, Y:4.14, Z:-2.07 [[ 9.89014040e-01 1.28236722e-01 -7.35293927e-02 -4.87049868e+01] [-1.27829893e-01 9.91743326e-01 1.02320125e-02 4.13932566e+00] [ 7.42344042e-02 -7.20349560e-04 9.97240560e-01 -2.06924548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96534707 meters 0.01778785864394385 Centerline is valid? [True, True] Translation: X:-48.73, Y:4.14, Z:-2.07 [[ 9.89113654e-01 1.27282204e-01 -7.38472713e-02 -4.87330542e+01] [-1.26866906e-01 9.91866200e-01 1.03067686e-02 4.14437397e+00] [ 7.45584806e-02 -8.25790747e-04 9.97216301e-01 -2.06856043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99534707 meters 0.017464081181500665 Centerline is valid? [True, True] Translation: X:-48.76, Y:4.15, Z:-2.08 [[ 9.88996832e-01 1.27434578e-01 -7.51378326e-02 -4.87612213e+01] [-1.27003004e-01 9.91846609e-01 1.05138235e-02 4.14844771e+00] [ 7.58650291e-02 -8.55407650e-04 9.97117729e-01 -2.07696951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02534707 meters 0.017222662870511073 Centerline is valid? [True, True] Translation: X:-48.79, Y:4.16, Z:-2.08 [[ 9.89068998e-01 1.26263965e-01 -7.61572648e-02 -4.87887392e+01] [-1.25815430e-01 9.91996195e-01 1.06783235e-02 4.15641541e+00] [ 7.68960044e-02 -9.79839692e-04 9.97038637e-01 -2.07512583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05534707 meters 0.017426743421725337 Centerline is valid? [True, True] Translation: X:-48.82, Y:4.16, Z:-2.08 [[ 9.89082693e-01 1.26329252e-01 -7.58705907e-02 -4.88165399e+01] [-1.25883059e-01 9.91987876e-01 1.06540870e-02 4.16099481e+00] [ 7.66086289e-02 -9.86950991e-04 9.97060752e-01 -2.07726102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.085347070000005 meters 0.017559634510235136 Centerline is valid? [True, True] Translation: X:-48.84, Y:4.17, Z:-2.08 [[ 9.89083721e-01 1.26120295e-01 -7.62040974e-02 -4.88442549e+01] [-1.25667152e-01 9.92014412e-01 1.07319220e-02 4.16646377e+00] [ 7.69490760e-02 -1.03841746e-03 9.97034484e-01 -2.07863979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.11534707 meters 0.017665071714302927 Centerline is valid? [True, True] Translation: X:-48.87, Y:4.17, Z:-2.08 [[ 9.89108227e-01 1.25941951e-01 -7.61809685e-02 -4.88711478e+01] [-1.25486191e-01 9.92037022e-01 1.07592983e-02 4.17241439e+00] [ 7.69293881e-02 -1.08245090e-03 9.97035956e-01 -2.08055737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14534707 meters 0.01800019595147663 Centerline is valid? [True, True] Translation: X:-48.90, Y:4.18, Z:-2.08 [[ 9.89198228e-01 1.24816819e-01 -7.68610954e-02 -4.88989607e+01] [-1.24347181e-01 9.92179065e-01 1.08848852e-02 4.17740771e+00] [ 7.76185865e-02 -1.20984861e-03 9.96982393e-01 -2.08479748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17534707 meters 0.017404325182165042 Centerline is valid? [True, True] Translation: X:-48.93, Y:4.19, Z:-2.08 [[ 9.89094873e-01 1.25650860e-01 -7.68322442e-02 -4.89262604e+01] [-1.25182420e-01 9.92073840e-01 1.09022073e-02 4.18601984e+00] [ 7.75931313e-02 -1.16527111e-03 9.96984427e-01 -2.08386935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20534707 meters 0.017647601125599325 Centerline is valid? [True, True] Translation: X:-48.95, Y:4.19, Z:-2.09 [[ 9.88961486e-01 1.26182393e-01 -7.76735617e-02 -4.89537904e+01] [-1.25703992e-01 9.92006390e-01 1.10376402e-02 4.19155759e+00] [ 7.84454253e-02 -1.15192429e-03 9.96917744e-01 -2.08969978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23534707 meters 0.017514492488128752 Centerline is valid? [True, True] Translation: X:-48.98, Y:4.20, Z:-2.09 [[ 9.88967793e-01 1.25966682e-01 -7.79429275e-02 -4.89812891e+01] [-1.25482486e-01 9.92033752e-01 1.10986790e-02 4.19835843e+00] [ 7.87200786e-02 -1.19576374e-03 9.96896042e-01 -2.09011129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.265347070000004 meters 0.016820286580650733 Centerline is valid? [True, True] Translation: X:-49.01, Y:4.21, Z:-2.09 [[ 9.88610895e-01 1.28982939e-01 -7.75364372e-02 -4.90089821e+01] [-1.28511772e-01 9.91646342e-01 1.10570187e-02 4.20690484e+00] [ 7.83148911e-02 -9.66744250e-04 9.96928204e-01 -2.08626984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.29534707 meters 0.01701266296537693 Centerline is valid? [True, True] Translation: X:-49.04, Y:4.21, Z:-2.09 [[ 9.88528639e-01 1.29141047e-01 -7.83180673e-02 -4.90367698e+01] [-1.28658426e-01 9.91625737e-01 1.11985362e-02 4.21193794e+00] [ 7.91084019e-02 -9.93794515e-04 9.96865524e-01 -2.09394869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32534707 meters 0.017652325327419904 Centerline is valid? [True, True] Translation: X:-49.06, Y:4.22, Z:-2.10 [[ 9.88575855e-01 1.28443758e-01 -7.88668525e-02 -4.90643364e+01] [-1.27949751e-01 9.91716200e-01 1.13066614e-02 4.21677778e+00] [ 7.96658053e-02 -1.08649832e-03 9.96821037e-01 -2.09964033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35534707 meters 0.01733109589877198 Centerline is valid? [True, True] Translation: X:-49.09, Y:4.22, Z:-2.10 [[ 9.88426711e-01 1.29280579e-01 -7.93673052e-02 -4.90901091e+01] [-1.28781066e-01 9.91607499e-01 1.14020008e-02 4.22493219e+00] [ 8.01752722e-02 -1.04903596e-03 9.96780229e-01 -2.09625118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38534707 meters 0.017216225571985502 Centerline is valid? [True, True] Translation: X:-49.12, Y:4.23, Z:-2.10 [[ 9.88279351e-01 1.30466000e-01 -7.92625191e-02 -4.91171338e+01] [-1.29970019e-01 9.91452308e-01 1.14067926e-02 4.23167523e+00] [ 8.00732061e-02 -9.71346457e-04 9.96788512e-01 -2.10010191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41534707 meters 0.017165902669291938 Centerline is valid? [True, True] Translation: X:-49.14, Y:4.24, Z:-2.10 [[ 9.88249002e-01 1.30763798e-01 -7.91501046e-02 -4.91441863e+01] [-1.30267652e-01 9.91413069e-01 1.14221018e-02 4.23783299e+00] [ 7.99640455e-02 -9.77182383e-04 9.96797270e-01 -2.10417001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.445347070000004 meters 0.01718403301697559 Centerline is valid? [True, True] Translation: X:-49.17, Y:4.24, Z:-2.11 [[ 9.88078503e-01 1.32137865e-01 -7.89965551e-02 -4.91720586e+01] [-1.31645663e-01 9.91230945e-01 1.14294922e-02 4.24390167e+00] [ 7.98140987e-02 -8.93681655e-04 9.96809365e-01 -2.10777237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47534707 meters 0.017329719591118502 Centerline is valid? [True, True] Translation: X:-49.20, Y:4.25, Z:-2.11 [[ 9.88211805e-01 1.30635048e-01 -7.98242567e-02 -4.91989917e+01] [-1.30125822e-01 9.91429971e-01 1.15707648e-02 4.24935229e+00] [ 8.06517079e-02 -1.04716935e-03 9.96741795e-01 -2.10973441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50534707 meters 0.017329719591118502 Centerline is valid? [True, True] Translation: X:-49.23, Y:4.25, Z:-2.11 [[ 9.88161926e-01 1.31013283e-01 -7.98218530e-02 -4.92260630e+01] [-1.30503952e-01 9.91380075e-01 1.15873244e-02 4.25302014e+00] [ 8.06518880e-02 -1.03308551e-03 9.96741795e-01 -2.11119815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53534707 meters 0.017289539671339102 Centerline is valid? [True, True] Translation: X:-49.25, Y:4.26, Z:-2.11 [[ 9.88079669e-01 1.31367759e-01 -8.02563381e-02 -4.92522474e+01] [-1.30851727e-01 9.91333160e-01 1.16786311e-02 4.25854973e+00] [ 8.10949649e-02 -1.03773750e-03 9.96705839e-01 -2.11264829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56534707 meters 0.01718788170414653 Centerline is valid? [True, True] Translation: X:-49.28, Y:4.26, Z:-2.11 [[ 9.88111358e-01 1.30853054e-01 -8.07057763e-02 -4.92789809e+01] [-1.30328022e-01 9.91401160e-01 1.17621134e-02 4.26477764e+00] [ 8.15509086e-02 -1.10405362e-03 9.96668566e-01 -2.11290230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59534707 meters 0.017435798113057323 Centerline is valid? [True, True] Translation: X:-49.31, Y:4.27, Z:-2.11 [[ 9.88154646e-01 1.30115365e-01 -8.13657584e-02 -4.93068299e+01] [-1.29577794e-01 9.91498145e-01 1.18753157e-02 4.27016935e+00] [ 8.22191596e-02 -1.19145294e-03 9.96613561e-01 -2.11370465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.625347070000004 meters 0.018397556679567537 Centerline is valid? [True, True] Translation: X:-49.33, Y:4.27, Z:-2.12 [[ 9.88355719e-01 1.28557896e-01 -8.13992690e-02 -4.93346240e+01] [-1.28012195e-01 9.91701086e-01 1.19094521e-02 4.27244212e+00] [ 8.22547976e-02 -1.35067606e-03 9.96610417e-01 -2.12376416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65534707 meters 0.019227859183141748 Centerline is valid? [True, True] Translation: X:-49.36, Y:4.28, Z:-2.13 [[ 9.88353682e-01 1.28415825e-01 -8.16478763e-02 -4.93615884e+01] [-1.27863827e-01 9.91719429e-01 1.19756301e-02 4.27535305e+00] [ 8.25096457e-02 -1.39634814e-03 9.96589288e-01 -2.13303330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68534707 meters 0.017891203396246915 Centerline is valid? [True, True] Translation: X:-49.39, Y:4.28, Z:-2.13 [[ 9.88113183e-01 1.30284165e-01 -8.15988545e-02 -4.93884685e+01] [-1.29737287e-01 9.91475891e-01 1.19914057e-02 4.28489474e+00] [ 8.24655872e-02 -1.26245205e-03 9.96593113e-01 -2.12568374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71534707 meters 0.018425691650215126 Centerline is valid? [True, True] Translation: X:-49.42, Y:4.29, Z:-2.13 [[ 9.87919062e-01 1.31725686e-01 -8.16349797e-02 -4.94164745e+01] [-1.31181933e-01 9.91285530e-01 1.20124229e-02 4.28829807e+00] [ 8.25059187e-02 -1.15826711e-03 9.96589902e-01 -2.13092028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74534707 meters 0.0173614935808696 Centerline is valid? [True, True] Translation: X:-49.44, Y:4.30, Z:-2.13 [[ 9.87786537e-01 1.32646372e-01 -8.17477674e-02 -4.94426083e+01] [-1.32102144e-01 9.91162808e-01 1.20545272e-02 4.29772262e+00] [ 8.26243360e-02 -1.10824435e-03 9.96580148e-01 -2.12674872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77534707 meters 0.01722144278000893 Centerline is valid? [True, True] Translation: X:-49.47, Y:4.30, Z:-2.13 [[ 9.87441025e-01 1.35061402e-01 -8.19673131e-02 -4.94707428e+01] [-1.34520464e-01 9.90836791e-01 1.21119108e-02 4.30332531e+00] [ 8.28520811e-02 -9.33516650e-04 9.96561419e-01 -2.13084394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80534707 meters 0.01707603692387963 Centerline is valid? [True, True] Translation: X:-49.50, Y:4.31, Z:-2.13 [[ 9.87417353e-01 1.35426918e-01 -8.16487686e-02 -4.94983390e+01] [-1.34888940e-01 9.90786903e-01 1.20949362e-02 4.30908779e+00] [ 8.25345105e-02 -9.29234112e-04 9.96587774e-01 -2.13031972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835347070000005 meters 0.016965982876476896 Centerline is valid? [True, True] Translation: X:-49.53, Y:4.32, Z:-2.13 [[ 9.87311515e-01 1.36308870e-01 -8.14608134e-02 -4.95257768e+01] [-1.35774329e-01 9.90665999e-01 1.20917489e-02 4.31572499e+00] [ 8.23486707e-02 -8.78035672e-04 9.96603194e-01 -2.13271814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.86534707 meters 0.017262588886957652 Centerline is valid? [True, True] Translation: X:-49.55, Y:4.32, Z:-2.13 [[ 9.86745052e-01 1.40711615e-01 -8.08359046e-02 -4.95536948e+01] [-1.40198635e-01 9.90050487e-01 1.20156251e-02 4.32312191e+00] [ 8.17223648e-02 -5.23275174e-04 9.96654996e-01 -2.13156192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89534707 meters 0.017285261367889874 Centerline is valid? [True, True] Translation: X:-49.58, Y:4.33, Z:-2.14 [[ 9.87008664e-01 1.38159924e-01 -8.20105597e-02 -4.95830364e+01] [-1.37621386e-01 9.90409637e-01 1.22108591e-02 4.32612067e+00] [ 8.29111000e-02 -7.65816803e-04 9.96556653e-01 -2.14307684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92534707 meters 0.017010386786343926 Centerline is valid? [True, True] Translation: X:-49.61, Y:4.33, Z:-2.15 [[ 9.86884131e-01 1.38723661e-01 -8.25557917e-02 -4.96107724e+01] [-1.38178824e-01 9.90330856e-01 1.23048150e-02 4.33162067e+00] [ 8.34645168e-02 -7.35964436e-04 9.96510478e-01 -2.14519830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95534707 meters 0.016981571595981647 Centerline is valid? [True, True] Translation: X:-49.64, Y:4.34, Z:-2.15 [[ 9.86933960e-01 1.38719360e-01 -8.19652272e-02 -4.96385483e+01] [-1.38180511e-01 9.90331446e-01 1.22381864e-02 4.33667963e+00] [ 8.28704154e-02 -7.52284829e-04 9.96560048e-01 -2.14634651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98534707 meters 0.016811772051439765 Centerline is valid? [True, True] Translation: X:-49.67, Y:4.34, Z:-2.15 [[ 9.86910541e-01 1.39037252e-01 -8.17081777e-02 -4.96669504e+01] [-1.38501484e-01 9.90286875e-01 1.22165424e-02 4.34168740e+00] [ 8.26130904e-02 -7.39930597e-04 9.96581422e-01 -2.14654502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015347070000004 meters 0.017273011160335368 Centerline is valid? [True, True] Translation: X:-49.70, Y:4.35, Z:-2.15 [[ 9.87154369e-01 1.36716494e-01 -8.26731600e-02 -4.96955611e+01] [-1.36157788e-01 9.90609742e-01 1.23853437e-02 4.34568501e+00] [ 8.35901184e-02 -9.69651569e-04 9.96499750e-01 -2.15478538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.04534707 meters 0.017607768933154792 Centerline is valid? [True, True] Translation: X:-49.72, Y:4.35, Z:-2.16 [[ 9.87359600e-01 1.35193728e-01 -8.27265110e-02 -4.97242300e+01] [-1.34627228e-01 9.90818551e-01 1.24140109e-02 4.34938368e+00] [ 8.36452582e-02 -1.11985204e-03 9.96494966e-01 -2.15651478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07534707 meters 0.017736148401380037 Centerline is valid? [True, True] Translation: X:-49.75, Y:4.35, Z:-2.16 [[ 9.87078606e-01 1.36912600e-01 -8.32512213e-02 -4.97513097e+01] [-1.36342425e-01 9.90582616e-01 1.25229501e-02 4.35496568e+00] [ 8.41817622e-02 -1.01046272e-03 9.96449903e-01 -2.15513271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10534707 meters 0.017313850375286374 Centerline is valid? [True, True] Translation: X:-49.78, Y:4.36, Z:-2.16 [[ 9.87105375e-01 1.35843368e-01 -8.46732447e-02 -4.97787770e+01] [-1.35247502e-01 9.90729665e-01 1.27610398e-02 4.35969169e+00] [ 8.56217980e-02 -1.14464617e-03 9.96327053e-01 -2.16168173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13534707 meters 0.018001370689169394 Centerline is valid? [True, True] Translation: X:-49.81, Y:4.36, Z:-2.17 [[ 9.87316580e-01 1.35111585e-01 -8.33716392e-02 -4.98070705e+01] [-1.34529826e-01 9.90829654e-01 1.25826630e-02 4.36169499e+00] [ 8.43071559e-02 -1.20709970e-03 9.96439083e-01 -2.16811249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16534707 meters 0.018033746529000444 Centerline is valid? [True, True] Translation: X:-49.83, Y:4.37, Z:-2.17 [[ 9.87322577e-01 1.35185528e-01 -8.31805358e-02 -4.98344912e+01] [-1.34604099e-01 9.90819541e-01 1.25846418e-02 4.36667296e+00] [ 8.41181618e-02 -1.22865990e-03 9.96455029e-01 -2.17277223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195347070000004 meters 0.017644856959041284 Centerline is valid? [True, True] Translation: X:-49.86, Y:4.37, Z:-2.17 [[ 9.87189613e-01 1.36425555e-01 -8.27329183e-02 -4.98622849e+01] [-1.35852197e-01 9.90649662e-01 1.25470307e-02 4.37159107e+00] [ 8.36710732e-02 -1.14684968e-03 9.96492768e-01 -2.17401563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22534707 meters 0.017563326207556886 Centerline is valid? [True, True] Translation: X:-49.89, Y:4.38, Z:-2.18 [[ 9.87146194e-01 1.36399461e-01 -8.32921257e-02 -4.98901960e+01] [-1.35816539e-01 9.90653220e-01 1.26516788e-02 4.37721587e+00] [ 8.42392947e-02 -1.17660828e-03 9.96444859e-01 -2.17619297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25534707 meters 0.019058440208082145 Centerline is valid? [True, True] Translation: X:-49.92, Y:4.38, Z:-2.18 [[ 9.87465703e-01 1.33513201e-01 -8.41766594e-02 -4.99193256e+01] [-1.32906153e-01 9.91045971e-01 1.27998897e-02 4.37903994e+00] [ 8.51318934e-02 -1.45185615e-03 9.96368633e-01 -2.18075168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28534707 meters 0.0177144363499206 Centerline is valid? [True, True] Translation: X:-49.95, Y:4.38, Z:-2.18 [[ 9.87327500e-01 1.34792102e-01 -8.37585670e-02 -4.99466914e+01] [-1.34193934e-01 9.90872975e-01 1.27567866e-02 4.38372839e+00] [ 8.47136146e-02 -1.35523462e-03 9.96404419e-01 -2.18090038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31534707 meters 0.018570404740732745 Centerline is valid? [True, True] Translation: X:-49.97, Y:4.39, Z:-2.18 [[ 9.87579520e-01 1.32515477e-01 -8.44176549e-02 -4.99743027e+01] [-1.31898649e-01 9.91179688e-01 1.28675033e-02 4.38710956e+00] [ 8.53782082e-02 -1.57310810e-03 9.96347373e-01 -2.18440600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34534707 meters 0.01864138522343426 Centerline is valid? [True, True] Translation: X:-50.00, Y:4.39, Z:-2.19 [[ 9.87601664e-01 1.32475412e-01 -8.42212497e-02 -5.00018901e+01] [-1.31859691e-01 9.91185014e-01 1.28565216e-02 4.39078880e+00] [ 8.51820135e-02 -1.59173410e-03 9.96364136e-01 -2.18557965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375347070000004 meters 0.019326221162251155 Centerline is valid? [True, True] Translation: X:-50.03, Y:4.39, Z:-2.19 [[ 9.87653209e-01 1.32142843e-01 -8.41392134e-02 -5.00294971e+01] [-1.31524261e-01 9.91229307e-01 1.28774699e-02 4.39291030e+00] [ 8.51029197e-02 -1.65212664e-03 9.96370796e-01 -2.19114182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40534707 meters 0.01802505661631201 Centerline is valid? [True, True] Translation: X:-50.06, Y:4.40, Z:-2.19 [[ 9.87527630e-01 1.33439827e-01 -8.35643021e-02 -5.00564015e+01] [-1.32832213e-01 9.91055698e-01 1.28143219e-02 4.39989438e+00] [ 8.45268187e-02 -1.55446571e-03 9.96419992e-01 -2.18760799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43534707 meters 0.018995304493377496 Centerline is valid? [True, True] Translation: X:-50.08, Y:4.40, Z:-2.19 [[ 9.87668095e-01 1.31925847e-01 -8.43048292e-02 -5.00846879e+01] [-1.31300350e-01 9.91258101e-01 1.29458568e-02 4.40292439e+00] [ 8.52757380e-02 -1.71695621e-03 9.96355911e-01 -2.19450171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46534707 meters 0.018676658786982086 Centerline is valid? [True, True] Translation: X:-50.11, Y:4.41, Z:-2.20 [[ 9.87629697e-01 1.32503997e-01 -8.38467132e-02 -5.01122119e+01] [-1.31885440e-01 9.91181046e-01 1.28982178e-02 4.40870128e+00] [ 8.48163383e-02 -1.68050222e-03 9.96395185e-01 -2.19794103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49534707 meters 0.01906033862694272 Centerline is valid? [True, True] Translation: X:-50.14, Y:4.41, Z:-2.21 [[ 9.87352462e-01 1.34542770e-01 -8.38651183e-02 -5.01407094e+01] [-1.33929750e-01 9.90906616e-01 1.29189859e-02 4.41186385e+00] [ 8.48406567e-02 -1.52355825e-03 9.96393367e-01 -2.20706944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52534707 meters 0.018637243458406956 Centerline is valid? [True, True] Translation: X:-50.17, Y:4.42, Z:-2.21 [[ 9.87423708e-01 1.34064604e-01 -8.37920224e-02 -5.01690285e+01] [-1.33449129e-01 9.90971327e-01 1.29289703e-02 4.41846942e+00] [ 8.47688090e-02 -1.58439934e-03 9.96399387e-01 -2.20738390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55534707 meters 0.019714002935627008 Centerline is valid? [True, True] Translation: X:-50.20, Y:4.42, Z:-2.21 [[ 9.87518850e-01 1.32613675e-01 -8.49713721e-02 -5.01978514e+01] [-1.31974153e-01 9.91166263e-01 1.31248560e-02 4.42104378e+00] [ 8.59612928e-02 -1.74701782e-03 9.96296946e-01 -2.21313080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.585347070000005 meters 0.018455121717370356 Centerline is valid? [True, True] Translation: X:-50.22, Y:4.43, Z:-2.21 [[ 9.87327222e-01 1.34222142e-01 -8.46721554e-02 -5.02244203e+01] [-1.33591264e-01 9.90949942e-01 1.30991296e-02 4.42971159e+00] [ 8.56640607e-02 -1.62166692e-03 9.96322758e-01 -2.21280677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.61534707 meters 0.018551201044021755 Centerline is valid? [True, True] Translation: X:-50.25, Y:4.43, Z:-2.22 [[ 9.87126974e-01 1.35487158e-01 -8.49915689e-02 -5.02522588e+01] [-1.34854464e-01 9.90777910e-01 1.31684094e-02 4.43265096e+00] [ 8.59919194e-02 -1.53739962e-03 9.96294648e-01 -2.21749678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64534707 meters 0.02028210371741331 Centerline is valid? [True, True] Translation: X:-50.28, Y:4.44, Z:-2.22 [[ 9.87330279e-01 1.34825615e-01 -8.36718261e-02 -5.02807286e+01] [-1.34208101e-01 9.90868061e-01 1.29873417e-02 4.43911669e+00] [ 8.46587665e-02 -1.59335884e-03 9.96408729e-01 -2.21656809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67534707 meters 0.01893933872643273 Centerline is valid? [True, True] Translation: X:-50.31, Y:4.44, Z:-2.23 [[ 9.87443277e-01 1.34005082e-01 -8.36565193e-02 -5.03100592e+01] [-1.33384414e-01 9.90979240e-01 1.29901596e-02 4.44271578e+00] [ 8.46426213e-02 -1.66856997e-03 9.96409977e-01 -2.22580705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70534707 meters 0.019038755148126148 Centerline is valid? [True, True] Translation: X:-50.34, Y:4.45, Z:-2.23 [[ 9.87362264e-01 1.34598974e-01 -8.36592796e-02 -5.03387573e+01] [-1.33980052e-01 9.90898827e-01 1.29945898e-02 4.44783998e+00] [ 8.46469406e-02 -1.62169300e-03 9.96409688e-01 -2.22860005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73534707 meters 0.01831631250787621 Centerline is valid? [True, True] Translation: X:-50.37, Y:4.45, Z:-2.23 [[ 9.87298264e-01 1.34266526e-01 -8.49390242e-02 -5.03671625e+01] [-1.33627071e-01 9.90943836e-01 1.31954846e-02 4.45382146e+00] [ 8.59415143e-02 -1.67772603e-03 9.96298771e-01 -2.23136687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.765347070000004 meters 0.019043344669109875 Centerline is valid? [True, True] Translation: X:-50.40, Y:4.46, Z:-2.24 [[ 9.87552267e-01 1.32849696e-01 -8.42109117e-02 -5.03964744e+01] [-1.32215974e-01 9.91134586e-01 1.30831469e-02 4.45812831e+00] [ 8.52024392e-02 -1.78626367e-03 9.96362060e-01 -2.23586498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.79534707 meters 0.018149908192259034 Centerline is valid? [True, True] Translation: X:-50.42, Y:4.47, Z:-2.23 [[ 9.87402407e-01 1.34006096e-01 -8.41359165e-02 -5.04246666e+01] [-1.33377205e-01 9.90979065e-01 1.30772125e-02 4.46552993e+00] [ 8.51293581e-02 -1.69065779e-03 9.96368473e-01 -2.23463731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.82534707 meters 0.018483246671400964 Centerline is valid? [True, True] Translation: X:-50.45, Y:4.47, Z:-2.24 [[ 9.87486803e-01 1.33244226e-01 -8.43551478e-02 -5.04535901e+01] [-1.32608676e-01 9.91081657e-01 1.31182318e-02 4.46954904e+00] [ 8.53507683e-02 -1.76785632e-03 9.96349397e-01 -2.23976742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85534707 meters 0.02067742807089759 Centerline is valid? [True, True] Translation: X:-50.48, Y:4.47, Z:-2.25 [[ 9.87887708e-01 1.30226011e-01 -8.43745342e-02 -5.04821941e+01] [-1.29578005e-01 9.91482230e-01 1.31349782e-02 4.46939389e+00] [ 8.53663672e-02 -2.04279969e-03 9.96347535e-01 -2.24808185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88534707 meters 0.01894151380859189 Centerline is valid? [True, True] Translation: X:-50.51, Y:4.48, Z:-2.24 [[ 9.87723955e-01 1.30805852e-01 -8.53886344e-02 -5.05094409e+01] [-1.30142321e-01 9.91405906e-01 1.33156605e-02 4.47885096e+00] [ 8.63965627e-02 -2.03952181e-03 9.96258739e-01 -2.24364016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91534707 meters 0.02037408715535844 Centerline is valid? [True, True] Translation: X:-50.54, Y:4.48, Z:-2.25 [[ 9.88104716e-01 1.28842804e-01 -8.39559511e-02 -5.05372693e+01] [-1.28192692e-01 9.91662605e-01 1.31114860e-02 4.47967564e+00] [ 8.49452978e-02 -2.19298178e-03 9.96383203e-01 -2.25122746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.945347070000004 meters 0.021056322884853172 Centerline is valid? [True, True] Translation: X:-50.57, Y:4.48, Z:-2.25 [[ 9.88190786e-01 1.28111672e-01 -8.40617076e-02 -5.05655766e+01] [-1.27454548e-01 9.91757104e-01 1.31599782e-02 4.48373369e+00] [ 8.50547425e-02 -2.29052226e-03 9.96373647e-01 -2.25398931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97534707 meters 0.020131686075784395 Centerline is valid? [True, True] Translation: X:-50.59, Y:4.49, Z:-2.25 [[ 9.88092063e-01 1.29361103e-01 -8.33053466e-02 -5.05930380e+01] [-1.28718262e-01 9.91595142e-01 1.30645715e-02 4.48926486e+00] [ 8.42952244e-02 -2.18608002e-03 9.96438426e-01 -2.25238573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00534707 meters 0.02153541992461084 Centerline is valid? [True, True] Translation: X:-50.62, Y:4.49, Z:-2.26 [[ 9.88295218e-01 1.27067578e-01 -8.44179690e-02 -5.06220369e+01] [-1.26398106e-01 9.91891098e-01 1.32502138e-02 4.49337514e+00] [ 8.54171046e-02 -2.42485151e-03 9.96342330e-01 -2.25939560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03534707 meters 0.020485226568075263 Centerline is valid? [True, True] Translation: X:-50.65, Y:4.50, Z:-2.26 [[ 9.88144277e-01 1.28251401e-01 -8.43947093e-02 -5.06488366e+01] [-1.27586059e-01 9.91738956e-01 1.32529197e-02 4.49987768e+00] [ 8.53972265e-02 -2.32820837e-03 9.96344264e-01 -2.25864853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06534707 meters 0.019431335462902124 Centerline is valid? [True, True] Translation: X:-50.68, Y:4.51, Z:-2.26 [[ 9.87963156e-01 1.29418312e-01 -8.47331304e-02 -5.06751026e+01] [-1.28750986e-01 9.91587541e-01 1.33165800e-02 4.50903630e+00] [ 8.57437258e-02 -2.24681630e-03 9.96314692e-01 -2.25843901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09534707 meters 0.021418861277625705 Centerline is valid? [True, True] Translation: X:-50.70, Y:4.51, Z:-2.27 [[ 9.87983740e-01 1.29339771e-01 -8.46129566e-02 -5.07028907e+01] [-1.28672489e-01 9.91597740e-01 1.33159076e-02 4.51158485e+00] [ 8.56242930e-02 -2.26854045e-03 9.96324914e-01 -2.27099278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.125347070000004 meters 0.021204703662024923 Centerline is valid? [True, True] Translation: X:-50.73, Y:4.52, Z:-2.27 [[ 9.87890623e-01 1.30825265e-01 -8.34078372e-02 -5.07320502e+01] [-1.30180472e-01 9.91403156e-01 1.31464030e-02 4.51810172e+00] [ 8.44106747e-02 -2.12913659e-03 9.96428776e-01 -2.27160650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15534707 meters 0.02154507188919161 Centerline is valid? [True, True] Translation: X:-50.76, Y:4.53, Z:-2.28 [[ 9.87899848e-01 1.30557627e-01 -8.37173596e-02 -5.07611893e+01] [-1.29907066e-01 9.91438369e-01 1.31952303e-02 4.52725445e+00] [ 8.47233404e-02 -2.16008948e-03 9.96402173e-01 -2.27627688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18534707 meters 0.019355483556717817 Centerline is valid? [True, True] Translation: X:-50.79, Y:4.54, Z:-2.27 [[ 9.87862114e-01 1.30953727e-01 -8.35437888e-02 -5.07907402e+01] [-1.30307689e-01 9.91386222e-01 1.31630522e-02 4.53797241e+00] [ 8.45479118e-02 -2.11688253e-03 9.96417166e-01 -2.27410577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21534707 meters 0.022336333727866108 Centerline is valid? [True, True] Translation: X:-50.82, Y:4.54, Z:-2.29 [[ 9.88256585e-01 1.27123937e-01 -8.47845966e-02 -5.08213481e+01] [-1.26444641e-01 9.91883743e-01 1.33564002e-02 4.53854388e+00] [ 8.57943812e-02 -2.47899250e-03 9.96309781e-01 -2.28670225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24534707 meters 0.02224729099636745 Centerline is valid? [True, True] Translation: X:-50.85, Y:4.54, Z:-2.29 [[ 9.88340815e-01 1.26444933e-01 -8.48181096e-02 -5.08516793e+01] [-1.25762720e-01 9.91970382e-01 1.33603423e-02 4.54407804e+00] [ 8.58264002e-02 -2.53761543e-03 9.96306875e-01 -2.28843823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27534707 meters 0.022777515956612128 Centerline is valid? [True, True] Translation: X:-50.88, Y:4.55, Z:-2.29 [[ 9.88620958e-01 1.24283642e-01 -8.47477245e-02 -5.08800245e+01] [-1.23594516e-01 9.92242991e-01 1.33507319e-02 4.55018090e+00] [ 8.57496133e-02 -2.72445933e-03 9.96312994e-01 -2.29172776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30534707 meters 0.022340962925021534 Centerline is valid? [True, True] Translation: X:-50.91, Y:4.56, Z:-2.29 [[ 9.88580079e-01 1.24948743e-01 -8.42451165e-02 -5.09095301e+01] [-1.24269861e-01 9.92159647e-01 1.32754408e-02 4.55626234e+00] [ 8.52433547e-02 -2.65470735e-03 9.96356624e-01 -2.29055535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335347070000005 meters 0.022970192444408864 Centerline is valid? [True, True] Translation: X:-50.94, Y:4.56, Z:-2.30 [[ 9.88742865e-01 1.23631283e-01 -8.42784183e-02 -5.09384248e+01] [-1.22946754e-01 9.92324349e-01 1.32846249e-02 4.56315135e+00] [ 8.52739218e-02 -2.77332016e-03 9.96353686e-01 -2.29680206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.36534707 meters 0.022763376524855588 Centerline is valid? [True, True] Translation: X:-50.97, Y:4.57, Z:-2.30 [[ 9.88806026e-01 1.23393261e-01 -8.38853178e-02 -5.09665194e+01] [-1.22713806e-01 9.92353939e-01 1.32280384e-02 4.57069027e+00] [ 8.48761764e-02 -2.78607751e-03 9.96387612e-01 -2.29727446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39534707 meters 0.022842202716105684 Centerline is valid? [True, True] Translation: X:-51.00, Y:4.58, Z:-2.30 [[ 9.88787754e-01 1.23436821e-01 -8.40364780e-02 -5.09957186e+01] [-1.22754643e-01 9.92348504e-01 1.32568277e-02 4.57775361e+00] [ 8.50298539e-02 -2.79232099e-03 9.96374491e-01 -2.30011926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42534707 meters 0.022842202716105684 Centerline is valid? [True, True] Translation: X:-51.02, Y:4.58, Z:-2.30 [[ 9.88782037e-01 1.23482757e-01 -8.40362488e-02 -5.10245048e+01] [-1.22800621e-01 9.92342796e-01 1.32582803e-02 4.58224226e+00] [ 8.50299351e-02 -2.78984591e-03 9.96374491e-01 -2.30167791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45534707 meters 0.023532691343979954 Centerline is valid? [True, True] Translation: X:-51.05, Y:4.59, Z:-2.31 [[ 9.88573443e-01 1.24717294e-01 -8.46648909e-02 -5.10538801e+01] [-1.24029185e-01 9.92188627e-01 1.33599885e-02 4.58708862e+00] [ 8.56697635e-02 -2.70641235e-03 9.96319912e-01 -2.30750081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48534707 meters 0.023182553531692844 Centerline is valid? [True, True] Translation: X:-51.08, Y:4.60, Z:-2.31 [[ 9.88522109e-01 1.25568920e-01 -8.40028971e-02 -5.10826953e+01] [-1.24894800e-01 9.92081466e-01 1.32534318e-02 4.59800313e+00] [ 8.50019365e-02 -2.60978535e-03 9.96377368e-01 -2.30845217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515347070000004 meters 0.021622178268170474 Centerline is valid? [True, True] Translation: X:-51.11, Y:4.61, Z:-2.31 [[ 9.88251191e-01 1.27001141e-01 -8.50311375e-02 -5.11120770e+01] [-1.26316192e-01 9.91899392e-01 1.34095346e-02 4.60901500e+00] [ 8.60453598e-02 -2.51117903e-03 9.96288056e-01 -2.30853260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.54534707 meters 0.021340645363996297 Centerline is valid? [True, True] Translation: X:-51.14, Y:4.62, Z:-2.31 [[ 9.88096295e-01 1.28706007e-01 -8.42643224e-02 -5.11424617e+01] [-1.28040054e-01 9.91680043e-01 1.32829200e-02 4.61727590e+00] [ 8.52728385e-02 -2.33559563e-03 9.96354901e-01 -2.31001288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57534707 meters 0.02229094256862386 Centerline is valid? [True, True] Translation: X:-51.17, Y:4.62, Z:-2.32 [[ 9.88162274e-01 1.27756666e-01 -8.49326505e-02 -5.11740559e+01] [-1.27077088e-01 9.91802563e-01 1.33824226e-02 4.62331668e+00] [ 8.59461142e-02 -2.43101123e-03 9.96296821e-01 -2.31814447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60534707 meters 0.021652542733656487 Centerline is valid? [True, True] Translation: X:-51.20, Y:4.63, Z:-2.32 [[ 9.88027171e-01 1.28258352e-01 -8.57444124e-02 -5.12040155e+01] [-1.27568243e-01 9.91737880e-01 1.35026327e-02 4.63284079e+00] [ 8.67678072e-02 -2.40270391e-03 9.96225665e-01 -2.32350787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63534707 meters 0.021609821679398747 Centerline is valid? [True, True] Translation: X:-51.24, Y:4.64, Z:-2.32 [[ 9.87965446e-01 1.29077236e-01 -8.52252530e-02 -5.12353644e+01] [-1.28399118e-01 9.91631853e-01 1.34139498e-02 4.63958534e+00] [ 8.62435112e-02 -2.30967165e-03 9.96271410e-01 -2.32294789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66534707 meters 0.021941781519953296 Centerline is valid? [True, True] Translation: X:-51.27, Y:4.65, Z:-2.33 [[ 9.87810303e-01 1.30031908e-01 -8.55716538e-02 -5.12660112e+01] [-1.29352548e-01 9.91507308e-01 1.34601540e-02 4.64839734e+00] [ 8.65951696e-02 -2.22716734e-03 9.96241093e-01 -2.32844933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695347070000004 meters 0.0207036352395737 Centerline is valid? [True, True] Translation: X:-51.30, Y:4.66, Z:-2.33 [[ 9.87610822e-01 1.32050924e-01 -8.47786442e-02 -5.12961270e+01] [-1.31392187e-01 9.91240868e-01 1.33279724e-02 4.65872436e+00] [ 8.57960279e-02 -2.02359837e-03 9.96310668e-01 -2.32791562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.72534707 meters 0.02136561190083268 Centerline is valid? [True, True] Translation: X:-51.33, Y:4.66, Z:-2.33 [[ 9.87630752e-01 1.31568869e-01 -8.52943720e-02 -5.13275032e+01] [-1.30900906e-01 9.91304869e-01 1.34018220e-02 4.66317368e+00] [ 8.63159889e-02 -2.07094091e-03 9.96265658e-01 -2.33460139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.75534707 meters 0.023107848853230972 Centerline is valid? [True, True] Translation: X:-51.36, Y:4.67, Z:-2.34 [[ 9.87827088e-01 1.30301867e-01 -8.49650942e-02 -5.13587475e+01] [-1.29635106e-01 9.91472005e-01 1.33417592e-02 4.67036761e+00] [ 8.59789684e-02 -2.16489207e-03 9.96294600e-01 -2.33734101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78534707 meters 0.021351459093944817 Centerline is valid? [True, True] Translation: X:-51.39, Y:4.68, Z:-2.34 [[ 9.87368272e-01 1.34064004e-01 -8.44437024e-02 -5.13896748e+01] [-1.33419812e-01 9.90971007e-01 1.32520503e-02 4.67823176e+00] [ 8.54578838e-02 -1.81819117e-03 9.96340125e-01 -2.34228958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81534707 meters 0.02236157502404388 Centerline is valid? [True, True] Translation: X:-51.42, Y:4.69, Z:-2.34 [[ 9.87294115e-01 1.34086968e-01 -8.52702455e-02 -5.14206225e+01] [-1.33430844e-01 9.90967885e-01 1.33738526e-02 4.68795212e+00] [ 8.62933342e-02 -1.82624518e-03 9.96268099e-01 -2.34152521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84534707 meters 0.021776881773011816 Centerline is valid? [True, True] Translation: X:-51.45, Y:4.69, Z:-2.35 [[ 9.87215433e-01 1.35303769e-01 -8.42530696e-02 -5.14516265e+01] [-1.34668261e-01 9.90802718e-01 1.32073132e-02 4.69202596e+00] [ 8.52651696e-02 -1.69224900e-03 9.96356857e-01 -2.34928670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875347070000004 meters 0.02122085160663803 Centerline is valid? [True, True] Translation: X:-51.48, Y:4.70, Z:-2.35 [[ 9.86987465e-01 1.36906823e-01 -8.43342469e-02 -5.14826311e+01] [-1.36276481e-01 9.90582719e-01 1.32135479e-02 4.69965893e+00] [ 8.53490724e-02 -1.54883181e-03 9.96349907e-01 -2.35211063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.905347070000005 meters 0.02117248109679582 Centerline is valid? [True, True] Translation: X:-51.51, Y:4.71, Z:-2.35 [[ 9.86970994e-01 1.36667285e-01 -8.49135500e-02 -5.15125664e+01] [-1.36027941e-01 9.90615757e-01 1.32974533e-02 4.70742100e+00] [ 8.59340274e-02 -1.57358540e-03 9.96299587e-01 -2.35489546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93534707 meters 0.0225519756462302 Centerline is valid? [True, True] Translation: X:-51.54, Y:4.72, Z:-2.35 [[ 9.86652308e-01 1.39609051e-01 -8.38244303e-02 -5.15438457e+01] [-1.38997160e-01 9.90205856e-01 1.31206484e-02 4.71547934e+00] [ 8.48352030e-02 -1.29416029e-03 9.96394156e-01 -2.35350467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96534707 meters 0.01963511386186345 Centerline is valid? [True, True] Translation: X:-51.57, Y:4.73, Z:-2.35 [[ 9.86185779e-01 1.42420265e-01 -8.45817847e-02 -5.15747948e+01] [-1.41808261e-01 9.89805717e-01 1.32310073e-02 4.72586343e+00] [ 8.56038976e-02 -1.05383544e-03 9.96328692e-01 -2.35000175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99534707 meters 0.021041135521794752 Centerline is valid? [True, True] Translation: X:-51.61, Y:4.73, Z:-2.36 [[ 9.86522037e-01 1.40900982e-01 -8.31936576e-02 -5.16059363e+01] [-1.40304298e-01 9.90023017e-01 1.30050001e-02 4.72850543e+00] [ 8.41960531e-02 -1.15729149e-03 9.96448536e-01 -2.36184746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02534707 meters 0.021076711396274157 Centerline is valid? [True, True] Translation: X:-51.64, Y:4.74, Z:-2.36 [[ 9.86461443e-01 1.41585400e-01 -8.27489917e-02 -5.16365000e+01] [-1.40998146e-01 9.89925450e-01 1.29277231e-02 4.73507929e+00] [ 8.37457097e-02 -1.08524597e-03 9.96486567e-01 -2.36236643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05534707 meters 0.020637343932577188 Centerline is valid? [True, True] Translation: X:-51.67, Y:4.74, Z:-2.36 [[ 9.86122984e-01 1.43530209e-01 -8.34298451e-02 -5.16677833e+01] [-1.42941409e-01 9.89645515e-01 1.30195404e-02 4.74189807e+00] [ 8.44346693e-02 -9.13288391e-04 9.96428599e-01 -2.36435057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.085347070000005 meters 0.02080958197923804 Centerline is valid? [True, True] Translation: X:-51.70, Y:4.75, Z:-2.37 [[ 9.86205329e-01 1.43043736e-01 -8.32918823e-02 -5.16997683e+01] [-1.42457101e-01 9.89715931e-01 1.29750076e-02 4.74708059e+00] [ 8.42912964e-02 -9.30501537e-04 9.96440722e-01 -2.36985182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.11534707 meters 0.02049762419422504 Centerline is valid? [True, True] Translation: X:-51.73, Y:4.75, Z:-2.37 [[ 9.85976258e-01 1.43978178e-01 -8.43866313e-02 -5.17303129e+01] [-1.43380909e-01 9.89580503e-01 1.31279729e-02 4.75329102e+00] [ 8.53975066e-02 -8.44437753e-04 9.96346603e-01 -2.37334212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14534707 meters 0.020540702045885997 Centerline is valid? [True, True] Translation: X:-51.76, Y:4.76, Z:-2.37 [[ 9.85570978e-01 1.47033759e-01 -8.38505831e-02 -5.17613353e+01] [-1.46457355e-01 9.89131322e-01 1.30181345e-02 4.76027113e+00] [ 8.48533433e-02 -5.49760997e-04 9.96393300e-01 -2.37280823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17534707 meters 0.020427391898727117 Centerline is valid? [True, True] Translation: X:-51.79, Y:4.77, Z:-2.38 [[ 9.85516582e-01 1.47893252e-01 -8.29738010e-02 -5.17928965e+01] [-1.47333569e-01 9.89003227e-01 1.28622259e-02 4.76563337e+00] [ 8.39635934e-02 -4.51110608e-04 9.96468721e-01 -2.37736118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20534707 meters 0.020766140617313418 Centerline is valid? [True, True] Translation: X:-51.82, Y:4.77, Z:-2.38 [[ 9.85035507e-01 1.51358283e-01 -8.24361521e-02 -5.18246820e+01] [-1.50819249e-01 9.88478958e-01 1.27633632e-02 4.77197383e+00] [ 8.34182425e-02 -1.39407336e-04 9.96514615e-01 -2.37765276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23534707 meters 0.020931179680511378 Centerline is valid? [True, True] Translation: X:-51.86, Y:4.78, Z:-2.38 [[ 9.84833025e-01 1.53301771e-01 -8.12556451e-02 -5.18560661e+01] [-1.52786631e-01 9.88179419e-01 1.25570988e-02 4.77613905e+00] [ 8.22201817e-02 4.81306864e-05 9.96614188e-01 -2.37860683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.265347070000004 meters 0.02207561879757735 Centerline is valid? [True, True] Translation: X:-51.89, Y:4.78, Z:-2.38 [[ 9.84759230e-01 1.54209587e-01 -8.04279880e-02 -5.18879285e+01] [-1.53709547e-01 9.88038149e-01 1.24093574e-02 4.78103641e+00] [ 8.13795622e-02 1.42320364e-04 9.96683173e-01 -2.37843067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.29534707 meters 0.021441655460818006 Centerline is valid? [True, True] Translation: X:-51.92, Y:4.78, Z:-2.39 [[ 9.84984480e-01 1.53003674e-01 -7.99715589e-02 -5.19201613e+01] [-1.52507751e-01 9.88225617e-01 1.23091525e-02 4.78387369e+00] [ 8.09132887e-02 7.19583950e-05 9.96721142e-01 -2.38877911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32534707 meters 0.022876834665103738 Centerline is valid? [True, True] Translation: X:-51.95, Y:4.79, Z:-2.38 [[ 9.84683245e-01 1.54439223e-01 -8.09162128e-02 -5.19514942e+01] [-1.53938898e-01 9.88002265e-01 1.24233284e-02 4.78864680e+00] [ 8.18640508e-02 2.23109344e-04 9.96643481e-01 -2.38471207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35534707 meters 0.022716046678859174 Centerline is valid? [True, True] Translation: X:-51.98, Y:4.79, Z:-2.39 [[ 9.84679887e-01 1.54943111e-01 -7.99884470e-02 -5.19837185e+01] [-1.54458116e-01 9.87923352e-01 1.22532425e-02 4.79072558e+00] [ 8.09210101e-02 2.89343391e-04 9.96720476e-01 -2.38863689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38534707 meters 0.023193261329715907 Centerline is valid? [True, True] Translation: X:-52.02, Y:4.79, Z:-2.39 [[ 9.84676827e-01 1.55772553e-01 -7.83993443e-02 -5.20161235e+01] [-1.55311548e-01 9.87792877e-01 1.19814297e-02 4.79266577e+00] [ 7.93086918e-02 3.78487344e-04 9.96850033e-01 -2.38820976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41534707 meters 0.025624800603715643 Centerline is valid? [True, True] Translation: X:-52.05, Y:4.79, Z:-2.39 [[ 9.84585772e-01 1.56671878e-01 -7.77481829e-02 -5.20476135e+01] [-1.56223208e-01 9.87650596e-01 1.18578531e-02 4.79481195e+00] [ 7.86458314e-02 4.70997089e-04 9.96902508e-01 -2.38718795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.445347070000004 meters 0.02351445589214028 Centerline is valid? [True, True] Translation: X:-52.08, Y:4.80, Z:-2.39 [[ 9.84699179e-01 1.56855779e-01 -7.59196383e-02 -5.20803091e+01] [-1.56429981e-01 9.87621396e-01 1.15602391e-02 4.79612698e+00] [ 7.67931495e-02 4.92749601e-04 9.97046924e-01 -2.39329517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47534707 meters 0.02430214674661373 Centerline is valid? [True, True] Translation: X:-52.11, Y:4.80, Z:-2.39 [[ 9.84671991e-01 1.57233076e-01 -7.54905973e-02 -5.21122706e+01] [-1.56815326e-01 9.87561371e-01 1.14670245e-02 4.79811179e+00] [ 7.63545933e-02 5.46824767e-04 9.97080577e-01 -2.39397177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50534707 meters 0.024279557144501918 Centerline is valid? [True, True] Translation: X:-52.15, Y:4.80, Z:-2.40 [[ 9.84662844e-01 1.57755913e-01 -7.45127924e-02 -5.21453171e+01] [-1.57352513e-01 9.87477951e-01 1.12908480e-02 4.79795466e+00] [ 7.53609376e-02 6.07096641e-04 9.97156136e-01 -2.39730732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53534707 meters 0.02501439827311953 Centerline is valid? [True, True] Translation: X:-52.18, Y:4.80, Z:-2.40 [[ 9.84743163e-01 1.57423872e-01 -7.41527282e-02 -5.21791638e+01] [-1.57025497e-01 9.87530940e-01 1.12087459e-02 4.79911932e+00] [ 7.49926376e-02 6.06133097e-04 9.97183903e-01 -2.39845584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56534707 meters 0.02577759659214009 Centerline is valid? [True, True] Translation: X:-52.21, Y:4.80, Z:-2.40 [[ 9.84856355e-01 1.56941434e-01 -7.36705276e-02 -5.22119054e+01] [-1.56549065e-01 9.87607732e-01 1.11066422e-02 4.80013547e+00] [ 7.45006751e-02 5.94605049e-04 9.97220786e-01 -2.40092629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59534707 meters 0.025360901049665468 Centerline is valid? [True, True] Translation: X:-52.24, Y:4.80, Z:-2.40 [[ 9.84487943e-01 1.59632234e-01 -7.28082465e-02 -5.22430071e+01] [-1.59258155e-01 9.87176220e-01 1.09522269e-02 4.80178202e+00] [ 7.36228980e-02 8.12971675e-04 9.97285821e-01 -2.40232287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.625347070000004 meters 0.025872615682772642 Centerline is valid? [True, True] Translation: X:-52.28, Y:4.80, Z:-2.41 [[ 9.84723739e-01 1.58507513e-01 -7.20730675e-02 -5.22753127e+01] [-1.58139260e-01 9.87357494e-01 1.08236966e-02 4.80120677e+00] [ 7.28775206e-02 7.39230649e-04 9.97340624e-01 -2.40739387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655347070000005 meters 0.02603467427015353 Centerline is valid? [True, True] Translation: X:-52.31, Y:4.80, Z:-2.41 [[ 9.84344872e-01 1.61312277e-01 -7.10177544e-02 -5.23079341e+01] [-1.60963912e-01 9.86902949e-01 1.06390368e-02 4.80311172e+00] [ 7.18038385e-02 9.58814243e-04 9.97418312e-01 -2.40718597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68534707 meters 0.026333007881810457 Centerline is valid? [True, True] Translation: X:-52.34, Y:4.81, Z:-2.41 [[ 9.84332314e-01 1.62331292e-01 -6.88363859e-02 -5.23398454e+01] [-1.62008258e-01 9.86735780e-01 1.02871462e-02 4.80535598e+00] [ 6.95932506e-02 1.02609260e-03 9.97574923e-01 -2.40862787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71534707 meters 0.026402646535215343 Centerline is valid? [True, True] Translation: X:-52.37, Y:4.81, Z:-2.41 [[ 9.84134424e-01 1.64097057e-01 -6.74654816e-02 -5.23716873e+01] [-1.63792612e-01 9.86443525e-01 1.00574596e-02 4.80734140e+00] [ 6.82012870e-02 1.15245520e-03 9.97670916e-01 -2.41211729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74534707 meters 0.0279623655117575 Centerline is valid? [True, True] Translation: X:-52.40, Y:4.81, Z:-2.41 [[ 9.83893887e-01 1.65752061e-01 -6.69258762e-02 -5.24042374e+01] [-1.65457941e-01 9.86166626e-01 9.95270354e-03 4.80930896e+00] [ 6.76497466e-02 1.28101352e-03 9.97708309e-01 -2.41364422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77534707 meters 0.02723738370112758 Centerline is valid? [True, True] Translation: X:-52.44, Y:4.81, Z:-2.42 [[ 9.83945813e-01 1.65446530e-01 -6.69184777e-02 -5.24375466e+01] [-1.65153489e-01 9.86217925e-01 9.92624833e-03 4.80876673e+00] [ 6.76384655e-02 1.28492956e-03 9.97709069e-01 -2.41685103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80534707 meters 0.02876411618577774 Centerline is valid? [True, True] Translation: X:-52.47, Y:4.81, Z:-2.42 [[ 9.83786836e-01 1.66916201e-01 -6.55930190e-02 -5.24694807e+01] [-1.66639688e-01 9.85970114e-01 9.70307114e-03 4.81081180e+00] [ 6.62923562e-02 1.38464657e-03 9.97799282e-01 -2.41732253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835347070000005 meters 0.028582384148266155 Centerline is valid? [True, True] Translation: X:-52.50, Y:4.81, Z:-2.42 [[ 9.83834304e-01 1.67360648e-01 -6.37218593e-02 -5.25013228e+01] [-1.67102125e-01 9.85894752e-01 9.40306610e-03 4.81140915e+00] [ 6.43967499e-02 1.39699913e-03 9.97923397e-01 -2.42129828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.86534707 meters 0.02824293889851624 Centerline is valid? [True, True] Translation: X:-52.53, Y:4.81, Z:-2.42 [[ 9.84026186e-01 1.66564038e-01 -6.28401655e-02 -5.25341668e+01] [-1.66312554e-01 9.86029715e-01 9.24858908e-03 4.81200932e+00] [ 6.35027528e-02 1.35025456e-03 9.97980750e-01 -2.42087998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89534707 meters 0.028254517732119705 Centerline is valid? [True, True] Translation: X:-52.57, Y:4.81, Z:-2.42 [[ 9.84420788e-01 1.64535214e-01 -6.19990040e-02 -5.25657201e+01] [-1.64287823e-01 9.86370449e-01 9.10215156e-03 4.81145767e+00] [ 6.26516098e-02 1.22533418e-03 9.98034706e-01 -2.42258451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92534707 meters 0.027299145695290693 Centerline is valid? [True, True] Translation: X:-52.60, Y:4.81, Z:-2.43 [[ 9.84935920e-01 1.61394630e-01 -6.20725907e-02 -5.25979349e+01] [-1.61141795e-01 9.86889393e-01 9.09106038e-03 4.81003495e+00] [ 6.27260297e-02 1.04837678e-03 9.98030233e-01 -2.42728334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95534707 meters 0.026606654748315556 Centerline is valid? [True, True] Translation: X:-52.63, Y:4.81, Z:-2.43 [[ 9.84831529e-01 1.62301362e-01 -6.13606292e-02 -5.26293906e+01] [-1.62057320e-01 9.86740608e-01 8.96644512e-03 4.81139831e+00] [ 6.20022909e-02 1.11350126e-03 9.98075386e-01 -2.42908192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.98534707 meters 0.02332297468418188 Centerline is valid? [True, True] Translation: X:-52.66, Y:4.81, Z:-2.44 [[ 9.85441471e-01 1.58813697e-01 -6.06903356e-02 -5.26622474e+01] [-1.58569209e-01 9.87308160e-01 8.85453708e-03 4.80918744e+00] [ 6.13262854e-02 8.97990438e-04 9.98117368e-01 -2.43597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015347070000004 meters 0.02007896673432736 Centerline is valid? [True, True] Translation: X:-52.69, Y:4.81, Z:-2.44 [[ 9.85235020e-01 1.60235864e-01 -6.03027609e-02 -5.26938909e+01] [-1.59998524e-01 9.87078246e-01 8.77548826e-03 4.80731951e+00] [ 6.09296914e-02 1.00243441e-03 9.98141557e-01 -2.44403766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.04534707 meters 0.01899223646300652 Centerline is valid? [True, True] Translation: X:-52.73, Y:4.81, Z:-2.45 [[ 9.85633244e-01 1.58346709e-01 -5.87658732e-02 -5.27257991e+01] [-1.58119161e-01 9.87383178e-01 8.53174570e-03 4.80811841e+00] [ 5.93754085e-02 8.82838357e-04 9.98235334e-01 -2.44883911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.07534707 meters 0.019459299126474563 Centerline is valid? [True, True] Translation: X:-52.76, Y:4.81, Z:-2.45 [[ 9.85546224e-01 1.59566807e-01 -5.68952905e-02 -5.27582293e+01] [-1.59356756e-01 9.87186679e-01 8.23930044e-03 4.81177578e+00] [ 5.74809917e-02 9.46437474e-04 9.98346152e-01 -2.44954227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10534707 meters 0.019380832457969375 Centerline is valid? [True, True] Translation: X:-52.79, Y:4.81, Z:-2.45 [[ 9.85425198e-01 1.60598227e-01 -5.60837598e-02 -5.27906650e+01] [-1.60396977e-01 9.87019343e-01 8.10098663e-03 4.81498767e+00] [ 5.66567598e-02 1.01274915e-03 9.98393202e-01 -2.44836085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13534707 meters 0.019516990173309545 Centerline is valid? [True, True] Translation: X:-52.82, Y:4.82, Z:-2.45 [[ 9.85066712e-01 1.63149483e-01 -5.50074438e-02 -5.28220204e+01] [-1.62960933e-01 9.86600684e-01 7.92622209e-03 4.81720480e+00] [ 5.55635407e-02 1.15620683e-03 9.98454484e-01 -2.44953587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.16534707 meters 0.019913945872889575 Centerline is valid? [True, True] Translation: X:-52.85, Y:4.82, Z:-2.45 [[ 9.85243376e-01 1.61871320e-01 -5.56162401e-02 -5.28542469e+01] [-1.61677667e-01 9.86811243e-01 7.99385455e-03 4.82234307e+00] [ 5.61767068e-02 1.11601170e-03 9.98420218e-01 -2.44911445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195347070000004 meters 0.01982285476838883 Centerline is valid? [True, True] Translation: X:-52.89, Y:4.83, Z:-2.45 [[ 9.85101119e-01 1.63081923e-01 -5.45900315e-02 -5.28866631e+01] [-1.62898358e-01 9.86611821e-01 7.82556765e-03 4.82719339e+00] [ 5.51353790e-02 1.18365106e-03 9.98478187e-01 -2.44931414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22534707 meters 0.021355341027262043 Centerline is valid? [True, True] Translation: X:-52.92, Y:4.83, Z:-2.44 [[ 9.84662524e-01 1.65766604e-01 -5.44164179e-02 -5.29193684e+01] [-1.65589426e-01 9.86164089e-01 7.78018701e-03 4.83217926e+00] [ 5.49532123e-02 1.34992484e-03 9.98488018e-01 -2.44427911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25534707 meters 0.020617037926786555 Centerline is valid? [True, True] Translation: X:-52.95, Y:4.84, Z:-2.45 [[ 9.84939663e-01 1.63370646e-01 -5.66029280e-02 -5.29507900e+01] [-1.63175583e-01 9.86563939e-01 8.08233219e-03 4.83961800e+00] [ 5.71628234e-02 1.27560623e-03 9.98364054e-01 -2.44867403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28534707 meters 0.020923095449882096 Centerline is valid? [True, True] Translation: X:-52.98, Y:4.85, Z:-2.45 [[ 9.84889580e-01 1.63437912e-01 -5.72762068e-02 -5.29821354e+01] [-1.63239581e-01 9.86552743e-01 8.15622396e-03 4.84541438e+00] [ 5.78390352e-02 1.31676403e-03 9.98325053e-01 -2.44948652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31534707 meters 0.020923095449882096 Centerline is valid? [True, True] Translation: X:-53.01, Y:4.85, Z:-2.45 [[ 9.84957161e-01 1.63029084e-01 -5.72792241e-02 -5.30144121e+01] [-1.62831298e-01 9.86620388e-01 8.13498167e-03 4.85024183e+00] [ 5.78390889e-02 1.31424193e-03 9.98325054e-01 -2.45122504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34534707 meters 0.021069746763557596 Centerline is valid? [True, True] Translation: X:-53.05, Y:4.85, Z:-2.45 [[ 9.85182963e-01 1.61696996e-01 -5.71717740e-02 -5.30460442e+01] [-1.61499087e-01 9.86839653e-01 8.09591843e-03 4.85420596e+00] [ 5.77284593e-02 1.25722842e-03 9.98331530e-01 -2.44751165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375347070000004 meters 0.021602869700678325 Centerline is valid? [True, True] Translation: X:-53.08, Y:4.86, Z:-2.45 [[ 9.85127487e-01 1.62077421e-01 -5.70503567e-02 -5.30772248e+01] [-1.61882133e-01 9.86777193e-01 8.05890182e-03 4.86141531e+00] [ 5.76021569e-02 1.29638776e-03 9.98338776e-01 -2.44769885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.405347070000005 meters 0.021566462413355563 Centerline is valid? [True, True] Translation: X:-53.11, Y:4.87, Z:-2.45 [[ 9.84818224e-01 1.63713735e-01 -5.77137600e-02 -5.31079672e+01] [-1.63517958e-01 9.86506852e-01 8.13075339e-03 4.86771328e+00] [ 5.82661357e-02 1.42992207e-03 9.98300061e-01 -2.44579663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43534707 meters 0.022846212933727537 Centerline is valid? [True, True] Translation: X:-53.14, Y:4.88, Z:-2.44 [[ 9.84445129e-01 1.66052885e-01 -5.73953584e-02 -5.31389911e+01] [-1.65864351e-01 9.86115585e-01 8.06660230e-03 4.87862850e+00] [ 5.79379400e-02 1.57871651e-03 9.98318938e-01 -2.44328461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46534707 meters 0.024677859487546482 Centerline is valid? [True, True] Translation: X:-53.17, Y:4.89, Z:-2.44 [[ 9.84330263e-01 1.66755456e-01 -5.73284561e-02 -5.31706615e+01] [-1.66569759e-01 9.85996923e-01 8.03635812e-03 4.89026673e+00] [ 5.78657879e-02 1.63875663e-03 9.98323026e-01 -2.43734694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49534707 meters 0.021616929617107983 Centerline is valid? [True, True] Translation: X:-53.20, Y:4.89, Z:-2.44 [[ 9.84496151e-01 1.66077887e-01 -5.64399160e-02 -5.32028987e+01] [-1.65897883e-01 9.86111352e-01 7.89268302e-03 4.88867136e+00] [ 5.69668420e-02 1.59294654e-03 9.98374800e-01 -2.44088716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52534707 meters 0.021033665493140848 Centerline is valid? [True, True] Translation: X:-53.23, Y:4.89, Z:-2.44 [[ 9.85140158e-01 1.62261621e-01 -5.63030748e-02 -5.32345654e+01] [-1.62077511e-01 9.86746793e-01 7.85159939e-03 4.89072530e+00] [ 5.68308917e-02 1.39053637e-03 9.98382850e-01 -2.43510413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55534707 meters 0.02054087624073355 Centerline is valid? [True, True] Translation: X:-53.27, Y:4.89, Z:-2.44 [[ 9.85930407e-01 1.57344859e-01 -5.64254185e-02 -5.32669796e+01] [-1.57153024e-01 9.87543073e-01 7.84895137e-03 4.89335877e+00] [ 5.69575234e-02 1.12890535e-03 9.98375964e-01 -2.43633491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.585347070000005 meters 0.019578507543196105 Centerline is valid? [True, True] Translation: X:-53.30, Y:4.89, Z:-2.44 [[ 9.87097966e-01 1.49213660e-01 -5.80765714e-02 -5.32991236e+01] [-1.48997608e-01 9.88804730e-01 8.05725151e-03 4.89248864e+00] [ 5.86286404e-02 6.99973625e-04 9.98279616e-01 -2.43545357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.61534707 meters 0.01898928651699782 Centerline is valid? [True, True] Translation: X:-53.33, Y:4.89, Z:-2.43 [[ 9.88650571e-01 1.38752050e-01 -5.76013603e-02 -5.33318398e+01] [-1.38522294e-01 9.90327149e-01 7.98204102e-03 4.88660703e+00] [ 5.81517155e-02 8.76231630e-05 9.98307753e-01 -2.43136012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64534707 meters 0.019149334977629995 Centerline is valid? [True, True] Translation: X:-53.36, Y:4.89, Z:-2.43 [[ 9.89486167e-01 1.33036054e-01 -5.67321277e-02 -5.33649911e+01] [-1.32804051e-01 9.91111170e-01 7.85706717e-03 4.88805035e+00] [ 5.72731186e-02 -2.40202920e-04 9.98358519e-01 -2.42807066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67534707 meters 0.019258428278815312 Centerline is valid? [True, True] Translation: X:-53.40, Y:4.89, Z:-2.43 [[ 9.89803417e-01 1.30288859e-01 -5.75674306e-02 -5.33971666e+01] [-1.30045827e-01 9.91475999e-01 7.96410159e-03 4.89044115e+00] [ 5.81143595e-02 -3.96490856e-04 9.98309854e-01 -2.42605907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70534707 meters 0.019652057913019157 Centerline is valid? [True, True] Translation: X:-53.43, Y:4.89, Z:-2.42 [[ 9.90278540e-01 1.26789437e-01 -5.72088377e-02 -5.34292731e+01] [-1.26543923e-01 9.91929477e-01 7.90871349e-03 4.89269973e+00] [ 5.77498738e-02 -5.92398481e-04 9.98330908e-01 -2.42214696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73534707 meters 0.019835456704582987 Centerline is valid? [True, True] Translation: X:-53.46, Y:4.89, Z:-2.42 [[ 9.90636455e-01 1.24081584e-01 -5.69488753e-02 -5.34617799e+01] [-1.23834153e-01 9.92271743e-01 7.86710796e-03 4.89473088e+00] [ 5.74849230e-02 -7.41228208e-04 9.98346099e-01 -2.42160840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.765347070000004 meters 0.019956336361565546 Centerline is valid? [True, True] Translation: X:-53.49, Y:4.90, Z:-2.42 [[ 9.90949068e-01 1.21883197e-01 -5.62532747e-02 -5.34934322e+01] [-1.21638542e-01 9.92544084e-01 7.76571268e-03 4.89828145e+00] [ 5.67803649e-02 -8.52859429e-04 9.98386329e-01 -2.42012269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.79534707 meters 0.021254370097089033 Centerline is valid? [True, True] Translation: X:-53.52, Y:4.90, Z:-2.42 [[ 9.91681853e-01 1.15322282e-01 -5.71653102e-02 -5.35246113e+01] [-1.15059034e-01 9.93327351e-01 7.88626427e-03 4.89873722e+00] [ 5.76933282e-02 -1.24327977e-03 9.98333579e-01 -2.41704816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82534707 meters 0.022759159641039098 Centerline is valid? [True, True] Translation: X:-53.56, Y:4.90, Z:-2.41 [[ 9.92053460e-01 1.12298571e-01 -5.67359060e-02 -5.35567416e+01] [-1.12034487e-01 9.93673515e-01 7.82424451e-03 4.90071610e+00] [ 5.72556187e-02 -1.40569072e-03 9.98358562e-01 -2.41219270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85534707 meters 0.022724966336452913 Centerline is valid? [True, True] Translation: X:-53.59, Y:4.90, Z:-2.42 [[ 9.92262940e-01 1.10153795e-01 -5.72747635e-02 -5.35876788e+01] [-1.09881298e-01 9.93913360e-01 7.89507365e-03 4.90158451e+00] [ 5.77958250e-02 -1.54056363e-03 9.98327236e-01 -2.41619973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88534707 meters 0.02174064213783768 Centerline is valid? [True, True] Translation: X:-53.62, Y:4.91, Z:-2.41 [[ 9.92463737e-01 1.08905756e-01 -5.61717734e-02 -5.36169896e+01] [-1.08641806e-01 9.94050824e-01 7.74059465e-03 4.90879927e+00] [ 5.66805930e-02 -1.57965655e-03 9.98391113e-01 -2.41488222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91534707 meters 0.022610171660679246 Centerline is valid? [True, True] Translation: X:-53.65, Y:4.91, Z:-2.41 [[ 9.92654079e-01 1.06343900e-01 -5.76962196e-02 -5.36478269e+01] [-1.06061011e-01 9.94327827e-01 7.95206351e-03 4.91210312e+00] [ 5.82146101e-02 -1.77432893e-03 9.98302515e-01 -2.41170169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.945347070000004 meters 0.022452249546547176 Centerline is valid? [True, True] Translation: X:-53.68, Y:4.91, Z:-2.41 [[ 9.92544226e-01 1.07821156e-01 -5.68379937e-02 -5.36768358e+01] [-1.07548967e-01 9.94168914e-01 7.83516702e-03 4.91382408e+00] [ 5.73513632e-02 -1.66388226e-03 9.98352669e-01 -2.41162579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97534707 meters 0.024184897600212432 Centerline is valid? [True, True] Translation: X:-53.71, Y:4.92, Z:-2.41 [[ 9.92550325e-01 1.06542437e-01 -5.90978941e-02 -5.37070796e+01] [-1.06244717e-01 9.94306478e-01 8.16622433e-03 4.91623068e+00] [ 5.96314684e-02 -1.82654958e-03 9.98218789e-01 -2.40919736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00534707 meters 0.02266173836681126 Centerline is valid? [True, True] Translation: X:-53.73, Y:4.93, Z:-2.41 [[ 9.92452230e-01 1.07689215e-01 -5.86651785e-02 -5.37348469e+01] [-1.07397820e-01 9.94183075e-01 8.10683730e-03 4.92525769e+00] [ 5.91969465e-02 -1.74513648e-03 9.98244798e-01 -2.41036644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03534707 meters 0.02101383005916596 Centerline is valid? [True, True] Translation: X:-53.76, Y:4.93, Z:-2.41 [[ 9.92148642e-01 1.10484829e-01 -5.86018295e-02 -5.37630809e+01] [-1.10198684e-01 9.93876553e-01 8.10225831e-03 4.93378801e+00] [ 5.91381609e-02 -1.58080012e-03 9.98248556e-01 -2.40543566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06534707 meters 0.02151668394535517 Centerline is valid? [True, True] Translation: X:-53.79, Y:4.94, Z:-2.41 [[ 9.92146778e-01 1.10363928e-01 -5.88606318e-02 -5.37928001e+01] [-1.10074772e-01 9.93889956e-01 8.14244821e-03 4.93742365e+00] [ 5.93996233e-02 -1.59943315e-03 9.98233002e-01 -2.40549259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09534707 meters 0.02249755360777192 Centerline is valid? [True, True] Translation: X:-53.82, Y:4.94, Z:-2.40 [[ 9.92364810e-01 1.07514849e-01 -6.04370769e-02 -5.38220931e+01] [-1.07204506e-01 9.94201812e-01 8.36371554e-03 4.94153929e+00] [ 6.09858750e-02 -1.82073002e-03 9.98136969e-01 -2.40213953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.125347070000004 meters 0.021562029339152328 Centerline is valid? [True, True] Translation: X:-53.85, Y:4.95, Z:-2.40 [[ 9.92279083e-01 1.08894530e-01 -5.93649886e-02 -5.38490740e+01] [-1.08597372e-01 9.94051841e-01 8.21876967e-03 4.94823192e+00] [ 5.99068553e-02 -1.70843150e-03 9.98202509e-01 -2.40083172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155347070000005 meters 0.0235197803602942 Centerline is valid? [True, True] Translation: X:-53.88, Y:4.95, Z:-2.40 [[ 9.92442410e-01 1.07158149e-01 -5.97929285e-02 -5.38779391e+01] [-1.06852990e-01 9.94240294e-01 8.28711858e-03 4.94996777e+00] [ 6.03365711e-02 -1.83543475e-03 9.98176402e-01 -2.39956427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18534707 meters 0.021656147374742196 Centerline is valid? [True, True] Translation: X:-53.90, Y:4.96, Z:-2.40 [[ 9.92205068e-01 1.09128925e-01 -6.01662811e-02 -5.39048673e+01] [-1.08822364e-01 9.94026071e-01 8.35841302e-03 4.96165020e+00] [ 6.07189967e-02 -1.74582278e-03 9.98153373e-01 -2.39720996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21534707 meters 0.022716321591112285 Centerline is valid? [True, True] Translation: X:-53.93, Y:4.97, Z:-2.39 [[ 9.92439861e-01 1.06705608e-01 -6.06385709e-02 -5.39335499e+01] [-1.06389200e-01 9.94288810e-01 8.43208019e-03 4.96538305e+00] [ 6.11920027e-02 -1.91704344e-03 9.98124173e-01 -2.39491821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24534707 meters 0.023298997892642816 Centerline is valid? [True, True] Translation: X:-53.96, Y:4.97, Z:-2.39 [[ 9.92188400e-01 1.09261504e-01 -6.02005137e-02 -5.39618282e+01] [-1.08953078e-01 9.94011469e-01 8.39209402e-03 4.97239723e+00] [ 6.07569339e-02 -1.76750711e-03 9.98151026e-01 -2.38800337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27534707 meters 0.022084319967181392 Centerline is valid? [True, True] Translation: X:-53.99, Y:4.98, Z:-2.39 [[ 9.92258268e-01 1.08431043e-01 -6.05494752e-02 -5.39899982e+01] [-1.08116344e-01 9.94102256e-01 8.45933472e-03 4.97965960e+00] [ 6.11096244e-02 -1.84745693e-03 9.98129351e-01 -2.39190398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.30534707 meters 0.022114440455685665 Centerline is valid? [True, True] Translation: X:-54.02, Y:4.99, Z:-2.39 [[ 9.92331856e-01 1.07311838e-01 -6.13323447e-02 -5.40171370e+01] [-1.06986444e-01 9.94223505e-01 8.57450540e-03 4.98867897e+00] [ 6.18982046e-02 -1.94702539e-03 9.98080569e-01 -2.38796655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335347070000005 meters 0.023579392480018117 Centerline is valid? [True, True] Translation: X:-54.05, Y:4.99, Z:-2.39 [[ 9.92624552e-01 1.04216957e-01 -6.19299980e-02 -5.40457946e+01] [-1.03878693e-01 9.94552222e-01 8.66567650e-03 4.99108222e+00] [ 6.24957275e-02 -2.16855602e-03 9.98042876e-01 -2.38803271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.36534707 meters 0.023393999070697852 Centerline is valid? [True, True] Translation: X:-54.07, Y:5.00, Z:-2.39 [[ 9.92867609e-01 1.01823892e-01 -6.20145706e-02 -5.40731182e+01] [-1.01479636e-01 9.94799714e-01 8.68401233e-03 4.99730682e+00] [ 6.25763170e-02 -2.32885851e-03 9.98037465e-01 -2.38521375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39534707 meters 0.02598227613787413 Centerline is valid? [True, True] Translation: X:-54.10, Y:5.00, Z:-2.39 [[ 9.93215554e-01 9.79772533e-02 -6.26364240e-02 -5.41029076e+01] [-9.76177951e-02 9.95185240e-01 8.78089683e-03 4.99554783e+00] [ 6.31951728e-02 -2.60689371e-03 9.97997783e-01 -2.38500478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42534707 meters 0.026363116391978577 Centerline is valid? [True, True] Translation: X:-54.13, Y:5.00, Z:-2.38 [[ 9.93422386e-01 9.60304449e-02 -6.23707953e-02 -5.41305014e+01] [-9.56690309e-02 9.95374632e-01 8.76230375e-03 4.99995986e+00] [ 6.29237554e-02 -2.73771515e-03 9.98014582e-01 -2.38406911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45534707 meters 0.027535844558626545 Centerline is valid? [True, True] Translation: X:-54.16, Y:5.00, Z:-2.38 [[ 9.93713707e-01 9.26354680e-02 -6.28628517e-02 -5.41608862e+01] [-9.22609417e-02 9.95695614e-01 8.84094248e-03 5.00224466e+00] [ 6.34112506e-02 -2.98557983e-03 9.97983016e-01 -2.38346918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.48534707 meters 0.027003421545109714 Centerline is valid? [True, True] Translation: X:-54.19, Y:5.01, Z:-2.38 [[ 9.93923814e-01 8.96840951e-02 -6.38139029e-02 -5.41895946e+01] [-8.92918040e-02 9.95965037e-01 8.97880491e-03 5.00942156e+00] [ 6.43616721e-02 -3.22618952e-03 9.97921423e-01 -2.38005342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515347070000004 meters 0.029957353122206234 Centerline is valid? [True, True] Translation: X:-54.22, Y:5.01, Z:-2.38 [[ 9.94114092e-01 8.73408251e-02 -6.40995580e-02 -5.42193230e+01] [-8.69397585e-02 9.96172689e-01 9.02510935e-03 5.00613889e+00] [ 6.46424896e-02 -3.39918828e-03 9.97902698e-01 -2.38312675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.54534707 meters 0.03165686525733928 Centerline is valid? [True, True] Translation: X:-54.25, Y:5.01, Z:-2.39 [[ 9.94321974e-01 8.50789869e-02 -6.39169684e-02 -5.42485987e+01] [-8.46742647e-02 9.96367864e-01 9.01930145e-03 5.00672332e+00] [ 6.44521664e-02 -3.55596731e-03 9.97914462e-01 -2.38522980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57534707 meters 0.029596233747462973 Centerline is valid? [True, True] Translation: X:-54.28, Y:5.02, Z:-2.38 [[ 9.94249098e-01 8.57777139e-02 -6.41164130e-02 -5.42760183e+01] [-8.53708179e-02 9.96308016e-01 9.06421918e-03 5.01602675e+00] [ 6.46572042e-02 -3.53842113e-03 9.97901260e-01 -2.38155637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60534707 meters 0.02944423810717975 Centerline is valid? [True, True] Translation: X:-54.30, Y:5.02, Z:-2.38 [[ 9.94364211e-01 8.45863372e-02 -6.39137476e-02 -5.43035170e+01] [-8.41790862e-02 9.96409608e-01 9.04294251e-03 5.02047290e+00] [ 6.44491816e-02 -3.61177752e-03 9.97914454e-01 -2.38375216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63534707 meters 0.03004731919329942 Centerline is valid? [True, True] Translation: X:-54.33, Y:5.02, Z:-2.38 [[ 9.94317886e-01 8.50344995e-02 -6.40396452e-02 -5.43310708e+01] [-8.46258884e-02 9.96371503e-01 9.07121966e-03 5.02297552e+00] [ 6.45786442e-02 -3.60026408e-03 9.97906126e-01 -2.38157744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.66534707 meters 0.030046958949824346 Centerline is valid? [True, True] Translation: X:-54.36, Y:5.03, Z:-2.38 [[ 9.94352019e-01 8.39904060e-02 -6.48820052e-02 -5.43582320e+01] [-8.35673194e-02 9.96459551e-01 9.21225450e-03 5.02881783e+00] [ 6.54260348e-02 -3.73820860e-03 9.97850420e-01 -2.38293443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695347070000004 meters 0.03143433704841872 Centerline is valid? [True, True] Translation: X:-54.39, Y:5.03, Z:-2.39 [[ 9.94227424e-01 8.48553998e-02 -6.56611765e-02 -5.43864944e+01] [-8.44234375e-02 9.96386282e-01 9.33062070e-03 5.02988563e+00] [ 6.62156491e-02 -3.73341676e-03 9.97798351e-01 -2.38582105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72534707 meters 0.02814192376967718 Centerline is valid? [True, True] Translation: X:-54.41, Y:5.05, Z:-2.38 [[ 9.93903810e-01 8.75666560e-02 -6.69872949e-02 -5.44136096e+01] [-8.71226691e-02 9.96152040e-01 9.52643753e-03 5.04521494e+00] [ 6.75637287e-02 -3.63225063e-03 9.97708349e-01 -2.38487684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75534707 meters 0.029706440563955216 Centerline is valid? [True, True] Translation: X:-54.44, Y:5.05, Z:-2.39 [[ 9.93594878e-01 9.06838869e-02 -6.74214440e-02 -5.44426420e+01] [-9.02409239e-02 9.95873761e-01 9.59314543e-03 5.04602479e+00] [ 6.80131907e-02 -3.44752677e-03 9.97678465e-01 -2.38931942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78534707 meters 0.02747440726330232 Centerline is valid? [True, True] Translation: X:-54.47, Y:5.06, Z:-2.39 [[ 9.93102949e-01 9.68114704e-02 -6.61367723e-02 -5.44704379e+01] [-9.63985299e-02 9.95298295e-01 9.41423598e-03 5.05785681e+00] [ 6.67372228e-02 -2.97381789e-03 9.97766155e-01 -2.38744374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81534707 meters 0.024757226845553797 Centerline is valid? [True, True] Translation: X:-54.50, Y:5.07, Z:-2.39 [[ 9.92438588e-01 1.02423160e-01 -6.76398246e-02 -5.44968660e+01] [-1.02004082e-01 9.94737370e-01 9.62979304e-03 5.07061287e+00] [ 6.82701751e-02 -2.65744000e-03 9.97663331e-01 -2.38824435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84534707 meters 0.023936584295443396 Centerline is valid? [True, True] Translation: X:-54.53, Y:5.08, Z:-2.39 [[ 9.91848511e-01 1.07980931e-01 -6.76509388e-02 -5.45252758e+01] [-1.07574215e-01 9.94150349e-01 9.63704513e-03 5.07986606e+00] [ 6.82958215e-02 -2.28099224e-03 9.97662507e-01 -2.38986857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875347070000004 meters 0.02154762524447277 Centerline is valid? [True, True] Translation: X:-54.55, Y:5.09, Z:-2.39 [[ 9.90924547e-01 1.16327217e-01 -6.73537030e-02 -5.45535382e+01] [-1.15943100e-01 9.93209487e-01 9.59756971e-03 5.09283725e+00] [ 6.80127953e-02 -1.70127029e-03 9.97682998e-01 -2.39320009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.905347070000005 meters 0.01944264795981807 Centerline is valid? [True, True] Translation: X:-54.58, Y:5.11, Z:-2.39 [[ 9.89752474e-01 1.25439285e-01 -6.82277565e-02 -5.45818294e+01] [-1.25066650e-01 9.92100699e-01 9.72297166e-03 5.11019592e+00] [ 6.89084475e-02 -1.09031831e-03 9.97622392e-01 -2.39136795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93534707 meters 0.0187949034633105 Centerline is valid? [True, True] Translation: X:-54.61, Y:5.12, Z:-2.39 [[ 9.89087393e-01 1.30653760e-01 -6.80861468e-02 -5.46127718e+01] [-1.30295191e-01 9.91427795e-01 9.70004681e-03 5.11973968e+00] [ 6.87698459e-02 -7.22896525e-04 9.97632290e-01 -2.39392878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96534707 meters 0.018393604618601844 Centerline is valid? [True, True] Translation: X:-54.64, Y:5.13, Z:-2.39 [[ 9.88399119e-01 1.35571089e-01 -6.84665010e-02 -5.46428187e+01] [-1.35220805e-01 9.90767550e-01 9.74653776e-03 5.12919803e+00] [ 6.91557363e-02 -3.75373953e-04 9.97605806e-01 -2.39447553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99534707 meters 0.018310012871056134 Centerline is valid? [True, True] Translation: X:-54.67, Y:5.14, Z:-2.40 [[ 9.88136280e-01 1.37614793e-01 -6.81825538e-02 -5.46747910e+01] [-1.37272967e-01 9.90485800e-01 9.69600889e-03 5.13530930e+00] [ 6.88681656e-02 -2.21356669e-04 9.97625745e-01 -2.39609439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02534707 meters 0.01851874759605341 Centerline is valid? [True, True] Translation: X:-54.71, Y:5.14, Z:-2.39 [[ 9.87870531e-01 1.40144439e-01 -6.68681559e-02 -5.47067632e+01] [-1.39821939e-01 9.90131070e-01 9.50212096e-03 5.14085433e+00] [ 6.75399081e-02 -3.72300308e-05 9.97716573e-01 -2.39476450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05534707 meters 0.018134079781143758 Centerline is valid? [True, True] Translation: X:-54.74, Y:5.14, Z:-2.39 [[ 9.88372807e-01 1.36296793e-01 -6.73971673e-02 -5.47382353e+01] [-1.35960858e-01 9.90668006e-01 9.56801052e-03 5.14410234e+00] [ 6.80723065e-02 -2.93384715e-04 9.97680347e-01 -2.39248623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.085347070000005 meters 0.01828417166004302 Centerline is valid? [True, True] Translation: X:-54.77, Y:5.15, Z:-2.40 [[ 9.88758790e-01 1.34082472e-01 -6.61660528e-02 -5.47708592e+01] [-1.33754583e-01 9.90970085e-01 9.38092196e-03 5.14511177e+00] [ 6.68263962e-02 -4.25456216e-04 9.97764527e-01 -2.39800763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.11534707 meters 0.018142669230372513 Centerline is valid? [True, True] Translation: X:-54.80, Y:5.15, Z:-2.40 [[ 9.89336340e-01 1.29835400e-01 -6.60028495e-02 -5.48028224e+01] [-1.29500147e-01 9.91535311e-01 9.35084646e-03 5.14576868e+00] [ 6.66582268e-02 -7.03753482e-04 9.97775619e-01 -2.39837823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14534707 meters 0.018951185009112716 Centerline is valid? [True, True] Translation: X:-54.83, Y:5.15, Z:-2.40 [[ 9.89963181e-01 1.24309687e-01 -6.72309632e-02 -5.48341028e+01] [-1.23949631e-01 9.92242872e-01 9.51689793e-03 5.14602813e+00] [ 6.78924866e-02 -1.08812550e-03 9.97692050e-01 -2.40169300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17534707 meters 0.019510694078362447 Centerline is valid? [True, True] Translation: X:-54.87, Y:5.15, Z:-2.40 [[ 9.90591368e-01 1.18940817e-01 -6.76891625e-02 -5.48660875e+01] [-1.18564056e-01 9.92900279e-01 9.57081733e-03 5.14501267e+00] [ 6.83469492e-02 -1.45526740e-03 9.97660552e-01 -2.40473995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20534707 meters 0.020887442459768306 Centerline is valid? [True, True] Translation: X:-54.90, Y:5.14, Z:-2.40 [[ 9.91159884e-01 1.14162734e-01 -6.75940460e-02 -5.48956436e+01] [-1.13776013e-01 9.93460466e-01 9.55621762e-03 5.14272392e+00] [ 6.82429764e-02 -1.78115850e-03 9.97667141e-01 -2.40421683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23534707 meters 0.020887442459768306 Centerline is valid? [True, True] Translation: X:-54.92, Y:5.15, Z:-2.41 [[ 9.91117491e-01 1.14531078e-01 -6.75925404e-02 -5.49227127e+01] [-1.14144486e-01 9.93418095e-01 9.56685437e-03 5.14630827e+00] [ 6.82433548e-02 -1.76656090e-03 9.97667141e-01 -2.40567971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.265347070000004 meters 0.020705527917459297 Centerline is valid? [True, True] Translation: X:-54.95, Y:5.15, Z:-2.41 [[ 9.91276501e-01 1.13647291e-01 -6.67472177e-02 -5.49504918e+01] [-1.13266873e-01 9.93519481e-01 9.46868059e-03 5.15031271e+00] [ 6.73907510e-02 -1.82583193e-03 9.97724989e-01 -2.40656919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.29534707 meters 0.022240042750321314 Centerline is valid? [True, True] Translation: X:-54.98, Y:5.15, Z:-2.40 [[ 9.91394405e-01 1.13207046e-01 -6.57365847e-02 -5.49783858e+01] [-1.12836359e-01 9.93569718e-01 9.33661600e-03 5.15215958e+00] [ 6.63708506e-02 -1.83879196e-03 9.97793330e-01 -2.40409576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32534707 meters 0.020964105056389057 Centerline is valid? [True, True] Translation: X:-55.01, Y:5.16, Z:-2.41 [[ 9.91229718e-01 1.14041080e-01 -6.67703430e-02 -5.50070230e+01] [-1.13659057e-01 9.93474345e-01 9.50500364e-03 5.15723973e+00] [ 6.74185836e-02 -1.83258785e-03 9.97723096e-01 -2.41236949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35534707 meters 0.020299827293573162 Centerline is valid? [True, True] Translation: X:-55.04, Y:5.16, Z:-2.41 [[ 9.91034450e-01 1.15854579e-01 -6.65464937e-02 -5.50363929e+01] [-1.15478992e-01 9.93264720e-01 9.47617438e-03 5.16351943e+00] [ 6.71961426e-02 -1.70649324e-03 9.97738326e-01 -2.41379549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38534707 meters 0.018467825299744788 Centerline is valid? [True, True] Translation: X:-55.07, Y:5.17, Z:-2.41 [[ 9.90420057e-01 1.20181378e-01 -6.80040146e-02 -5.50650425e+01] [-1.19799115e-01 9.92750897e-01 9.68655853e-03 5.17450270e+00] [ 6.86751905e-02 -1.44694109e-03 9.97638023e-01 -2.41083147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41534707 meters 0.018130750964570345 Centerline is valid? [True, True] Translation: X:-55.09, Y:5.18, Z:-2.41 [[ 9.90021977e-01 1.23431806e-01 -6.79784870e-02 -5.50944382e+01] [-1.23057386e-01 9.92352304e-01 9.68423692e-03 5.18220631e+00] [ 6.86539510e-02 -1.22235245e-03 9.97639785e-01 -2.41303333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.445347070000004 meters 0.017488496318907525 Centerline is valid? [True, True] Translation: X:-55.12, Y:5.19, Z:-2.42 [[ 9.89385178e-01 1.28002515e-01 -6.87918957e-02 -5.51247250e+01] [-1.27630151e-01 9.91773421e-01 9.79930447e-03 5.19087581e+00] [ 6.94803093e-02 -9.15366553e-04 9.97582903e-01 -2.41787819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475347070000005 meters 0.017069528877434296 Centerline is valid? [True, True] Translation: X:-55.16, Y:5.20, Z:-2.42 [[ 9.89049862e-01 1.31149663e-01 -6.76766984e-02 -5.51552459e+01] [-1.30796967e-01 9.91362348e-01 9.63575237e-03 5.19903803e+00] [ 6.83558564e-02 -6.78332665e-04 9.97660772e-01 -2.41961198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50534707 meters 0.01668569021844253 Centerline is valid? [True, True] Translation: X:-55.19, Y:5.21, Z:-2.42 [[ 9.88702364e-01 1.33952766e-01 -6.72628515e-02 -5.51870282e+01] [-1.33611442e-01 9.90987605e-01 9.56815785e-03 5.20691606e+00] [ 6.79383333e-02 -4.72973689e-04 9.97689410e-01 -2.42233846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53534707 meters 0.01632859663251111 Centerline is valid? [True, True] Translation: X:-55.22, Y:5.21, Z:-2.42 [[ 9.88409928e-01 1.36326275e-01 -6.67904272e-02 -5.52173704e+01] [-1.35995571e-01 9.90663947e-01 9.49468143e-03 5.21247154e+00] [ 6.74612428e-02 -3.01435119e-04 9.97721850e-01 -2.42301776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56534707 meters 0.016526451876286777 Centerline is valid? [True, True] Translation: X:-55.25, Y:5.22, Z:-2.43 [[ 9.88727323e-01 1.32974228e-01 -6.88195833e-02 -5.52491420e+01] [-1.32615404e-01 9.91119348e-01 9.77711240e-03 5.21796023e+00] [ 6.95085245e-02 -5.40361345e-04 9.97581211e-01 -2.42637183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59534707 meters 0.017142783315634257 Centerline is valid? [True, True] Translation: X:-55.28, Y:5.22, Z:-2.43 [[ 9.88694401e-01 1.33454481e-01 -6.83614150e-02 -5.52813982e+01] [-1.33102065e-01 9.91054820e-01 9.70488233e-03 5.22152602e+00] [ 6.90450699e-02 -4.96117295e-04 9.97613418e-01 -2.43090374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.625347070000004 meters 0.01622627163103153 Centerline is valid? [True, True] Translation: X:-55.31, Y:5.23, Z:-2.43 [[ 9.88994955e-01 1.31124368e-01 -6.85228416e-02 -5.53125317e+01] [-1.30765144e-01 9.91365711e-01 9.72136034e-03 5.22503974e+00] [ 6.92059028e-02 -6.53977112e-04 9.97602183e-01 -2.43474512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655347070000005 meters 0.0162497266074202 Centerline is valid? [True, True] Translation: X:-55.35, Y:5.23, Z:-2.44 [[ 9.89198932e-01 1.29906751e-01 -6.78948383e-02 -5.53451815e+01] [-1.29551598e-01 9.91525949e-01 9.62683332e-03 5.22705762e+00] [ 6.85700847e-02 -7.26968465e-04 9.97646037e-01 -2.43747404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.68534707 meters 0.0163776629689262 Centerline is valid? [True, True] Translation: X:-55.38, Y:5.23, Z:-2.44 [[ 9.89439078e-01 1.27759142e-01 -6.84683329e-02 -5.53763516e+01] [-1.27393276e-01 9.91804836e-01 9.70156226e-03 5.23012001e+00] [ 6.91466870e-02 -8.76699613e-04 9.97606118e-01 -2.43612982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71534707 meters 0.016863986439319845 Centerline is valid? [True, True] Translation: X:-55.41, Y:5.23, Z:-2.44 [[ 9.89694617e-01 1.26002761e-01 -6.80284410e-02 -5.54084678e+01] [-1.25637832e-01 9.92029399e-01 9.63358713e-03 5.23129534e+00] [ 6.87000720e-02 -9.87363507e-04 9.97636870e-01 -2.44259811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74534707 meters 0.01674265298169297 Centerline is valid? [True, True] Translation: X:-55.44, Y:5.24, Z:-2.44 [[ 9.90068566e-01 1.22967199e-01 -6.81417897e-02 -5.54386478e+01] [-1.22594277e-01 9.92410017e-01 9.64372247e-03 5.23516059e+00] [ 6.88104562e-02 -1.19415307e-03 9.97629037e-01 -2.44189737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77534707 meters 0.01804596719750916 Centerline is valid? [True, True] Translation: X:-55.47, Y:5.23, Z:-2.45 [[ 9.90268750e-01 1.20998809e-01 -6.87538453e-02 -5.54698855e+01] [-1.20614535e-01 9.92651746e-01 9.72853264e-03 5.23330672e+00] [ 6.94257654e-02 -1.34114874e-03 9.97586219e-01 -2.44844436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80534707 meters 0.018116268416061558 Centerline is valid? [True, True] Translation: X:-55.50, Y:5.24, Z:-2.45 [[ 9.90605707e-01 1.17847334e-01 -6.93710294e-02 -5.54995329e+01] [-1.17448501e-01 9.93030476e-01 9.81445404e-03 5.23742378e+00] [ 7.00441536e-02 -1.57473075e-03 9.97542649e-01 -2.45113180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835347070000005 meters 0.01953971649776474 Centerline is valid? [True, True] Translation: X:-55.53, Y:5.24, Z:-2.46 [[ 9.91005139e-01 1.14094635e-01 -6.99373191e-02 -5.55289107e+01] [-1.13679708e-01 9.93468148e-01 9.89759723e-03 5.23644287e+00] [ 7.06097617e-02 -1.85811573e-03 9.97502285e-01 -2.45729314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.86534707 meters 0.01953607207472898 Centerline is valid? [True, True] Translation: X:-55.56, Y:5.24, Z:-2.46 [[ 9.91229835e-01 1.13008765e-01 -6.85013331e-02 -5.55566945e+01] [-1.12607378e-01 9.93592162e-01 9.70537151e-03 5.24016254e+00] [ 6.91591797e-02 -1.90649833e-03 9.97603816e-01 -2.45982951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89534707 meters 0.01862871711815691 Centerline is valid? [True, True] Translation: X:-55.58, Y:5.25, Z:-2.46 [[ 9.91280134e-01 1.12881160e-01 -6.79819073e-02 -5.55829216e+01] [-1.12484940e-01 9.93606661e-01 9.64059108e-03 5.24684764e+00] [ 6.86355170e-02 -1.90958562e-03 9.97639975e-01 -2.45753787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92534707 meters 0.021019782148022845 Centerline is valid? [True, True] Translation: X:-55.61, Y:5.25, Z:-2.47 [[ 9.91731308e-01 1.08428743e-01 -6.86456119e-02 -5.56117505e+01] [-1.08013297e-01 9.94101676e-01 9.74610033e-03 5.24582555e+00] [ 6.92974752e-02 -2.25087399e-03 9.97593501e-01 -2.46516427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95534707 meters 0.02135623110091981 Centerline is valid? [True, True] Translation: X:-55.64, Y:5.25, Z:-2.47 [[ 9.91972864e-01 1.06350224e-01 -6.84066273e-02 -5.56402930e+01] [-1.05932003e-01 9.94325841e-01 9.72278844e-03 5.24907063e+00] [ 6.90524980e-02 -2.39829125e-03 9.97610145e-01 -2.46766390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.98534707 meters 0.02128644820104829 Centerline is valid? [True, True] Translation: X:-55.67, Y:5.26, Z:-2.47 [[ 9.92322391e-01 1.01988252e-01 -6.99619053e-02 -5.56686910e+01] [-1.01538629e-01 9.94781713e-01 9.96245558e-03 5.25640770e+00] [ 7.06128774e-02 -2.78213179e-03 9.97499915e-01 -2.46804635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015347070000004 meters 0.022600056869610707 Centerline is valid? [True, True] Translation: X:-55.70, Y:5.26, Z:-2.47 [[ 9.92605665e-01 9.98791827e-02 -6.89792982e-02 -5.56971319e+01] [-9.94364605e-02 9.94995349e-01 9.83089642e-03 5.25611858e+00] [ 6.96159827e-02 -2.89914622e-03 9.97569652e-01 -2.47165291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.04534707 meters 0.02175940264208489 Centerline is valid? [True, True] Translation: X:-55.72, Y:5.27, Z:-2.47 [[ 9.92894588e-01 9.56008851e-02 -7.08576527e-02 -5.57249302e+01] [-9.51213258e-02 9.95414251e-01 1.01193573e-02 5.26516272e+00] [ 7.15001368e-02 -3.30738121e-03 9.97435106e-01 -2.47070004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07534707 meters 0.021740429594757537 Centerline is valid? [True, True] Translation: X:-55.75, Y:5.27, Z:-2.47 [[ 9.92916565e-01 9.60561816e-02 -6.99278517e-02 -5.57534521e+01] [-9.55895429e-02 9.95370635e-01 9.99690181e-03 5.26810211e+00] [ 7.05643944e-02 -3.24171803e-03 9.97501959e-01 -2.47236769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10534707 meters 0.02408754633349568 Centerline is valid? [True, True] Translation: X:-55.78, Y:5.27, Z:-2.48 [[ 9.93281883e-01 9.18792478e-02 -7.03512932e-02 -5.57831623e+01] [-9.13950635e-02 9.95763721e-01 1.00774391e-02 5.27171966e+00] [ 7.09791730e-02 -3.57997676e-03 9.97471373e-01 -2.47939161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13534707 meters 0.025909052667923246 Centerline is valid? [True, True] Translation: X:-55.81, Y:5.27, Z:-2.48 [[ 9.93452115e-01 9.03907712e-02 -6.98742017e-02 -5.58119995e+01] [-8.99089600e-02 9.95899619e-01 1.00164032e-02 5.27349409e+00] [ 7.04930812e-02 -3.66850016e-03 9.97505523e-01 -2.48254345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16534707 meters 0.02659231595558342 Centerline is valid? [True, True] Translation: X:-55.84, Y:5.28, Z:-2.49 [[ 9.93534870e-01 8.89916178e-02 -7.04908022e-02 -5.58405724e+01] [-8.84960223e-02 9.96025029e-01 1.01289065e-02 5.27812400e+00] [ 7.11119911e-02 -3.82526624e-03 9.97461003e-01 -2.48704744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195347070000004 meters 0.030106976347480933 Centerline is valid? [True, True] Translation: X:-55.87, Y:5.28, Z:-2.50 [[ 9.93639657e-01 8.83462447e-02 -6.98224331e-02 -5.58690533e+01] [-8.78568877e-02 9.96082361e-01 1.00547656e-02 5.27629556e+00] [ 7.04371948e-02 -3.85643219e-03 9.97508762e-01 -2.49524490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.225347070000005 meters 0.029019233451797286 Centerline is valid? [True, True] Translation: X:-55.90, Y:5.29, Z:-2.50 [[ 9.93785639e-01 8.62269468e-02 -7.03918791e-02 -5.58961653e+01] [-8.57228897e-02 9.96267253e-01 1.01560963e-02 5.28609488e+00] [ 7.10048532e-02 -4.05878734e-03 9.97467712e-01 -2.49785417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25534707 meters 0.02860415817102791 Centerline is valid? [True, True] Translation: X:-55.92, Y:5.30, Z:-2.50 [[ 9.93941949e-01 8.33495330e-02 -7.16397706e-02 -5.59237262e+01] [-8.28195214e-02 9.96510895e-01 1.03423160e-02 5.29585687e+00] [ 7.22518391e-02 -4.34649020e-03 9.97376950e-01 -2.49631934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28534707 meters 0.03153872640375684 Centerline is valid? [True, True] Translation: X:-55.95, Y:5.30, Z:-2.50 [[ 9.94053421e-01 8.29489504e-02 -7.05497505e-02 -5.59529230e+01] [-8.24332924e-02 9.96544442e-01 1.01944951e-02 5.29506635e+00] [ 7.11515844e-02 -4.31822451e-03 9.97456167e-01 -2.50139549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31534707 meters 0.026546657051376495 Centerline is valid? [True, True] Translation: X:-55.98, Y:5.32, Z:-2.50 [[ 9.94264710e-01 7.82709991e-02 -7.28789273e-02 -5.59798130e+01] [-7.77067611e-02 9.96920437e-01 1.05499412e-02 5.31527351e+00] [ 7.34802465e-02 -4.82624886e-03 9.97284995e-01 -2.50139547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34534707 meters 0.02853466545166866 Centerline is valid? [True, True] Translation: X:-56.01, Y:5.32, Z:-2.50 [[ 9.94437136e-01 7.68483073e-02 -7.20355532e-02 -5.60086710e+01] [-7.62927183e-02 9.97030839e-01 1.04367906e-02 5.31618543e+00] [ 7.26237178e-02 -4.88294395e-03 9.97347458e-01 -2.50486103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375347070000004 meters 0.03359092048666466 Centerline is valid? [True, True] Translation: X:-56.04, Y:5.31, Z:-2.51 [[ 9.94770733e-01 7.34070974e-02 -7.10111746e-02 -5.60388791e+01] [-7.28570722e-02 9.97289117e-01 1.03084652e-02 5.31143201e+00] [ 7.15753861e-02 -5.08089322e-03 9.97422252e-01 -2.51214390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.405347070000005 meters 0.03365401114714218 Centerline is valid? [True, True] Translation: X:-56.07, Y:5.32, Z:-2.51 [[ 9.94897258e-01 7.13921364e-02 -7.12924240e-02 -5.60671526e+01] [-7.08323433e-02 9.97434508e-01 1.03528033e-02 5.31753265e+00] [ 7.18486326e-02 -5.25016616e-03 9.97401729e-01 -2.51440905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43534707 meters 0.03759261283749131 Centerline is valid? [True, True] Translation: X:-56.10, Y:5.32, Z:-2.52 [[ 9.95023530e-01 6.95258417e-02 -7.13745892e-02 -5.60962457e+01] [-6.89596887e-02 9.97565561e-01 1.03688508e-02 5.31526366e+00] [ 7.19217352e-02 -5.39528106e-03 9.97395686e-01 -2.51984884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46534707 meters 0.03542344284994564 Centerline is valid? [True, True] Translation: X:-56.12, Y:5.33, Z:-2.52 [[ 9.95236875e-01 6.65198124e-02 -7.12648355e-02 -5.61230980e+01] [-6.59473107e-02 9.97769334e-01 1.03590139e-02 5.32859782e+00] [ 7.17949471e-02 -5.60994834e-03 9.97403636e-01 -2.52286025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49534707 meters 0.03633360886809026 Centerline is valid? [True, True] Translation: X:-56.15, Y:5.33, Z:-2.52 [[ 9.95301138e-01 6.57248848e-02 -7.11047450e-02 -5.61512649e+01] [-6.51522628e-02 9.97821707e-01 1.03452375e-02 5.33175361e+00] [ 7.16297975e-02 -5.66399162e-03 9.97415205e-01 -2.52305634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52534707 meters 0.0385305145728331 Centerline is valid? [True, True] Translation: X:-56.18, Y:5.34, Z:-2.53 [[ 9.95512831e-01 6.19850465e-02 -7.14986569e-02 -5.61810043e+01] [-6.13952279e-02 9.98059143e-01 1.04198501e-02 5.33659741e+00] [ 7.20057632e-02 -5.98341809e-03 9.97386269e-01 -2.52824043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55534707 meters 0.03841005546013813 Centerline is valid? [True, True] Translation: X:-56.21, Y:5.35, Z:-2.53 [[ 9.95703037e-01 5.78629052e-02 -7.23003828e-02 -5.62096514e+01] [-5.72488983e-02 9.98304322e-01 1.05377918e-02 5.34540375e+00] [ 7.27875318e-02 -6.35339399e-03 9.97327233e-01 -2.53122521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.585347070000005 meters 0.04059416202602562 Centerline is valid? [True, True] Translation: X:-56.24, Y:5.35, Z:-2.53 [[ 9.95818190e-01 5.57336659e-02 -7.23870858e-02 -5.62397447e+01] [-5.51124585e-02 9.98424390e-01 1.05524720e-02 5.34757062e+00] [ 7.28611599e-02 -6.51891334e-03 9.97320788e-01 -2.53492121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61534707 meters 0.04143521095842107 Centerline is valid? [True, True] Translation: X:-56.27, Y:5.35, Z:-2.54 [[ 9.95944845e-01 5.46968806e-02 -7.14291033e-02 -5.62688479e+01] [-5.40889246e-02 9.98481759e-01 1.04194500e-02 5.35129142e+00] [ 7.18905681e-02 -6.51367409e-03 9.97391256e-01 -2.53514916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64534707 meters 0.041901554429413186 Centerline is valid? [True, True] Translation: X:-56.30, Y:5.36, Z:-2.54 [[ 9.96105649e-01 5.21003445e-02 -7.11272883e-02 -5.62976825e+01] [-5.14898107e-02 9.98619454e-01 1.03915995e-02 5.35628539e+00] [ 7.15704997e-02 -6.68880030e-03 9.97413116e-01 -2.54019594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67534707 meters 0.044221885258127064 Centerline is valid? [True, True] Translation: X:-56.33, Y:5.36, Z:-2.54 [[ 9.96246971e-01 4.84019961e-02 -7.17580657e-02 -5.63277785e+01] [-4.77708816e-02 9.98803274e-01 1.04862937e-02 5.35900030e+00] [ 7.21797485e-02 -7.01899232e-03 9.97366942e-01 -2.54276872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70534707 meters 0.04699276353950178 Centerline is valid? [True, True] Translation: X:-56.36, Y:5.36, Z:-2.55 [[ 9.96489305e-01 4.46011809e-02 -7.08505456e-02 -5.63579267e+01] [-4.39764197e-02 9.98978910e-01 1.03542918e-02 5.35924677e+00] [ 7.12400145e-02 -7.20218771e-03 9.97433200e-01 -2.54920978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73534707 meters 0.046016416565677114 Centerline is valid? [True, True] Translation: X:-56.39, Y:5.37, Z:-2.55 [[ 9.96533879e-01 4.28577683e-02 -7.12982464e-02 -5.63859019e+01] [-4.22205655e-02 9.99053966e-01 1.04210071e-02 5.36713098e+00] [ 7.16774170e-02 -7.37463432e-03 9.97400603e-01 -2.55004313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.765347070000004 meters 0.04482982800154978 Centerline is valid? [True, True] Translation: X:-56.41, Y:5.37, Z:-2.55 [[ 9.96570309e-01 4.20370803e-02 -7.12776463e-02 -5.64124003e+01] [-4.13978011e-02 9.99088374e-01 1.04231657e-02 5.37490070e+00] [ 7.16508272e-02 -7.43667962e-03 9.97402053e-01 -2.55164984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.79534707 meters 0.043573641189969106 Centerline is valid? [True, True] Translation: X:-56.44, Y:5.38, Z:-2.55 [[ 9.96532184e-01 4.27027263e-02 -7.14148621e-02 -5.64386998e+01] [-4.20619210e-02 9.99060317e-01 1.04535838e-02 5.38490662e+00] [ 7.17941513e-02 -7.41348643e-03 9.97391919e-01 -2.55385040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82534707 meters 0.042712350462383614 Centerline is valid? [True, True] Translation: X:-56.46, Y:5.39, Z:-2.56 [[ 9.96497196e-01 4.29150031e-02 -7.17749260e-02 -5.64645035e+01] [-4.22675902e-02 9.99050988e-01 1.05153877e-02 5.39377218e+00] [ 7.21580787e-02 -7.44480116e-03 9.97365423e-01 -2.55719989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85534707 meters 0.04091083336356809 Centerline is valid? [True, True] Translation: X:-56.49, Y:5.40, Z:-2.56 [[ 9.96384900e-01 4.66887801e-02 -7.09738594e-02 -5.64939900e+01] [-4.60646211e-02 9.98884255e-01 1.04065696e-02 5.40398396e+00] [ 7.13805407e-02 -7.09956489e-03 9.97423889e-01 -2.55938803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88534707 meters 0.04160558502981348 Centerline is valid? [True, True] Translation: X:-56.52, Y:5.41, Z:-2.56 [[ 9.96263267e-01 5.01454119e-02 -7.03202766e-02 -5.65240534e+01] [-4.95412127e-02 9.98718854e-01 1.03110788e-02 5.40839889e+00] [ 7.07472393e-02 -6.78879728e-03 9.97471173e-01 -2.56001373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91534707 meters 0.03963049253610408 Centerline is valid? [True, True] Translation: X:-56.55, Y:5.42, Z:-2.56 [[ 9.96106006e-01 5.19565148e-02 -7.12274258e-02 -5.65509781e+01] [-5.13410473e-02 9.98626548e-01 1.04458287e-02 5.42016068e+00] [ 7.16723272e-02 -6.74826210e-03 9.97405403e-01 -2.56345591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.945347070000004 meters 0.038812715447803535 Centerline is valid? [True, True] Translation: X:-56.58, Y:5.43, Z:-2.57 [[ 9.95820778e-01 5.76552944e-02 -7.08296890e-02 -5.65804443e+01] [-5.70607146e-02 9.98316634e-01 1.03910418e-02 5.42924597e+00] [ 7.13095553e-02 -6.30602266e-03 9.97434299e-01 -2.56545802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975347070000005 meters 0.03993273738454252 Centerline is valid? [True, True] Translation: X:-56.61, Y:5.43, Z:-2.57 [[ 9.95662093e-01 5.99442992e-02 -7.11595182e-02 -5.66088100e+01] [-5.93498680e-02 9.98182643e-01 1.04405596e-02 5.43380246e+00] [ 7.16560479e-02 -6.17196145e-03 9.97410306e-01 -2.57333046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00534707 meters 0.03654748334385131 Centerline is valid? [True, True] Translation: X:-56.64, Y:5.45, Z:-2.57 [[ 9.95484797e-01 6.43566963e-02 -6.97727303e-02 -5.66363294e+01] [-6.37957249e-02 9.97910430e-01 1.02410241e-02 5.44949149e+00] [ 7.02860138e-02 -5.74358188e-03 9.97510345e-01 -2.56818887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03534707 meters 0.036198828770650476 Centerline is valid? [True, True] Translation: X:-56.67, Y:5.45, Z:-2.58 [[ 9.95218567e-01 6.74051224e-02 -7.06862984e-02 -5.66652972e+01] [-6.68368412e-02 9.97709957e-01 1.03767836e-02 5.45452092e+00] [ 7.12238721e-02 -5.60271876e-03 9.97444620e-01 -2.57646483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06534707 meters 0.03475604748464864 Centerline is valid? [True, True] Translation: X:-56.69, Y:5.46, Z:-2.58 [[ 9.94980810e-01 7.15947969e-02 -6.99097408e-02 -5.66944985e+01] [-7.10491338e-02 9.97420007e-01 1.02640640e-02 5.46441953e+00] [ 7.04642277e-02 -5.24552023e-03 9.97500515e-01 -2.57798474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09534707 meters 0.034265519109629716 Centerline is valid? [True, True] Translation: X:-56.72, Y:5.47, Z:-2.58 [[ 9.94634782e-01 7.59394759e-02 -7.02484558e-02 -5.67238482e+01] [-7.53992277e-02 9.97100081e-01 1.03142925e-02 5.47255151e+00] [ 7.08280029e-02 -4.96227479e-03 9.97476200e-01 -2.58055808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.125347070000004 meters 0.034265519109629716 Centerline is valid? [True, True] Translation: X:-56.75, Y:5.48, Z:-2.58 [[ 9.94608861e-01 7.62791341e-02 -7.02474664e-02 -5.67509439e+01] [-7.57392548e-02 9.97074241e-01 1.03210233e-02 5.47629330e+00] [ 7.08292180e-02 -4.94489044e-03 9.97476200e-01 -2.58202176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155347070000005 meters 0.03079659059509981 Centerline is valid? [True, True] Translation: X:-56.78, Y:5.49, Z:-2.58 [[ 9.94049976e-01 8.25446222e-02 -7.10705974e-02 -5.67783911e+01] [-8.20065333e-02 9.96576889e-01 1.04610110e-02 5.49227392e+00] [ 7.16908151e-02 -4.57051443e-03 9.97416431e-01 -2.58471953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.18534707 meters 0.028466163087902726 Centerline is valid? [True, True] Translation: X:-56.81, Y:5.50, Z:-2.59 [[ 9.93722625e-01 8.69647447e-02 -7.03738457e-02 -5.68062110e+01] [-8.64480629e-02 9.96202487e-01 1.03603699e-02 5.50349151e+00] [ 7.10075870e-02 -4.21165136e-03 9.97466884e-01 -2.58623134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21534707 meters 0.02679640824341075 Centerline is valid? [True, True] Translation: X:-56.84, Y:5.51, Z:-2.59 [[ 9.93308137e-01 9.12403737e-02 -7.08105806e-02 -5.68353221e+01] [-9.07278851e-02 9.95821132e-01 1.04270540e-02 5.51499859e+00] [ 7.14660409e-02 -3.93278333e-03 9.97435280e-01 -2.59035318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24534707 meters 0.02566787046772289 Centerline is valid? [True, True] Translation: X:-56.86, Y:5.52, Z:-2.59 [[ 9.92676407e-01 9.85496763e-02 -6.98678151e-02 -5.68648693e+01] [-9.80687898e-02 9.95126457e-01 1.02882314e-02 5.52433348e+00] [ 7.05412132e-02 -3.36103247e-03 9.97503203e-01 -2.59132474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27534707 meters 0.024603452799006147 Centerline is valid? [True, True] Translation: X:-56.89, Y:5.53, Z:-2.59 [[ 9.92087952e-01 1.04781413e-01 -6.91545480e-02 -5.68943028e+01] [-1.04325409e-01 9.94491084e-01 1.01829956e-02 5.53497990e+00] [ 6.98405700e-02 -2.88785075e-03 9.97553986e-01 -2.59222753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30534707 meters 0.021875282107682855 Centerline is valid? [True, True] Translation: X:-56.92, Y:5.55, Z:-2.60 [[ 9.91420682e-01 1.10450784e-01 -6.98974593e-02 -5.69226976e+01] [-1.09999029e-01 9.93878414e-01 1.02913297e-02 5.54938131e+00] [ 7.06062614e-02 -2.51438452e-03 9.97501095e-01 -2.59553423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335347070000005 meters 0.01960847461494334 Centerline is valid? [True, True] Translation: X:-56.95, Y:5.56, Z:-2.60 [[ 9.90979028e-01 1.14239837e-01 -7.00701437e-02 -5.69518360e+01] [-1.13795424e-01 9.93450656e-01 1.03148473e-02 5.56150490e+00] [ 7.07895966e-02 -2.24813571e-03 9.97488736e-01 -2.59797311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36534707 meters 0.018702634677795246 Centerline is valid? [True, True] Translation: X:-56.98, Y:5.57, Z:-2.60 [[ 9.90580947e-01 1.17680025e-01 -7.00057065e-02 -5.69828293e+01] [-1.17245278e-01 9.93049558e-01 1.03014326e-02 5.57099130e+00] [ 7.07314088e-02 -1.99656441e-03 9.97493399e-01 -2.59962734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39534707 meters 0.019334001054694544 Centerline is valid? [True, True] Translation: X:-57.01, Y:5.58, Z:-2.60 [[ 9.90031187e-01 1.22469321e-01 -6.95666190e-02 -5.70139676e+01] [-1.22052256e-01 9.92470948e-01 1.02305328e-02 5.58079135e+00] [ 7.02957747e-02 -1.63778377e-03 9.97524848e-01 -2.59854155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42534707 meters 0.01721159012826749 Centerline is valid? [True, True] Translation: X:-57.05, Y:5.59, Z:-2.60 [[ 9.89715649e-01 1.24806646e-01 -6.99016079e-02 -5.70456224e+01] [-1.24391817e-01 9.92179990e-01 1.02734186e-02 5.58797496e+00] [ 7.06371676e-02 -1.47257514e-03 9.97500989e-01 -2.60458306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45534707 meters 0.01632163481525032 Centerline is valid? [True, True] Translation: X:-57.08, Y:5.60, Z:-2.61 [[ 9.89325735e-01 1.27097950e-01 -7.12790395e-02 -5.70750385e+01] [-1.26673108e-01 9.91889283e-01 1.04677195e-02 5.60059805e+00] [ 7.20313411e-02 -1.32684685e-03 9.97401487e-01 -2.60801106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.48534707 meters 0.015931178913196824 Centerline is valid? [True, True] Translation: X:-57.11, Y:5.61, Z:-2.61 [[ 9.88869332e-01 1.30851399e-01 -7.08191772e-02 -5.71065851e+01] [-1.30442719e-01 9.91401456e-01 1.03850806e-02 5.60825995e+00] [ 7.15691377e-02 -1.03164162e-03 9.97435108e-01 -2.61147414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515347070000004 meters 0.015254503947288167 Centerline is valid? [True, True] Translation: X:-57.14, Y:5.62, Z:-2.61 [[ 9.88606631e-01 1.32578714e-01 -7.12728110e-02 -5.71380775e+01] [-1.32170928e-01 9.91172081e-01 1.04284313e-02 5.61730877e+00] [ 7.20262084e-02 -8.89422721e-04 9.97402343e-01 -2.61222313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.54534707 meters 0.015021981978412084 Centerline is valid? [True, True] Translation: X:-57.17, Y:5.63, Z:-2.62 [[ 9.87859291e-01 1.38004218e-01 -7.13362285e-02 -5.71691093e+01] [-1.37611449e-01 9.90431529e-01 1.04152009e-02 5.62681145e+00] [ 7.20909915e-02 -4.72071284e-04 9.97397948e-01 -2.61571381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57534707 meters 0.014444167544626045 Centerline is valid? [True, True] Translation: X:-57.20, Y:5.64, Z:-2.61 [[ 9.87468232e-01 1.40644402e-01 -7.15935960e-02 -5.71993396e+01] [-1.40257181e-01 9.90060142e-01 1.04325898e-02 5.63726184e+00] [ 7.23492512e-02 -2.60335044e-04 9.97379325e-01 -2.61398888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60534707 meters 0.01441427152190853 Centerline is valid? [True, True] Translation: X:-57.23, Y:5.65, Z:-2.62 [[ 9.86359616e-01 1.48025715e-01 -7.19937238e-02 -5.72295087e+01] [-1.47654919e-01 9.88983467e-01 1.04750244e-02 5.65101921e+00] [ 7.27511756e-02 2.98086412e-04 9.97350078e-01 -2.61856507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63534707 meters 0.014567756995926539 Centerline is valid? [True, True] Translation: X:-57.26, Y:5.66, Z:-2.62 [[ 9.85826067e-01 1.51087372e-01 -7.29353909e-02 -5.72606574e+01] [-1.50716943e-01 9.88520257e-01 1.05879478e-02 5.66272466e+00] [ 7.36978166e-02 5.54724260e-04 9.97280464e-01 -2.62023228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66534707 meters 0.015535451614964781 Centerline is valid? [True, True] Translation: X:-57.29, Y:5.67, Z:-2.62 [[ 9.84903916e-01 1.57020399e-01 -7.28620002e-02 -5.72915027e+01] [-1.56668621e-01 9.87594832e-01 1.05541454e-02 5.67423390e+00] [ 7.36153510e-02 1.02036997e-03 9.97286187e-01 -2.62204925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695347070000004 meters 0.01604709144768741 Centerline is valid? [True, True] Translation: X:-57.32, Y:5.69, Z:-2.62 [[ 9.84239306e-01 1.61125529e-01 -7.28803987e-02 -5.73216973e+01] [-1.60786465e-01 9.86932998e-01 1.05342815e-02 5.68506693e+00] [ 7.36254120e-02 1.34992779e-03 9.97285053e-01 -2.62300145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.725347070000005 meters 0.017744086095637462 Centerline is valid? [True, True] Translation: X:-57.35, Y:5.70, Z:-2.63 [[ 9.83534301e-01 1.65335302e-01 -7.29692893e-02 -5.73527130e+01] [-1.65008583e-01 9.86235969e-01 1.05252573e-02 5.69728444e+00] [ 7.37051344e-02 1.68860743e-03 9.97278648e-01 -2.62656127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75534707 meters 0.01941375147346948 Centerline is valid? [True, True] Translation: X:-57.38, Y:5.71, Z:-2.63 [[ 9.82573624e-01 1.71186585e-01 -7.24170243e-02 -5.73821206e+01] [-1.70881927e-01 9.85236328e-01 1.04280555e-02 5.70804591e+00] [ 7.31330264e-02 2.12842837e-03 9.97319924e-01 -2.62751037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78534707 meters 0.019401404518404334 Centerline is valid? [True, True] Translation: X:-57.41, Y:5.71, Z:-2.63 [[ 9.82370576e-01 1.72244216e-01 -7.26634861e-02 -5.74141024e+01] [-1.71940982e-01 9.85051769e-01 1.04551646e-02 5.71409464e+00] [ 7.33781372e-02 2.22298508e-03 9.97301713e-01 -2.62629041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81534707 meters 0.018197689023418808 Centerline is valid? [True, True] Translation: X:-57.45, Y:5.72, Z:-2.63 [[ 9.82663799e-01 1.70359941e-01 -7.31392439e-02 -5.74453534e+01] [-1.70048988e-01 9.85379630e-01 1.05036805e-02 5.71589972e+00] [ 7.38593274e-02 2.11566786e-03 9.97266426e-01 -2.62768107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84534707 meters 0.01962506956399283 Centerline is valid? [True, True] Translation: X:-57.48, Y:5.72, Z:-2.63 [[ 9.82318067e-01 1.72063002e-01 -7.37938936e-02 -5.74765645e+01] [-1.71752478e-01 9.85083308e-01 1.05812226e-02 5.72392113e+00] [ 7.45137698e-02 2.28015798e-03 9.97217378e-01 -2.63088836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875347070000004 meters 0.019836174374495395 Centerline is valid? [True, True] Translation: X:-57.51, Y:5.73, Z:-2.63 [[ 9.82361761e-01 1.72031286e-01 -7.32844218e-02 -5.75094400e+01] [-1.71726800e-01 9.85088833e-01 1.04832186e-02 5.72937534e+00] [ 7.39951071e-02 2.28658619e-03 9.97255983e-01 -2.63374126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.905347070000005 meters 0.018187498786060713 Centerline is valid? [True, True] Translation: X:-57.54, Y:5.73, Z:-2.64 [[ 9.82955259e-01 1.68381579e-01 -7.38011083e-02 -5.75403693e+01] [-1.68064017e-01 9.85719766e-01 1.05369848e-02 5.72892165e+00] [ 7.45214454e-02 2.04592613e-03 9.97217313e-01 -2.63637308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93534707 meters 0.018426949176747337 Centerline is valid? [True, True] Translation: X:-57.57, Y:5.73, Z:-2.64 [[ 9.83079214e-01 1.67569788e-01 -7.39974719e-02 -5.75727728e+01] [-1.67249004e-01 9.85858188e-01 1.05547951e-02 5.73351340e+00] [ 7.47196784e-02 1.99980382e-03 9.97202572e-01 -2.64180712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96534707 meters 0.017932779850509402 Centerline is valid? [True, True] Translation: X:-57.60, Y:5.74, Z:-2.64 [[ 9.83424263e-01 1.65547290e-01 -7.39649444e-02 -5.76045453e+01] [-1.65222998e-01 9.86200079e-01 1.05245243e-02 5.73728813e+00] [ 7.46865405e-02 1.87063732e-03 9.97205306e-01 -2.63946518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99534707 meters 0.01796850128806421 Centerline is valid? [True, True] Translation: X:-57.64, Y:5.74, Z:-2.64 [[ 9.83749483e-01 1.63748226e-01 -7.36442339e-02 -5.76370288e+01] [-1.63423324e-01 9.86500615e-01 1.04572318e-02 5.74075795e+00] [ 7.43624352e-02 1.74788911e-03 9.97229749e-01 -2.64295106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02534707 meters 0.016723542206087922 Centerline is valid? [True, True] Translation: X:-57.67, Y:5.74, Z:-2.64 [[ 9.84309930e-01 1.59761326e-01 -7.49018065e-02 -5.76687972e+01] [-1.59415451e-01 9.87154540e-01 1.06126622e-02 5.74175376e+00] [ 7.56351513e-02 1.49435650e-03 9.97134440e-01 -2.64453706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05534707 meters 0.01589387334834058 Centerline is valid? [True, True] Translation: X:-57.70, Y:5.74, Z:-2.65 [[ 9.84804415e-01 1.56816762e-01 -7.46241701e-02 -5.77002302e+01] [-1.56466661e-01 9.87626879e-01 1.05514199e-02 5.74296541e+00] [ 7.53554757e-02 1.28510981e-03 9.97155906e-01 -2.64526615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.085347070000005 meters 0.01638793497086379 Centerline is valid? [True, True] Translation: X:-57.73, Y:5.75, Z:-2.65 [[ 9.85079026e-01 1.54391460e-01 -7.60433411e-02 -5.77326742e+01] [-1.54022598e-01 9.88009092e-01 1.07272375e-02 5.74830922e+00] [ 7.67877062e-02 1.14521629e-03 9.97046808e-01 -2.65112040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11534707 meters 0.016305278534698764 Centerline is valid? [True, True] Translation: X:-57.76, Y:5.75, Z:-2.65 [[ 9.85223114e-01 1.54117430e-01 -7.47210307e-02 -5.77648899e+01] [-1.53762496e-01 9.88051892e-01 1.05144832e-02 5.75280021e+00] [ 7.54487208e-02 1.13018036e-03 9.97149043e-01 -2.65358449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14534707 meters 0.015890246300043227 Centerline is valid? [True, True] Translation: X:-57.80, Y:5.75, Z:-2.65 [[ 9.85300199e-01 1.53562560e-01 -7.48468930e-02 -5.77968185e+01] [-1.53206647e-01 9.88138300e-01 1.05082075e-02 5.75458588e+00] [ 7.55727489e-02 1.11330260e-03 9.97139669e-01 -2.65235031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17534707 meters 0.01586603203463645 Centerline is valid? [True, True] Translation: X:-57.83, Y:5.76, Z:-2.65 [[ 9.85653233e-01 1.51249910e-01 -7.49077299e-02 -5.78288145e+01] [-1.50888657e-01 9.88495088e-01 1.04915879e-02 5.75954436e+00] [ 7.56327748e-02 9.61659200e-04 9.97135276e-01 -2.65477154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20534707 meters 0.01593972022876916 Centerline is valid? [True, True] Translation: X:-57.86, Y:5.76, Z:-2.66 [[ 9.85720088e-01 1.50801964e-01 -7.49311398e-02 -5.78603054e+01] [-1.50441041e-01 9.88563535e-01 1.04705002e-02 5.76465775e+00] [ 7.56531644e-02 9.51736286e-04 9.97133739e-01 -2.65778364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23534707 meters 0.01543805455352255 Centerline is valid? [True, True] Translation: X:-57.89, Y:5.77, Z:-2.66 [[ 9.86060958e-01 1.48559533e-01 -7.49256454e-02 -5.78919526e+01] [-1.48194062e-01 9.88903139e-01 1.04451553e-02 5.76824525e+00] [ 7.56459334e-02 8.03975889e-04 9.97134417e-01 -2.65541260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.265347070000004 meters 0.016072535226006615 Centerline is valid? [True, True] Translation: X:-57.92, Y:5.78, Z:-2.66 [[ 9.86350823e-01 1.46786482e-01 -7.46041688e-02 -5.79233822e+01] [-1.46420872e-01 9.89167961e-01 1.03765978e-02 5.77564940e+00] [ 7.53191978e-02 6.88641625e-04 9.97159237e-01 -2.66322715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.29534707 meters 0.01590632938062766 Centerline is valid? [True, True] Translation: X:-57.95, Y:5.78, Z:-2.66 [[ 9.86306032e-01 1.46769714e-01 -7.52267428e-02 -5.79545577e+01] [-1.46399588e-01 9.89170430e-01 1.04412900e-02 5.78021099e+00] [ 7.59445347e-02 7.14856826e-04 9.97111787e-01 -2.66439211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32534707 meters 0.016294975145657427 Centerline is valid? [True, True] Translation: X:-57.99, Y:5.79, Z:-2.67 [[ 9.86483762e-01 1.45224833e-01 -7.58916027e-02 -5.79875471e+01] [-1.44844896e-01 9.89398487e-01 1.05162160e-02 5.78649278e+00] [ 7.66142526e-02 6.18434908e-04 9.97060617e-01 -2.66735605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35534707 meters 0.016444826881274154 Centerline is valid? [True, True] Translation: X:-58.02, Y:5.80, Z:-2.67 [[ 9.86482875e-01 1.45064857e-01 -7.62084329e-02 -5.80194955e+01] [-1.44683325e-01 9.89421944e-01 1.05333440e-02 5.79530720e+00] [ 7.69303139e-02 6.35126032e-04 9.97036270e-01 -2.67422198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38534707 meters 0.016795313092275034 Centerline is valid? [True, True] Translation: X:-58.05, Y:5.80, Z:-2.67 [[ 9.86200951e-01 1.47143890e-01 -7.58706724e-02 -5.80501032e+01] [-1.46773747e-01 9.89114759e-01 1.04623375e-02 5.80280524e+00] [ 7.65842709e-02 8.17855666e-04 9.97062777e-01 -2.67457277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41534707 meters 0.017157654229038692 Centerline is valid? [True, True] Translation: X:-58.08, Y:5.81, Z:-2.68 [[ 9.86229053e-01 1.46618172e-01 -7.65203705e-02 -5.80817563e+01] [-1.46241762e-01 9.89192834e-01 1.05301462e-02 5.81129838e+00] [ 7.72373129e-02 8.05337658e-04 9.97012412e-01 -2.68117068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.445347070000004 meters 0.0174796070621133 Centerline is valid? [True, True] Translation: X:-58.11, Y:5.82, Z:-2.68 [[ 9.85819590e-01 1.49372414e-01 -7.64697155e-02 -5.81136330e+01] [-1.49006289e-01 9.88780461e-01 1.05035682e-02 5.82103941e+00] [ 7.71807039e-02 1.03984530e-03 9.97016578e-01 -2.67911472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475347070000005 meters 0.018545645348664427 Centerline is valid? [True, True] Translation: X:-58.14, Y:5.83, Z:-2.68 [[ 9.85713878e-01 1.49875735e-01 -7.68466979e-02 -5.81449651e+01] [-1.49508735e-01 9.88704230e-01 1.05396656e-02 5.83122356e+00] [ 7.75582953e-02 1.10015794e-03 9.96987212e-01 -2.68329125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50534707 meters 0.018580278582734918 Centerline is valid? [True, True] Translation: X:-58.18, Y:5.84, Z:-2.68 [[ 9.85372551e-01 1.51865900e-01 -7.73154799e-02 -5.81754346e+01] [-1.51502350e-01 9.88400268e-01 1.05805348e-02 5.84302175e+00] [ 7.80254635e-02 1.28770831e-03 9.96950535e-01 -2.68482787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53534707 meters 0.019149098574087236 Centerline is valid? [True, True] Translation: X:-58.21, Y:5.85, Z:-2.68 [[ 9.85187494e-01 1.53582329e-01 -7.62762737e-02 -5.82069612e+01] [-1.53235435e-01 9.88134824e-01 1.04149510e-02 5.85274342e+00] [ 7.69707947e-02 1.42754849e-03 9.97032326e-01 -2.68489572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56534707 meters 0.018704933806247957 Centerline is valid? [True, True] Translation: X:-58.24, Y:5.86, Z:-2.69 [[ 9.85234137e-01 1.52775956e-01 -7.72865019e-02 -5.82385596e+01] [-1.52419216e-01 9.88259849e-01 1.05287272e-02 5.86230827e+00] [ 7.79876830e-02 1.40668663e-03 9.96953330e-01 -2.68701960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59534707 meters 0.01998116416256527 Centerline is valid? [True, True] Translation: X:-58.27, Y:5.87, Z:-2.69 [[ 9.85345013e-01 1.52805876e-01 -7.57995340e-02 -5.82697096e+01] [-1.52464599e-01 9.88255226e-01 1.03031407e-02 5.87215406e+00] [ 7.64836660e-02 1.40459724e-03 9.97069845e-01 -2.68780048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.625347070000004 meters 0.01960091903454596 Centerline is valid? [True, True] Translation: X:-58.30, Y:5.88, Z:-2.69 [[ 9.85176833e-01 1.53753055e-01 -7.60697402e-02 -5.83009661e+01] [-1.53413958e-01 9.88108156e-01 1.03164643e-02 5.88035031e+00] [ 7.67513186e-02 1.50661823e-03 9.97049129e-01 -2.68958063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655347070000005 meters 0.01829134587064873 Centerline is valid? [True, True] Translation: X:-58.33, Y:5.89, Z:-2.69 [[ 9.85516442e-01 1.50904874e-01 -7.73631816e-02 -5.83308887e+01] [-1.50546980e-01 9.88547398e-01 1.04713382e-02 5.88783220e+00] [ 7.80573478e-02 1.32711742e-03 9.96947987e-01 -2.69362666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68534707 meters 0.01897610135568198 Centerline is valid? [True, True] Translation: X:-58.36, Y:5.90, Z:-2.70 [[ 9.85910334e-01 1.48420535e-01 -7.71502346e-02 -5.83613133e+01] [-1.48058322e-01 9.88923676e-01 1.04257826e-02 5.89909878e+00] [ 7.78430938e-02 1.14384749e-03 9.96964966e-01 -2.69951548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71534707 meters 0.018208907218819362 Centerline is valid? [True, True] Translation: X:-58.39, Y:5.91, Z:-2.71 [[ 9.86164832e-01 1.46938390e-01 -7.67335236e-02 -5.83911220e+01] [-1.46576925e-01 9.89145101e-01 1.03524497e-02 5.90562121e+00] [ 7.74217613e-02 1.03814210e-03 9.96997890e-01 -2.70522665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74534707 meters 0.01808648802436624 Centerline is valid? [True, True] Translation: X:-58.42, Y:5.91, Z:-2.71 [[ 9.86627004e-01 1.43431376e-01 -7.74247748e-02 -5.84231758e+01] [-1.43053341e-01 9.89659958e-01 1.04359418e-02 5.91262661e+00] [ 7.81210409e-02 7.79490725e-04 9.96943577e-01 -2.70746771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77534707 meters 0.01790948555689877 Centerline is valid? [True, True] Translation: X:-58.45, Y:5.92, Z:-2.71 [[ 9.87329213e-01 1.38152231e-01 -7.80703879e-02 -5.84543879e+01] [-1.37753258e-01 9.90410930e-01 1.04990358e-02 5.92043643e+00] [ 7.87722307e-02 3.88445563e-04 9.96892564e-01 -2.71424247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80534707 meters 0.01801580382728748 Centerline is valid? [True, True] Translation: X:-58.49, Y:5.93, Z:-2.72 [[ 9.87595862e-01 1.36515521e-01 -7.75752923e-02 -5.84851319e+01] [-1.36118351e-01 9.90637893e-01 1.04096016e-02 5.92527636e+00] [ 7.82700962e-02 2.78941375e-04 9.96932151e-01 -2.71578500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835347070000005 meters 0.017653252150178118 Centerline is valid? [True, True] Translation: X:-58.52, Y:5.93, Z:-2.72 [[ 9.88059413e-01 1.32997658e-01 -7.77831575e-02 -5.85168450e+01] [-1.32589290e-01 9.91116352e-01 1.04143010e-02 5.93379321e+00] [ 7.84772369e-02 2.32654657e-05 9.96915906e-01 -2.72081334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86534707 meters 0.018128288667467785 Centerline is valid? [True, True] Translation: X:-58.55, Y:5.94, Z:-2.73 [[ 9.88619791e-01 1.28355510e-01 -7.84587293e-02 -5.85471962e+01] [-1.27927195e-01 9.91728167e-01 1.04821694e-02 5.94019513e+00] [ 7.91551760e-02 -3.25874894e-04 9.96862253e-01 -2.72599906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89534707 meters 0.01798389495812268 Centerline is valid? [True, True] Translation: X:-58.58, Y:5.95, Z:-2.73 [[ 9.88921194e-01 1.25922293e-01 -7.86031035e-02 -5.85780713e+01] [-1.25485985e-01 9.92039979e-01 1.04855686e-02 5.94713701e+00] [ 7.92977880e-02 -5.05813156e-04 9.96850844e-01 -2.72872760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92534707 meters 0.018014163736764708 Centerline is valid? [True, True] Translation: X:-58.61, Y:5.96, Z:-2.74 [[ 9.89382699e-01 1.22028480e-01 -7.89362047e-02 -5.86079186e+01] [-1.21577856e-01 9.92526277e-01 1.05077931e-02 5.95798713e+00] [ 7.96285074e-02 -7.99334217e-04 9.96824288e-01 -2.73749777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95534707 meters 0.018612739655984534 Centerline is valid? [True, True] Translation: X:-58.64, Y:5.97, Z:-2.74 [[ 9.89788069e-01 1.19270067e-01 -7.80655434e-02 -5.86398721e+01] [-1.18822704e-01 9.92861360e-01 1.03675181e-02 5.96641067e+00] [ 7.87447961e-02 -9.85686811e-04 9.96894320e-01 -2.74152262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98534707 meters 0.019822414050284863 Centerline is valid? [True, True] Translation: X:-58.67, Y:5.97, Z:-2.75 [[ 9.90165370e-01 1.13494108e-01 -8.18023653e-02 -5.86704570e+01] [-1.12984880e-01 9.93537547e-01 1.08424952e-02 5.96851851e+00] [ 8.25042807e-02 -1.49343278e-03 9.96589591e-01 -2.75239683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015347070000004 meters 0.019527975723247996 Centerline is valid? [True, True] Translation: X:-58.70, Y:5.98, Z:-2.75 [[ 9.89984332e-01 1.14579641e-01 -8.24774357e-02 -5.87030628e+01] [-1.14066742e-01 9.93413076e-01 1.09196667e-02 5.97557057e+00] [ 8.31853346e-02 -1.40236657e-03 9.96533107e-01 -2.75264716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045347070000005 meters 0.019527975723247996 Centerline is valid? [True, True] Translation: X:-58.74, Y:5.98, Z:-2.75 [[ 9.90022402e-01 1.14247613e-01 -8.24810688e-02 -5.87354679e+01] [-1.13735854e-01 9.93451315e-01 1.08921684e-02 5.98009452e+00] [ 8.31853305e-02 -1.40243587e-03 9.96533107e-01 -2.75438534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07534707 meters 0.01894091801860349 Centerline is valid? [True, True] Translation: X:-58.77, Y:5.99, Z:-2.76 [[ 9.89747598e-01 1.16068121e-01 -8.32339128e-02 -5.87676726e+01] [-1.15555778e-01 9.93240491e-01 1.09631166e-02 5.99032656e+00] [ 8.39437607e-02 -1.23255869e-03 9.96469732e-01 -2.75982467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10534707 meters 0.018736362046971274 Centerline is valid? [True, True] Translation: X:-58.80, Y:6.00, Z:-2.77 [[ 9.89320752e-01 1.18285811e-01 -8.51640595e-02 -5.87987244e+01] [-1.17759990e-01 9.92979045e-01 1.11893405e-02 5.99921977e+00] [ 8.58896667e-02 -1.04092795e-03 9.96304111e-01 -2.76566336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13534707 meters 0.017803682309880227 Centerline is valid? [True, True] Translation: X:-58.83, Y:6.01, Z:-2.76 [[ 9.88764516e-01 1.23229393e-01 -8.46123377e-02 -5.88295383e+01] [-1.22730551e-01 9.92378041e-01 1.10921128e-02 6.00504436e+00] [ 8.53343003e-02 -5.82968712e-04 9.96352205e-01 -2.76282439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.16534707 meters 0.01812517583766684 Centerline is valid? [True, True] Translation: X:-58.86, Y:6.01, Z:-2.76 [[ 9.88862063e-01 1.23946134e-01 -8.23964616e-02 -5.88616628e+01] [-1.23477614e-01 9.92288830e-01 1.07775981e-02 6.00881492e+00] [ 8.30969301e-02 -4.83439437e-04 9.96541352e-01 -2.76374363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195347070000004 meters 0.017091440000066512 Centerline is valid? [True, True] Translation: X:-58.89, Y:6.02, Z:-2.76 [[ 9.88053140e-01 1.29812470e-01 -8.30645265e-02 -5.88936432e+01] [-1.29359291e-01 9.91538563e-01 1.08375551e-02 6.01615451e+00] [ 8.37685310e-02 3.70879819e-05 9.96485239e-01 -2.75766998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.225347070000005 meters 0.017423216947194856 Centerline is valid? [True, True] Translation: X:-58.93, Y:6.02, Z:-2.76 [[ 9.87644742e-01 1.33899671e-01 -8.14170844e-02 -5.89254866e+01] [-1.33480487e-01 9.90994811e-01 1.05945567e-02 6.02298282e+00] [ 8.21025158e-02 4.03933854e-04 9.96623808e-01 -2.76372106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25534707 meters 0.018050052877646765 Centerline is valid? [True, True] Translation: X:-58.96, Y:6.03, Z:-2.77 [[ 9.86100984e-01 1.44526299e-01 -8.19572909e-02 -5.89562582e+01] [-1.44139740e-01 9.89500084e-01 1.06451241e-02 6.03318244e+00] [ 8.26352466e-02 1.31613522e-03 9.96578990e-01 -2.76542326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28534707 meters 0.019135402419767734 Centerline is valid? [True, True] Translation: X:-58.99, Y:6.04, Z:-2.77 [[ 9.85055970e-01 1.51536683e-01 -8.18618897e-02 -5.89861971e+01] [-1.51175533e-01 9.88449796e-01 1.06281675e-02 6.04155288e+00] [ 8.25269254e-02 1.90617498e-03 9.96587012e-01 -2.76665564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31534707 meters 0.02130982184622611 Centerline is valid? [True, True] Translation: X:-59.02, Y:6.05, Z:-2.77 [[ 9.84027189e-01 1.57917485e-01 -8.21739624e-02 -5.90165991e+01] [-1.57576041e-01 9.87449263e-01 1.06651264e-02 6.05080567e+00] [ 8.28268285e-02 2.45387329e-03 9.96560934e-01 -2.77031837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34534707 meters 0.022782575265897553 Centerline is valid? [True, True] Translation: X:-59.05, Y:6.06, Z:-2.77 [[ 9.82612476e-01 1.65491332e-01 -8.41744720e-02 -5.90457248e+01] [-1.65160910e-01 9.86206151e-01 1.09225370e-02 6.05539563e+00] [ 8.48209672e-02 3.16971125e-03 9.96391166e-01 -2.77089796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375347070000004 meters 0.02361832288220316 Centerline is valid? [True, True] Translation: X:-59.08, Y:6.06, Z:-2.77 [[ 9.82389072e-01 1.67408856e-01 -8.29818387e-02 -5.90778793e+01] [-1.67095304e-01 9.85882046e-01 1.07587984e-02 6.05704248e+00] [ 8.36114230e-02 3.29654959e-03 9.96492982e-01 -2.77378791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.405347070000005 meters 0.02466744337319842 Centerline is valid? [True, True] Translation: X:-59.11, Y:6.05, Z:-2.78 [[ 9.82373972e-01 1.67363649e-01 -8.32513525e-02 -5.91108918e+01] [-1.67050033e-01 9.85889613e-01 1.07683355e-02 6.05142278e+00] [ 8.38788717e-02 3.32860863e-03 9.96470399e-01 -2.77759948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43534707 meters 0.01970021718096182 Centerline is valid? [True, True] Translation: X:-59.15, Y:6.02, Z:-2.78 [[ 9.84635269e-01 1.52591762e-01 -8.49066629e-02 -5.91465135e+01] [-1.52212142e-01 9.88287018e-01 1.09651507e-02 6.01827992e+00] [ 8.55853443e-02 2.12715095e-03 9.96328572e-01 -2.78026879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46534707 meters 0.017749521862697334 Centerline is valid? [True, True] Translation: X:-59.18, Y:6.00, Z:-2.78 [[ 9.86735004e-01 1.40170658e-01 -8.18914998e-02 -5.91802632e+01] [-1.39774945e-01 9.90126841e-01 1.05737410e-02 5.99501001e+00] [ 8.25651002e-02 1.01289955e-03 9.96585159e-01 -2.78113274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49534707 meters 0.0167494137699945 Centerline is valid? [True, True] Translation: X:-59.21, Y:5.98, Z:-2.78 [[ 9.87981919e-01 1.32605221e-01 -7.94202986e-02 -5.92121342e+01] [-1.32208682e-01 9.91168865e-01 1.02540342e-02 5.98231108e+00] [ 8.00786657e-02 3.69252625e-04 9.96788479e-01 -2.77810055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52534707 meters 0.017132637174497093 Centerline is valid? [True, True] Translation: X:-59.24, Y:5.98, Z:-2.78 [[ 9.87801718e-01 1.32962419e-01 -8.10478936e-02 -5.92448777e+01] [-1.32551323e-01 9.91120993e-01 1.04557959e-02 5.98122138e+00] [ 8.17184967e-02 4.14752338e-04 9.96655364e-01 -2.78232640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55534707 meters 0.018385974925850944 Centerline is valid? [True, True] Translation: X:-59.28, Y:5.98, Z:-2.78 [[ 9.86144722e-01 1.42181228e-01 -8.54580931e-02 -5.92753020e+01] [-1.41760100e-01 9.89839841e-01 1.10073869e-02 5.98427106e+00] [ 8.61548691e-02 1.25967126e-03 9.96280960e-01 -2.78432502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.585347070000005 meters 0.019123664087559365 Centerline is valid? [True, True] Translation: X:-59.31, Y:5.99, Z:-2.79 [[ 9.85530223e-01 1.47482565e-01 -8.35408432e-02 -5.93063882e+01] [-1.47099997e-01 9.89063205e-01 1.07502586e-02 5.99460911e+00] [ 8.42126498e-02 1.69415302e-03 9.96446366e-01 -2.78604784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61534707 meters 0.020231949860252212 Centerline is valid? [True, True] Translation: X:-59.34, Y:6.00, Z:-2.79 [[ 9.84860813e-01 1.50928230e-01 -8.52634049e-02 -5.93374464e+01] [-1.50544140e-01 9.88542602e-01 1.09538336e-02 6.00028219e+00] [ 8.59397508e-02 2.04790450e-03 9.96298231e-01 -2.79079188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64534707 meters 0.0204966612068217 Centerline is valid? [True, True] Translation: X:-59.37, Y:6.00, Z:-2.79 [[ 9.84279238e-01 1.55017601e-01 -8.46399683e-02 -5.93687656e+01] [-1.54655249e-01 9.87908794e-01 1.08613046e-02 6.00246575e+00] [ 8.53002624e-02 2.39945878e-03 9.96352401e-01 -2.78933556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67534707 meters 0.021760664417041383 Centerline is valid? [True, True] Translation: X:-59.40, Y:6.01, Z:-2.79 [[ 9.84094379e-01 1.56449090e-01 -8.41542422e-02 -5.94000533e+01] [-1.56098217e-01 9.87682775e-01 1.07741840e-02 6.00855570e+00] [ 8.48033067e-02 2.53351328e-03 9.96394490e-01 -2.79425400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70534707 meters 0.021958477482684785 Centerline is valid? [True, True] Translation: X:-59.43, Y:6.01, Z:-2.79 [[ 9.83778796e-01 1.58138973e-01 -8.46838035e-02 -5.94328545e+01] [-1.57791624e-01 9.87413130e-01 1.08219583e-02 6.01249565e+00] [ 8.53292729e-02 2.71598178e-03 9.96349105e-01 -2.78830544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73534707 meters 0.021705070259898734 Centerline is valid? [True, True] Translation: X:-59.46, Y:6.02, Z:-2.78 [[ 9.83579539e-01 1.59646992e-01 -8.41672679e-02 -5.94639536e+01] [-1.59310629e-01 9.87170072e-01 1.07411941e-02 6.01510680e+00] [ 8.48022072e-02 2.84392171e-03 9.96393746e-01 -2.78498776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.765347070000004 meters 0.022491276567830377 Centerline is valid? [True, True] Translation: X:-59.49, Y:6.02, Z:-2.79 [[ 9.83738848e-01 1.59422252e-01 -8.27189460e-02 -5.94948864e+01] [-1.59098632e-01 9.87206516e-01 1.05318097e-02 6.02296458e+00] [ 8.33396874e-02 2.79992085e-03 9.96517264e-01 -2.79431943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795347070000005 meters 0.022332076321774676 Centerline is valid? [True, True] Translation: X:-59.53, Y:6.03, Z:-2.79 [[ 9.83844338e-01 1.60423699e-01 -7.94641813e-02 -5.95277078e+01] [-1.60130255e-01 9.87044289e-01 1.00932341e-02 6.02590383e+00] [ 8.00538603e-02 2.79444838e-03 9.96786622e-01 -2.78680834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82534707 meters 0.020237650908886146 Centerline is valid? [True, True] Translation: X:-59.56, Y:6.02, Z:-2.78 [[ 9.84656611e-01 1.55607927e-01 -7.89780400e-02 -5.95589364e+01] [-1.55303927e-01 9.87815971e-01 1.00148888e-02 6.02378492e+00] [ 7.95741653e-02 2.40437332e-03 9.96826049e-01 -2.78345747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85534707 meters 0.019719913558708023 Centerline is valid? [True, True] Translation: X:-59.59, Y:6.03, Z:-2.79 [[ 9.85041239e-01 1.52795819e-01 -7.96692891e-02 -5.95906614e+01] [-1.52478062e-01 9.88255317e-01 1.00929853e-02 6.02791344e+00] [ 8.02757646e-02 2.20581204e-03 9.96770252e-01 -2.78977783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88534707 meters 0.019040234022678758 Centerline is valid? [True, True] Translation: X:-59.62, Y:6.03, Z:-2.80 [[ 9.85664157e-01 1.47817976e-01 -8.13388947e-02 -5.96219706e+01] [-1.47471948e-01 9.89012827e-01 1.02787265e-02 6.03284164e+00] [ 8.19645907e-02 1.86383302e-03 9.96633499e-01 -2.79765661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91534707 meters 0.01855661392830046 Centerline is valid? [True, True] Translation: X:-59.65, Y:6.04, Z:-2.79 [[ 9.85867362e-01 1.47555050e-01 -7.93287616e-02 -5.96527841e+01] [-1.47226457e-01 9.89052182e-01 1.00075387e-02 6.03525607e+00] [ 7.99369476e-02 1.81318675e-03 9.96798273e-01 -2.79412055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.945347070000004 meters 0.017343885531566447 Centerline is valid? [True, True] Translation: X:-59.68, Y:6.04, Z:-2.79 [[ 9.86381011e-01 1.44519781e-01 -7.85272818e-02 -5.96844173e+01] [-1.44188944e-01 9.89500681e-01 9.89700493e-03 6.03845142e+00] [ 7.91331118e-02 1.56054814e-03 9.96862837e-01 -2.79099289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975347070000005 meters 0.016199002522812155 Centerline is valid? [True, True] Translation: X:-59.72, Y:6.04, Z:-2.79 [[ 9.87146851e-01 1.39301736e-01 -7.83334017e-02 -5.97166134e+01] [-1.38957898e-01 9.90249301e-01 9.85014438e-03 6.04155171e+00] [ 7.89417384e-02 1.16150582e-03 9.96878555e-01 -2.79178809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00534707 meters 0.016578505427301764 Centerline is valid? [True, True] Translation: X:-59.75, Y:6.05, Z:-2.80 [[ 9.87488092e-01 1.37346077e-01 -7.74811167e-02 -5.97482472e+01] [-1.37005476e-01 9.90522600e-01 9.72001620e-03 6.04824284e+00] [ 7.80818033e-02 1.01693702e-03 9.96946437e-01 -2.79819547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03534707 meters 0.016347508245558685 Centerline is valid? [True, True] Translation: X:-59.78, Y:6.06, Z:-2.80 [[ 9.87625852e-01 1.36201816e-01 -7.77447273e-02 -5.97798766e+01] [-1.35857249e-01 9.90680653e-01 9.72892870e-03 6.05508106e+00] [ 7.83452950e-02 9.53643297e-04 9.96925827e-01 -2.80213849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06534707 meters 0.015890007514096628 Centerline is valid? [True, True] Translation: X:-59.81, Y:6.06, Z:-2.80 [[ 9.87691721e-01 1.35456510e-01 -7.82086816e-02 -5.98127851e+01] [-1.35107552e-01 9.90782860e-01 9.76078153e-03 6.05932435e+00] [ 7.88099826e-02 9.25940444e-04 9.96889226e-01 -2.80177740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09534707 meters 0.01642659123974638 Centerline is valid? [True, True] Translation: X:-59.84, Y:6.06, Z:-2.80 [[ 9.87795264e-01 1.34974261e-01 -7.77332955e-02 -5.98439779e+01] [-1.34630041e-01 9.90848690e-01 9.67607185e-03 6.06275582e+00] [ 7.83279546e-02 9.07258802e-04 9.96927233e-01 -2.79620487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.125347070000004 meters 0.016067637508515125 Centerline is valid? [True, True] Translation: X:-59.88, Y:6.07, Z:-2.80 [[ 9.87827897e-01 1.34810465e-01 -7.76027388e-02 -5.98753073e+01] [-1.34468467e-01 9.90870983e-01 9.63979852e-03 6.06907158e+00] [ 7.81938479e-02 9.12659438e-04 9.96937756e-01 -2.80083218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155347070000005 meters 0.01580477844724394 Centerline is valid? [True, True] Translation: X:-59.91, Y:6.08, Z:-2.80 [[ 9.87813009e-01 1.34579529e-01 -7.81908525e-02 -5.99062432e+01] [-1.34233120e-01 9.90902368e-01 9.69361839e-03 6.07769897e+00] [ 7.87840636e-02 9.20319734e-04 9.96891280e-01 -2.80487306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18534707 meters 0.016536184281524 Centerline is valid? [True, True] Translation: X:-59.94, Y:6.09, Z:-2.81 [[ 9.87346147e-01 1.38232468e-01 -7.77133934e-02 -5.99374263e+01] [-1.37903427e-01 9.90399050e-01 9.61079884e-03 6.08659917e+00] [ 7.82957954e-02 1.22775808e-03 9.96929416e-01 -2.80693646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21534707 meters 0.016066988254942224 Centerline is valid? [True, True] Translation: X:-59.97, Y:6.09, Z:-2.81 [[ 9.87685015e-01 1.35603800e-01 -7.80379467e-02 -5.99691877e+01] [-1.35265670e-01 9.90762592e-01 9.62732264e-03 6.09475256e+00] [ 7.86225798e-02 1.04709285e-03 9.96903904e-01 -2.81131066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24534707 meters 0.016712478581855265 Centerline is valid? [True, True] Translation: X:-60.00, Y:6.10, Z:-2.81 [[ 9.87321086e-01 1.37823394e-01 -7.87514167e-02 -6.00011856e+01] [-1.37487974e-01 9.90456020e-01 9.69168431e-03 6.10227562e+00] [ 7.93355556e-02 1.25856848e-03 9.96847173e-01 -2.81008578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27534707 meters 0.01692415244664239 Centerline is valid? [True, True] Translation: X:-60.03, Y:6.11, Z:-2.81 [[ 9.87089402e-01 1.39344537e-01 -7.89785510e-02 -6.00318305e+01] [-1.39013639e-01 9.90242963e-01 9.69956516e-03 6.10893839e+00] [ 7.95595358e-02 1.40475782e-03 9.96829126e-01 -2.80940402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30534707 meters 0.017502540771903722 Centerline is valid? [True, True] Translation: X:-60.06, Y:6.12, Z:-2.82 [[ 9.87140714e-01 1.38918561e-01 -7.90875732e-02 -6.00645428e+01] [-1.38586832e-01 9.90302833e-01 9.69482601e-03 6.11694255e+00] [ 7.96674390e-02 1.39033877e-03 9.96820529e-01 -2.81564058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335347070000005 meters 0.017801285562256595 Centerline is valid? [True, True] Translation: X:-60.10, Y:6.12, Z:-2.81 [[ 9.86886830e-01 1.40843191e-01 -7.88516353e-02 -6.00962215e+01] [-1.40521640e-01 9.90030677e-01 9.63992812e-03 6.12411835e+00] [ 7.94232561e-02 1.56684301e-03 9.96839752e-01 -2.81226284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36534707 meters 0.018263083415262466 Centerline is valid? [True, True] Translation: X:-60.13, Y:6.13, Z:-2.81 [[ 9.86476719e-01 1.43749258e-01 -7.87390272e-02 -6.01283544e+01] [-1.43439715e-01 9.89612466e-01 9.60284502e-03 6.13230948e+00] [ 7.93015248e-02 1.82132056e-03 9.96849011e-01 -2.80849831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39534707 meters 0.02020185050873627 Centerline is valid? [True, True] Translation: X:-60.16, Y:6.14, Z:-2.80 [[ 9.86486234e-01 1.44120197e-01 -7.79376569e-02 -6.01602652e+01] [-1.43819940e-01 9.89558450e-01 9.48152184e-03 6.14114677e+00] [ 7.84903457e-02 1.85559836e-03 9.96913147e-01 -2.80391107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42534707 meters 0.018147726141824406 Centerline is valid? [True, True] Translation: X:-60.19, Y:6.15, Z:-2.83 [[ 9.86621273e-01 1.41610331e-01 -8.07773397e-02 -6.01912388e+01] [-1.41281506e-01 9.89920945e-01 9.80093443e-03 6.14692635e+00] [ 8.13510940e-02 1.74253383e-03 9.96683984e-01 -2.82570123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45534707 meters 0.017356605763598723 Centerline is valid? [True, True] Translation: X:-60.22, Y:6.15, Z:-2.82 [[ 9.86649622e-01 1.40427863e-01 -8.24775103e-02 -6.02226282e+01] [-1.40083029e-01 9.90089444e-01 9.98183834e-03 6.14709584e+00] [ 8.30618406e-02 1.70512244e-03 9.96542936e-01 -2.82336316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48534707 meters 0.017190166509266226 Centerline is valid? [True, True] Translation: X:-60.25, Y:6.15, Z:-2.83 [[ 9.87388841e-01 1.35106427e-01 -8.25198761e-02 -6.02543589e+01] [-1.34744786e-01 9.90830262e-01 9.96169492e-03 6.14917096e+00] [ 8.31090794e-02 1.28305668e-03 9.96539630e-01 -2.82935046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515347070000004 meters 0.017003219464821407 Centerline is valid? [True, True] Translation: X:-60.29, Y:6.15, Z:-2.83 [[ 9.87653634e-01 1.33239443e-01 -8.23865845e-02 -6.02867137e+01] [-1.32874593e-01 9.91083210e-01 9.92030711e-03 6.15150983e+00] [ 8.29737369e-02 1.14925653e-03 9.96551072e-01 -2.82833931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545347070000005 meters 0.016705862822495553 Centerline is valid? [True, True] Translation: X:-60.32, Y:6.16, Z:-2.83 [[ 9.88211321e-01 1.29224723e-01 -8.20935867e-02 -6.03174441e+01] [-1.28850642e-01 9.91614984e-01 9.86079550e-03 6.15515274e+00] [ 8.26794892e-02 8.33261609e-04 9.96575841e-01 -2.83249602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57534707 meters 0.01682516457505602 Centerline is valid? [True, True] Translation: X:-60.35, Y:6.16, Z:-2.84 [[ 9.88350536e-01 1.27951063e-01 -8.24120336e-02 -6.03499671e+01] [-1.27571728e-01 9.91780196e-01 9.87410288e-03 6.16156248e+00] [ 8.29980247e-02 7.54370622e-04 9.96549426e-01 -2.83715344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60534707 meters 0.01699702913282013 Centerline is valid? [True, True] Translation: X:-60.38, Y:6.17, Z:-2.84 [[ 9.88339432e-01 1.27512835e-01 -8.32204570e-02 -6.03819331e+01] [-1.27126779e-01 9.91836635e-01 9.94338117e-03 6.16720265e+00] [ 8.38090068e-02 7.52112935e-04 9.96481553e-01 -2.83877681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63534707 meters 0.016925792273728923 Centerline is valid? [True, True] Translation: X:-60.42, Y:6.17, Z:-2.84 [[ 9.88380906e-01 1.27150671e-01 -8.32819963e-02 -6.04152760e+01] [-1.26764979e-01 9.91883132e-01 9.92436554e-03 6.17234968e+00] [ 8.38678970e-02 7.48187084e-04 9.96476601e-01 -2.83706653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66534707 meters 0.016629271925138425 Centerline is valid? [True, True] Translation: X:-60.45, Y:6.18, Z:-2.83 [[ 9.88273161e-01 1.27923256e-01 -8.33774546e-02 -6.04464515e+01] [-1.27541731e-01 9.91783712e-01 9.90833333e-03 6.17713364e+00] [ 8.39599077e-02 8.41965029e-04 9.96468778e-01 -2.83456079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695347070000004 meters 0.016884617296699073 Centerline is valid? [True, True] Translation: X:-60.48, Y:6.19, Z:-2.84 [[ 9.88194877e-01 1.28457935e-01 -8.34831929e-02 -6.04774730e+01] [-1.28079535e-01 9.91714537e-01 9.89494218e-03 6.18511209e+00] [ 8.40625799e-02 9.14357328e-04 9.96460058e-01 -2.84337627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.725347070000005 meters 0.017312896351046228 Centerline is valid? [True, True] Translation: X:-60.51, Y:6.19, Z:-2.85 [[ 9.88375264e-01 1.26729027e-01 -8.39886432e-02 -6.05099097e+01] [-1.26342202e-01 9.91937051e-01 9.92645861e-03 6.19110527e+00] [ 8.45694175e-02 8.00244020e-04 9.96417269e-01 -2.85142342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75534707 meters 0.017239730852408923 Centerline is valid? [True, True] Translation: X:-60.54, Y:6.19, Z:-2.85 [[ 9.88426877e-01 1.25940714e-01 -8.45650363e-02 -6.05428605e+01] [-1.25548077e-01 9.92037474e-01 9.96646246e-03 6.19416315e+00] [ 8.51468684e-02 7.65858335e-04 9.96368117e-01 -2.84703609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78534707 meters 0.017025320220741148 Centerline is valid? [True, True] Translation: X:-60.58, Y:6.20, Z:-2.85 [[ 9.88790307e-01 1.23308478e-01 -8.41946976e-02 -6.05753530e+01] [-1.22911840e-01 9.92368230e-01 9.89825273e-03 6.19648680e+00] [ 8.47726815e-02 5.61228823e-04 9.96400159e-01 -2.85032445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81534707 meters 0.016997282377879706 Centerline is valid? [True, True] Translation: X:-60.61, Y:6.20, Z:-2.85 [[ 9.89009812e-01 1.21688134e-01 -8.39737460e-02 -6.06061439e+01] [-1.21289500e-01 9.92568286e-01 9.85161550e-03 6.19894983e+00] [ 8.45485019e-02 4.41789279e-04 9.96419267e-01 -2.85142679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84534707 meters 0.017525493100071537 Centerline is valid? [True, True] Translation: X:-60.64, Y:6.20, Z:-2.86 [[ 9.89386617e-01 1.18314293e-01 -8.43555012e-02 -6.06392422e+01] [-1.17901452e-01 9.92976182e-01 9.87672067e-03 6.20240114e+00] [ 8.49315608e-02 1.73740869e-04 9.96386772e-01 -2.85576560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875347070000004 meters 0.017371678422087714 Centerline is valid? [True, True] Translation: X:-60.67, Y:6.21, Z:-2.86 [[ 9.89572318e-01 1.16329633e-01 -8.49355262e-02 -6.06713860e+01] [-1.15906172e-01 9.93210660e-01 9.91684585e-03 6.20636732e+00] [ 8.55124931e-02 3.11155817e-05 9.96337098e-01 -2.85830171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.905347070000005 meters 0.01747565562019435 Centerline is valid? [True, True] Translation: X:-60.70, Y:6.21, Z:-2.86 [[ 9.89817539e-01 1.13677606e-01 -8.56658678e-02 -6.07037724e+01] [-1.13239076e-01 9.93517675e-01 9.97698087e-03 6.20884944e+00] [ 8.62447131e-02 -1.74666934e-04 9.96273968e-01 -2.85880147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93534707 meters 0.01747565562019435 Centerline is valid? [True, True] Translation: X:-60.74, Y:6.21, Z:-2.86 [[ 9.89854994e-01 1.13348708e-01 -8.56689052e-02 -6.07362298e+01] [-1.12911211e-01 9.93555252e-01 9.95084447e-03 6.21287976e+00] [ 8.62447061e-02 -1.76913233e-04 9.96273968e-01 -2.86054099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96534707 meters 0.017928179077672413 Centerline is valid? [True, True] Translation: X:-60.77, Y:6.22, Z:-2.86 [[ 9.90139625e-01 1.11011087e-01 -8.54403954e-02 -6.07689109e+01] [-1.10569704e-01 9.93819106e-01 9.89570968e-03 6.21648711e+00] [ 8.60108309e-02 -3.51015009e-04 9.96294140e-01 -2.86279846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99534707 meters 0.01800766770358786 Centerline is valid? [True, True] Translation: X:-60.80, Y:6.22, Z:-2.87 [[ 9.90181373e-01 1.10844005e-01 -8.51730871e-02 -6.08002884e+01] [-1.10406520e-01 9.93837757e-01 9.84440175e-03 6.22180782e+00] [ 8.57394228e-02 -3.44079117e-04 9.96317536e-01 -2.86733708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02534707 meters 0.018022347014860322 Centerline is valid? [True, True] Translation: X:-60.83, Y:6.23, Z:-2.87 [[ 9.90190186e-01 1.10725753e-01 -8.52244287e-02 -6.08334346e+01] [-1.10288602e-01 9.93850941e-01 9.83523007e-03 6.22708716e+00] [ 8.57893919e-02 -3.39465155e-04 9.96313236e-01 -2.87009304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05534707 meters 0.019021211337087975 Centerline is valid? [True, True] Translation: X:-60.86, Y:6.23, Z:-2.87 [[ 9.90658288e-01 1.05114135e-01 -8.68744837e-02 -6.08648264e+01] [-1.04640691e-01 9.94459831e-01 9.99852396e-03 6.22807337e+00] [ 8.74441706e-02 -8.14514611e-04 9.96169089e-01 -2.87087819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.085347070000005 meters 0.01935322632115629 Centerline is valid? [True, True] Translation: X:-60.90, Y:6.23, Z:-2.88 [[ 9.90960657e-01 1.02396056e-01 -8.66719346e-02 -6.08966616e+01] [-1.01915940e-01 9.94743171e-01 9.95812894e-03 6.22980729e+00] [ 8.72359882e-02 -1.03486230e-03 9.96187137e-01 -2.87551322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11534707 meters 0.01997386665553094 Centerline is valid? [True, True] Translation: X:-60.93, Y:6.23, Z:-2.87 [[ 9.90990527e-01 1.02929377e-01 -8.56931704e-02 -6.09280595e+01] [-1.02462613e-01 9.94688193e-01 9.83926275e-03 6.23477462e+00] [ 8.62507340e-02 -9.70270055e-04 9.96272989e-01 -2.86860214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14534707 meters 0.02090724251383926 Centerline is valid? [True, True] Translation: X:-60.96, Y:6.24, Z:-2.87 [[ 9.91358304e-01 9.99636536e-02 -8.49469361e-02 -6.09597199e+01] [-9.94946442e-02 9.94990352e-01 9.74760445e-03 6.23809001e+00] [ 8.54957880e-02 -1.21160343e-03 9.96337795e-01 -2.87142971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17534707 meters 0.021245408931444998 Centerline is valid? [True, True] Translation: X:-60.99, Y:6.24, Z:-2.88 [[ 9.91670823e-01 9.59384028e-02 -8.59348724e-02 -6.09921900e+01] [-9.54439960e-02 9.95386036e-01 9.85304813e-03 6.24092174e+00] [ 8.64836577e-02 -1.56901273e-03 9.96252034e-01 -2.87666814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20534707 meters 0.020854597210710778 Centerline is valid? [True, True] Translation: X:-61.02, Y:6.24, Z:-2.88 [[ 9.91737392e-01 9.47403658e-02 -8.64939776e-02 -6.10228804e+01] [-9.42356100e-02 9.95500603e-01 9.90951265e-03 6.24446053e+00] [ 8.70436377e-02 -1.67682149e-03 9.96203088e-01 -2.88430402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23534707 meters 0.021447245019491242 Centerline is valid? [True, True] Translation: X:-61.05, Y:6.25, Z:-2.89 [[ 9.91885957e-01 9.32189144e-02 -8.64435166e-02 -6.10543894e+01] [-9.27095201e-02 9.95644004e-01 9.89758502e-03 6.24781481e+00] [ 8.69896111e-02 -1.80313865e-03 9.96207587e-01 -2.88733235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.265347070000004 meters 0.021903732646444126 Centerline is valid? [True, True] Translation: X:-61.09, Y:6.25, Z:-2.89 [[ 9.91945388e-01 9.25662515e-02 -8.64629192e-02 -6.10862079e+01] [-9.20547871e-02 9.95704802e-01 9.89256078e-03 6.25329045e+00] [ 8.70072611e-02 -1.85355442e-03 9.96205953e-01 -2.89022957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295347070000005 meters 0.022538995415235248 Centerline is valid? [True, True] Translation: X:-61.12, Y:6.26, Z:-2.89 [[ 9.92144359e-01 8.96691488e-02 -8.72296630e-02 -6.11166325e+01] [-8.91382666e-02 9.95969359e-01 9.97018983e-03 6.26050647e+00] [ 8.77720900e-02 -2.11636665e-03 9.96138334e-01 -2.89282037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32534707 meters 0.022777406712776532 Centerline is valid? [True, True] Translation: X:-61.15, Y:6.26, Z:-2.90 [[ 9.92164890e-01 8.86952508e-02 -8.79885446e-02 -6.11482198e+01] [-8.81522917e-02 9.96056358e-01 1.00451688e-02 6.26489368e+00] [ 8.85325080e-02 -2.21007197e-03 9.96070836e-01 -2.89536381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35534707 meters 0.022790075398175614 Centerline is valid? [True, True] Translation: X:-61.18, Y:6.27, Z:-2.89 [[ 9.92228275e-01 8.86868529e-02 -8.72793936e-02 -6.11804843e+01] [-8.81532381e-02 9.96057160e-01 9.95698355e-03 6.27114667e+00] [ 8.78183184e-02 -2.18563945e-03 9.96134110e-01 -2.89152033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38534707 meters 0.023694538447880758 Centerline is valid? [True, True] Translation: X:-61.21, Y:6.28, Z:-2.90 [[ 9.92422254e-01 8.61643578e-02 -8.76000742e-02 -6.12123210e+01] [-8.56176445e-02 9.96278020e-01 9.98629345e-03 6.27610761e+00] [ 8.81344910e-02 -2.41050785e-03 9.96105668e-01 -2.89804376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41534707 meters 0.02254633400695037 Centerline is valid? [True, True] Translation: X:-61.24, Y:6.29, Z:-2.90 [[ 9.92529790e-01 8.33330428e-02 -8.91079077e-02 -6.12418055e+01] [-8.27563908e-02 9.96518088e-01 1.01528726e-02 6.28599576e+00] [ 8.96437115e-02 -2.70277972e-03 9.95970230e-01 -2.89622781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.445347070000004 meters 0.02446894374454775 Centerline is valid? [True, True] Translation: X:-61.27, Y:6.29, Z:-2.90 [[ 9.92750599e-01 8.19622129e-02 -8.79115629e-02 -6.12732569e+01] [-8.13958752e-02 9.96631545e-01 1.00137338e-02 6.28683798e+00] [ 8.84361845e-02 -2.78550165e-03 9.96077950e-01 -2.90421179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475347070000005 meters 0.024920697728748324 Centerline is valid? [True, True] Translation: X:-61.30, Y:6.29, Z:-2.91 [[ 9.92908898e-01 7.95420467e-02 -8.83458148e-02 -6.13042612e+01] [-7.89608867e-02 9.96826961e-01 1.00592177e-02 6.28985046e+00] [ 8.88656209e-02 -3.01202285e-03 9.96039070e-01 -2.90556188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50534707 meters 0.02576976108570795 Centerline is valid? [True, True] Translation: X:-61.33, Y:6.29, Z:-2.91 [[ 9.93090702e-01 7.84506604e-02 -8.72717136e-02 -6.13340439e+01] [-7.78794522e-02 9.96913268e-01 9.93614532e-03 6.29181213e+00] [ 8.77818263e-02 -3.07082028e-03 9.96134991e-01 -2.90557524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53534707 meters 0.0278367686639804 Centerline is valid? [True, True] Translation: X:-61.36, Y:6.30, Z:-2.91 [[ 9.93443185e-01 7.37917239e-02 -8.73236441e-02 -6.13633019e+01] [-7.32015653e-02 9.97267574e-01 9.94572853e-03 6.29510545e+00] [ 8.78189512e-02 -3.48828880e-03 9.96130345e-01 -2.90621449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56534707 meters 0.026795225324105495 Centerline is valid? [True, True] Translation: X:-61.39, Y:6.30, Z:-2.91 [[ 9.93419492e-01 7.35712348e-02 -8.77780487e-02 -6.13905358e+01] [-7.29735170e-02 9.97283710e-01 1.00034096e-02 6.30167329e+00] [ 8.82755812e-02 -3.53210918e-03 9.96089828e-01 -2.91240308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59534707 meters 0.026304383475934924 Centerline is valid? [True, True] Translation: X:-61.42, Y:6.31, Z:-2.91 [[ 9.93487025e-01 7.24549136e-02 -8.79421254e-02 -6.14181092e+01] [-7.18491315e-02 9.97364993e-01 1.00385853e-02 6.30707165e+00] [ 8.84377421e-02 -3.65463894e-03 9.96075002e-01 -2.91334234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.625347070000004 meters 0.02830417016975263 Centerline is valid? [True, True] Translation: X:-61.45, Y:6.31, Z:-2.92 [[ 9.93612278e-01 7.00602689e-02 -8.84658100e-02 -6.14466744e+01] [-6.94360144e-02 9.97535095e-01 1.01180391e-02 6.30726886e+00] [ 8.89566227e-02 -3.91069459e-03 9.96027824e-01 -2.91565871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655347070000005 meters 0.028754135301758372 Centerline is valid? [True, True] Translation: X:-61.48, Y:6.31, Z:-2.91 [[ 9.93877044e-01 6.62962235e-02 -8.83924924e-02 -6.14757112e+01] [-6.56576195e-02 9.97790933e-01 1.01159033e-02 6.31227169e+00] [ 8.88678736e-02 -4.25032346e-03 9.96034355e-01 -2.91453053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68534707 meters 0.029086339965517877 Centerline is valid? [True, True] Translation: X:-61.50, Y:6.32, Z:-2.92 [[ 9.93917537e-01 6.52275133e-02 -8.87316266e-02 -6.15028904e+01] [-6.45791933e-02 9.97860854e-01 1.01608581e-02 6.31791860e+00] [ 8.92045842e-02 -4.36883814e-03 9.96003743e-01 -2.92013104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71534707 meters 0.026940062283509834 Centerline is valid? [True, True] Translation: X:-61.53, Y:6.33, Z:-2.92 [[ 9.93973254e-01 6.51555632e-02 -8.81585127e-02 -6.15299533e+01] [-6.45144671e-02 9.97865609e-01 1.01049902e-02 6.32759858e+00] [ 8.86287442e-02 -4.35659052e-03 9.96055202e-01 -2.91627156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74534707 meters 0.031366500259785636 Centerline is valid? [True, True] Translation: X:-61.56, Y:6.32, Z:-2.93 [[ 9.94120896e-01 6.36129391e-02 -8.76187110e-02 -6.15594226e+01] [-6.29726673e-02 9.97964597e-01 1.00551202e-02 6.32145580e+00] [ 8.80800074e-02 -4.47842116e-03 9.96103336e-01 -2.92781514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77534707 meters 0.030774719015167207 Centerline is valid? [True, True] Translation: X:-61.59, Y:6.33, Z:-2.93 [[ 9.94097599e-01 6.33605831e-02 -8.80647513e-02 -6.15870829e+01] [-6.27116309e-02 9.97980388e-01 1.01191185e-02 6.32647208e+00] [ 8.85280479e-02 -4.53670721e-03 9.96063353e-01 -2.92791704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.80534707 meters 0.02955883618101563 Centerline is valid? [True, True] Translation: X:-61.61, Y:6.33, Z:-2.93 [[ 9.93984209e-01 6.46594269e-02 -8.83999432e-02 -6.16141888e+01] [-6.40096139e-02 9.97897471e-01 1.01689330e-02 6.33498065e+00] [ 8.88715971e-02 -4.44931258e-03 9.96033153e-01 -2.92578252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835347070000005 meters 0.030063335438868917 Centerline is valid? [True, True] Translation: X:-61.64, Y:6.34, Z:-2.93 [[ 9.94054854e-01 6.28560189e-02 -8.89048246e-02 -6.16411150e+01] [-6.21902734e-02 9.98011766e-01 1.02413259e-02 6.33999360e+00] [ 8.93717900e-02 -4.65142433e-03 9.95987474e-01 -2.93146748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86534707 meters 0.027780298996458896 Centerline is valid? [True, True] Translation: X:-61.67, Y:6.35, Z:-2.93 [[ 9.93987183e-01 6.44774391e-02 -8.84993749e-02 -6.16678310e+01] [-6.38230529e-02 9.97909030e-01 1.02071026e-02 6.35112154e+00] [ 8.89724532e-02 -4.49742888e-03 9.96023933e-01 -2.92950597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89534707 meters 0.028838431133466166 Centerline is valid? [True, True] Translation: X:-61.70, Y:6.35, Z:-2.93 [[ 9.93873218e-01 6.60373104e-02 -8.86290032e-02 -6.16964898e+01] [-6.53855819e-02 9.97807532e-01 1.02398429e-02 6.35276301e+00] [ 8.91108986e-02 -4.38204669e-03 9.96012071e-01 -2.93315174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92534707 meters 0.02934508673847846 Centerline is valid? [True, True] Translation: X:-61.73, Y:6.36, Z:-2.94 [[ 9.93685024e-01 6.96926483e-02 -8.79375217e-02 -6.17256292e+01] [-6.90636677e-02 9.97560326e-01 1.01786887e-02 6.35630238e+00] [ 8.84323626e-02 -4.04112279e-03 9.96073986e-01 -2.93903878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95534707 meters 0.028662499458403892 Centerline is valid? [True, True] Translation: X:-61.75, Y:6.36, Z:-2.94 [[ 9.93644187e-01 7.12724695e-02 -8.71290120e-02 -6.17522742e+01] [-7.06605759e-02 9.97449376e-01 1.00908944e-02 6.36468189e+00] [ 8.76259815e-02 -3.87017244e-03 9.96145928e-01 -2.94261480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.98534707 meters 0.027941440937242917 Centerline is valid? [True, True] Translation: X:-61.78, Y:6.37, Z:-2.95 [[ 9.93454447e-01 7.24355721e-02 -8.83252526e-02 -6.17794908e+01] [-7.18104611e-02 9.97365744e-01 1.02387062e-02 6.37219582e+00] [ 8.88342278e-02 -3.82901110e-03 9.96039065e-01 -2.94854230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015347070000004 meters 0.02840997752471438 Centerline is valid? [True, True] Translation: X:-61.81, Y:6.38, Z:-2.95 [[ 9.93442075e-01 7.41625733e-02 -8.70215806e-02 -6.18087473e+01] [-7.35618208e-02 9.97239569e-01 1.00945619e-02 6.37627939e+00] [ 8.75300022e-02 -3.62689660e-03 9.96155281e-01 -2.95222812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.045347070000005 meters 0.02702512895281492 Centerline is valid? [True, True] Translation: X:-61.84, Y:6.38, Z:-2.95 [[ 9.93186514e-01 7.74836774e-02 -8.70449820e-02 -6.18391280e+01] [-7.68951686e-02 9.96988037e-01 1.00988591e-02 6.38319716e+00] [ 8.75653025e-02 -3.33671213e-03 9.96153193e-01 -2.95216968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07534707 meters 0.02608374084026088 Centerline is valid? [True, True] Translation: X:-61.87, Y:6.39, Z:-2.95 [[ 9.93202841e-01 7.69747779e-02 -8.73097923e-02 -6.18694567e+01] [-7.63812426e-02 9.97027291e-01 1.01235737e-02 6.38939447e+00] [ 8.78295056e-02 -3.38593170e-03 9.96129767e-01 -2.95265808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10534707 meters 0.02709024348346602 Centerline is valid? [True, True] Translation: X:-61.90, Y:6.39, Z:-2.96 [[ 9.93183313e-01 7.80627764e-02 -8.65627512e-02 -6.19002022e+01] [-7.74842884e-02 9.96943140e-01 1.00279528e-02 6.39231847e+00] [ 8.70809509e-02 -3.25234224e-03 9.96195930e-01 -2.96072299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13534707 meters 0.0265663579866679 Centerline is valid? [True, True] Translation: X:-61.93, Y:6.40, Z:-2.96 [[ 9.93050262e-01 7.97535474e-02 -8.65479537e-02 -6.19321408e+01] [-7.91821007e-02 9.96809797e-01 1.00211677e-02 6.39783714e+00] [ 8.70710718e-02 -3.09847440e-03 9.96197284e-01 -2.96055024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.16534707 meters 0.02612215988261911 Centerline is valid? [True, True] Translation: X:-61.96, Y:6.40, Z:-2.96 [[ 9.93050559e-01 7.95075087e-02 -8.67706307e-02 -6.19635882e+01] [-7.89328043e-02 9.96829382e-01 1.00397482e-02 6.40100620e+00] [ 8.72937495e-02 -3.12092835e-03 9.96177726e-01 -2.96466323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195347070000004 meters 0.02601778574984419 Centerline is valid? [True, True] Translation: X:-62.00, Y:6.40, Z:-2.96 [[ 9.93059180e-01 7.94031705e-02 -8.67675088e-02 -6.19960936e+01] [-7.88287458e-02 9.96837692e-01 1.00321381e-02 6.40355982e+00] [ 8.72897069e-02 -3.12273294e-03 9.96178074e-01 -2.96459163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.225347070000005 meters 0.02608437445732482 Centerline is valid? [True, True] Translation: X:-62.03, Y:6.41, Z:-2.96 [[ 9.93047692e-01 8.02556604e-02 -8.61121957e-02 -6.20283632e+01] [-7.96937266e-02 9.96769745e-01 9.94914672e-03 6.40864934e+00] [ 8.66325067e-02 -3.01737541e-03 9.96235767e-01 -2.96415367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25534707 meters 0.023669892788022937 Centerline is valid? [True, True] Translation: X:-62.06, Y:6.42, Z:-2.97 [[ 9.92915159e-01 8.18022305e-02 -8.61851590e-02 -6.20583993e+01] [-8.12457362e-02 9.96644426e-01 9.95083097e-03 6.41727878e+00] [ 8.67099585e-02 -2.87815422e-03 9.96229441e-01 -2.96819958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28534707 meters 0.02606352068833137 Centerline is valid? [True, True] Translation: X:-62.09, Y:6.42, Z:-2.98 [[ 9.93055759e-01 8.01645775e-02 -8.61040121e-02 -6.20910513e+01] [-7.96036419e-02 9.96777094e-01 9.93402680e-03 6.41520931e+00] [ 8.66228640e-02 -3.01084958e-03 9.96236626e-01 -2.97804085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31534707 meters 0.024669493519447146 Centerline is valid? [True, True] Translation: X:-62.12, Y:6.42, Z:-2.97 [[ 9.93043390e-01 8.10683806e-02 -8.53975597e-02 -6.21217529e+01] [-8.05206839e-02 9.96704325e-01 9.84422330e-03 6.42423661e+00] [ 8.59141723e-02 -2.89947097e-03 9.96298323e-01 -2.96651278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34534707 meters 0.026075360049742573 Centerline is valid? [True, True] Translation: X:-62.15, Y:6.42, Z:-2.98 [[ 9.93034479e-01 8.01171138e-02 -8.63931242e-02 -6.21540514e+01] [-7.95535394e-02 9.96780913e-01 9.95220772e-03 6.42025855e+00] [ 8.69123593e-02 -3.01000660e-03 9.96211414e-01 -2.98313871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375347070000004 meters 0.026007300525555128 Centerline is valid? [True, True] Translation: X:-62.18, Y:6.42, Z:-2.99 [[ 9.93045114e-01 7.97097600e-02 -8.66473085e-02 -6.21848563e+01] [-7.91419226e-02 9.96813456e-01 9.97447929e-03 6.42385907e+00] [ 8.71662664e-02 -3.04767333e-03 9.96189115e-01 -2.98681328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.405347070000005 meters 0.02308554493848011 Centerline is valid? [True, True] Translation: X:-62.22, Y:6.43, Z:-2.99 [[ 9.92813515e-01 8.31443168e-02 -8.60717587e-02 -6.22153921e+01] [-8.25973709e-02 9.96533799e-01 9.90261814e-03 6.43313246e+00] [ 8.65967631e-02 -2.72215214e-03 9.96239725e-01 -2.98551674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43534707 meters 0.02454425281006767 Centerline is valid? [True, True] Translation: X:-62.25, Y:6.43, Z:-2.99 [[ 9.92689922e-01 8.58669457e-02 -8.48150086e-02 -6.22475303e+01] [-8.53463762e-02 9.96303622e-01 9.75135671e-03 6.43184345e+00] [ 8.53388195e-02 -2.44141990e-03 9.96348998e-01 -2.99336976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46534707 meters 0.024802015988754485 Centerline is valid? [True, True] Translation: X:-62.28, Y:6.44, Z:-3.00 [[ 9.92680252e-01 8.52294144e-02 -8.55678922e-02 -6.22789863e+01] [-8.46978438e-02 9.96358190e-01 9.83018419e-03 6.43568404e+00] [ 8.60940910e-02 -2.51081375e-03 9.96283847e-01 -2.99702344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49534707 meters 0.023633708522063267 Centerline is valid? [True, True] Translation: X:-62.31, Y:6.44, Z:-3.00 [[ 9.92426957e-01 8.93400536e-02 -8.43035574e-02 -6.23099858e+01] [-8.88393805e-02 9.95998933e-01 9.67933181e-03 6.44087278e+00] [ 8.48310053e-02 -2.11655401e-03 9.96393106e-01 -2.99773455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52534707 meters 0.02298387511224489 Centerline is valid? [True, True] Translation: X:-62.34, Y:6.45, Z:-3.00 [[ 9.92369406e-01 8.90383134e-02 -8.52944380e-02 -6.23402898e+01] [-8.85250296e-02 9.96025852e-01 9.78880940e-03 6.44795814e+00] [ 8.58270444e-02 -2.16342233e-03 9.96307703e-01 -3.00351523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55534707 meters 0.023658679625228808 Centerline is valid? [True, True] Translation: X:-62.37, Y:6.45, Z:-3.01 [[ 9.92156408e-01 9.03727575e-02 -8.63621845e-02 -6.23734280e+01] [-8.98522294e-02 9.95905867e-01 9.90357343e-03 6.45031484e+00] [ 8.69036195e-02 -2.06605903e-03 9.96214581e-01 -3.00852783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.585347070000005 meters 0.02709835337687187 Centerline is valid? [True, True] Translation: X:-62.40, Y:6.46, Z:-2.98 [[ 9.91924339e-01 9.47278746e-02 -8.43370398e-02 -6.24039290e+01] [-9.42478028e-02 9.95501857e-01 9.66462154e-03 6.45686628e+00] [ 8.48731888e-02 -1.63799263e-03 9.96390415e-01 -2.98401275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615347070000006 meters 0.021889637042727464 Centerline is valid? [True, True] Translation: X:-62.44, Y:6.46, Z:-3.00 [[ 9.91763906e-01 9.62332488e-02 -8.45193282e-02 -6.24353766e+01] [-9.57567758e-02 9.95357666e-01 9.68284951e-03 6.45864922e+00] [ 8.50587733e-02 -1.50980228e-03 9.96374792e-01 -3.00468270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64534707 meters 0.021985619562565603 Centerline is valid? [True, True] Translation: X:-62.47, Y:6.46, Z:-3.01 [[ 9.91739059e-01 9.70603019e-02 -8.38626109e-02 -6.24670639e+01] [-9.65947675e-02 9.95277489e-01 9.60058089e-03 6.46313964e+00] [ 8.43984040e-02 -1.42058165e-03 9.96431077e-01 -3.00935703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67534707 meters 0.02150614489134014 Centerline is valid? [True, True] Translation: X:-62.50, Y:6.47, Z:-3.01 [[ 9.91603194e-01 9.74749594e-02 -8.49808116e-02 -6.24989767e+01] [-9.69996051e-02 9.95237007e-01 9.71476525e-03 6.46739614e+00] [ 8.55229950e-02 -1.39008708e-03 9.96335227e-01 -3.01294470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70534707 meters 0.0212947642726309 Centerline is valid? [True, True] Translation: X:-62.53, Y:6.47, Z:-3.01 [[ 9.91560079e-01 9.77167241e-02 -8.52059381e-02 -6.25308718e+01] [-9.72419672e-02 9.95213358e-01 9.71454004e-03 6.46968175e+00] [ 8.57473608e-02 -1.34695705e-03 9.96316002e-01 -3.01148922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73534707 meters 0.021417483760066802 Centerline is valid? [True, True] Translation: X:-62.56, Y:6.47, Z:-3.02 [[ 9.91271630e-01 1.00501246e-01 -8.53232411e-02 -6.25632588e+01] [-1.00037198e-01 9.94936338e-01 9.70786172e-03 6.47160947e+00] [ 8.58668452e-02 -1.08762998e-03 9.96306028e-01 -3.01709011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.765347070000004 meters 0.02105087787669164 Centerline is valid? [True, True] Translation: X:-62.60, Y:6.48, Z:-3.02 [[ 9.91107093e-01 1.01882300e-01 -8.55963031e-02 -6.25960553e+01] [-1.01421742e-01 9.94796001e-01 9.72350650e-03 6.47552621e+00] [ 8.61415133e-02 -9.55710069e-04 9.96282453e-01 -3.01863514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795347070000005 meters 0.02104966030118356 Centerline is valid? [True, True] Translation: X:-62.63, Y:6.48, Z:-3.02 [[ 9.91109574e-01 1.01908509e-01 -8.55363532e-02 -6.26285292e+01] [-1.01451133e-01 9.94793346e-01 9.68848583e-03 6.48055697e+00] [ 8.60783342e-02 -9.24591117e-04 9.96287943e-01 -3.02348800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82534707 meters 0.020647519148546362 Centerline is valid? [True, True] Translation: X:-62.66, Y:6.49, Z:-3.03 [[ 9.90938445e-01 1.03299340e-01 -8.58501339e-02 -6.26608738e+01] [-1.02846258e-01 9.94650009e-01 9.69571782e-03 6.48733131e+00] [ 8.63923977e-02 -7.78494541e-04 9.96260883e-01 -3.02572423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85534707 meters 0.020647519148546362 Centerline is valid? [True, True] Translation: X:-62.69, Y:6.49, Z:-3.03 [[ 9.90972212e-01 1.02972255e-01 -8.58532985e-02 -6.26933621e+01] [-1.02520381e-01 9.94683924e-01 9.66763107e-03 6.49123867e+00] [ 8.63923936e-02 -7.78640888e-04 9.96260884e-01 -3.02746244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88534707 meters 0.020602326109928376 Centerline is valid? [True, True] Translation: X:-62.73, Y:6.50, Z:-3.03 [[ 9.90687803e-01 1.05201195e-01 -8.64313899e-02 -6.27259584e+01] [-1.04754193e-01 9.94450801e-01 9.70378116e-03 6.49698476e+00] [ 8.69726143e-02 -5.59367118e-04 9.96210546e-01 -3.02872533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91534707 meters 0.020027548213428403 Centerline is valid? [True, True] Translation: X:-62.76, Y:6.50, Z:-3.03 [[ 9.90496715e-01 1.06546486e-01 -8.69718553e-02 -6.27583170e+01] [-1.06101482e-01 9.94307635e-01 9.73666199e-03 6.50082330e+00] [ 8.75141868e-02 -4.16289002e-04 9.96163186e-01 -3.03263796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.945347070000004 meters 0.019930246553651314 Centerline is valid? [True, True] Translation: X:-62.79, Y:6.51, Z:-3.04 [[ 9.90246958e-01 1.08694114e-01 -8.71582001e-02 -6.27904370e+01] [-1.08257880e-01 9.94075223e-01 9.73045366e-03 6.50714836e+00] [ 8.76994502e-02 -1.99990127e-04 9.96146960e-01 -3.03881588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975347070000005 meters 0.01942590520271202 Centerline is valid? [True, True] Translation: X:-62.82, Y:6.51, Z:-3.04 [[ 9.90004792e-01 1.10638840e-01 -8.74617601e-02 -6.28231017e+01] [-1.10209716e-01 9.93860678e-01 9.73506435e-03 6.51270448e+00] [ 8.80018804e-02 1.37536266e-06 9.96120309e-01 -3.03905263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00534707 meters 0.019279013276244997 Centerline is valid? [True, True] Translation: X:-62.86, Y:6.52, Z:-3.04 [[ 9.89832378e-01 1.12268909e-01 -8.73358782e-02 -6.28552820e+01] [-1.11849844e-01 9.93677846e-01 9.69281885e-03 6.51823652e+00] [ 8.78719296e-02 1.74238381e-04 9.96131765e-01 -3.03986549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03534707000001 meters 0.019253611550935575 Centerline is valid? [True, True] Translation: X:-62.89, Y:6.52, Z:-3.05 [[ 9.89413926e-01 1.15597013e-01 -8.77349021e-02 -6.28870939e+01] [-1.15189539e-01 9.93296070e-01 9.71020424e-03 6.52418401e+00] [ 8.82692040e-02 4.98731662e-04 9.96096531e-01 -3.04542733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06534707000002 meters 0.019354596485712347 Centerline is valid? [True, True] Translation: X:-62.92, Y:6.53, Z:-3.05 [[ 9.89243273e-01 1.16261199e-01 -8.87754463e-02 -6.29180830e+01] [-1.15848610e-01 9.93218501e-01 9.80356269e-03 6.52851435e+00] [ 8.93131896e-02 5.86403597e-04 9.96003419e-01 -3.04716348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09534707 meters 0.019830968809378565 Centerline is valid? [True, True] Translation: X:-62.95, Y:6.54, Z:-3.05 [[ 9.89038324e-01 1.18246708e-01 -8.84359072e-02 -6.29502332e+01] [-1.17847064e-01 9.92983938e-01 9.74512810e-03 6.53729512e+00] [ 8.89677647e-02 7.83606820e-04 9.96034198e-01 -3.05056112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12534707 meters 0.01971876845433601 Centerline is valid? [True, True] Translation: X:-62.98, Y:6.54, Z:-3.06 [[ 9.88621092e-01 1.21943070e-01 -8.80807851e-02 -6.29816199e+01] [-1.21563789e-01 9.92536442e-01 9.67764266e-03 6.54483803e+00] [ 8.86035105e-02 1.13991235e-03 9.96066322e-01 -3.05717442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15534707 meters 0.019539779723747933 Centerline is valid? [True, True] Translation: X:-63.01, Y:6.55, Z:-3.05 [[ 9.88360482e-01 1.23124902e-01 -8.93522045e-02 -6.30127675e+01] [-1.22741382e-01 9.92390349e-01 9.79531286e-03 6.54888924e+00] [ 8.98783123e-02 1.28591295e-03 9.95951924e-01 -3.05288937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18534707 meters 0.019459555571105392 Centerline is valid? [True, True] Translation: X:-63.04, Y:6.55, Z:-3.06 [[ 9.88383676e-01 1.21779098e-01 -9.09261208e-02 -6.30435242e+01] [-1.21378056e-01 9.92556498e-01 9.94813691e-03 6.55236708e+00] [ 9.14607871e-02 1.20385966e-03 9.95807951e-01 -3.05612161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21534707 meters 0.019544187334671368 Centerline is valid? [True, True] Translation: X:-63.07, Y:6.56, Z:-3.06 [[ 9.88357401e-01 1.21841103e-01 -9.11284503e-02 -6.30748055e+01] [-1.21440982e-01 9.92548846e-01 9.94368969e-03 6.55855503e+00] [ 9.16609882e-02 1.23880915e-03 9.95789500e-01 -3.06404518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24534707000001 meters 0.019443414845198428 Centerline is valid? [True, True] Translation: X:-63.11, Y:6.56, Z:-3.07 [[ 9.88492785e-01 1.20860292e-01 -9.09659522e-02 -6.31068633e+01] [-1.20459956e-01 9.92668834e-01 9.89873534e-03 6.56208667e+00] [ 9.14954297e-02 1.17292617e-03 9.95804805e-01 -3.06912035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27534707000001 meters 0.021830810486055254 Centerline is valid? [True, True] Translation: X:-63.14, Y:6.57, Z:-3.07 [[ 9.88742764e-01 1.19765618e-01 -8.96880314e-02 -6.31395102e+01] [-1.19374311e-01 9.92801604e-01 9.73386779e-03 6.56762070e+00] [ 9.02082041e-02 1.08215557e-03 9.95922341e-01 -3.06503142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30534707000001 meters 0.019032237775749465 Centerline is valid? [True, True] Translation: X:-63.17, Y:6.57, Z:-3.07 [[ 9.89113813e-01 1.15987194e-01 -9.05584652e-02 -6.31724520e+01] [-1.15574997e-01 9.93250408e-01 9.80032711e-03 6.56620391e+00] [ 9.10839449e-02 7.72655381e-04 9.95842918e-01 -3.06963179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33534707000001 meters 0.019053066315869324 Centerline is valid? [True, True] Translation: X:-63.21, Y:6.57, Z:-3.07 [[ 9.89265027e-01 1.14669425e-01 -9.05849251e-02 -6.32058826e+01] [-1.14254246e-01 9.93403472e-01 9.77288345e-03 6.56854610e+00] [ 9.11080300e-02 6.81740464e-04 9.95840781e-01 -3.07494794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36534707000001 meters 0.02008455721311886 Centerline is valid? [True, True] Translation: X:-63.24, Y:6.57, Z:-3.08 [[ 9.89575697e-01 1.11960396e-01 -9.05804084e-02 -6.32369383e+01] [-1.11536110e-01 9.93712565e-01 9.74855364e-03 6.57164063e+00] [ 9.11023418e-02 4.56054663e-04 9.95841431e-01 -3.07896217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39534707000001 meters 0.019329572347688957 Centerline is valid? [True, True] Translation: X:-63.27, Y:6.57, Z:-3.09 [[ 9.89737928e-01 1.09772534e-01 -9.14812760e-02 -6.32677158e+01] [-1.09332191e-01 9.93956696e-01 9.82637160e-03 6.57177292e+00] [ 9.20070926e-02 2.76315651e-04 9.95758313e-01 -3.08610627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42534707000002 meters 0.019408738536211674 Centerline is valid? [True, True] Translation: X:-63.30, Y:6.57, Z:-3.09 [[ 9.90114960e-01 1.06104892e-01 -9.17285026e-02 -6.33001608e+01] [-1.05648949e-01 9.94354942e-01 9.82594809e-03 6.57409323e+00] [ 9.22532710e-02 -3.77983549e-05 9.95735574e-01 -3.08772443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45534707000002 meters 0.019608945557640572 Centerline is valid? [True, True] Translation: X:-63.33, Y:6.58, Z:-3.09 [[ 9.90567939e-01 1.01602525e-01 -9.19352261e-02 -6.33320105e+01] [-1.01127826e-01 9.94824981e-01 9.81938800e-03 6.57643267e+00] [ 9.24571342e-02 -4.29561362e-04 9.95716573e-01 -3.09041111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48534707 meters 0.020013412872726403 Centerline is valid? [True, True] Translation: X:-63.37, Y:6.58, Z:-3.09 [[ 9.90829359e-01 9.92893831e-02 -9.16449666e-02 -6.33651009e+01] [-9.88104783e-02 9.95058411e-01 9.75954170e-03 6.57995925e+00] [ 9.21611137e-02 -6.14557465e-04 9.95743919e-01 -3.09285270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51534707 meters 0.020213654957468935 Centerline is valid? [True, True] Translation: X:-63.40, Y:6.59, Z:-3.10 [[ 9.90937090e-01 9.75852590e-02 -9.23081836e-02 -6.33957415e+01] [-9.70946857e-02 9.95226886e-01 9.80138591e-03 6.58552522e+00] [ 9.28240569e-02 -7.49922759e-04 9.95682245e-01 -3.09677936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54534707 meters 0.020669905486565155 Centerline is valid? [True, True] Translation: X:-63.43, Y:6.59, Z:-3.10 [[ 9.91058536e-01 9.63809447e-02 -9.22696668e-02 -6.34270523e+01] [-9.58872622e-02 9.95344162e-01 9.77917173e-03 6.58970826e+00] [ 9.27826000e-02 -8.44245887e-04 9.95686033e-01 -3.10466420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57534707 meters 0.02055006735013864 Centerline is valid? [True, True] Translation: X:-63.46, Y:6.59, Z:-3.10 [[ 9.91258730e-01 9.35362113e-02 -9.30435824e-02 -6.34583510e+01] [-9.30231612e-02 9.95615266e-01 9.84548655e-03 6.59480495e+00] [ 9.35565206e-02 -1.10421632e-03 9.95613358e-01 -3.10190806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60534707000001 meters 0.02148794264005731 Centerline is valid? [True, True] Translation: X:-63.49, Y:6.60, Z:-3.10 [[ 9.91476886e-01 9.05057524e-02 -9.37138951e-02 -6.34887065e+01] [-8.99742739e-02 9.95894985e-01 9.88980357e-03 6.60267681e+00] [ 9.42242823e-02 -1.37367197e-03 9.95550048e-01 -3.10332855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63534707000001 meters 0.023645031092453816 Centerline is valid? [True, True] Translation: X:-63.52, Y:6.61, Z:-3.12 [[ 9.91756926e-01 8.69075727e-02 -9.41555771e-02 -6.35196113e+01] [-8.63566968e-02 9.96214921e-01 9.91729292e-03 6.60656554e+00] [ 9.46610787e-02 -1.70457933e-03 9.95508099e-01 -3.12026457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66534707000001 meters 0.02397056458418263 Centerline is valid? [True, True] Translation: X:-63.55, Y:6.61, Z:-3.12 [[ 9.92033390e-01 8.51792441e-02 -9.28129865e-02 -6.35504480e+01] [-8.46371341e-02 9.96363953e-01 9.76873390e-03 6.60984455e+00] [ 9.33076075e-02 -1.83548502e-03 9.95635637e-01 -3.11961356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69534707000001 meters 0.02534298158320566 Centerline is valid? [True, True] Translation: X:-63.58, Y:6.61, Z:-3.11 [[ 9.92133666e-01 8.21547533e-02 -9.44530874e-02 -6.35826300e+01] [-8.15801523e-02 9.96617262e-01 9.93540543e-03 6.61256011e+00] [ 9.49498181e-02 -2.15175296e-03 9.95479735e-01 -3.11337526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72534707000001 meters 0.028946972726763547 Centerline is valid? [True, True] Translation: X:-63.61, Y:6.61, Z:-3.12 [[ 9.92099190e-01 7.40504394e-02 -1.01270577e-01 -6.36140950e+01] [-7.33479410e-02 9.97249567e-01 1.06480666e-02 6.61089021e+00] [ 1.01780533e-01 -3.13594993e-03 9.94801935e-01 -3.11599378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75534707000001 meters 0.02188052643743174 Centerline is valid? [True, True] Translation: X:-63.64, Y:6.63, Z:-3.12 [[ 9.92031774e-01 7.96792375e-02 -9.75918959e-02 -6.36419598e+01] [-7.90541754e-02 9.96817509e-01 1.02611502e-02 6.62537581e+00] [ 9.80989112e-02 -2.46434014e-03 9.95173618e-01 -3.12068486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78534707000001 meters 0.025228310933649578 Centerline is valid? [True, True] Translation: X:-63.67, Y:6.62, Z:-3.14 [[ 9.92422757e-01 7.77361808e-02 -9.51533393e-02 -6.36734336e+01] [-7.71334712e-02 9.96970610e-01 1.00014930e-02 6.62417784e+00] [ 9.56425607e-02 -2.58620193e-03 9.95412383e-01 -3.13719464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81534707000002 meters 0.025741494449876577 Centerline is valid? [True, True] Translation: X:-63.70, Y:6.63, Z:-3.14 [[ 9.92459832e-01 7.63292542e-02 -9.59026910e-02 -6.37045229e+01] [-7.57112997e-02 9.97078917e-01 1.00713163e-02 6.63127577e+00] [ 9.63912874e-02 -2.73445948e-03 9.95339762e-01 -3.14077327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84534707 meters 0.02614970823561938 Centerline is valid? [True, True] Translation: X:-63.74, Y:6.64, Z:-3.15 [[ 9.92429473e-01 7.46545718e-02 -9.75214671e-02 -6.37351684e+01] [-7.40080742e-02 9.97205120e-01 1.02349485e-02 6.63763735e+00] [ 9.80129920e-02 -2.94008858e-03 9.95180792e-01 -3.14785165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87534707 meters 0.024046955017625122 Centerline is valid? [True, True] Translation: X:-63.77, Y:6.64, Z:-3.13 [[ 9.92705867e-01 7.39203998e-02 -9.52409418e-02 -6.37672358e+01] [-7.33010054e-02 9.97259822e-01 9.99052053e-03 6.63862199e+00] [ 9.57184679e-02 -2.93639154e-03 9.95404115e-01 -3.13265896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90534707 meters 0.026940217014295244 Centerline is valid? [True, True] Translation: X:-63.80, Y:6.63, Z:-3.14 [[ 9.92933957e-01 7.22347197e-02 -9.41504222e-02 -6.37996141e+01] [-7.16226277e-02 9.97382980e-01 9.86868456e-03 6.63373552e+00] [ 9.46168903e-02 -3.05565137e-03 9.95509069e-01 -3.14281094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93534707 meters 0.026763523023137895 Centerline is valid? [True, True] Translation: X:-63.83, Y:6.64, Z:-3.14 [[ 9.93038053e-01 7.17867989e-02 -9.33920836e-02 -6.38314833e+01] [-7.11833609e-02 9.97415291e-01 9.78096551e-03 6.63666383e+00] [ 9.38528364e-02 -3.06490854e-03 9.95581364e-01 -3.14498953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96534707 meters 0.02561036471916705 Centerline is valid? [True, True] Translation: X:-63.86, Y:6.64, Z:-3.14 [[ 9.93070626e-01 6.89789328e-02 -9.51453599e-02 -6.38615874e+01] [-6.83402232e-02 9.97612364e-01 9.95916094e-03 6.64231028e+00] [ 9.56051597e-02 -3.38789505e-03 9.95413570e-01 -3.14059802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99534707000001 meters 0.02685803700014111 Centerline is valid? [True, True] Translation: X:-63.89, Y:6.64, Z:-3.14 [[ 9.93301492e-01 6.81519255e-02 -9.33137763e-02 -6.38924064e+01] [-6.75341256e-02 9.97669165e-01 9.76626263e-03 6.63882525e+00] [ 9.37618669e-02 -3.39897895e-03 9.95588851e-01 -3.14045724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02534707000001 meters 0.024959589744273668 Centerline is valid? [True, True] Translation: X:-63.92, Y:6.64, Z:-3.14 [[ 9.93151060e-01 6.73198040e-02 -9.54935403e-02 -6.39221157e+01] [-6.66688688e-02 9.97725099e-01 9.99439772e-03 6.64409079e+00] [ 9.59491228e-02 -3.55950038e-03 9.95379875e-01 -3.14086975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05534707000001 meters 0.02836330981770997 Centerline is valid? [True, True] Translation: X:-63.95, Y:6.64, Z:-3.15 [[ 9.93518638e-01 6.50951528e-02 -9.31844229e-02 -6.39517817e+01] [-6.44654923e-02 9.97872260e-01 9.75462529e-03 6.63753237e+00] [ 9.36211295e-02 -3.68422234e-03 9.95601080e-01 -3.15417561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08534707000001 meters 0.029952930081454037 Centerline is valid? [True, True] Translation: X:-63.98, Y:6.63, Z:-3.16 [[ 9.93654949e-01 6.12643712e-02 -9.43213648e-02 -6.39816322e+01] [-6.06015942e-02 9.98113156e-01 9.87794122e-03 6.63437973e+00] [ 9.47485610e-02 -4.09924010e-03 9.95492796e-01 -3.15686380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11534707000001 meters 0.029454664162601975 Centerline is valid? [True, True] Translation: X:-64.01, Y:6.63, Z:-3.15 [[ 9.93854450e-01 5.90297867e-02 -9.36419634e-02 -6.40098367e+01] [-5.83660452e-02 9.98247014e-01 9.81349108e-03 6.63360747e+00] [ 9.40570986e-02 -4.28767070e-03 9.95557571e-01 -3.14937459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14534707000001 meters 0.03140144837016889 Centerline is valid? [True, True] Translation: X:-64.04, Y:6.63, Z:-3.15 [[ 9.94179512e-01 5.74417975e-02 -9.11456970e-02 -6.40393612e+01] [-5.68048391e-02 9.98339440e-01 9.56934649e-03 6.62722569e+00] [ 9.15440245e-02 -4.33613156e-03 9.95791589e-01 -3.14782253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17534707000002 meters 0.029826757420128525 Centerline is valid? [True, True] Translation: X:-64.07, Y:6.63, Z:-3.15 [[ 9.94174551e-01 5.54326598e-02 -9.24347428e-02 -6.40671478e+01] [-5.47670500e-02 9.98451809e-01 9.72396379e-03 6.63406424e+00] [ 9.28306613e-02 -4.60493916e-03 9.95671262e-01 -3.14960030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20534707000002 meters 0.02964555513317746 Centerline is valid? [True, True] Translation: X:-64.10, Y:6.64, Z:-3.15 [[ 9.94373760e-01 5.27773868e-02 -9.18442879e-02 -6.40952614e+01] [-5.21083544e-02 9.98594628e-01 9.66891569e-03 6.63761741e+00] [ 9.22255126e-02 -4.82866135e-03 9.95726438e-01 -3.15117109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23534707 meters 0.033120201503864626 Centerline is valid? [True, True] Translation: X:-64.12, Y:6.63, Z:-3.16 [[ 9.94509190e-01 5.23665420e-02 -9.06047292e-02 -6.41229326e+01] [-5.17121037e-02 9.98616303e-01 9.55711954e-03 6.63183310e+00] [ 9.09798329e-02 -4.81928206e-03 9.95841074e-01 -3.15905712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26534707 meters 0.029916232443574414 Centerline is valid? [True, True] Translation: X:-64.15, Y:6.64, Z:-3.16 [[ 9.94273705e-01 5.76183854e-02 -8.99995657e-02 -6.41519038e+01] [-5.69922403e-02 9.98329291e-01 9.51377847e-03 6.63982047e+00] [ 9.03973711e-02 -4.33002289e-03 9.95896363e-01 -3.15530906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29534707 meters 0.0303522292713251 Centerline is valid? [True, True] Translation: X:-64.18, Y:6.64, Z:-3.16 [[ 9.94535308e-01 6.14997693e-02 -8.43640862e-02 -6.41827823e+01] [-6.09636021e-02 9.98100137e-01 8.91935703e-03 6.64050668e+00] [ 8.47523445e-02 -3.72747691e-03 9.96395075e-01 -3.15509830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32534707 meters 0.02818170382709475 Centerline is valid? [True, True] Translation: X:-64.21, Y:6.65, Z:-3.16 [[ 9.94194471e-01 6.34687668e-02 -8.68853810e-02 -6.42110874e+01] [-6.29073994e-02 9.97977086e-01 9.18665855e-03 6.64927208e+00] [ 8.72926853e-02 -3.66759178e-03 9.96175956e-01 -3.16022933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35534707000001 meters 0.028817459115201997 Centerline is valid? [True, True] Translation: X:-64.24, Y:6.65, Z:-3.16 [[ 9.94409753e-01 6.52373005e-02 -8.30261303e-02 -6.42411978e+01] [-6.47308264e-02 9.97864132e-01 8.78033395e-03 6.65017344e+00] [ 8.34216027e-02 -3.35689969e-03 9.96508689e-01 -3.16002215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38534707000001 meters 0.02840921581483877 Centerline is valid? [True, True] Translation: X:-64.27, Y:6.65, Z:-3.16 [[ 9.94143286e-01 6.62958346e-02 -8.53462917e-02 -6.42733460e+01] [-6.57645874e-02 9.97794358e-01 9.02425634e-03 6.65490936e+00] [ 8.57563190e-02 -3.35864019e-03 9.96310480e-01 -3.16180352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41534707000001 meters 0.026569070681126707 Centerline is valid? [True, True] Translation: X:-64.30, Y:6.66, Z:-3.16 [[ 9.94136445e-01 7.12886648e-02 -8.13059384e-02 -6.43033935e+01] [-7.08236401e-02 9.97451841e-01 8.59283107e-03 6.66352775e+00] [ 8.17113294e-02 -2.78406401e-03 9.96652150e-01 -3.15951409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44534707000001 meters 0.024218582368432398 Centerline is valid? [True, True] Translation: X:-64.33, Y:6.67, Z:-3.17 [[ 9.93606093e-01 7.81222435e-02 -8.15097959e-02 -6.43326835e+01] [-7.76778642e-02 9.96941300e-01 8.61358800e-03 6.67373037e+00] [ 8.19333947e-02 -2.22700666e-03 9.96635319e-01 -3.16695830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47534707000001 meters 0.02305171934360715 Centerline is valid? [True, True] Translation: X:-64.36, Y:6.68, Z:-3.16 [[ 9.93393255e-01 8.34555327e-02 -7.87719148e-02 -6.43635345e+01] [-8.30574627e-02 9.96510010e-01 8.32213486e-03 6.68246246e+00] [ 7.91915298e-02 -1.72455727e-03 9.96857927e-01 -3.16377197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50534707000001 meters 0.021214126126470872 Centerline is valid? [True, True] Translation: X:-64.39, Y:6.69, Z:-3.17 [[ 9.92769068e-01 8.88936012e-02 -8.06691085e-02 -6.43942931e+01] [-8.84947904e-02 9.96040263e-01 8.51274203e-03 6.69166497e+00] [ 8.11064084e-02 -1.31239112e-03 9.96704584e-01 -3.16624879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53534707000001 meters 0.020228118013779217 Centerline is valid? [True, True] Translation: X:-64.43, Y:6.70, Z:-3.16 [[ 9.92429215e-01 9.41740445e-02 -7.88384527e-02 -6.44258225e+01] [-9.38110975e-02 9.95555391e-01 8.30310419e-03 6.69934354e+00] [ 7.92699835e-02 -8.44321405e-04 9.96852826e-01 -3.16492413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56534707000002 meters 0.019617500468958306 Centerline is valid? [True, True] Translation: X:-64.46, Y:6.71, Z:-3.17 [[ 9.91927632e-01 9.98874813e-02 -7.81157043e-02 -6.44562752e+01] [-9.95497608e-02 9.94998669e-01 8.21540868e-03 6.70880637e+00] [ 7.85456383e-02 -3.72691201e-04 9.96910449e-01 -3.16642563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59534707 meters 0.02009767186638642 Centerline is valid? [True, True] Translation: X:-64.49, Y:6.71, Z:-3.17 [[ 9.91904620e-01 1.02256283e-01 -7.52919413e-02 -6.44881105e+01] [-1.01951009e-01 9.94758075e-01 7.89708819e-03 6.71323577e+00] [ 7.57047935e-02 -1.57068910e-04 9.97130262e-01 -3.17266140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62534707 meters 0.02018169491609881 Centerline is valid? [True, True] Translation: X:-64.52, Y:6.71, Z:-3.17 [[ 9.91963904e-01 1.02601126e-01 -7.40312292e-02 -6.45206945e+01] [-1.02308609e-01 9.94722573e-01 7.74280379e-03 6.71256308e+00] [ 7.44349552e-02 -1.06549829e-04 9.97225865e-01 -3.17016318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65534707 meters 0.020249322091442045 Centerline is valid? [True, True] Translation: X:-64.55, Y:6.71, Z:-3.17 [[ 9.91846727e-01 1.04838438e-01 -7.24497871e-02 -6.45533029e+01] [-1.04565746e-01 9.94489264e-01 7.55706645e-03 6.71446782e+00] [ 7.28428065e-02 8.03144476e-05 9.97343431e-01 -3.17307330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68534707 meters 0.019781518083272092 Centerline is valid? [True, True] Translation: X:-64.59, Y:6.72, Z:-3.17 [[ 9.91550603e-01 1.06961591e-01 -7.33936003e-02 -6.45851726e+01] [-1.06689092e-01 9.94263119e-01 7.63461669e-03 6.71591184e+00] [ 7.37891607e-02 2.60187782e-04 9.97273830e-01 -3.17153743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71534707 meters 0.025225991108334032 Centerline is valid? [True, True] Translation: X:-64.62, Y:6.72, Z:-3.16 [[ 9.91720259e-01 1.07278348e-01 -7.05853000e-02 -6.46168000e+01] [-1.07028164e-01 9.94228984e-01 7.32793450e-03 6.71616680e+00] [ 7.09640798e-02 2.87353983e-04 9.97478830e-01 -3.15896372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74534707000001 meters 0.025225991108334032 Centerline is valid? [True, True] Translation: X:-64.65, Y:6.72, Z:-3.16 [[ 9.91756193e-01 1.06945088e-01 -7.05861365e-02 -6.46493163e+01] [-1.06694635e-01 9.94264891e-01 7.31986472e-03 6.71979369e+00] [ 7.09641409e-02 2.71640932e-04 9.97478830e-01 -3.16071243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77534707000001 meters 0.02627280798722706 Centerline is valid? [True, True] Translation: X:-64.68, Y:6.73, Z:-3.16 [[ 9.90994945e-01 1.14573543e-01 -6.92959033e-02 -6.46803774e+01] [-1.14352333e-01 9.93414427e-01 7.16386827e-03 6.72547779e+00] [ 6.96603398e-02 8.24790944e-04 9.97570427e-01 -3.16095552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80534707000001 meters 0.021357697736435362 Centerline is valid? [True, True] Translation: X:-64.71, Y:6.73, Z:-3.17 [[ 9.90748976e-01 1.17612018e-01 -6.77043586e-02 -6.47117109e+01] [-1.17409226e-01 9.93059085e-01 6.98053028e-03 6.73090989e+00] [ 6.80554226e-02 1.03316314e-03 9.97681007e-01 -3.16913717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83534707000001 meters 0.02533701929537234 Centerline is valid? [True, True] Translation: X:-64.74, Y:6.74, Z:-3.17 [[ 9.89989081e-01 1.24052452e-01 -6.73246461e-02 -6.47424105e+01] [-1.23867914e-01 9.92274552e-01 6.92478450e-03 6.73722151e+00] [ 6.76635695e-02 1.48390245e-03 9.97707091e-01 -3.16862118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86534707000001 meters 0.023139080755803797 Centerline is valid? [True, True] Translation: X:-64.77, Y:6.74, Z:-3.17 [[ 9.89581861e-01 1.28216492e-01 -6.54848994e-02 -6.47739505e+01] [-1.28051404e-01 9.91744701e-01 6.72948528e-03 6.74240134e+00] [ 6.58071330e-02 1.72605675e-03 9.97830868e-01 -3.16997746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89534707000001 meters 0.02454207840747623 Centerline is valid? [True, True] Translation: X:-64.81, Y:6.75, Z:-3.17 [[ 9.88742029e-01 1.34237735e-01 -6.61016607e-02 -6.48052716e+01] [-1.34084099e-01 9.90946793e-01 6.77545873e-03 6.74866741e+00] [ 6.64127510e-02 2.16400082e-03 9.97789890e-01 -3.17129535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92534707000002 meters 0.026969785486840234 Centerline is valid? [True, True] Translation: X:-64.83, Y:6.75, Z:-3.17 [[ 9.87723761e-01 1.42322033e-01 -6.43910826e-02 -6.48346067e+01] [-1.42193588e-01 9.89816886e-01 6.59666079e-03 6.75484122e+00] [ 6.46742310e-02 2.64032046e-03 9.97902937e-01 -3.17212795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95534707000002 meters 0.030853186351295046 Centerline is valid? [True, True] Translation: X:-64.87, Y:6.76, Z:-3.17 [[ 9.87103760e-01 1.46926362e-01 -6.35516423e-02 -6.48661446e+01] [-1.46810782e-01 9.89143171e-01 6.51018691e-03 6.75757006e+00] [ 6.38181911e-02 2.90383633e-03 9.97957317e-01 -3.16765239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98534707 meters 0.02864811622214834 Centerline is valid? [True, True] Translation: X:-64.90, Y:6.76, Z:-3.17 [[ 9.87136897e-01 1.47106187e-01 -6.26140236e-02 -6.48978312e+01] [-1.46994693e-01 9.89116519e-01 6.40868999e-03 6.76058238e+00] [ 6.28753230e-02 2.87767485e-03 9.98017241e-01 -3.17358797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01534707 meters 0.02903751994695069 Centerline is valid? [True, True] Translation: X:-64.93, Y:6.76, Z:-3.18 [[ 9.86768530e-01 1.49705452e-01 -6.22587009e-02 -6.49288879e+01] [-1.49601468e-01 9.88725956e-01 6.35486241e-03 6.76167652e+00] [ 6.25081511e-02 3.04321480e-03 9.98039814e-01 -3.17746919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04534707 meters 0.030664678850795393 Centerline is valid? [True, True] Translation: X:-64.96, Y:6.77, Z:-3.18 [[ 9.86618382e-01 1.50677645e-01 -6.22929873e-02 -6.49605571e+01] [-1.50575818e-01 9.88578051e-01 6.35293316e-03 6.76577689e+00] [ 6.25387250e-02 3.11189688e-03 9.98037687e-01 -3.18072524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07534707 meters 0.029428548874833173 Centerline is valid? [True, True] Translation: X:-64.99, Y:6.76, Z:-3.18 [[ 9.86500099e-01 1.51875790e-01 -6.12478565e-02 -6.49929946e+01] [-1.51780847e-01 9.88394557e-01 6.22689911e-03 6.76082574e+00] [ 6.14827632e-02 3.15341493e-03 9.98103164e-01 -3.17941531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10534707000001 meters 0.032608390219420816 Centerline is valid? [True, True] Translation: X:-65.03, Y:6.76, Z:-3.17 [[ 9.86766458e-01 1.49754479e-01 -6.21735809e-02 -6.50259338e+01] [-1.49653643e-01 9.88718399e-01 6.30192824e-03 6.75500438e+00] [ 6.24159054e-02 3.08597147e-03 9.98045456e-01 -3.17353592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13534707000001 meters 0.02701967430501624 Centerline is valid? [True, True] Translation: X:-65.06, Y:6.75, Z:-3.18 [[ 9.87780784e-01 1.43573095e-01 -6.06291046e-02 -6.50569869e+01] [-1.43466563e-01 9.89636184e-01 6.12933652e-03 6.74865515e+00] [ 6.08807636e-02 2.64380840e-03 9.98141545e-01 -3.18289821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16534707000001 meters 0.025923260157410095 Centerline is valid? [True, True] Translation: X:-65.09, Y:6.74, Z:-3.18 [[ 9.88421346e-01 1.39400873e-01 -5.99219501e-02 -6.50892649e+01] [-1.39289245e-01 9.90233218e-01 6.05641805e-03 6.74165179e+00] [ 6.01809754e-02 2.36019029e-03 9.98184692e-01 -3.18399703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19534707000001 meters 0.02279353823286052 Centerline is valid? [True, True] Translation: X:-65.12, Y:6.73, Z:-3.19 [[ 9.90182918e-01 1.26117692e-01 -6.02670379e-02 -6.51220498e+01] [-1.25980343e-01 9.92014054e-01 6.08854807e-03 6.72626650e+00] [ 6.05536222e-02 1.56368582e-03 9.98163721e-01 -3.18707209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22534707000001 meters 0.023870635950645223 Centerline is valid? [True, True] Translation: X:-65.15, Y:6.72, Z:-3.19 [[ 9.91450365e-01 1.16280900e-01 -5.92024123e-02 -6.51540998e+01] [-1.16130933e-01 9.93215916e-01 5.97922679e-03 6.71511238e+00] [ 5.94960480e-02 9.47124764e-04 9.98228092e-01 -3.18574465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25534707000001 meters 0.020556394596935628 Centerline is valid? [True, True] Translation: X:-65.19, Y:6.71, Z:-3.19 [[ 9.92523989e-01 1.07430482e-01 -5.79208336e-02 -6.51867283e+01] [-1.07271986e-01 9.94212515e-01 5.84781482e-03 6.70663416e+00] [ 5.82138512e-02 4.09186376e-04 9.98304052e-01 -3.18940820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28534707000001 meters 0.021216317653658886 Centerline is valid? [True, True] Translation: X:-65.22, Y:6.70, Z:-3.19 [[ 9.93197749e-01 1.01188587e-01 -5.76116348e-02 -6.52184190e+01] [-1.01021777e-01 9.94867261e-01 5.80805158e-03 6.69841153e+00] [ 5.79036378e-02 5.14859352e-05 9.98322175e-01 -3.19089679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31534707000002 meters 0.021741538039636597 Centerline is valid? [True, True] Translation: X:-65.25, Y:6.68, Z:-3.20 [[ 9.94480720e-01 8.82186432e-02 -5.67940917e-02 -6.52521630e+01] [-8.80355898e-02 9.96100896e-01 5.72194594e-03 6.68281175e+00] [ 5.70774279e-02 -6.90463558e-04 9.98369516e-01 -3.19936409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34534707 meters 0.021190335616297854 Centerline is valid? [True, True] Translation: X:-65.28, Y:6.68, Z:-3.20 [[ 9.94640233e-01 8.64475345e-02 -5.67241662e-02 -6.52838296e+01] [-8.62631225e-02 9.96256105e-01 5.69619393e-03 6.68387820e+00] [ 5.70042188e-02 -7.72459961e-04 9.98373639e-01 -3.20021619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37534707 meters 0.02210719132009446 Centerline is valid? [True, True] Translation: X:-65.32, Y:6.68, Z:-3.20 [[ 9.95215559e-01 8.02739596e-02 -5.56963490e-02 -6.53156670e+01] [-8.00874208e-02 9.96772243e-01 5.57680272e-03 6.67816996e+00] [ 5.59642467e-02 -1.08954390e-03 9.98432179e-01 -3.19951006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40534707 meters 0.02244651445814322 Centerline is valid? [True, True] Translation: X:-65.35, Y:6.68, Z:-3.20 [[ 9.95331307e-01 7.95190652e-02 -5.47019938e-02 -6.53485277e+01] [-7.93389084e-02 9.96832744e-01 5.46065106e-03 6.67609875e+00] [ 5.49629644e-02 -1.09516048e-03 9.98487793e-01 -3.20183741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43534707 meters 0.022925544628991833 Centerline is valid? [True, True] Translation: X:-65.38, Y:6.68, Z:-3.20 [[ 9.95363734e-01 7.94510064e-02 -5.42086148e-02 -6.53813914e+01] [-7.92742767e-02 9.96838183e-01 5.40609296e-03 6.67681411e+00] [ 5.44667366e-02 -1.08368016e-03 9.98514998e-01 -3.20424305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46534707 meters 0.025384654614150966 Centerline is valid? [True, True] Translation: X:-65.41, Y:6.68, Z:-3.20 [[ 9.95271003e-01 8.07493923e-02 -5.39922761e-02 -6.54132501e+01] [-8.05763806e-02 9.96733933e-01 5.37714312e-03 6.67819882e+00] [ 5.42501348e-02 -1.00121243e-03 9.98526875e-01 -3.20493236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49534707000001 meters 0.02388469719896957 Centerline is valid? [True, True] Translation: X:-65.44, Y:6.69, Z:-3.21 [[ 9.94852964e-01 8.65852914e-02 -5.26361874e-02 -6.54437502e+01] [-8.64292643e-02 9.96244222e-01 5.23758515e-03 6.68618745e+00] [ 5.28919954e-02 -6.61320157e-04 9.98600020e-01 -3.20503904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52534707000001 meters 0.02347293538852588 Centerline is valid? [True, True] Translation: X:-65.48, Y:6.69, Z:-3.20 [[ 9.94309359e-01 9.34067690e-02 -5.12257270e-02 -6.54761216e+01] [-9.32688853e-02 9.95627993e-01 5.08081403e-03 6.69074103e+00] [ 5.14763502e-02 -2.74134487e-04 9.98674176e-01 -3.20252947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55534707000001 meters 0.022746728565885162 Centerline is valid? [True, True] Translation: X:-65.51, Y:6.70, Z:-3.21 [[ 9.93772307e-01 9.96867331e-02 -4.97911256e-02 -6.55080743e+01] [-9.95645395e-02 9.95018870e-01 4.93458231e-03 6.69629109e+00] [ 5.00350220e-02 5.35792471e-05 9.98747462e-01 -3.20518630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58534707000001 meters 0.022643798685976938 Centerline is valid? [True, True] Translation: X:-65.54, Y:6.70, Z:-3.21 [[ 9.93440290e-01 1.02801434e-01 -5.00824777e-02 -6.55406920e+01] [-1.02682671e-01 9.94701871e-01 4.94535918e-03 6.70194801e+00] [ 5.03255243e-02 2.29683518e-04 9.98732842e-01 -3.20708404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61534707000001 meters 0.02421070142770849 Centerline is valid? [True, True] Translation: X:-65.57, Y:6.71, Z:-3.21 [[ 9.92968179e-01 1.07177394e-01 -5.02712738e-02 -6.55716551e+01] [-1.07064363e-01 9.94239801e-01 4.94367814e-03 6.70618988e+00] [ 5.05115518e-02 4.73346839e-04 9.98723365e-01 -3.20613391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64534707000001 meters 0.024137441229113543 Centerline is valid? [True, True] Translation: X:-65.60, Y:6.71, Z:-3.21 [[ 9.92345613e-01 1.12925207e-01 -4.99808151e-02 -6.56038062e+01] [-1.12821207e-01 9.93603193e-01 4.90622530e-03 6.71087832e+00] [ 5.02151340e-02 7.70224723e-04 9.98738127e-01 -3.20892461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67534707000002 meters 0.0247440972717023 Centerline is valid? [True, True] Translation: X:-65.64, Y:6.72, Z:-3.21 [[ 9.92088846e-01 1.14808091e-01 -5.07821201e-02 -6.56359122e+01] [-1.14704077e-01 9.93387285e-01 4.96752970e-03 6.71506878e+00] [ 5.10166250e-02 8.96685435e-04 9.98697402e-01 -3.21360886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70534707000002 meters 0.02500521362267039 Centerline is valid? [True, True] Translation: X:-65.67, Y:6.72, Z:-3.22 [[ 9.92017410e-01 1.15642569e-01 -5.02817514e-02 -6.56678227e+01] [-1.15542521e-01 9.93290441e-01 4.90169670e-03 6.71598458e+00] [ 5.05112278e-02 9.47111835e-04 9.98723044e-01 -3.21538282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73534707 meters 0.02579370099706043 Centerline is valid? [True, True] Translation: X:-65.70, Y:6.72, Z:-3.22 [[ 9.91905617e-01 1.16550262e-01 -5.03913055e-02 -6.57002729e+01] [-1.16451796e-01 9.93184279e-01 4.89563355e-03 6.71818618e+00] [ 5.06184398e-02 1.01215163e-03 9.98717552e-01 -3.21686497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76534707 meters 0.02592767939446079 Centerline is valid? [True, True] Translation: X:-65.73, Y:6.71, Z:-3.22 [[ 9.92306239e-01 1.12413883e-01 -5.18791615e-02 -6.57318951e+01] [-1.12304800e-01 9.93661114e-01 5.02226113e-03 6.71422472e+00] [ 5.21148772e-02 8.42657796e-04 9.98640741e-01 -3.22177294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79534707 meters 0.025670534607879596 Centerline is valid? [True, True] Translation: X:-65.76, Y:6.71, Z:-3.23 [[ 9.92785962e-01 1.07482072e-01 -5.31379042e-02 -6.57637554e+01] [-1.07361436e-01 9.94206833e-01 5.12786790e-03 6.70702867e+00] [ 5.33812213e-02 6.14086433e-04 9.98574017e-01 -3.22860491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82534707 meters 0.02603988144199998 Centerline is valid? [True, True] Translation: X:-65.80, Y:6.70, Z:-3.24 [[ 9.93469159e-01 1.00439966e-01 -5.41372597e-02 -6.57960201e+01] [-1.00305226e-01 9.94943087e-01 5.20715525e-03 6.70185695e+00] [ 5.43864988e-02 2.57101918e-04 9.98519926e-01 -3.23538420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85534707000001 meters 0.0262333583005681 Centerline is valid? [True, True] Translation: X:-65.83, Y:6.70, Z:-3.24 [[ 9.93755632e-01 9.70270003e-02 -5.50954133e-02 -6.58289427e+01] [-9.68831825e-02 9.95281746e-01 5.28163657e-03 6.69643594e+00] [ 5.53479205e-02 8.91628897e-05 9.98467125e-01 -3.23796500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88534707000001 meters 0.026593425074456233 Centerline is valid? [True, True] Translation: X:-65.86, Y:6.69, Z:-3.24 [[ 9.94140639e-01 9.31388200e-02 -5.48593709e-02 -6.58620338e+01] [-9.29913918e-02 9.95653127e-01 5.23950067e-03 6.69245032e+00] [ 5.51089051e-02 -1.07351288e-04 9.98480344e-01 -3.23920900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91534707000001 meters 0.026498618239654558 Centerline is valid? [True, True] Translation: X:-65.89, Y:6.69, Z:-3.24 [[ 9.94437732e-01 8.92345112e-02 -5.59535509e-02 -6.58943970e+01] [-8.90761106e-02 9.96010595e-01 5.32358047e-03 6.68683715e+00] [ 5.62053767e-02 -3.09844599e-04 9.98419180e-01 -3.24114234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94534707000001 meters 0.023429206594947183 Centerline is valid? [True, True] Translation: X:-65.93, Y:6.67, Z:-3.23 [[ 9.94425811e-01 8.91801516e-02 -5.62512843e-02 -6.59296405e+01] [-8.90203009e-02 9.96015464e-01 5.34610439e-03 6.67409756e+00] [ 5.65039155e-02 -3.08797939e-04 9.98402330e-01 -3.23405229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97534707000001 meters 0.0220768572518012 Centerline is valid? [True, True] Translation: X:-65.96, Y:6.67, Z:-3.23 [[ 9.94137134e-01 9.13407342e-02 -5.78638779e-02 -6.59632952e+01] [-9.11757564e-02 9.95819681e-01 5.49039536e-03 6.66959026e+00] [ 5.81234852e-02 -1.82423075e-04 9.98309385e-01 -3.23115069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00534707000001 meters 0.020420039323729246 Centerline is valid? [True, True] Translation: X:-66.00, Y:6.66, Z:-3.23 [[ 9.94010568e-01 9.30426051e-02 -5.73241985e-02 -6.59959512e+01] [-9.28839994e-02 9.95662126e-01 5.43088201e-03 6.66473258e+00] [ 5.75808368e-02 -7.38532954e-05 9.98340844e-01 -3.22975325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03534707000001 meters 0.02031320905069579 Centerline is valid? [True, True] Translation: X:-66.03, Y:6.66, Z:-3.23 [[ 9.93855343e-01 9.43098769e-02 -5.79413851e-02 -6.60281681e+01] [-9.41503271e-02 9.95542891e-01 5.48350475e-03 6.66280225e+00] [ 5.82002827e-02 5.38986303e-06 9.98304927e-01 -3.22846504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06534707000002 meters 0.020132324589527472 Centerline is valid? [True, True] Translation: X:-66.06, Y:6.66, Z:-3.23 [[ 9.93826457e-01 9.53377945e-02 -5.67422012e-02 -6.60602195e+01] [-9.51868239e-02 9.95444976e-01 5.36363754e-03 6.66054786e+00] [ 5.69950964e-02 7.05850150e-05 9.98374456e-01 -3.22742717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09534707 meters 0.02254810493580505 Centerline is valid? [True, True] Translation: X:-66.09, Y:6.66, Z:-3.22 [[ 9.93741703e-01 9.63444422e-02 -5.65258845e-02 -6.60937879e+01] [-9.61965126e-02 9.95348045e-01 5.33854469e-03 6.65702704e+00] [ 5.67772677e-02 1.32458466e-04 9.98386861e-01 -3.22425394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12534707 meters 0.021349150014064868 Centerline is valid? [True, True] Translation: X:-66.13, Y:6.66, Z:-3.23 [[ 9.93481932e-01 9.81005415e-02 -5.80511294e-02 -6.61260344e+01] [-9.79480402e-02 9.95176478e-01 5.47350464e-03 6.65675956e+00] [ 5.83080723e-02 2.48166390e-04 9.98298606e-01 -3.22616517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15534707 meters 0.020814540718636313 Centerline is valid? [True, True] Translation: X:-66.16, Y:6.65, Z:-3.23 [[ 9.93505521e-01 9.76443123e-02 -5.84154850e-02 -6.61589181e+01] [-9.74894679e-02 9.95221350e-01 5.50161969e-03 6.65339695e+00] [ 5.86735397e-02 2.29005016e-04 9.98277198e-01 -3.22621980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18534707 meters 0.02230496361603626 Centerline is valid? [True, True] Translation: X:-66.19, Y:6.65, Z:-3.23 [[ 9.93515975e-01 9.76317886e-02 -5.82583994e-02 -6.61911813e+01] [-9.74781653e-02 9.95222578e-01 5.47982510e-03 6.64972582e+00] [ 5.85150795e-02 2.34628104e-04 9.98286497e-01 -3.22591997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21534707 meters 0.02045195059547656 Centerline is valid? [True, True] Translation: X:-66.22, Y:6.64, Z:-3.22 [[ 9.93694291e-01 9.65444887e-02 -5.70159433e-02 -6.62248275e+01] [-9.63959640e-02 9.95328655e-01 5.35599329e-03 6.64322951e+00] [ 5.72666938e-02 1.73886872e-04 9.98358901e-01 -3.22275633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24534707000001 meters 0.021272742016290973 Centerline is valid? [True, True] Translation: X:-66.26, Y:6.64, Z:-3.22 [[ 9.93645452e-01 9.68838965e-02 -5.72907131e-02 -6.62580292e+01] [-9.67348485e-02 9.95295670e-01 5.37574664e-03 6.64154189e+00] [ 5.75420219e-02 2.00422244e-04 9.98343065e-01 -3.22189853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27534707000001 meters 0.021492817036463528 Centerline is valid? [True, True] Translation: X:-66.29, Y:6.64, Z:-3.22 [[ 9.93599118e-01 9.73825718e-02 -5.72488276e-02 -6.62915363e+01] [-9.72350478e-02 9.95246994e-01 5.36350164e-03 6.63892553e+00] [ 5.74990352e-02 2.37421991e-04 9.98345534e-01 -3.22180633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30534707000001 meters 0.02219084257284334 Centerline is valid? [True, True] Translation: X:-66.32, Y:6.64, Z:-3.22 [[ 9.93513736e-01 9.79896267e-02 -5.76930687e-02 -6.63231670e+01] [-9.78412760e-02 9.95187396e-01 5.39735301e-03 6.63685370e+00] [ 5.79442994e-02 2.82419103e-04 9.98319778e-01 -3.22170087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33534707000001 meters 0.02236476040118247 Centerline is valid? [True, True] Translation: X:-66.36, Y:6.63, Z:-3.22 [[ 9.93541132e-01 9.81732442e-02 -5.69037242e-02 -6.63554402e+01] [-9.80294900e-02 9.95169296e-01 5.31894677e-03 6.63378659e+00] [ 5.71510174e-02 2.93650669e-04 9.98365502e-01 -3.22146858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36534707000001 meters 0.02279570043106729 Centerline is valid? [True, True] Translation: X:-66.39, Y:6.63, Z:-3.22 [[ 9.93234367e-01 1.00675936e-01 -5.78778640e-02 -6.63876581e+01] [-1.00532270e-01 9.94919165e-01 5.39607677e-03 6.63437360e+00] [ 5.81270512e-02 4.59024131e-04 9.98309088e-01 -3.22070298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39534707000001 meters 0.023521195037546423 Centerline is valid? [True, True] Translation: X:-66.42, Y:6.63, Z:-3.22 [[ 9.92991131e-01 1.03041812e-01 -5.78878036e-02 -6.64192453e+01] [-1.02902475e-01 9.94676842e-01 5.39077250e-03 6.63415518e+00] [ 5.81351326e-02 6.03808950e-04 9.98308540e-01 -3.22005429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42534707000002 meters 0.025444278760252344 Centerline is valid? [True, True] Translation: X:-66.45, Y:6.63, Z:-3.22 [[ 9.92578801e-01 1.06805445e-01 -5.81370790e-02 -6.64510829e+01] [-1.06671968e-01 9.94279586e-01 5.40342580e-03 6.63445497e+00] [ 5.83816261e-02 8.38270737e-04 9.98293986e-01 -3.21959667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45534707000002 meters 0.025325419504441286 Centerline is valid? [True, True] Translation: X:-66.48, Y:6.63, Z:-3.22 [[ 9.92393209e-01 1.08614439e-01 -5.79536250e-02 -6.64836011e+01] [-1.08485210e-01 9.94083501e-01 5.38078982e-03 6.63448069e+00] [ 5.81951738e-02 9.47251884e-04 9.98304775e-01 -3.22065134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48534707 meters 0.02645860906265674 Centerline is valid? [True, True] Translation: X:-66.52, Y:6.63, Z:-3.22 [[ 9.92282957e-01 1.09773113e-01 -5.76575894e-02 -6.65163418e+01] [-1.09647480e-01 9.93956152e-01 5.34769028e-03 6.63477226e+00] [ 5.78961483e-02 1.01558747e-03 9.98322095e-01 -3.21882173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51534707 meters 0.02751753880513101 Centerline is valid? [True, True] Translation: X:-66.55, Y:6.63, Z:-3.22 [[ 9.92001782e-01 1.12454580e-01 -5.73274145e-02 -6.65479643e+01] [-1.12335228e-01 9.93656175e-01 5.31056883e-03 6.63274116e+00] [ 5.75609372e-02 1.17179445e-03 9.98341307e-01 -3.21999390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54534707 meters 0.02849814278399866 Centerline is valid? [True, True] Translation: X:-66.58, Y:6.63, Z:-3.22 [[ 9.91810196e-01 1.14224773e-01 -5.71422391e-02 -6.65799903e+01] [-1.14110136e-01 9.93454097e-01 5.27581208e-03 6.63347326e+00] [ 5.73708200e-02 1.28790448e-03 9.98352107e-01 -3.21939315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57534707 meters 0.02966599427901595 Centerline is valid? [True, True] Translation: X:-66.61, Y:6.63, Z:-3.22 [[ 9.91633141e-01 1.16166322e-01 -5.62947575e-02 -6.66119256e+01] [-1.16058522e-01 9.93228809e-01 5.19162524e-03 6.63295759e+00] [ 5.65166669e-02 1.38529869e-03 9.98400695e-01 -3.21886738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60534707000001 meters 0.031131203916444593 Centerline is valid? [True, True] Translation: X:-66.64, Y:6.64, Z:-3.22 [[ 9.91464933e-01 1.17547014e-01 -5.63913599e-02 -6.66439655e+01] [-1.17441729e-01 9.93066219e-01 5.18896304e-03 6.63576500e+00] [ 5.66103016e-02 1.47802389e-03 9.98395257e-01 -3.21979929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63534707000001 meters 0.03188976921037875 Centerline is valid? [True, True] Translation: X:-66.68, Y:6.64, Z:-3.22 [[ 9.91404443e-01 1.17453189e-01 -5.76366043e-02 -6.66758057e+01] [-1.17343467e-01 9.93077268e-01 5.29623746e-03 6.63637389e+00] [ 5.78596616e-02 1.51256564e-03 9.98323581e-01 -3.22057983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66534707000001 meters 0.03188976921037875 Centerline is valid? [True, True] Translation: X:-66.71, Y:6.64, Z:-3.22 [[ 9.91422522e-01 1.17299666e-01 -5.76382770e-02 -6.67081938e+01] [-1.17190747e-01 9.93095399e-01 5.27797309e-03 6.63948662e+00] [ 5.78594122e-02 1.52197133e-03 9.98323581e-01 -3.22231285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69534707000001 meters 0.033824517634434725 Centerline is valid? [True, True] Translation: X:-66.74, Y:6.64, Z:-3.22 [[ 9.90954094e-01 1.21264558e-01 -5.74881771e-02 -6.67401533e+01] [-1.21163365e-01 9.92618667e-01 5.25553933e-03 6.64177292e+00] [ 5.77011484e-02 1.75746275e-03 9.98332354e-01 -3.22320482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72534707000001 meters 0.03674113814258083 Centerline is valid? [True, True] Translation: X:-66.77, Y:6.64, Z:-3.22 [[ 9.90462542e-01 1.24961469e-01 -5.80395115e-02 -6.67714459e+01] [-1.24864997e-01 9.92159585e-01 5.30012083e-03 6.64428185e+00] [ 5.82467685e-02 1.99753230e-03 9.98300217e-01 -3.22231135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75534707000001 meters 0.03985070760947362 Centerline is valid? [True, True] Translation: X:-66.80, Y:6.65, Z:-3.22 [[ 9.90588582e-01 1.23823133e-01 -5.83274560e-02 -6.68027623e+01] [-1.23723998e-01 9.92302398e-01 5.32189026e-03 6.65010179e+00] [ 5.85374476e-02 1.94470229e-03 9.98283319e-01 -3.22493174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78534707000001 meters 0.041349945289970436 Centerline is valid? [True, True] Translation: X:-66.83, Y:6.65, Z:-3.22 [[ 9.90299967e-01 1.25925652e-01 -5.87256718e-02 -6.68346734e+01] [-1.25830031e-01 9.92037453e-01 5.33816552e-03 6.64975348e+00] [ 5.89302778e-02 2.10306797e-03 9.98259886e-01 -3.22431496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81534707000002 meters 0.04451801090301681 Centerline is valid? [True, True] Translation: X:-66.87, Y:6.65, Z:-3.23 [[ 9.90274525e-01 1.26110480e-01 -5.87580859e-02 -6.68668924e+01] [-1.26016170e-01 9.92013908e-01 5.32262796e-03 6.65475585e+00] [ 5.89600777e-02 2.13360607e-03 9.98258061e-01 -3.22708173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84534707 meters 0.04677307934714805 Centerline is valid? [True, True] Translation: X:-66.90, Y:6.66, Z:-3.23 [[ 9.90107802e-01 1.27349148e-01 -5.88959733e-02 -6.68996947e+01] [-1.27256972e-01 9.91855468e-01 5.32850278e-03 6.65677253e+00] [ 5.90948735e-02 2.21913107e-03 9.98249904e-01 -3.22664530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87534707 meters 0.05111462909617601 Centerline is valid? [True, True] Translation: X:-66.93, Y:6.66, Z:-3.23 [[ 9.90223908e-01 1.26454892e-01 -5.88708062e-02 -6.69322534e+01] [-1.26361915e-01 9.91969971e-01 5.31445976e-03 6.65937170e+00] [ 5.90701114e-02 2.17652267e-03 9.98251464e-01 -3.22850757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90534707 meters 0.05465440083997917 Centerline is valid? [True, True] Translation: X:-66.96, Y:6.66, Z:-3.23 [[ 9.90650420e-01 1.22422420e-01 -6.02037863e-02 -6.69639250e+01] [-1.22319029e-01 9.92476069e-01 5.41370452e-03 6.66227578e+00] [ 6.04135759e-02 2.00097999e-03 9.98171426e-01 -3.23271696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93534707 meters 0.04631662353010084 Centerline is valid? [True, True] Translation: X:-66.99, Y:6.66, Z:-3.23 [[ 9.90056351e-01 1.27567678e-01 -5.92866634e-02 -6.69947128e+01] [-1.27477596e-01 9.91827211e-01 5.31470168e-03 6.65764365e+00] [ 5.94801102e-02 2.29586718e-03 9.98226851e-01 -3.23019648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96534707 meters 0.04527702305796133 Centerline is valid? [True, True] Translation: X:-67.03, Y:6.66, Z:-3.23 [[ 9.90209810e-01 1.26801387e-01 -5.83604373e-02 -6.70266799e+01] [-1.26712883e-01 9.91925650e-01 5.22971720e-03 6.65885621e+00] [ 5.85523501e-02 2.21650201e-03 9.98281879e-01 -3.23436868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99534707000001 meters 0.04350310588823027 Centerline is valid? [True, True] Translation: X:-67.06, Y:6.66, Z:-3.23 [[ 9.90319939e-01 1.26005253e-01 -5.82159274e-02 -6.70581813e+01] [-1.25916258e-01 9.92027197e-01 5.20917783e-03 6.65775111e+00] [ 5.84081671e-02 2.17157904e-03 9.98290424e-01 -3.23458370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02534707000001 meters 0.04222981348846 Centerline is valid? [True, True] Translation: X:-67.09, Y:6.66, Z:-3.24 [[ 9.90260509e-01 1.26291889e-01 -5.86044691e-02 -6.70900961e+01] [-1.26203416e-01 9.91990632e-01 5.22335288e-03 6.66189187e+00] [ 5.87947514e-02 2.22360411e-03 9.98267616e-01 -3.23846297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05534707000001 meters 0.0459659476715256 Centerline is valid? [True, True] Translation: X:-67.12, Y:6.66, Z:-3.24 [[ 9.90439960e-01 1.24924078e-01 -5.85035079e-02 -6.71216158e+01] [-1.24833925e-01 9.92163984e-01 5.20761099e-03 6.66473513e+00] [ 5.86956295e-02 2.14539648e-03 9.98273620e-01 -3.24301696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08534707000001 meters 0.04555244307274089 Centerline is valid? [True, True] Translation: X:-67.15, Y:6.67, Z:-3.24 [[ 9.90624920e-01 1.22831007e-01 -5.97897305e-02 -6.71533264e+01] [-1.22733442e-01 9.92425437e-01 5.31544895e-03 6.66833521e+00] [ 5.99897514e-02 2.07258324e-03 9.98196841e-01 -3.24385336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11534707000001 meters 0.047052514408979604 Centerline is valid? [True, True] Translation: X:-67.19, Y:6.67, Z:-3.24 [[ 9.90477795e-01 1.24146575e-01 -5.95093755e-02 -6.71854805e+01] [-1.24052672e-01 9.92261564e-01 5.28416277e-03 6.67052776e+00] [ 5.97048767e-02 2.14845116e-03 9.98213761e-01 -3.24456225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14534707000001 meters 0.056060215894016004 Centerline is valid? [True, True] Translation: X:-67.22, Y:6.68, Z:-3.25 [[ 9.91334674e-01 1.16342363e-01 -6.09919519e-02 -6.72164262e+01] [-1.16229347e-01 9.93207669e-01 5.40965851e-03 6.67699835e+00] [ 6.12070469e-02 1.72627267e-03 9.98123598e-01 -3.24648072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17534707000002 meters 0.04729800169758358 Centerline is valid? [True, True] Translation: X:-67.25, Y:6.68, Z:-3.25 [[ 9.90855233e-01 1.20842078e-01 -6.00258296e-02 -6.72472090e+01] [-1.20741029e-01 9.92669779e-01 5.32100450e-03 6.67510943e+00] [ 6.02288283e-02 1.97523531e-03 9.98182642e-01 -3.24846900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20534707000002 meters 0.04736356028898627 Centerline is valid? [True, True] Translation: X:-67.28, Y:6.68, Z:-3.25 [[ 9.90894598e-01 1.20921415e-01 -5.92106940e-02 -6.72798552e+01] [-1.20823375e-01 9.92660157e-01 5.24638333e-03 6.68182888e+00] [ 5.94104969e-02 1.95542296e-03 9.98231721e-01 -3.24859479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23534707 meters 0.04923731035679799 Centerline is valid? [True, True] Translation: X:-67.31, Y:6.68, Z:-3.25 [[ 9.90969392e-01 1.20097936e-01 -5.96334693e-02 -6.73107551e+01] [-1.19997550e-01 9.92760175e-01 5.27469865e-03 6.68206685e+00] [ 5.98352139e-02 1.92880531e-03 9.98206405e-01 -3.25087127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26534707 meters 0.04398621448029947 Centerline is valid? [True, True] Translation: X:-67.34, Y:6.68, Z:-3.25 [[ 9.90663743e-01 1.22959606e-01 -5.88751536e-02 -6.73420002e+01] [-1.22867151e-01 9.92409495e-01 5.20166751e-03 6.68401221e+00] [ 5.90678564e-02 2.08071896e-03 9.98251801e-01 -3.25067885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29534707 meters 0.04676767896911843 Centerline is valid? [True, True] Translation: X:-67.37, Y:6.69, Z:-3.25 [[ 9.91019323e-01 1.20064696e-01 -5.88657017e-02 -6.73739906e+01] [-1.19968299e-01 9.92764200e-01 5.18179024e-03 6.68764596e+00] [ 5.90619113e-02 1.92676382e-03 9.98252462e-01 -3.25243364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32534707 meters 0.049626424324375314 Centerline is valid? [True, True] Translation: X:-67.41, Y:6.69, Z:-3.25 [[ 9.91248214e-01 1.18530881e-01 -5.81154736e-02 -6.74059424e+01] [-1.18434654e-01 9.92948702e-01 5.10958214e-03 6.68954596e+00] [ 5.83113274e-02 1.81802181e-03 9.98296791e-01 -3.25302367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35534707000001 meters 0.04868663555979139 Centerline is valid? [True, True] Translation: X:-67.44, Y:6.69, Z:-3.25 [[ 9.91747947e-01 1.14154767e-01 -5.83498051e-02 -6.74378658e+01] [-1.14050558e-01 9.93461733e-01 5.12402921e-03 6.69215182e+00] [ 5.85532308e-02 1.57308237e-03 9.98283048e-01 -3.25385205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38534707000001 meters 0.04494285211277272 Centerline is valid? [True, True] Translation: X:-67.47, Y:6.69, Z:-3.26 [[ 9.91564740e-01 1.16443044e-01 -5.69243711e-02 -6.74693301e+01] [-1.16347960e-01 9.93195963e-01 4.99305747e-03 6.69408037e+00] [ 5.71184624e-02 1.67209471e-03 9.98366008e-01 -3.25626402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41534707000001 meters 0.04536591832056575 Centerline is valid? [True, True] Translation: X:-67.50, Y:6.69, Z:-3.26 [[ 9.91712697e-01 1.15763115e-01 -5.57209863e-02 -6.75008247e+01] [-1.15671185e-01 9.93275557e-01 4.88306626e-03 6.69426644e+00] [ 5.59115727e-02 1.60271373e-03 9.98434438e-01 -3.25620428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44534707000001 meters 0.048287600439937274 Centerline is valid? [True, True] Translation: X:-67.53, Y:6.70, Z:-3.26 [[ 9.91494737e-01 1.17168869e-01 -5.66537138e-02 -6.75322576e+01] [-1.17076488e-01 9.93110522e-01 4.95845774e-03 6.70047506e+00] [ 5.68443762e-02 1.71653312e-03 9.98381576e-01 -3.25640208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47534707000001 meters 0.04501837346904788 Centerline is valid? [True, True] Translation: X:-67.56, Y:6.70, Z:-3.26 [[ 9.91389942e-01 1.17956675e-01 -5.68524875e-02 -6.75638041e+01] [-1.17865373e-01 9.93017155e-01 4.96823017e-03 6.69967364e+00] [ 5.70415313e-02 1.77548625e-03 9.98370228e-01 -3.25975472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50534707000001 meters 0.043125487088392436 Centerline is valid? [True, True] Translation: X:-67.60, Y:6.70, Z:-3.26 [[ 9.90863794e-01 1.22325490e-01 -5.67927429e-02 -6.75951338e+01] [-1.22241869e-01 9.92487960e-01 4.95722419e-03 6.70365383e+00] [ 5.69725085e-02 2.03051705e-03 9.98373683e-01 -3.26016388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53534707000001 meters 0.039601476201346124 Centerline is valid? [True, True] Translation: X:-67.63, Y:6.71, Z:-3.26 [[ 9.90874275e-01 1.21309783e-01 -5.87546316e-02 -6.76274127e+01] [-1.21218708e-01 9.92612593e-01 5.12502760e-03 6.70763959e+00] [ 5.89423031e-02 2.04390249e-03 9.98259299e-01 -3.26142915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56534707000002 meters 0.03260808719171479 Centerline is valid? [True, True] Translation: X:-67.66, Y:6.71, Z:-3.26 [[ 9.90168823e-01 1.27035051e-01 -5.85473961e-02 -6.76590436e+01] [-1.26954944e-01 9.91895368e-01 5.10102622e-03 6.70989621e+00] [ 5.87209001e-02 2.38200423e-03 9.98271597e-01 -3.26492695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59534707 meters 0.027809527991672623 Centerline is valid? [True, True] Translation: X:-67.69, Y:6.72, Z:-3.27 [[ 9.89158246e-01 1.33656433e-01 -6.08434229e-02 -6.76893263e+01] [-1.33582786e-01 9.91023514e-01 5.29479606e-03 6.71844925e+00] [ 6.10049463e-02 2.89024277e-03 9.98133279e-01 -3.26768416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62534707 meters 0.025105830979656227 Centerline is valid? [True, True] Translation: X:-67.72, Y:6.72, Z:-3.27 [[ 9.88192372e-01 1.40500331e-01 -6.11186785e-02 -6.77190296e+01] [-1.40439128e-01 9.90075036e-01 5.31744896e-03 6.72011026e+00] [ 6.12591812e-02 3.32879139e-03 9.98116342e-01 -3.26751853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65534707 meters 0.02677257316145184 Centerline is valid? [True, True] Translation: X:-67.75, Y:6.73, Z:-3.27 [[ 9.88279292e-01 1.39337966e-01 -6.23616301e-02 -6.77504766e+01] [-1.39272138e-01 9.90239298e-01 5.42255720e-03 6.73124016e+00] [ 6.25085049e-02 3.32623659e-03 9.98038889e-01 -3.27257449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68534707 meters 0.026275303731871247 Centerline is valid? [True, True] Translation: X:-67.78, Y:6.73, Z:-3.27 [[ 9.87862038e-01 1.42513486e-01 -6.17940127e-02 -6.77808157e+01] [-1.42456292e-01 9.89786619e-01 5.35291940e-03 6.73263026e+00] [ 6.19257501e-02 3.51500003e-03 9.98074569e-01 -3.27271359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71534707 meters 0.027823416005535756 Centerline is valid? [True, True] Translation: X:-67.81, Y:6.74, Z:-3.27 [[ 9.87331155e-01 1.46398908e-01 -6.11927238e-02 -6.78115321e+01] [-1.46350360e-01 9.89218628e-01 5.29894817e-03 6.74013671e+00] [ 6.13087424e-02 3.72376054e-03 9.98111903e-01 -3.27417028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74534707000001 meters 0.028798301652410138 Centerline is valid? [True, True] Translation: X:-67.84, Y:6.74, Z:-3.28 [[ 9.86837006e-01 1.49989349e-01 -6.04642022e-02 -6.78428573e+01] [-1.49948860e-01 9.88679909e-01 5.23236957e-03 6.74477975e+00] [ 6.05645416e-02 3.90304230e-03 9.98156652e-01 -3.27634099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77534707000001 meters 0.026320926053813698 Centerline is valid? [True, True] Translation: X:-67.87, Y:6.74, Z:-3.28 [[ 9.86792556e-01 1.49926199e-01 -6.13399256e-02 -6.78741533e+01] [-1.49884874e-01 9.88689247e-01 5.30068271e-03 6.74243591e+00] [ 6.14408361e-02 3.96325275e-03 9.98102859e-01 -3.27957769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80534707000001 meters 0.029359552880613524 Centerline is valid? [True, True] Translation: X:-67.91, Y:6.75, Z:-3.28 [[ 9.86375192e-01 1.52653184e-01 -6.13268743e-02 -6.79051623e+01] [-1.52618392e-01 9.88271097e-01 5.27882719e-03 6.74866018e+00] [ 6.14134071e-02 4.15270475e-03 9.98103776e-01 -3.27903041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83534707000001 meters 0.03138479815166132 Centerline is valid? [True, True] Translation: X:-67.94, Y:6.75, Z:-3.28 [[ 9.86394522e-01 1.52863994e-01 -6.04851007e-02 -6.79366821e+01] [-1.52830900e-01 9.88238671e-01 5.20041869e-03 6.75483933e+00] [ 6.05686723e-02 4.11432785e-03 9.98155553e-01 -3.27996596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86534707000001 meters 0.030030491904463334 Centerline is valid? [True, True] Translation: X:-67.97, Y:6.75, Z:-3.28 [[ 9.86191433e-01 1.53757852e-01 -6.15221879e-02 -6.79695829e+01] [-1.53726733e-01 9.88099362e-01 5.26716824e-03 6.75376947e+00] [ 6.15999031e-02 4.26316880e-03 9.98091818e-01 -3.28270348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89534707000001 meters 0.033776714408823474 Centerline is valid? [True, True] Translation: X:-68.00, Y:6.77, Z:-3.29 [[ 9.86251921e-01 1.53240339e-01 -6.18429163e-02 -6.80014914e+01] [-1.53208588e-01 9.88179748e-01 5.28331208e-03 6.76743553e+00] [ 6.19215341e-02 4.26418918e-03 9.98071911e-01 -3.28840634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92534707000002 meters 0.035074714020213046 Centerline is valid? [True, True] Translation: X:-68.03, Y:6.77, Z:-3.29 [[ 9.86386934e-01 1.51884168e-01 -6.30239336e-02 -6.80325842e+01] [-1.51850117e-01 9.88389010e-01 5.35783518e-03 6.77399551e+00] [ 6.31059337e-02 4.28529306e-03 9.97997634e-01 -3.29275681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95534707000002 meters 0.03279104012708138 Centerline is valid? [True, True] Translation: X:-68.06, Y:6.77, Z:-3.29 [[ 9.85639186e-01 1.57043853e-01 -6.20694983e-02 -6.80633296e+01] [-1.57021572e-01 9.87581127e-01 5.26717980e-03 6.77002744e+00] [ 6.21258433e-02 4.55471136e-03 9.98057931e-01 -3.29224343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98534707 meters 0.03472840462706635 Centerline is valid? [True, True] Translation: X:-68.09, Y:6.78, Z:-3.29 [[ 9.84825890e-01 1.61938090e-01 -6.24021004e-02 -6.80938335e+01] [-1.61925313e-01 9.86788807e-01 5.29556587e-03 6.77719189e+00] [ 6.24352480e-02 4.88926926e-03 9.98037041e-01 -3.29384652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01534707 meters 0.03542196119963628 Centerline is valid? [True, True] Translation: X:-68.13, Y:6.78, Z:-3.30 [[ 9.84498837e-01 1.63735854e-01 -6.28697922e-02 -6.81250038e+01] [-1.63726636e-01 9.86491329e-01 5.33352779e-03 6.78027637e+00] [ 6.28937946e-02 5.04260768e-03 9.98007486e-01 -3.29727614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04534707 meters 0.03602352224546041 Centerline is valid? [True, True] Translation: X:-68.16, Y:6.78, Z:-3.30 [[ 9.84383495e-01 1.64463800e-01 -6.27757418e-02 -6.81568278e+01] [-1.64456478e-01 9.86369998e-01 5.31917739e-03 6.78477967e+00] [ 6.27949205e-02 5.08776698e-03 9.98013483e-01 -3.29844384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07534707 meters 0.03505539546010091 Centerline is valid? [True, True] Translation: X:-68.19, Y:6.78, Z:-3.30 [[ 9.84193869e-01 1.65570972e-01 -6.28385271e-02 -6.81876515e+01] [-1.65567261e-01 9.86184245e-01 5.30249465e-03 6.78474785e+00] [ 6.28483046e-02 5.18532009e-03 9.98009621e-01 -3.30311685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10534707000001 meters 0.035648907657229376 Centerline is valid? [True, True] Translation: X:-68.22, Y:6.79, Z:-3.30 [[ 9.83981365e-01 1.66537619e-01 -6.36073447e-02 -6.82198540e+01] [-1.66536819e-01 9.86020713e-01 5.35181312e-03 6.78829793e+00] [ 6.36094375e-02 5.32688048e-03 9.97960652e-01 -3.30370680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13534707000001 meters 0.036039597279200655 Centerline is valid? [True, True] Translation: X:-68.25, Y:6.79, Z:-3.30 [[ 9.83469895e-01 1.69159718e-01 -6.45906809e-02 -6.82507524e+01] [-1.69165895e-01 9.85572726e-01 5.41316121e-03 6.78881480e+00] [ 6.45745022e-02 5.60285925e-03 9.97897160e-01 -3.30485753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16534707000001 meters 0.03651649522132063 Centerline is valid? [True, True] Translation: X:-68.28, Y:6.79, Z:-3.30 [[ 9.83262305e-01 1.70989744e-01 -6.29106313e-02 -6.82821939e+01] [-1.70999508e-01 9.85257025e-01 5.26900982e-03 6.78700235e+00] [ 6.28840881e-02 5.57686824e-03 9.98005256e-01 -3.30240442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19534707000001 meters 0.03542500497180688 Centerline is valid? [True, True] Translation: X:-68.31, Y:6.79, Z:-3.31 [[ 9.83239642e-01 1.70605286e-01 -6.42934129e-02 -6.83140807e+01] [-1.70615169e-01 9.85323068e-01 5.37731451e-03 6.78782737e+00] [ 6.42671812e-02 5.68224272e-03 9.97916550e-01 -3.30905978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22534707000001 meters 0.03941158905269867 Centerline is valid? [True, True] Translation: X:-68.35, Y:6.80, Z:-3.31 [[ 9.83476316e-01 1.69362390e-01 -6.39587150e-02 -6.83454745e+01] [-1.69371200e-01 9.85537952e-01 5.32373177e-03 6.79679800e+00] [ 6.39353809e-02 5.59700020e-03 9.97938345e-01 -3.31134383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25534707000001 meters 0.038412052308504 Centerline is valid? [True, True] Translation: X:-68.38, Y:6.79, Z:-3.31 [[ 9.82896397e-01 1.72926075e-01 -6.33343963e-02 -6.83758423e+01] [-1.72943380e-01 9.84917773e-01 5.25053834e-03 6.79141831e+00] [ 6.32871275e-02 5.79252936e-03 9.97978550e-01 -3.31169605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28534707000001 meters 0.04027427935024639 Centerline is valid? [True, True] Translation: X:-68.41, Y:6.79, Z:-3.32 [[ 9.82735816e-01 1.73905656e-01 -6.31437909e-02 -6.84081767e+01] [-1.73925099e-01 9.84744991e-01 5.23091043e-03 6.79349651e+00] [ 6.30902167e-02 5.84168702e-03 9.97990731e-01 -3.31500316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31534707000002 meters 0.040502030482685844 Centerline is valid? [True, True] Translation: X:-68.44, Y:6.79, Z:-3.32 [[ 9.83156612e-01 1.71504487e-01 -6.31608078e-02 -6.84396915e+01] [-1.71520365e-01 9.85166792e-01 5.21121883e-03 6.79496470e+00] [ 6.31176778e-02 5.70992056e-03 9.97989757e-01 -3.31716404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34534707000002 meters 0.039231702449854654 Centerline is valid? [True, True] Translation: X:-68.47, Y:6.79, Z:-3.32 [[ 9.82994306e-01 1.72582726e-01 -6.27486781e-02 -6.84711722e+01] [-1.72600958e-01 9.84978259e-01 5.17099722e-03 6.79165192e+00] [ 6.26985085e-02 5.74742116e-03 9.98015964e-01 -3.31700048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37534707 meters 0.039173730233814257 Centerline is valid? [True, True] Translation: X:-68.50, Y:6.79, Z:-3.32 [[ 9.82672904e-01 1.74712926e-01 -6.18817996e-02 -6.85017208e+01] [-1.74735997e-01 9.84602213e-01 5.08070552e-03 6.78722520e+00] [ 6.18166218e-02 5.82030632e-03 9.98070553e-01 -3.31799230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40534707 meters 0.03547409840814926 Centerline is valid? [True, True] Translation: X:-68.53, Y:6.78, Z:-3.32 [[ 9.82619462e-01 1.74856483e-01 -6.23233691e-02 -6.85340615e+01] [-1.74880490e-01 9.84576397e-01 5.11193685e-03 6.77850724e+00] [ 6.22559736e-02 5.87605268e-03 9.98042918e-01 -3.31920012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43534707 meters 0.03911231358599805 Centerline is valid? [True, True] Translation: X:-68.57, Y:6.79, Z:-3.32 [[ 9.82351345e-01 1.76335607e-01 -6.23826039e-02 -6.85653121e+01] [-1.76363961e-01 9.84311837e-01 5.09517865e-03 6.78612933e+00] [ 6.23023968e-02 5.99678753e-03 9.98039303e-01 -3.32121060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46534707 meters 0.03852108037695503 Centerline is valid? [True, True] Translation: X:-68.60, Y:6.78, Z:-3.32 [[ 9.82528972e-01 1.75583085e-01 -6.17041282e-02 -6.85965469e+01] [-1.75609755e-01 9.84446992e-01 5.03317437e-03 6.78447879e+00] [ 6.16281837e-02 5.89060723e-03 9.98081794e-01 -3.32353221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49534707000001 meters 0.042260438195547825 Centerline is valid? [True, True] Translation: X:-68.63, Y:6.79, Z:-3.33 [[ 9.82057696e-01 1.78091393e-01 -6.20172401e-02 -6.86275590e+01] [-1.78124025e-01 9.83995102e-01 5.04680274e-03 6.78862151e+00] [ 6.19234526e-02 6.09050898e-03 9.98062319e-01 -3.32681441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52534707000001 meters 0.03987369575521984 Centerline is valid? [True, True] Translation: X:-68.66, Y:6.78, Z:-3.33 [[ 9.82044991e-01 1.78194636e-01 -6.19217808e-02 -6.86590477e+01] [-1.78227759e-01 9.83976391e-01 5.03274753e-03 6.78409170e+00] [ 6.18263790e-02 6.09379572e-03 9.98068317e-01 -3.32615108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55534707000001 meters 0.03987369575521984 Centerline is valid? [True, True] Translation: X:-68.69, Y:6.79, Z:-3.33 [[ 9.82127903e-01 1.77736423e-01 -6.19237151e-02 -6.86917347e+01] [-1.77770138e-01 9.84059292e-01 5.00884188e-03 6.78701268e+00] [ 6.18268609e-02 6.08886398e-03 9.98068317e-01 -3.32789868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58534707000001 meters 0.04373652489762325 Centerline is valid? [True, True] Translation: X:-68.72, Y:6.79, Z:-3.33 [[ 9.81848159e-01 1.79391782e-01 -6.15855614e-02 -6.87228913e+01] [-1.79429905e-01 9.83758276e-01 4.95616951e-03 6.79143085e+00] [ 6.14744018e-02 6.18408549e-03 9.98089503e-01 -3.33118096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61534707000001 meters 0.04331896652299559 Centerline is valid? [True, True] Translation: X:-68.75, Y:6.79, Z:-3.33 [[ 9.81819415e-01 1.79598785e-01 -6.14403124e-02 -6.87544365e+01] [-1.79637499e-01 9.83720479e-01 4.93843656e-03 6.78977718e+00] [ 6.13270307e-02 6.18833115e-03 9.98098542e-01 -3.33392699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64534707000001 meters 0.04161668659553025 Centerline is valid? [True, True] Translation: X:-68.79, Y:6.78, Z:-3.33 [[ 9.81693908e-01 1.80421789e-01 -6.10331830e-02 -6.87869527e+01] [-1.80462912e-01 9.83569666e-01 4.88353850e-03 6.78395834e+00] [ 6.09114842e-02 6.22008593e-03 9.98123791e-01 -3.33402807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67534707000002 meters 0.04223409892858581 Centerline is valid? [True, True] Translation: X:-68.82, Y:6.79, Z:-3.34 [[ 9.81921539e-01 1.78755523e-01 -6.22619798e-02 -6.88194134e+01] [-1.78796623e-01 9.83873571e-01 4.95614666e-03 6.78609020e+00] [ 6.21438550e-02 6.26568457e-03 9.98047535e-01 -3.33731199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70534707000002 meters 0.042906074453633244 Centerline is valid? [True, True] Translation: X:-68.85, Y:6.78, Z:-3.34 [[ 9.81416546e-01 1.81656966e-01 -6.18248241e-02 -6.88496580e+01] [-1.81704515e-01 9.83340970e-01 4.89964287e-03 6.78256162e+00] [ 6.16849367e-02 6.42525912e-03 9.98074989e-01 -3.33883184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73534707 meters 0.0401234552197423 Centerline is valid? [True, True] Translation: X:-68.88, Y:6.78, Z:-3.34 [[ 9.81558220e-01 1.80971608e-01 -6.15852111e-02 -6.88818016e+01] [-1.81017567e-01 9.83467761e-01 4.87878834e-03 6.77682166e+00] [ 6.14499918e-02 6.35919030e-03 9.98089905e-01 -3.33983141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76534707 meters 0.04093709844415872 Centerline is valid? [True, True] Translation: X:-68.91, Y:6.78, Z:-3.34 [[ 9.81190022e-01 1.82884805e-01 -6.18003903e-02 -6.89134534e+01] [-1.82935624e-01 9.83112767e-01 4.88309405e-03 6.77710196e+00] [ 6.16497964e-02 6.51424980e-03 9.98076584e-01 -3.34402303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79534707 meters 0.06531575011145081 Centerline is valid? [True, True] Translation: X:-68.94, Y:6.82, Z:-3.35 [[ 9.81009735e-01 1.84069656e-01 -6.11413273e-02 -6.89422272e+01] [-1.84122027e-01 9.82891550e-01 4.82501329e-03 6.82468337e+00] [ 6.09834325e-02 6.52408014e-03 9.98117457e-01 -3.34849222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82534707 meters 0.043735854499060325 Centerline is valid? [True, True] Translation: X:-68.98, Y:6.78, Z:-3.35 [[ 9.81067109e-01 1.83674703e-01 -6.14079051e-02 -6.89777195e+01] [-1.83727494e-01 9.82965329e-01 4.83429405e-03 6.78144639e+00] [ 6.12497792e-02 6.53955361e-03 9.98101046e-01 -3.34713292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85534707000001 meters 0.0670110436145394 Centerline is valid? [True, True] Translation: X:-69.01, Y:6.82, Z:-3.35 [[ 9.80264019e-01 1.88159087e-01 -6.06515596e-02 -6.90051088e+01] [-1.88220443e-01 9.82115312e-01 4.75161489e-03 6.82323647e+00] [ 6.04608849e-02 6.75802631e-03 9.98147690e-01 -3.35273592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88534707000001 meters 0.06771552096934913 Centerline is valid? [True, True] Translation: X:-69.04, Y:6.82, Z:-3.36 [[ 9.80152236e-01 1.88724055e-01 -6.07027583e-02 -6.90375234e+01] [-1.88786760e-01 9.82006604e-01 4.75273005e-03 6.82402079e+00] [ 6.05074641e-02 6.80147806e-03 9.98144572e-01 -3.35677731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91534707000001 meters 0.05058821222315581 Centerline is valid? [True, True] Translation: X:-69.07, Y:6.79, Z:-3.35 [[ 9.79676037e-01 1.90918684e-01 -6.15216939e-02 -6.90705822e+01] [-1.90988398e-01 9.81580557e-01 4.80012429e-03 6.78997507e+00] [ 6.13049320e-02 7.04736302e-03 9.98094204e-01 -3.35481682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94534707000001 meters 0.0469578417221177 Centerline is valid? [True, True] Translation: X:-69.10, Y:6.78, Z:-3.36 [[ 9.79141736e-01 1.93869900e-01 -6.07940960e-02 -6.91009333e+01] [-1.93943566e-01 9.81001220e-01 4.74335471e-03 6.78114495e+00] [ 6.05586760e-02 7.14620722e-03 9.98139058e-01 -3.35853053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97534707000001 meters 0.06952270312414709 Centerline is valid? [True, True] Translation: X:-69.13, Y:6.82, Z:-3.36 [[ 9.78323202e-01 1.98090780e-01 -6.03635315e-02 -6.91287201e+01] [-1.98171310e-01 9.80156085e-01 4.70968121e-03 6.82299898e+00] [ 6.00986271e-02 7.35472969e-03 9.98165349e-01 -3.36099869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00534707000001 meters 0.07037159342152087 Centerline is valid? [True, True] Translation: X:-69.16, Y:6.82, Z:-3.36 [[ 9.77793099e-01 2.01102241e-01 -5.89791911e-02 -6.91581839e+01] [-2.01184516e-01 9.79542556e-01 4.60114760e-03 6.82259018e+00] [ 5.86979287e-02 7.36672967e-03 9.98248609e-01 -3.36305598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03534707000001 meters 0.07229681116403996 Centerline is valid? [True, True] Translation: X:-69.19, Y:6.83, Z:-3.36 [[ 9.77281337e-01 2.03657267e-01 -5.86933202e-02 -6.91890828e+01] [-2.03743248e-01 9.79013646e-01 4.57922218e-03 6.82562510e+00] [ 5.83941533e-02 7.48317935e-03 9.98265558e-01 -3.36349306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06534707000002 meters 0.07192102797143697 Centerline is valid? [True, True] Translation: X:-69.22, Y:6.82, Z:-3.37 [[ 9.76948955e-01 2.05503713e-01 -5.77837624e-02 -6.92196220e+01] [-2.05590295e-01 9.78627774e-01 4.50676523e-03 6.82257096e+00] [ 5.74749518e-02 7.47690116e-03 9.98318950e-01 -3.36539499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09534707000002 meters 0.07219674808849383 Centerline is valid? [True, True] Translation: X:-69.25, Y:6.82, Z:-3.37 [[ 9.76441995e-01 2.07414166e-01 -5.95012114e-02 -6.92508366e+01] [-2.07509490e-01 9.78221998e-01 4.64056912e-03 6.82189334e+00] [ 5.91679137e-02 7.81581945e-03 9.98217447e-01 -3.36703301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12534707 meters 0.07274866019391328 Centerline is valid? [True, True] Translation: X:-69.28, Y:6.82, Z:-3.37 [[ 9.76185753e-01 2.08936349e-01 -5.83693272e-02 -6.92824635e+01] [-2.09030835e-01 9.77898462e-01 4.55054203e-03 6.81973985e+00] [ 5.80300490e-02 7.75881490e-03 9.98284686e-01 -3.37192149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15534707 meters 0.07111962542365495 Centerline is valid? [True, True] Translation: X:-69.31, Y:6.82, Z:-3.37 [[ 9.76130716e-01 2.08446678e-01 -6.09820293e-02 -6.93146222e+01] [-2.08549439e-01 9.78000312e-01 4.74571162e-03 6.81691055e+00] [ 6.06296715e-02 8.08533310e-03 9.98127582e-01 -3.37085476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18534707 meters 0.07247319995921704 Centerline is valid? [True, True] Translation: X:-69.34, Y:6.82, Z:-3.38 [[ 9.75422133e-01 2.11947903e-01 -6.02474020e-02 -6.93449151e+01] [-2.12055877e-01 9.77246387e-01 4.66951203e-03 6.81577955e+00] [ 5.98662492e-02 8.22107030e-03 9.98172553e-01 -3.37708377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21534707 meters 0.07040203962886324 Centerline is valid? [True, True] Translation: X:-69.38, Y:6.81, Z:-3.37 [[ 9.75833079e-01 2.10217565e-01 -5.96521369e-02 -6.93765641e+01] [-2.10320265e-01 9.77621612e-01 4.62284903e-03 6.81101894e+00] [ 5.92890223e-02 8.03492424e-03 9.98208521e-01 -3.37423655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24534707000001 meters 0.06982912132630902 Centerline is valid? [True, True] Translation: X:-69.41, Y:6.81, Z:-3.38 [[ 9.75390588e-01 2.12585142e-01 -5.84872525e-02 -6.94063172e+01] [-2.12688126e-01 9.77109632e-01 4.53079850e-03 6.80534855e+00] [ 5.81116382e-02 8.02024589e-03 9.98277874e-01 -3.37901962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27534707000001 meters 0.06992017780170265 Centerline is valid? [True, True] Translation: X:-69.44, Y:6.81, Z:-3.38 [[ 9.75704269e-01 2.11460630e-01 -5.73199846e-02 -6.94379978e+01] [-2.11557989e-01 9.77355390e-01 4.43393005e-03 6.80688966e+00] [ 5.69595975e-02 7.80029620e-03 9.98346012e-01 -3.38206471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30534707000001 meters 0.07014470568574689 Centerline is valid? [True, True] Translation: X:-69.47, Y:6.80, Z:-3.38 [[ 9.75606081e-01 2.11956198e-01 -5.71606957e-02 -6.94712372e+01] [-2.12054865e-01 9.77247840e-01 4.40373336e-03 6.80235538e+00] [ 5.67935650e-02 7.82489457e-03 9.98355278e-01 -3.38347439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33534707000001 meters 0.06910447332911691 Centerline is valid? [True, True] Translation: X:-69.50, Y:6.80, Z:-3.39 [[ 9.75855049e-01 2.11022408e-01 -5.63601469e-02 -6.95035502e+01] [-2.11117222e-01 9.77451140e-01 4.33438928e-03 6.79804191e+00] [ 5.60039432e-02 7.66886196e-03 9.98401095e-01 -3.38792884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36534707000001 meters 0.06718010639128194 Centerline is valid? [True, True] Translation: X:-69.53, Y:6.79, Z:-3.39 [[ 9.75854108e-01 2.10873827e-01 -5.69296799e-02 -6.95347749e+01] [-2.10971475e-01 9.77482504e-01 4.35794218e-03 6.79400745e+00] [ 5.65667420e-02 7.75782274e-03 9.98368679e-01 -3.38896972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39534707000001 meters 0.06687928386253152 Centerline is valid? [True, True] Translation: X:-69.57, Y:6.79, Z:-3.40 [[ 9.75833923e-01 2.10991534e-01 -5.68394857e-02 -6.95677542e+01] [-2.11090105e-01 9.77457004e-01 4.33268847e-03 6.78851434e+00] [ 5.64723140e-02 7.77026858e-03 9.98373928e-01 -3.39609356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42534707000002 meters 0.06585193812851899 Centerline is valid? [True, True] Translation: X:-69.60, Y:6.79, Z:-3.40 [[ 9.75972210e-01 2.10493537e-01 -5.63091178e-02 -6.95992887e+01] [-2.10590083e-01 9.77565082e-01 4.28106321e-03 6.78607727e+00] [ 5.59469635e-02 7.67994309e-03 9.98404205e-01 -3.39813782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45534707000002 meters 0.06512214207750211 Centerline is valid? [True, True] Translation: X:-69.63, Y:6.78, Z:-3.40 [[ 9.75833474e-01 2.11479706e-01 -5.50033218e-02 -6.96296119e+01] [-2.11574311e-01 9.77353043e-01 4.16408583e-03 6.78228144e+00] [ 5.46382836e-02 7.57383561e-03 9.98477488e-01 -3.40130454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48534707 meters 0.06422334218773557 Centerline is valid? [True, True] Translation: X:-69.66, Y:6.78, Z:-3.40 [[ 9.75789998e-01 2.11661321e-01 -5.50759980e-02 -6.96617839e+01] [-2.11756576e-01 9.77313555e-01 4.16750041e-03 6.77994156e+00] [ 5.47086180e-02 7.59609953e-03 9.98473468e-01 -3.40088195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51534707 meters 0.06176271179496717 Centerline is valid? [True, True] Translation: X:-69.69, Y:6.77, Z:-3.41 [[ 9.75831497e-01 2.11949939e-01 -5.31987999e-02 -6.96929965e+01] [-2.12040228e-01 9.77252727e-01 4.00616273e-03 6.77392830e+00] [ 5.28377782e-02 7.37094589e-03 9.98575905e-01 -3.40566405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54534707 meters 0.061167756193615974 Centerline is valid? [True, True] Translation: X:-69.73, Y:6.77, Z:-3.41 [[ 9.75795824e-01 2.12117885e-01 -5.31837711e-02 -6.97254978e+01] [-2.12209356e-01 9.77216096e-01 3.98632975e-03 6.77147805e+00] [ 5.28176090e-02 7.39624990e-03 9.98576785e-01 -3.40803974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57534707 meters 0.060601720354393325 Centerline is valid? [True, True] Translation: X:-69.76, Y:6.77, Z:-3.41 [[ 9.75899099e-01 2.11579398e-01 -5.34331968e-02 -6.97574263e+01] [-2.11672039e-01 9.77332632e-01 3.98438135e-03 6.76984517e+00] [ 5.30650199e-02 7.42195953e-03 9.98563477e-01 -3.41127740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60534707000001 meters 0.060353103159155166 Centerline is valid? [True, True] Translation: X:-69.79, Y:6.77, Z:-3.41 [[ 9.75918350e-01 2.11487296e-01 -5.34462197e-02 -6.97897119e+01] [-2.11580950e-01 9.77352436e-01 3.96458630e-03 6.76840355e+00] [ 5.30742527e-02 7.43908943e-03 9.98562859e-01 -3.41464132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63534707000001 meters 0.0587342001056254 Centerline is valid? [True, True] Translation: X:-69.82, Y:6.76, Z:-3.41 [[ 9.76068955e-01 2.10528229e-01 -5.44725559e-02 -6.98218734e+01] [-2.10625238e-01 9.77558620e-01 4.01907116e-03 6.76218680e+00] [ 5.40962445e-02 7.55040444e-03 9.98507180e-01 -3.41412013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66534707000001 meters 0.059051121981285364 Centerline is valid? [True, True] Translation: X:-69.85, Y:6.76, Z:-3.42 [[ 9.76273501e-01 2.09898201e-01 -5.32240215e-02 -6.98538666e+01] [-2.09990435e-01 9.77695596e-01 3.91645094e-03 6.76105645e+00] [ 5.28589474e-02 7.35300815e-03 9.98574917e-01 -3.41637890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69534707000001 meters 0.05687413666996568 Centerline is valid? [True, True] Translation: X:-69.89, Y:6.76, Z:-3.42 [[ 9.76438500e-01 2.09164146e-01 -5.30868643e-02 -6.98855989e+01] [-2.09255972e-01 9.77853182e-01 3.88492506e-03 6.75604511e+00] [ 5.27237462e-02 7.31535298e-03 9.98582341e-01 -3.42046752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72534707000001 meters 0.05682455988197963 Centerline is valid? [True, True] Translation: X:-69.92, Y:6.75, Z:-3.42 [[ 9.76454665e-01 2.09259853e-01 -5.24080225e-02 -6.99183337e+01] [-2.09350497e-01 9.77833222e-01 3.81557041e-03 6.75413106e+00] [ 5.20447512e-02 7.24591402e-03 9.98618466e-01 -3.41962732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75534707000001 meters 0.05528487739536591 Centerline is valid? [True, True] Translation: X:-69.95, Y:6.75, Z:-3.43 [[ 9.76867023e-01 2.07590672e-01 -5.13510639e-02 -6.99490309e+01] [-2.07676527e-01 9.78190495e-01 3.71698646e-03 6.75090993e+00] [ 5.10027344e-02 7.03340911e-03 9.98673747e-01 -3.42578067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78534707000001 meters 0.05274007498895969 Centerline is valid? [True, True] Translation: X:-69.98, Y:6.74, Z:-3.43 [[ 9.76884136e-01 2.07546185e-01 -5.12051331e-02 -6.99804825e+01] [-2.07631529e-01 9.78200090e-01 3.70567729e-03 6.74439208e+00] [ 5.08579650e-02 7.01178272e-03 9.98681282e-01 -3.42628425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81534707000002 meters 0.05199537875094229 Centerline is valid? [True, True] Translation: X:-70.01, Y:6.74, Z:-3.43 [[ 9.76942361e-01 2.07516850e-01 -5.02033970e-02 -7.00126410e+01] [-2.07599812e-01 9.78207166e-01 3.61369396e-03 6.74243882e+00] [ 4.98592251e-02 6.89184507e-03 9.98732477e-01 -3.42850304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84534707000002 meters 0.05654194872525674 Centerline is valid? [True, True] Translation: X:-70.04, Y:6.75, Z:-3.43 [[ 9.77101828e-01 2.06351616e-01 -5.18751294e-02 -7.00440927e+01] [-2.06439829e-01 9.78452263e-01 3.71028204e-03 6.75116341e+00] [ 5.15229605e-02 7.08376949e-03 9.98646687e-01 -3.42890568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87534707 meters 0.05084128309352308 Centerline is valid? [True, True] Translation: X:-70.08, Y:6.74, Z:-3.43 [[ 9.76994615e-01 2.07080437e-01 -5.09824972e-02 -7.00764394e+01] [-2.07166905e-01 9.78298840e-01 3.64046438e-03 6.73961933e+00] [ 5.06299868e-02 7.00517207e-03 9.98692912e-01 -3.43163490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90534707 meters 0.05107940346315182 Centerline is valid? [True, True] Translation: X:-70.11, Y:6.74, Z:-3.43 [[ 9.77210003e-01 2.06464798e-01 -4.93244006e-02 -7.01096338e+01] [-2.06545484e-01 9.78430700e-01 3.51113078e-03 6.73967332e+00] [ 4.89854327e-02 6.75662005e-03 9.98776639e-01 -3.43332326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93534707 meters 0.05483494151199972 Centerline is valid? [True, True] Translation: X:-70.14, Y:6.75, Z:-3.44 [[ 9.76972530e-01 2.07799233e-01 -4.84164688e-02 -7.01405729e+01] [-2.07879852e-01 9.78148389e-01 3.41992834e-03 6.74646024e+00] [ 4.80691495e-02 6.72363231e-03 9.98821380e-01 -3.43679470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96534707 meters 0.05519949746456292 Centerline is valid? [True, True] Translation: X:-70.17, Y:6.75, Z:-3.44 [[ 9.77113658e-01 2.07444375e-01 -4.70715504e-02 -7.01724029e+01] [-2.07520190e-01 9.78225086e-01 3.32428045e-03 6.74850945e+00] [ 4.67361748e-02 6.52009728e-03 9.98885989e-01 -3.43768991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99534707000001 meters 0.05054854512743978 Centerline is valid? [True, True] Translation: X:-70.20, Y:6.74, Z:-3.44 [[ 9.76871430e-01 2.08624513e-01 -4.68830690e-02 -7.02036484e+01] [-2.08702097e-01 9.77973732e-01 3.28856762e-03 6.73967179e+00] [ 4.65364858e-02 6.57208705e-03 9.98894971e-01 -3.43958066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02534707000001 meters 0.05495118524763869 Centerline is valid? [True, True] Translation: X:-70.24, Y:6.75, Z:-3.44 [[ 9.77108897e-01 2.07712882e-01 -4.59734831e-02 -7.02352416e+01] [-2.07786412e-01 9.78168900e-01 3.22641171e-03 6.74962188e+00] [ 4.56399987e-02 6.40010953e-03 9.98937450e-01 -3.44271932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05534707000001 meters 0.054503204789126035 Centerline is valid? [True, True] Translation: X:-70.27, Y:6.75, Z:-3.44 [[ 9.76762111e-01 2.09326405e-01 -4.60242824e-02 -7.02661267e+01] [-2.09402928e-01 9.77824183e-01 3.20645484e-03 6.74906678e+00] [ 4.56748519e-02 6.50567589e-03 9.98935175e-01 -3.44432237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08534707000001 meters 0.05579598390077028 Centerline is valid? [True, True] Translation: X:-70.30, Y:6.75, Z:-3.45 [[ 9.76556383e-01 2.10301264e-01 -4.59457202e-02 -7.02973874e+01] [-2.10378708e-01 9.77614735e-01 3.19820553e-03 6.75189310e+00] [ 4.55897997e-02 6.54277323e-03 9.98938818e-01 -3.44546652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11534707000001 meters 0.06311205044679698 Centerline is valid? [True, True] Translation: X:-70.33, Y:6.77, Z:-3.45 [[ 9.76063960e-01 2.12634506e-01 -4.56696007e-02 -7.03274513e+01] [-2.12713656e-01 9.77109417e-01 3.17595754e-03 6.76605427e+00] [ 4.52995151e-02 6.61461007e-03 9.98951551e-01 -3.44773442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14534707000001 meters 0.0640499022915335 Centerline is valid? [True, True] Translation: X:-70.36, Y:6.77, Z:-3.45 [[ 9.76246834e-01 2.12022874e-01 -4.45917099e-02 -7.03597781e+01] [-2.12097615e-01 9.77243559e-01 3.10286700e-03 6.76885784e+00] [ 4.42348401e-02 6.42863126e-03 9.99000476e-01 -3.44987708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17534707000002 meters 0.053410672607110674 Centerline is valid? [True, True] Translation: X:-70.39, Y:6.75, Z:-3.45 [[ 9.76123876e-01 2.12975687e-01 -4.27028774e-02 -7.03917314e+01] [-2.13045883e-01 9.77037732e-01 2.95318647e-03 6.74939566e+00] [ 4.23512794e-02 6.21499641e-03 9.99083451e-01 -3.45240518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20534707000002 meters 0.05625567411560337 Centerline is valid? [True, True] Translation: X:-70.42, Y:6.75, Z:-3.46 [[ 9.75787915e-01 2.14622831e-01 -4.21305817e-02 -7.04232035e+01] [-2.14693020e-01 9.76677259e-01 2.90487684e-03 6.75458892e+00] [ 4.17714339e-02 6.21059810e-03 9.99107890e-01 -3.45576772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23534707 meters 0.056723333759452335 Centerline is valid? [True, True] Translation: X:-70.46, Y:6.76, Z:-3.46 [[ 9.75965959e-01 2.13790918e-01 -4.22361310e-02 -7.04553691e+01] [-2.13860709e-01 9.76859825e-01 2.91189462e-03 6.75584597e+00] [ 4.18813162e-02 6.19073889e-03 9.99103413e-01 -3.45512759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26534707 meters 0.05936943201020184 Centerline is valid? [True, True] Translation: X:-70.49, Y:6.76, Z:-3.46 [[ 9.75672817e-01 2.15043975e-01 -4.26455565e-02 -7.04862713e+01] [-2.15117265e-01 9.76583868e-01 2.91729001e-03 6.76093699e+00] [ 4.22743082e-02 6.32747493e-03 9.99086005e-01 -3.45884885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29534707 meters 0.057030680252804083 Centerline is valid? [True, True] Translation: X:-70.52, Y:6.76, Z:-3.46 [[ 9.75778232e-01 2.14430863e-01 -4.33156672e-02 -7.05177331e+01] [-2.14505860e-01 9.76718205e-01 2.96380186e-03 6.75545177e+00] [ 4.29427314e-02 6.39945112e-03 9.99057040e-01 -3.46058545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32534707 meters 0.05589548470260693 Centerline is valid? [True, True] Translation: X:-70.55, Y:6.75, Z:-3.46 [[ 9.76186639e-01 2.12596980e-01 -4.31528709e-02 -7.05494925e+01] [-2.12670397e-01 9.77119586e-01 2.93545317e-03 6.75493000e+00] [ 4.27895838e-02 6.31178802e-03 9.99064169e-01 -3.46427024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35534707000001 meters 0.060357435285658075 Centerline is valid? [True, True] Translation: X:-70.58, Y:6.76, Z:-3.47 [[ 9.76197431e-01 2.12820509e-01 -4.17852354e-02 -7.05811960e+01] [-2.12890196e-01 9.77072042e-01 2.82652297e-03 6.76291421e+00] [ 4.14287273e-02 6.13642249e-03 9.99122618e-01 -3.46516587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38534707000001 meters 0.06418791617333855 Centerline is valid? [True, True] Translation: X:-70.61, Y:6.77, Z:-3.47 [[ 9.76090353e-01 2.13105563e-01 -4.28210522e-02 -7.06134116e+01] [-2.13179980e-01 9.77008718e-01 2.87409206e-03 6.76986254e+00] [ 4.24490263e-02 6.32321751e-03 9.99078624e-01 -3.46727349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41534707000001 meters 0.06828110285956346 Centerline is valid? [True, True] Translation: X:-70.64, Y:6.78, Z:-3.47 [[ 9.76641468e-01 2.10246414e-01 -4.43608826e-02 -7.06432452e+01] [-2.10323764e-01 9.77627280e-01 2.96929304e-03 6.77872791e+00] [ 4.39926922e-02 6.43021308e-03 9.99011159e-01 -3.46586741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44534707000001 meters 0.05905768289530718 Centerline is valid? [True, True] Translation: X:-70.68, Y:6.76, Z:-3.47 [[ 9.76658508e-01 2.10529769e-01 -4.26072244e-02 -7.06757949e+01] [-2.10601222e-01 9.77567886e-01 2.85551924e-03 6.76120801e+00] [ 4.22526261e-02 6.18426636e-03 9.99087819e-01 -3.46792629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47534707000001 meters 0.05905768289530718 Centerline is valid? [True, True] Translation: X:-70.71, Y:6.76, Z:-3.47 [[ 9.76762150e-01 2.10048180e-01 -4.26082734e-02 -7.07086359e+01] [-2.10119857e-01 9.77671510e-01 2.83977035e-03 6.76362224e+00] [ 4.22533836e-02 6.17906413e-03 9.99087819e-01 -3.46968326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50534707000001 meters 0.05266682941435898 Centerline is valid? [True, True] Translation: X:-70.74, Y:6.75, Z:-3.47 [[ 9.76814120e-01 2.09738804e-01 -4.29395959e-02 -7.07418813e+01] [-2.09812377e-01 9.77737551e-01 2.83683533e-03 6.74969120e+00] [ 4.25786498e-02 6.23819786e-03 9.99073643e-01 -3.46928542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53534707000001 meters 0.06594486091056409 Centerline is valid? [True, True] Translation: X:-70.77, Y:6.78, Z:-3.47 [[ 9.77208387e-01 2.08017720e-01 -4.23367032e-02 -7.07718200e+01] [-2.08087810e-01 9.78106160e-01 2.79332884e-03 6.77897416e+00] [ 4.19908521e-02 6.08008746e-03 9.99099495e-01 -3.46918159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56534707000002 meters 0.05665613492320816 Centerline is valid? [True, True] Translation: X:-70.80, Y:6.76, Z:-3.47 [[ 9.77168742e-01 2.08277597e-01 -4.19725300e-02 -7.08044153e+01] [-2.08347399e-01 9.78051012e-01 2.75295129e-03 6.75990618e+00] [ 4.16246535e-02 6.05476950e-03 9.99114972e-01 -3.47002346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59534707000002 meters 0.06640544830949756 Centerline is valid? [True, True] Translation: X:-70.84, Y:6.78, Z:-3.47 [[ 9.77364265e-01 2.06845509e-01 -4.44300529e-02 -7.08351826e+01] [-2.06923124e-01 9.78352921e-01 2.89535842e-03 6.77977258e+00] [ 4.40671639e-02 6.36378550e-03 9.99008302e-01 -3.46879588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62534707 meters 0.0653070300084587 Centerline is valid? [True, True] Translation: X:-70.87, Y:6.78, Z:-3.47 [[ 9.77659570e-01 2.05332070e-01 -4.49500417e-02 -7.08668126e+01] [-2.05410825e-01 9.78671511e-01 2.90964646e-03 6.77803610e+00] [ 4.45887690e-02 6.38858146e-03 9.98984999e-01 -3.46831188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65534707 meters 0.06370935959924771 Centerline is valid? [True, True] Translation: X:-70.90, Y:6.77, Z:-3.47 [[ 9.77961426e-01 2.03669515e-01 -4.59366630e-02 -7.08977002e+01] [-2.03750108e-01 9.79018421e-01 2.97063769e-03 6.77470662e+00] [ 4.55778676e-02 6.45443097e-03 9.98939937e-01 -3.46737108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68534707 meters 0.06472705760910537 Centerline is valid? [True, True] Translation: X:-70.93, Y:6.78, Z:-3.47 [[ 9.78493177e-01 2.00670043e-01 -4.77769392e-02 -7.09285164e+01] [-2.00753807e-01 9.79636858e-01 3.08811563e-03 6.77581024e+00] [ 4.74237429e-02 6.56970235e-03 9.98853256e-01 -3.46765212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71534707 meters 0.06378017324228606 Centerline is valid? [True, True] Translation: X:-70.96, Y:6.77, Z:-3.47 [[ 9.78816631e-01 1.98929717e-01 -4.84248849e-02 -7.09600822e+01] [-1.99013696e-01 9.79991711e-01 3.12976946e-03 6.77423625e+00] [ 4.80785900e-02 6.57374491e-03 9.98821924e-01 -3.46819499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74534707000001 meters 0.06444313060593194 Centerline is valid? [True, True] Translation: X:-70.99, Y:6.77, Z:-3.47 [[ 9.79615999e-01 1.94428197e-01 -5.04992127e-02 -7.09915946e+01] [-1.94513824e-01 9.80894357e-01 3.26079356e-03 6.77387476e+00] [ 5.01683830e-02 6.62846943e-03 9.98718778e-01 -3.46555802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77534707000001 meters 0.0595199468250704 Centerline is valid? [True, True] Translation: X:-71.02, Y:6.76, Z:-3.47 [[ 9.80136021e-01 1.91627324e-01 -5.11111361e-02 -7.10223808e+01] [-1.91711428e-01 9.81445797e-01 3.29782377e-03 6.76205968e+00] [ 5.07947628e-02 6.56627299e-03 9.98687527e-01 -3.46578191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80534707000001 meters 0.06215330567082596 Centerline is valid? [True, True] Translation: X:-71.05, Y:6.77, Z:-3.47 [[ 9.80514653e-01 1.89279321e-01 -5.25771275e-02 -7.10532689e+01] [-1.89365012e-01 9.81900903e-01 3.39248944e-03 6.76736515e+00] [ 5.22676571e-02 6.62988278e-03 9.98611104e-01 -3.46504595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83534707000001 meters 0.06148214870067764 Centerline is valid? [True, True] Translation: X:-71.08, Y:6.76, Z:-3.46 [[ 9.80944314e-01 1.86360613e-01 -5.49361038e-02 -7.10841580e+01] [-1.86449786e-01 9.82458103e-01 3.54297601e-03 6.76475388e+00] [ 5.46326915e-02 6.76736263e-03 9.98483586e-01 -3.46427510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86534707000001 meters 0.0617320801330859 Centerline is valid? [True, True] Translation: X:-71.12, Y:6.76, Z:-3.46 [[ 9.81254874e-01 1.84260493e-01 -5.64530202e-02 -7.11160726e+01] [-1.84351352e-01 9.82853670e-01 3.63910443e-03 6.76248704e+00] [ 5.61556012e-02 6.83630165e-03 9.98398625e-01 -3.46313310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89534707000001 meters 0.057808167616122806 Centerline is valid? [True, True] Translation: X:-71.15, Y:6.75, Z:-3.46 [[ 9.81535535e-01 1.82319003e-01 -5.78599616e-02 -7.11481576e+01] [-1.82411350e-01 9.83215243e-01 3.72625773e-03 6.75472444e+00] [ 5.75681638e-02 6.89685934e-03 9.98317755e-01 -3.46150270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92534707000002 meters 0.05953962094947012 Centerline is valid? [True, True] Translation: X:-71.18, Y:6.76, Z:-3.47 [[ 9.81572209e-01 1.81391685e-01 -6.01086952e-02 -7.11785606e+01] [-1.81489993e-01 9.83385193e-01 3.86574250e-03 6.76058381e+00] [ 5.98112144e-02 7.11462124e-03 9.98184352e-01 -3.46533503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95534707000002 meters 0.060367515346597456 Centerline is valid? [True, True] Translation: X:-71.21, Y:6.77, Z:-3.47 [[ 9.81553854e-01 1.80451182e-01 -6.31617259e-02 -7.12099763e+01] [-1.80558243e-01 9.83555931e-01 4.05610642e-03 6.77091448e+00] [ 6.28550193e-02 7.42308338e-03 9.97995062e-01 -3.46937027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98534707 meters 0.061838541616390755 Centerline is valid? [True, True] Translation: X:-71.24, Y:6.78, Z:-3.48 [[ 9.80260531e-01 1.86176834e-01 -6.65392899e-02 -7.12397467e+01] [-1.86309149e-01 9.82481909e-01 4.26613490e-03 6.77833229e+00] [ 6.61679041e-02 8.21495481e-03 9.97774685e-01 -3.47942940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01534707 meters 0.06342201750723687 Centerline is valid? [True, True] Translation: X:-71.27, Y:6.78, Z:-3.48 [[ 9.79657865e-01 1.89710434e-01 -6.54249117e-02 -7.12696784e+01] [-1.89846158e-01 9.81804895e-01 4.19337972e-03 6.78424190e+00] [ 6.50300265e-02 8.31259069e-03 9.97848684e-01 -3.48261334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04534707 meters 0.06418286482614248 Centerline is valid? [True, True] Translation: X:-71.30, Y:6.79, Z:-3.49 [[ 9.78282727e-01 1.95939574e-01 -6.76061300e-02 -7.12980507e+01] [-1.96099147e-01 9.80574500e-01 4.33305058e-03 6.78866739e+00] [ 6.71418631e-02 9.01855590e-03 9.97702679e-01 -3.49322950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07534707 meters 0.06690425447405778 Centerline is valid? [True, True] Translation: X:-71.33, Y:6.80, Z:-3.50 [[ 9.77447193e-01 1.99624909e-01 -6.88976077e-02 -7.13276856e+01] [-1.99799638e-01 9.79826824e-01 4.41589426e-03 6.79564219e+00] [ 6.83892466e-02 9.44941365e-03 9.97613963e-01 -3.49997168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10534707000001 meters 0.07019228968730554 Centerline is valid? [True, True] Translation: X:-71.36, Y:6.80, Z:-3.51 [[ 9.76487456e-01 2.03886973e-01 -7.00167889e-02 -7.13577547e+01] [-2.04078199e-01 9.78944305e-01 4.48735675e-03 6.80147126e+00] [ 6.94574503e-02 9.90705257e-03 9.97535720e-01 -3.50752595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13534707000001 meters 0.06678188071815265 Centerline is valid? [True, True] Translation: X:-71.39, Y:6.80, Z:-3.51 [[ 9.76458539e-01 2.04082406e-01 -6.98505005e-02 -7.13894060e+01] [-2.04273372e-01 9.78903657e-01 4.47434277e-03 6.79788207e+00] [ 6.92900451e-02 9.89958708e-03 9.97547436e-01 -3.50987495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16534707000001 meters 0.06206801263688508 Centerline is valid? [True, True] Translation: X:-71.42, Y:6.79, Z:-3.51 [[ 9.76371007e-01 2.04122747e-01 -7.09475988e-02 -7.14211726e+01] [-2.04320325e-01 9.78893562e-01 4.53857101e-03 6.79083746e+00] [ 7.03765733e-02 1.00647073e-02 9.97469719e-01 -3.51034539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19534707000001 meters 0.06006749489054252 Centerline is valid? [True, True] Translation: X:-71.45, Y:6.79, Z:-3.51 [[ 9.76737291e-01 2.01940539e-01 -7.21407130e-02 -7.14519843e+01] [-2.02139450e-01 9.79345904e-01 4.60906155e-03 6.78828845e+00] [ 7.15814682e-02 1.00806417e-02 9.97383815e-01 -3.51157882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22534707000001 meters 0.07031032137234522 Centerline is valid? [True, True] Translation: X:-71.48, Y:6.81, Z:-3.51 [[ 9.77341542e-01 1.99143308e-01 -7.17318115e-02 -7.14813404e+01] [-1.99332806e-01 9.79921150e-01 4.57966177e-03 6.80771732e+00] [ 7.12035282e-02 9.82260954e-03 9.97413442e-01 -3.51414660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25534707000001 meters 0.0689475179628494 Centerline is valid? [True, True] Translation: X:-71.51, Y:6.81, Z:-3.51 [[ 9.77520166e-01 1.97683005e-01 -7.33195330e-02 -7.15141517e+01] [-1.97877208e-01 9.80215652e-01 4.67835303e-03 6.80560136e+00] [ 7.27937847e-02 9.93508002e-03 9.97297528e-01 -3.51212910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28534707000001 meters 0.06850856032514321 Centerline is valid? [True, True] Translation: X:-71.55, Y:6.81, Z:-3.51 [[ 9.77963347e-01 1.95422233e-01 -7.34700095e-02 -7.15452720e+01] [-1.95611434e-01 9.80670306e-01 4.68175397e-03 6.80551910e+00] [ 7.29647754e-02 9.79299011e-03 9.97286438e-01 -3.51482648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31534707000002 meters 0.06122652442071953 Centerline is valid? [True, True] Translation: X:-71.58, Y:6.79, Z:-3.51 [[ 9.78532903e-01 1.92260247e-01 -7.42250336e-02 -7.15762823e+01] [-1.92444523e-01 9.81296460e-01 4.72890075e-03 6.79302522e+00] [ 7.37459424e-02 9.65681620e-03 9.97230305e-01 -3.51180953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34534707000002 meters 0.0591457643772635 Centerline is valid? [True, True] Translation: X:-71.61, Y:6.79, Z:-3.51 [[ 9.78823208e-01 1.90504841e-01 -7.49201732e-02 -7.16064770e+01] [-1.90687669e-01 9.81639162e-01 4.77169581e-03 6.78992073e+00] [ 7.44536072e-02 9.61570659e-03 9.97178118e-01 -3.51195560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37534707 meters 0.05356607544326172 Centerline is valid? [True, True] Translation: X:-71.64, Y:6.78, Z:-3.51 [[ 9.79379851e-01 1.87954218e-01 -7.40831904e-02 -7.16373636e+01] [-1.88126295e-01 9.82133545e-01 4.71144421e-03 6.78145201e+00] [ 7.36451222e-02 9.32270263e-03 9.97240935e-01 -3.51273397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40534707 meters 0.058942538317500445 Centerline is valid? [True, True] Translation: X:-71.67, Y:6.79, Z:-3.51 [[ 9.79670148e-01 1.86791546e-01 -7.31800537e-02 -7.16683558e+01] [-1.86956386e-01 9.82357200e-01 4.65195255e-03 6.79223736e+00] [ 7.27578981e-02 9.12409932e-03 9.97307896e-01 -3.51499777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43534707 meters 0.06288910524205116 Centerline is valid? [True, True] Translation: X:-71.70, Y:6.80, Z:-3.52 [[ 9.79652819e-01 1.86511533e-01 -7.41201929e-02 -7.16998004e+01] [-1.86680268e-01 9.82409450e-01 4.70643573e-03 6.80064707e+00] [ 7.36941825e-02 9.22610444e-03 9.97238209e-01 -3.51794441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46534707 meters 0.062357964144448254 Centerline is valid? [True, True] Translation: X:-71.73, Y:6.80, Z:-3.52 [[ 9.79827567e-01 1.85626826e-01 -7.40312119e-02 -7.17318181e+01] [-1.85793265e-01 9.82577651e-01 4.69271810e-03 6.80132704e+00] [ 7.36125087e-02 9.15644603e-03 9.97244884e-01 -3.52069802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49534707000001 meters 0.05840776580743171 Centerline is valid? [True, True] Translation: X:-71.76, Y:6.80, Z:-3.52 [[ 9.79950515e-01 1.84809397e-01 -7.44477976e-02 -7.17620086e+01] [-1.84975827e-01 9.82731767e-01 4.71348620e-03 6.79593771e+00] [ 7.40333122e-02 9.15205970e-03 9.97213773e-01 -3.52061991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52534707000001 meters 0.05618639347170001 Centerline is valid? [True, True] Translation: X:-71.79, Y:6.79, Z:-3.52 [[ 9.80081666e-01 1.84214036e-01 -7.41964735e-02 -7.17921910e+01] [-1.84377700e-01 9.82844241e-01 4.69699241e-03 6.79246302e+00] [ 7.37888286e-02 9.07673902e-03 9.97232581e-01 -3.52285576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55534707000001 meters 0.05672846460778951 Centerline is valid? [True, True] Translation: X:-71.82, Y:6.79, Z:-3.53 [[ 9.80289543e-01 1.83537709e-01 -7.31185380e-02 -7.18227259e+01] [-1.83694876e-01 9.82972421e-01 4.62729113e-03 6.79346772e+00] [ 7.27227887e-02 8.89541563e-03 9.97312523e-01 -3.52614301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58534707000001 meters 0.05752318967271495 Centerline is valid? [True, True] Translation: X:-71.85, Y:6.79, Z:-3.53 [[ 9.80150536e-01 1.84536882e-01 -7.24642418e-02 -7.18543538e+01] [-1.84694032e-01 9.82785378e-01 4.58426107e-03 6.79497262e+00] [ 7.20627625e-02 8.89044702e-03 9.97360476e-01 -3.52893268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61534707000001 meters 0.05888298560913675 Centerline is valid? [True, True] Translation: X:-71.89, Y:6.80, Z:-3.54 [[ 9.79992502e-01 1.85225455e-01 -7.28438538e-02 -7.18855532e+01] [-1.85386547e-01 9.82654896e-01 4.60264345e-03 6.79772332e+00] [ 7.24328963e-02 8.99371444e-03 9.97332737e-01 -3.53561412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64534707000001 meters 0.051235313433680506 Centerline is valid? [True, True] Translation: X:-71.92, Y:6.79, Z:-3.53 [[ 9.80350929e-01 1.83647946e-01 -7.20103360e-02 -7.19151913e+01] [-1.83801251e-01 9.82952903e-01 4.54870961e-03 6.78614439e+00] [ 7.16181300e-02 8.77625815e-03 9.97393513e-01 -3.53066018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67534707000002 meters 0.05349056202744968 Centerline is valid? [True, True] Translation: X:-71.94, Y:6.79, Z:-3.54 [[ 9.80458822e-01 1.83412471e-01 -7.11362325e-02 -7.19445298e+01] [-1.83561030e-01 9.82998019e-01 4.49930137e-03 6.79032831e+00] [ 7.07520036e-02 8.64646043e-03 9.97456462e-01 -3.53624636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70534707000002 meters 0.05249350715872013 Centerline is valid? [True, True] Translation: X:-71.97, Y:6.79, Z:-3.54 [[ 9.80513097e-01 1.83262547e-01 -7.07736269e-02 -7.19742558e+01] [-1.83408905e-01 9.83026499e-01 4.48058400e-03 6.78881888e+00] [ 7.03934739e-02 8.58724210e-03 9.97482340e-01 -3.53599000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73534707 meters 0.05325046371295472 Centerline is valid? [True, True] Translation: X:-72.00, Y:6.79, Z:-3.54 [[ 9.80576129e-01 1.82824998e-01 -7.10315076e-02 -7.20037873e+01] [-1.82971006e-01 9.83108006e-01 4.50107691e-03 6.79068387e+00] [ 7.06545532e-02 8.58305781e-03 9.97463917e-01 -3.53785498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76534707 meters 0.0539340555336588 Centerline is valid? [True, True] Translation: X:-72.03, Y:6.79, Z:-3.54 [[ 9.80534222e-01 1.83310606e-01 -7.03552506e-02 -7.20330540e+01] [-1.83454770e-01 9.83018024e-01 4.46233467e-03 6.79093455e+00] [ 6.99784727e-02 8.53153449e-03 9.97512018e-01 -3.54250334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79534707 meters 0.0564655627300317 Centerline is valid? [True, True] Translation: X:-72.06, Y:6.80, Z:-3.55 [[ 9.80688061e-01 1.82161634e-01 -7.11903479e-02 -7.20632161e+01] [-1.82306061e-01 9.83231450e-01 4.51843999e-03 6.79554063e+00] [ 7.08196754e-02 8.54725179e-03 9.97452514e-01 -3.54763691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82534707 meters 0.05553443148877412 Centerline is valid? [True, True] Translation: X:-72.09, Y:6.79, Z:-3.55 [[ 9.80760210e-01 1.81737318e-01 -7.12808344e-02 -7.20936474e+01] [-1.81881012e-01 9.83310139e-01 4.52418315e-03 6.79240286e+00] [ 7.09133801e-02 8.52749147e-03 9.97446026e-01 -3.55098000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85534707000001 meters 0.05978975987031589 Centerline is valid? [True, True] Translation: X:-72.12, Y:6.80, Z:-3.56 [[ 9.80876047e-01 1.81591501e-01 -7.00478872e-02 -7.21236836e+01] [-1.81729869e-01 9.83338440e-01 4.44592819e-03 6.79851923e+00] [ 6.96881229e-02 8.36888888e-03 9.97533722e-01 -3.55676147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88534707000001 meters 0.05312348536836547 Centerline is valid? [True, True] Translation: X:-72.15, Y:6.79, Z:-3.56 [[ 9.81483122e-01 1.78716431e-01 -6.89298114e-02 -7.21537629e+01] [-1.78843357e-01 9.83867830e-01 4.37562245e-03 6.78665242e+00] [ 6.85998196e-02 8.03303928e-03 9.97611916e-01 -3.55648346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91534707000001 meters 0.05159318641247862 Centerline is valid? [True, True] Translation: X:-72.18, Y:6.78, Z:-3.56 [[ 9.81790798e-01 1.77007572e-01 -6.89575853e-02 -7.21828579e+01] [-1.77130155e-01 9.84177682e-01 4.38160845e-03 6.78422391e+00] [ 6.86420943e-02 7.91264495e-03 9.97609970e-01 -3.56281824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94534707000001 meters 0.05137932908406006 Centerline is valid? [True, True] Translation: X:-72.21, Y:6.78, Z:-3.56 [[ 9.82164158e-01 1.75021203e-01 -6.87105949e-02 -7.22120015e+01] [-1.75137559e-01 9.84534257e-01 4.37396238e-03 6.78303579e+00] [ 6.84134707e-02 7.73785678e-03 9.97627046e-01 -3.56418698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97534707000001 meters 0.05328893255480612 Centerline is valid? [True, True] Translation: X:-72.24, Y:6.79, Z:-3.57 [[ 9.82712913e-01 1.72160555e-01 -6.80887213e-02 -7.22419077e+01] [-1.72267709e-01 9.85040613e-01 4.33898151e-03 6.78744452e+00] [ 6.78171572e-02 7.46551489e-03 9.97669835e-01 -3.57140435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00534707000001 meters 0.04831251837161575 Centerline is valid? [True, True] Translation: X:-72.27, Y:6.78, Z:-3.57 [[ 9.83029870e-01 1.70487050e-01 -6.77232638e-02 -7.22706227e+01] [-1.70589017e-01 9.85332811e-01 4.31735510e-03 6.77801748e+00] [ 6.74660070e-02 7.30875597e-03 9.97694803e-01 -3.57325223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03534707000001 meters 0.04994415955164902 Centerline is valid? [True, True] Translation: X:-72.30, Y:6.78, Z:-3.58 [[ 9.83580575e-01 1.67027741e-01 -6.83446209e-02 -7.23003792e+01] [-1.67122894e-01 9.85926416e-01 4.36360890e-03 6.78243693e+00] [ 6.81116109e-02 7.12998991e-03 9.97652230e-01 -3.58164460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06534707000002 meters 0.0441686185912542 Centerline is valid? [True, True] Translation: X:-72.33, Y:6.77, Z:-3.58 [[ 9.83985241e-01 1.65175474e-01 -6.70082636e-02 -7.23293769e+01] [-1.65262441e-01 9.86240332e-01 4.28173662e-03 6.77284761e+00] [ 6.67934900e-02 6.86078357e-03 9.97743233e-01 -3.58305300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09534707000002 meters 0.04878303313811813 Centerline is valid? [True, True] Translation: X:-72.36, Y:6.78, Z:-3.59 [[ 9.84302189e-01 1.63074082e-01 -6.74984829e-02 -7.23581621e+01] [-1.63156881e-01 9.86590673e-01 4.32147935e-03 6.78194890e+00] [ 6.72980950e-02 6.75920036e-03 9.97710018e-01 -3.58712463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12534707 meters 0.04624583335575028 Centerline is valid? [True, True] Translation: X:-72.39, Y:6.78, Z:-3.59 [[ 9.85016619e-01 1.58962826e-01 -6.68810958e-02 -7.23887810e+01] [-1.59034506e-01 9.87263725e-01 4.28521085e-03 6.77873295e+00] [ 6.67104690e-02 6.41539817e-03 9.97751751e-01 -3.59229640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15534707 meters 0.04553280453828558 Centerline is valid? [True, True] Translation: X:-72.42, Y:6.78, Z:-3.60 [[ 9.85306376e-01 1.57364469e-01 -6.63910381e-02 -7.24185449e+01] [-1.57431437e-01 9.87520754e-01 4.25479892e-03 6.77718328e+00] [ 6.62320822e-02 6.25975604e-03 9.97784609e-01 -3.59816714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18534707 meters 0.042645728991711124 Centerline is valid? [True, True] Translation: X:-72.45, Y:6.77, Z:-3.60 [[ 9.85652049e-01 1.55299725e-01 -6.61213640e-02 -7.24476441e+01] [-1.55361273e-01 9.87848614e-01 4.24159722e-03 6.77355152e+00] [ 6.59766166e-02 6.09196032e-03 9.97802573e-01 -3.59890613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21534707 meters 0.04288388431666277 Centerline is valid? [True, True] Translation: X:-72.48, Y:6.78, Z:-3.60 [[ 9.85741322e-01 1.54488937e-01 -6.66874415e-02 -7.24762166e+01] [-1.54549049e-01 9.87975812e-01 4.28791118e-03 6.77502240e+00] [ 6.65480140e-02 6.07970940e-03 9.97764701e-01 -3.60210514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24534707000001 meters 0.04420975649460182 Centerline is valid? [True, True] Translation: X:-72.50, Y:6.78, Z:-3.61 [[ 9.85674232e-01 1.55032779e-01 -6.64164500e-02 -7.25036623e+01] [-1.55091803e-01 9.87890713e-01 4.29785951e-03 6.77851585e+00] [ 6.62785032e-02 6.06435762e-03 9.97782734e-01 -3.60655742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27534707000001 meters 0.04419036810233508 Centerline is valid? [True, True] Translation: X:-72.53, Y:6.78, Z:-3.61 [[ 9.85656753e-01 1.54911918e-01 -6.69556793e-02 -7.25325182e+01] [-1.54969642e-01 9.87909600e-01 4.36253319e-03 6.77996696e+00] [ 6.68219667e-02 6.07613735e-03 9.97746413e-01 -3.60782841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30534707000001 meters 0.04412605011552851 Centerline is valid? [True, True] Translation: X:-72.56, Y:6.78, Z:-3.61 [[ 9.85730802e-01 1.54600069e-01 -6.65853227e-02 -7.25613402e+01] [-1.54654730e-01 9.87958941e-01 4.36416554e-03 6.78144688e+00] [ 6.64582652e-02 5.99584270e-03 9.97771191e-01 -3.61143485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33534707000001 meters 0.04412982316917051 Centerline is valid? [True, True] Translation: X:-72.59, Y:6.78, Z:-3.61 [[ 9.85865406e-01 1.53504067e-01 -6.71260263e-02 -7.25900690e+01] [-1.53555348e-01 9.88130137e-01 4.42583811e-03 6.78327031e+00] [ 6.70086337e-02 5.94427966e-03 9.97734688e-01 -3.61113074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36534707000001 meters 0.04412982316917051 Centerline is valid? [True, True] Translation: X:-72.62, Y:6.78, Z:-3.61 [[ 9.85797353e-01 1.53941263e-01 -6.71242549e-02 -7.26175237e+01] [-1.53991744e-01 9.88062102e-01 4.45255857e-03 6.78483535e+00] [ 6.70083649e-02 5.94726062e-03 9.97734689e-01 -3.61260433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39534707000001 meters 0.043315229133563275 Centerline is valid? [True, True] Translation: X:-72.65, Y:6.79, Z:-3.62 [[ 9.85787531e-01 1.53593116e-01 -6.80595268e-02 -7.26458818e+01] [-1.53642179e-01 9.88116101e-01 4.54435154e-03 6.78585030e+00] [ 6.79486954e-02 5.97704891e-03 9.97670913e-01 -3.61821981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42534707000002 meters 0.04186343481581388 Centerline is valid? [True, True] Translation: X:-72.68, Y:6.79, Z:-3.62 [[ 9.86376593e-01 1.50649080e-01 -6.60762606e-02 -7.26756331e+01] [-1.50687393e-01 9.88571527e-01 4.43235915e-03 6.78548067e+00] [ 6.59888406e-02 5.58488416e-03 9.97804731e-01 -3.62030828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45534707000002 meters 0.04360946730916236 Centerline is valid? [True, True] Translation: X:-72.70, Y:6.79, Z:-3.62 [[ 9.86407520e-01 1.50382007e-01 -6.62227752e-02 -7.27037183e+01] [-1.50419464e-01 9.88612257e-01 4.44870249e-03 6.79039053e+00] [ 6.61376520e-02 5.57296073e-03 9.97794945e-01 -3.62451291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48534707 meters 0.04090310492984428 Centerline is valid? [True, True] Translation: X:-72.73, Y:6.79, Z:-3.63 [[ 9.86797273e-01 1.48366636e-01 -6.49498506e-02 -7.27326291e+01] [-1.48396932e-01 9.88918160e-01 4.38449815e-03 6.78765992e+00] [ 6.48806000e-02 5.31174774e-03 9.97878897e-01 -3.62619065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51534707 meters 0.04027432054153927 Centerline is valid? [True, True] Translation: X:-72.76, Y:6.79, Z:-3.63 [[ 9.87142058e-01 1.45373106e-01 -6.64621471e-02 -7.27618527e+01] [-1.45397740e-01 9.89363087e-01 4.49219737e-03 6.78939499e+00] [ 6.64082396e-02 5.22900900e-03 9.97778835e-01 -3.63026937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54534707 meters 0.035183964195515116 Centerline is valid? [True, True] Translation: X:-72.79, Y:6.78, Z:-3.63 [[ 9.87734207e-01 1.41560676e-01 -6.58916583e-02 -7.27918438e+01] [-1.41576135e-01 9.89917330e-01 4.45845077e-03 6.78339211e+00] [ 6.58584358e-02 4.92492200e-03 9.97816823e-01 -3.63233719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57534707 meters 0.03726473253250015 Centerline is valid? [True, True] Translation: X:-72.82, Y:6.79, Z:-3.64 [[ 9.87809798e-01 1.40246337e-01 -6.75482674e-02 -7.28199471e+01] [-1.40259042e-01 9.90104258e-01 4.57804733e-03 6.78819954e+00] [ 6.75218816e-02 4.95201526e-03 9.97705504e-01 -3.63564980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60534707000001 meters 0.032497582561144274 Centerline is valid? [True, True] Translation: X:-72.85, Y:6.78, Z:-3.64 [[ 9.88355073e-01 1.36280671e-01 -6.76892005e-02 -7.28496241e+01] [-1.36282624e-01 9.90659270e-01 4.61060063e-03 6.78359163e+00] [ 6.76852697e-02 4.66795132e-03 9.97695803e-01 -3.63746530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63534707000001 meters 0.030828212786176954 Centerline is valid? [True, True] Translation: X:-72.88, Y:6.78, Z:-3.64 [[ 9.88552670e-01 1.35289050e-01 -6.67869097e-02 -7.28780651e+01] [-1.35288136e-01 9.90795817e-01 4.55742734e-03 6.78429614e+00] [ 6.67887607e-02 4.53021957e-03 9.97756853e-01 -3.63892369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66534707000001 meters 0.03237230213878537 Centerline is valid? [True, True] Translation: X:-72.91, Y:6.79, Z:-3.64 [[ 9.88906929e-01 1.33325738e-01 -6.54777356e-02 -7.29059643e+01] [-1.33319179e-01 9.91062987e-01 4.48921525e-03 6.79280107e+00] [ 6.54910882e-02 4.29002191e-03 9.97843932e-01 -3.64154562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69534707000001 meters 0.03051630033812123 Centerline is valid? [True, True] Translation: X:-72.93, Y:6.80, Z:-3.64 [[ 9.89249808e-01 1.30434840e-01 -6.61178482e-02 -7.29345726e+01] [-1.30421318e-01 9.91448271e-01 4.53936345e-03 6.79510496e+00] [ 6.61445175e-02 4.13261251e-03 9.97801495e-01 -3.64213710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72534707000001 meters 0.02953482457692724 Centerline is valid? [True, True] Translation: X:-72.96, Y:6.80, Z:-3.64 [[ 9.89303654e-01 1.30481695e-01 -6.52135580e-02 -7.29624457e+01] [-1.30468016e-01 9.91442367e-01 4.48673015e-03 6.79741117e+00] [ 6.52409204e-02 4.06954497e-03 9.97861243e-01 -3.64334165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75534707000001 meters 0.030935517996154033 Centerline is valid? [True, True] Translation: X:-72.99, Y:6.81, Z:-3.65 [[ 9.89746734e-01 1.27624975e-01 -6.41347720e-02 -7.29910334e+01] [-1.27604893e-01 9.91815205e-01 4.42606077e-03 6.80629005e+00] [ 6.41747179e-02 3.80323153e-03 9.97931431e-01 -3.64761566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78534707000001 meters 0.028493877151340115 Centerline is valid? [True, True] Translation: X:-73.02, Y:6.81, Z:-3.65 [[ 9.90383763e-01 1.22787950e-01 -6.37426234e-02 -7.30207699e+01] [-1.22757658e-01 9.92426895e-01 4.40634827e-03 6.80716964e+00] [ 6.38009403e-02 3.46091940e-03 9.97956643e-01 -3.64956945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81534707000002 meters 0.02400091149458393 Centerline is valid? [True, True] Translation: X:-73.05, Y:6.80, Z:-3.65 [[ 9.90770756e-01 1.20069170e-01 -6.29023260e-02 -7.30496287e+01] [-1.20034060e-01 9.92760241e-01 4.35058418e-03 6.80191014e+00] [ 6.29692994e-02 3.23998999e-03 9.98010205e-01 -3.64915473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84534707000002 meters 0.025571371674448368 Centerline is valid? [True, True] Translation: X:-73.08, Y:6.81, Z:-3.65 [[ 9.91373331e-01 1.14519101e-01 -6.37518147e-02 -7.30779602e+01] [-1.14471333e-01 9.93416748e-01 4.41346411e-03 6.80977065e+00] [ 6.38375464e-02 2.92236457e-03 9.97956025e-01 -3.65333174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87534707 meters 0.022848325086724186 Centerline is valid? [True, True] Translation: X:-73.11, Y:6.81, Z:-3.65 [[ 9.91858666e-01 1.10515110e-01 -6.32676642e-02 -7.31067996e+01] [-1.10459577e-01 9.93870941e-01 4.38561493e-03 6.80661619e+00] [ 6.33645697e-02 2.63860928e-03 9.97986958e-01 -3.65498905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90534707 meters 0.020834042795640495 Centerline is valid? [True, True] Translation: X:-73.14, Y:6.81, Z:-3.66 [[ 9.92402921e-01 1.05282542e-01 -6.36555458e-02 -7.31358703e+01] [-1.05215208e-01 9.94439660e-01 4.41840461e-03 6.80884585e+00] [ 6.37667802e-02 2.31269382e-03 9.97962148e-01 -3.65637369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93534707 meters 0.020544443741648665 Centerline is valid? [True, True] Translation: X:-73.16, Y:6.81, Z:-3.66 [[ 9.92718133e-01 1.01962217e-01 -6.41437105e-02 -7.31638528e+01] [-1.01886444e-01 9.94786039e-01 4.45983255e-03 6.81151979e+00] [ 6.42640021e-02 2.10801791e-03 9.97930706e-01 -3.65893378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96534707 meters 0.02002874157528313 Centerline is valid? [True, True] Translation: X:-73.19, Y:6.81, Z:-3.66 [[ 9.93056837e-01 9.90966314e-02 -6.33875058e-02 -7.31924280e+01] [-9.90157654e-02 9.95076032e-01 4.42358447e-03 6.81130599e+00] [ 6.35137501e-02 1.88349161e-03 9.97979186e-01 -3.65840092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99534707000001 meters 0.01724984768233683 Centerline is valid? [True, True] Translation: X:-73.22, Y:6.81, Z:-3.67 [[ 9.93446931e-01 9.44120120e-02 -6.44171410e-02 -7.32209728e+01] [-9.43169548e-02 9.95531951e-01 4.52185877e-03 6.81067014e+00] [ 6.45562398e-02 1.58340185e-03 9.97912814e-01 -3.66558114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02534707000001 meters 0.016522757261705504 Centerline is valid? [True, True] Translation: X:-73.25, Y:6.81, Z:-3.67 [[ 9.93736755e-01 9.16351058e-02 -6.39552182e-02 -7.32496937e+01] [-9.15339909e-02 9.95791715e-01 4.51547473e-03 6.81011352e+00] [ 6.40998524e-02 1.36688315e-03 9.97942554e-01 -3.66721444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05534707000001 meters 0.015867403664090167 Centerline is valid? [True, True] Translation: X:-73.28, Y:6.81, Z:-3.67 [[ 9.94020705e-01 8.80684231e-02 -6.45506851e-02 -7.32780325e+01] [-8.79561678e-02 9.96113797e-01 4.58429586e-03 6.80940209e+00] [ 6.47035597e-02 1.12074589e-03 9.97903900e-01 -3.67153562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08534707000001 meters 0.016797206275160806 Centerline is valid? [True, True] Translation: X:-73.31, Y:6.81, Z:-3.68 [[ 9.94122154e-01 8.65483697e-02 -6.50424604e-02 -7.33070553e+01] [-8.64293785e-02 9.96247145e-01 4.64629160e-03 6.81076974e+00] [ 6.52004945e-02 1.00259801e-03 9.97871680e-01 -3.67550040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11534707000001 meters 0.014726821872392394 Centerline is valid? [True, True] Translation: X:-73.34, Y:6.81, Z:-3.68 [[ 9.94452010e-01 8.36583536e-02 -6.37689580e-02 -7.33357072e+01] [-8.35364396e-02 9.96494197e-01 4.58034107e-03 6.80890042e+00] [ 6.39285803e-02 7.72102329e-04 9.97954178e-01 -3.67737933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14534707000001 meters 0.014261573916736573 Centerline is valid? [True, True] Translation: X:-73.36, Y:6.81, Z:-3.68 [[ 9.94682882e-01 8.05482358e-02 -6.41712307e-02 -7.33641406e+01] [-8.04166742e-02 9.96750560e-01 4.63462988e-03 6.80737437e+00] [ 6.43360214e-02 5.50449951e-04 9.97928140e-01 -3.68215415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17534707000002 meters 0.014088709175845662 Centerline is valid? [True, True] Translation: X:-73.39, Y:6.81, Z:-3.68 [[ 9.94876152e-01 7.85268106e-02 -6.36787360e-02 -7.33922489e+01] [-7.83916290e-02 9.96911925e-01 4.62244835e-03 6.80702738e+00] [ 6.38450774e-02 3.93116217e-04 9.97959744e-01 -3.68331173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20534707000002 meters 0.013377728985974925 Centerline is valid? [True, True] Translation: X:-73.42, Y:6.81, Z:-3.69 [[ 9.95023179e-01 7.60446747e-02 -6.43900676e-02 -7.34198358e+01] [-7.59001454e-02 9.97104387e-01 4.69132521e-03 6.80637486e+00] [ 6.45603692e-02 2.19238172e-04 9.97913779e-01 -3.68672737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23534707 meters 0.013052319296679191 Centerline is valid? [True, True] Translation: X:-73.45, Y:6.81, Z:-3.69 [[ 9.95307111e-01 7.31477911e-02 -6.33494733e-02 -7.34490327e+01] [-7.30002008e-02 9.97321112e-01 4.64435430e-03 6.80539162e+00] [ 6.35194914e-02 1.96541319e-06 9.97980598e-01 -3.69071326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26534707 meters 0.015239445946766876 Centerline is valid? [True, True] Translation: X:-73.48, Y:6.80, Z:-3.69 [[ 9.95356913e-01 7.12346647e-02 -6.47320502e-02 -7.34774811e+01] [-7.10747578e-02 9.97459573e-01 4.77270192e-03 6.80396501e+00] [ 6.49075850e-02 -1.49727061e-04 9.97891268e-01 -3.69241417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29534707 meters 0.013361470147830266 Centerline is valid? [True, True] Translation: X:-73.51, Y:6.80, Z:-3.70 [[ 9.95471354e-01 6.98767255e-02 -6.44517443e-02 -7.35055823e+01] [-6.97134566e-02 9.97555599e-01 4.78140184e-03 6.80208285e+00] [ 6.46283071e-02 -2.66594679e-04 9.97909370e-01 -3.69769805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32534707 meters 0.013358914768242712 Centerline is valid? [True, True] Translation: X:-73.53, Y:6.80, Z:-3.70 [[ 9.95580059e-01 6.85934381e-02 -6.41504988e-02 -7.35332741e+01] [-6.84272651e-02 9.97644626e-01 4.78646693e-03 6.80097286e+00] [ 6.43277206e-02 -3.75667841e-04 9.97928757e-01 -3.69832561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35534707000001 meters 0.013451804063477847 Centerline is valid? [True, True] Translation: X:-73.56, Y:6.80, Z:-3.70 [[ 9.95779891e-01 6.55235575e-02 -6.42578636e-02 -7.35625468e+01] [-6.53491804e-02 9.97850846e-01 4.81400234e-03 6.79886124e+00] [ 6.44351941e-02 -5.94488002e-04 9.97921717e-01 -3.70306047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38534707000001 meters 0.014114304873118495 Centerline is valid? [True, True] Translation: X:-73.59, Y:6.80, Z:-3.71 [[ 9.95952367e-01 6.29959208e-02 -6.41123755e-02 -7.35915065e+01] [-6.28154533e-02 9.98013478e-01 4.82868843e-03 6.79569293e+00] [ 6.42892025e-02 -7.81895746e-04 9.97931003e-01 -3.70612752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41534707000001 meters 0.014980610273597313 Centerline is valid? [True, True] Translation: X:-73.62, Y:6.79, Z:-3.71 [[ 9.96076680e-01 5.94893912e-02 -6.55153340e-02 -7.36203470e+01] [-5.92915957e-02 9.98228378e-01 4.96101774e-03 6.79173286e+00] [ 6.56943935e-02 -1.05704539e-03 9.97839230e-01 -3.70902686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44534707000001 meters 0.015609793792303534 Centerline is valid? [True, True] Translation: X:-73.65, Y:6.79, Z:-3.71 [[ 9.96267301e-01 5.73266835e-02 -6.45377082e-02 -7.36478651e+01] [-5.71287824e-02 9.98354748e-01 4.90920350e-03 6.78922253e+00] [ 6.47129557e-02 -1.20391824e-03 9.97903194e-01 -3.71212496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47534707000001 meters 0.017932653763533375 Centerline is valid? [True, True] Translation: X:-73.68, Y:6.79, Z:-3.71 [[ 9.96434406e-01 5.44784514e-02 -6.44249455e-02 -7.36763101e+01] [-5.42747059e-02 9.98513971e-01 4.90975249e-03 6.78711961e+00] [ 6.45966839e-02 -1.39560133e-03 9.97910477e-01 -3.70995727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50534707000001 meters 0.01747446554721178 Centerline is valid? [True, True] Translation: X:-73.71, Y:6.78, Z:-3.72 [[ 9.96629506e-01 5.10154920e-02 -6.42421042e-02 -7.37051004e+01] [-5.08049329e-02 9.98696536e-01 4.90799528e-03 6.78320027e+00] [ 6.44087507e-02 -1.62763712e-03 9.97922273e-01 -3.71643261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53534707000001 meters 0.019160677461332525 Centerline is valid? [True, True] Translation: X:-73.73, Y:6.78, Z:-3.72 [[ 9.96704539e-01 4.89762402e-02 -6.46636711e-02 -7.37345328e+01] [-4.87568976e-02 9.98798326e-01 4.96670763e-03 6.78029050e+00] [ 6.48292171e-02 -1.79754005e-03 9.97894755e-01 -3.71695023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56534707000002 meters 0.021535005196843163 Centerline is valid? [True, True] Translation: X:-73.76, Y:6.77, Z:-3.72 [[ 9.96850123e-01 4.54272563e-02 -6.50092001e-02 -7.37637562e+01] [-4.51963235e-02 9.98965514e-01 5.01931708e-03 6.77149650e+00] [ 6.51699628e-02 -2.06533000e-03 9.97872041e-01 -3.72450535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59534707000002 meters 0.023344676439120682 Centerline is valid? [True, True] Translation: X:-73.79, Y:6.77, Z:-3.72 [[ 9.97010733e-01 4.38217200e-02 -6.36337528e-02 -7.37917192e+01] [-4.35958047e-02 9.99037062e-01 4.93507301e-03 6.77232557e+00] [ 6.37887408e-02 -2.14615610e-03 9.97961117e-01 -3.71977280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62534707 meters 0.02374804487645942 Centerline is valid? [True, True] Translation: X:-73.82, Y:6.77, Z:-3.72 [[ 9.97154056e-01 4.24471335e-02 -6.23059412e-02 -7.38195138e+01] [-4.22273439e-02 9.99096301e-01 4.84073936e-03 6.77169000e+00] [ 6.24551109e-02 -2.19594848e-03 9.98045358e-01 -3.72327446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65534707 meters 0.01972317537943627 Centerline is valid? [True, True] Translation: X:-73.85, Y:6.77, Z:-3.73 [[ 9.97076887e-01 4.24436405e-02 -6.35312429e-02 -7.38466265e+01] [-4.22144492e-02 9.99096330e-01 4.94613115e-03 6.77388772e+00] [ 6.36837635e-02 -2.24973662e-03 9.97967593e-01 -3.72945648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68534707 meters 0.022348342513429806 Centerline is valid? [True, True] Translation: X:-73.88, Y:6.77, Z:-3.73 [[ 9.97060136e-01 4.35912581e-02 -6.30149741e-02 -7.38759718e+01] [-4.33670150e-02 9.99047081e-01 4.92259642e-03 6.77115362e+00] [ 6.31695081e-02 -2.17535333e-03 9.98000441e-01 -3.72931499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71534707 meters 0.0211625915255715 Centerline is valid? [True, True] Translation: X:-73.90, Y:6.77, Z:-3.74 [[ 9.97050873e-01 4.50655589e-02 -6.21180458e-02 -7.39048190e+01] [-4.48488594e-02 9.98981869e-01 4.87912709e-03 6.77148382e+00] [ 6.22746820e-02 -2.07881443e-03 9.98056883e-01 -3.73758630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74534707000001 meters 0.020123458962642015 Centerline is valid? [True, True] Translation: X:-73.93, Y:6.77, Z:-3.74 [[ 9.96961801e-01 4.66298431e-02 -6.23925022e-02 -7.39320468e+01] [-4.64128135e-02 9.98910208e-01 4.92405615e-03 6.77440538e+00] [ 6.25541154e-02 -2.01328432e-03 9.98039543e-01 -3.73673413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77534707000001 meters 0.018945800295110615 Centerline is valid? [True, True] Translation: X:-73.96, Y:6.77, Z:-3.74 [[ 9.96845344e-01 5.00980091e-02 -6.15593116e-02 -7.39601358e+01] [-4.98926973e-02 9.98742716e-01 4.86877921e-03 6.77444828e+00] [ 6.17258303e-02 -1.78205979e-03 9.98091552e-01 -3.74229319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80534707000001 meters 0.01799580836372073 Centerline is valid? [True, True] Translation: X:-73.99, Y:6.78, Z:-3.74 [[ 9.96698951e-01 5.32480419e-02 -6.12849614e-02 -7.39887193e+01] [-5.30498125e-02 9.98580049e-01 4.85828553e-03 6.77696780e+00] [ 6.14566340e-02 -1.59109238e-03 9.98108486e-01 -3.74370140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83534707000001 meters 0.017239762638831015 Centerline is valid? [True, True] Translation: X:-74.02, Y:6.78, Z:-3.75 [[ 9.96621227e-01 5.49720793e-02 -6.10262281e-02 -7.40161076e+01] [-5.47773338e-02 9.98486763e-01 4.86085902e-03 6.77882889e+00] [ 6.12010925e-02 -1.50158120e-03 9.98124327e-01 -3.74542879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86534707000001 meters 0.016615376079101876 Centerline is valid? [True, True] Translation: X:-74.04, Y:6.78, Z:-3.75 [[ 9.96420680e-01 5.87515343e-02 -6.07789882e-02 -7.40442588e+01] [-5.85646096e-02 9.98271820e-01 4.85386489e-03 6.78005829e+00] [ 6.09591231e-02 -1.27699365e-03 9.98139446e-01 -3.75095481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89534707000001 meters 0.01850874094792545 Centerline is valid? [True, True] Translation: X:-74.07, Y:6.78, Z:-3.75 [[ 9.96411121e-01 5.96478572e-02 -6.00583945e-02 -7.40720700e+01] [-5.94663204e-02 9.98218738e-01 4.80708501e-03 6.78012942e+00] [ 6.02381471e-02 -1.21838124e-03 9.98183290e-01 -3.75121008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92534707000002 meters 0.015622666968775241 Centerline is valid? [True, True] Translation: X:-74.10, Y:6.78, Z:-3.75 [[ 9.96304949e-01 6.21755920e-02 -5.92506890e-02 -7.40994379e+01] [-6.20018827e-02 9.98064646e-01 4.76749884e-03 6.78204716e+00] [ 5.94324400e-02 -1.07622841e-03 9.98231750e-01 -3.75480628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95534707000002 meters 0.015213614022769635 Centerline is valid? [True, True] Translation: X:-74.13, Y:6.78, Z:-3.76 [[ 9.96273413e-01 6.29784699e-02 -5.89321546e-02 -7.41269995e+01] [-6.28071811e-02 9.98014347e-01 4.75617899e-03 6.78204939e+00] [ 5.91146727e-02 -1.03709216e-03 9.98250660e-01 -3.75868324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98534707 meters 0.015046656857274219 Centerline is valid? [True, True] Translation: X:-74.15, Y:6.78, Z:-3.76 [[ 9.96250573e-01 6.24818539e-02 -5.98399052e-02 -7.41546783e+01] [-6.23027549e-02 9.98045483e-01 4.85590262e-03 6.78247666e+00] [ 6.00263529e-02 -1.10950482e-03 9.98196176e-01 -3.76131012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01534707 meters 0.017262583519865222 Centerline is valid? [True, True] Translation: X:-74.18, Y:6.78, Z:-3.76 [[ 9.96258313e-01 6.28671632e-02 -5.93050909e-02 -7.41825199e+01] [-6.26912759e-02 9.98021311e-01 4.82359694e-03 6.78007759e+00] [ 5.94909905e-02 -1.08763674e-03 9.98228250e-01 -3.76198851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04534707 meters 0.015222060944166404 Centerline is valid? [True, True] Translation: X:-74.21, Y:6.78, Z:-3.77 [[ 9.96297831e-01 6.34236383e-02 -5.80351088e-02 -7.42105117e+01] [-6.32546089e-02 9.97986133e-01 4.74681394e-03 6.78111040e+00] [ 5.82192940e-02 -1.05825233e-03 9.98303257e-01 -3.76610910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07534707 meters 0.015929730578370802 Centerline is valid? [True, True] Translation: X:-74.24, Y:6.78, Z:-3.77 [[ 9.96296248e-01 6.33811758e-02 -5.81086254e-02 -7.42388468e+01] [-6.32110238e-02 9.97988815e-01 4.76347042e-03 6.77882654e+00] [ 5.82936726e-02 -1.07272200e-03 9.98298902e-01 -3.76647401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10534707000001 meters 0.017070136751316984 Centerline is valid? [True, True] Translation: X:-74.27, Y:6.78, Z:-3.77 [[ 9.96267386e-01 6.36933414e-02 -5.82619382e-02 -7.42672394e+01] [-6.35211163e-02 9.97968926e-01 4.80517938e-03 6.77713770e+00] [ 5.84496618e-02 -1.08638015e-03 9.98289766e-01 -3.76632368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13534707000001 meters 0.014902182444273092 Centerline is valid? [True, True] Translation: X:-74.30, Y:6.78, Z:-3.77 [[ 9.96112630e-01 6.60276875e-02 -5.83092922e-02 -7.42959957e+01] [-6.58574784e-02 9.97817311e-01 4.83805458e-03 6.77672876e+00] [ 5.85014667e-02 -9.79144320e-04 9.98286842e-01 -3.77430005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16534707000001 meters 0.014320877785419434 Centerline is valid? [True, True] Translation: X:-74.32, Y:6.78, Z:-3.78 [[ 9.96166715e-01 6.66199064e-02 -5.66891885e-02 -7.43232995e+01] [-6.64587585e-02 9.97777984e-01 4.72528781e-03 6.77797036e+00] [ 5.68780224e-02 -9.39681348e-04 9.98380693e-01 -3.77875110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19534707000001 meters 0.0157793280721497 Centerline is valid? [True, True] Translation: X:-74.35, Y:6.78, Z:-3.78 [[ 9.96123576e-01 6.69998954e-02 -5.69985546e-02 -7.43519855e+01] [-6.68370284e-02 9.97752546e-01 4.76111044e-03 6.77725471e+00] [ 5.71894469e-02 -9.33040341e-04 9.98362908e-01 -3.77587227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22534707000001 meters 0.014731903084389946 Centerline is valid? [True, True] Translation: X:-74.38, Y:6.78, Z:-3.78 [[ 9.96033903e-01 6.87837529e-02 -5.64381045e-02 -7.43803764e+01] [-6.86253689e-02 9.97631231e-01 4.74193913e-03 6.77572767e+00] [ 5.66305841e-02 -8.50046388e-04 9.98394839e-01 -3.78211138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25534707000001 meters 0.014751625737530218 Centerline is valid? [True, True] Translation: X:-74.41, Y:6.78, Z:-3.78 [[ 9.96051076e-01 6.93200361e-02 -5.54705967e-02 -7.44085226e+01] [-6.91665720e-02 9.97594129e-01 4.68397055e-03 6.77540779e+00] [ 5.56618346e-02 -8.28762887e-04 9.98449334e-01 -3.78460196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28534707000001 meters 0.014751625737530218 Centerline is valid? [True, True] Translation: X:-74.44, Y:6.78, Z:-3.79 [[ 9.96018895e-01 6.97826172e-02 -5.54684269e-02 -7.44358971e+01] [-6.96284466e-02 9.97561878e-01 4.70952935e-03 6.77747227e+00] [ 5.56618314e-02 -8.28599823e-04 9.98449335e-01 -3.78607025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31534707000002 meters 0.014617439895873122 Centerline is valid? [True, True] Translation: X:-74.46, Y:6.78, Z:-3.79 [[ 9.95991067e-01 7.00958490e-02 -5.55730759e-02 -7.44639043e+01] [-6.99401300e-02 9.97539908e-01 4.74442072e-03 6.77703699e+00] [ 5.57689253e-02 -8.38612501e-04 9.98443350e-01 -3.78878463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34534707000002 meters 0.014512514854407738 Centerline is valid? [True, True] Translation: X:-74.49, Y:6.78, Z:-3.79 [[ 9.95897517e-01 7.13620007e-02 -5.56381191e-02 -7.44916025e+01] [-7.12064327e-02 9.97450166e-01 4.77603955e-03 6.77601848e+00] [ 5.58370789e-02 -7.94653946e-04 9.98439577e-01 -3.79079862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37534707 meters 0.015291848612425201 Centerline is valid? [True, True] Translation: X:-74.52, Y:6.78, Z:-3.79 [[ 9.95899797e-01 7.18732664e-02 -5.49347640e-02 -7.45194633e+01] [-7.17210027e-02 9.97413466e-01 4.74074517e-03 6.77751313e+00] [ 5.51334062e-02 -7.81330799e-04 9.98478691e-01 -3.78948727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40534707 meters 0.01446756036204485 Centerline is valid? [True, True] Translation: X:-74.55, Y:6.78, Z:-3.79 [[ 9.95920472e-01 7.24521471e-02 -5.37875518e-02 -7.45474708e+01] [-7.23065516e-02 9.97371613e-01 4.65051723e-03 6.77604324e+00] [ 5.39831173e-02 -7.42352923e-04 9.98541572e-01 -3.79262581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43534707 meters 0.015553415403009517 Centerline is valid? [True, True] Translation: X:-74.58, Y:6.77, Z:-3.79 [[ 9.95736496e-01 7.43711600e-02 -5.45688642e-02 -7.45763984e+01] [-7.42225786e-02 9.97230401e-01 4.74723798e-03 6.77469680e+00] [ 5.47707879e-02 -6.76756302e-04 9.98498724e-01 -3.79315760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46534707 meters 0.014100965929195656 Centerline is valid? [True, True] Translation: X:-74.60, Y:6.77, Z:-3.80 [[ 9.95891869e-01 7.36275570e-02 -5.27102245e-02 -7.46036765e+01] [-7.34867003e-02 9.97285551e-01 4.60805212e-03 6.77233189e+00] [ 5.29064249e-02 -7.15621176e-04 9.98599218e-01 -3.80179731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49534707000001 meters 0.013837081625266867 Centerline is valid? [True, True] Translation: X:-74.63, Y:6.77, Z:-3.80 [[ 9.95761333e-01 7.48013531e-02 -5.35175184e-02 -7.46320711e+01] [-7.46574044e-02 9.97198228e-01 4.68669389e-03 6.77206676e+00] [ 5.37181456e-02 -6.71349543e-04 9.98555912e-01 -3.80101674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52534707000001 meters 0.01383288147541931 Centerline is valid? [True, True] Translation: X:-74.66, Y:6.77, Z:-3.80 [[ 9.95680178e-01 7.63874324e-02 -5.27820375e-02 -7.46599356e+01] [-7.62483293e-02 9.97078030e-01 4.64704422e-03 6.77319014e+00] [ 5.29827858e-02 -6.02427631e-04 9.98595244e-01 -3.80317526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55534707000001 meters 0.01597639093795603 Centerline is valid? [True, True] Translation: X:-74.69, Y:6.78, Z:-3.80 [[ 9.95407686e-01 7.97216569e-02 -5.29905304e-02 -7.46887204e+01] [-7.95857369e-02 9.96817069e-01 4.67355499e-03 6.77573155e+00] [ 5.31944487e-02 -4.34802154e-04 9.98584078e-01 -3.80095581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58534707000001 meters 0.01408040693445305 Centerline is valid? [True, True] Translation: X:-74.72, Y:6.78, Z:-3.80 [[ 9.95058037e-01 8.46168637e-02 -5.19566065e-02 -7.47157317e+01] [-8.44916919e-02 9.96413543e-01 4.60483993e-03 6.78041595e+00] [ 5.21599135e-02 -1.92181385e-04 9.98638727e-01 -3.80412239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61534707000001 meters 0.013499181734596164 Centerline is valid? [True, True] Translation: X:-74.74, Y:6.78, Z:-3.81 [[ 9.94641200e-01 8.93996896e-02 -5.19285982e-02 -7.47435249e+01] [-8.92807748e-02 9.95995830e-01 4.60981263e-03 6.78446097e+00] [ 5.21327830e-02 5.11159150e-05 9.98640161e-01 -3.80541925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64534707000001 meters 0.013107792576176763 Centerline is valid? [True, True] Translation: X:-74.77, Y:6.79, Z:-3.81 [[ 9.93787143e-01 9.85198101e-02 -5.17779931e-02 -7.47705531e+01] [-9.84125969e-02 9.95134963e-01 4.62231302e-03 6.79089485e+00] [ 5.19814806e-02 5.02011503e-04 9.98647923e-01 -3.81163914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67534707000002 meters 0.013697894566219462 Centerline is valid? [True, True] Translation: X:-74.80, Y:6.80, Z:-3.81 [[ 9.93428228e-01 1.01965696e-01 -5.19937699e-02 -7.47987162e+01] [-1.01861676e-01 9.94787688e-01 4.65353261e-03 6.79513126e+00] [ 5.21972628e-02 6.73221860e-04 9.98636567e-01 -3.81305445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70534707000002 meters 0.014520833590046871 Centerline is valid? [True, True] Translation: X:-74.83, Y:6.80, Z:-3.82 [[ 9.92979872e-01 1.06225785e-01 -5.20293781e-02 -7.48274847e+01] [-1.06126253e-01 9.94341650e-01 4.67984938e-03 6.79938557e+00] [ 5.22320984e-02 8.74686681e-04 9.98634589e-01 -3.81520328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73534707 meters 0.015628133531644516 Centerline is valid? [True, True] Translation: X:-74.86, Y:6.80, Z:-3.82 [[ 9.92854644e-01 1.07429102e-01 -5.19484706e-02 -7.48568283e+01] [-1.07330353e-01 9.94212328e-01 4.69500260e-03 6.80080893e+00] [ 5.21521897e-02 9.14192562e-04 9.98638730e-01 -3.81528097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76534707 meters 0.013952634228487373 Centerline is valid? [True, True] Translation: X:-74.88, Y:6.80, Z:-3.82 [[ 9.93060400e-01 1.05760335e-01 -5.14372850e-02 -7.48849594e+01] [-1.05660693e-01 9.94391321e-01 4.66021608e-03 6.79765360e+00] [ 5.16416558e-02 8.07023152e-04 9.98665353e-01 -3.82039700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79534707 meters 0.013956709125642033 Centerline is valid? [True, True] Translation: X:-74.91, Y:6.80, Z:-3.82 [[ 9.93020840e-01 1.05683842e-01 -5.23501378e-02 -7.49128673e+01] [-1.05580103e-01 9.94399452e-01 4.75093049e-03 6.79864571e+00] [ 5.25590450e-02 8.09359972e-04 9.98617490e-01 -3.82339761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82534707 meters 0.013160971206220777 Centerline is valid? [True, True] Translation: X:-74.94, Y:6.80, Z:-3.82 [[ 9.93373504e-01 1.02450028e-01 -5.20871783e-02 -7.49408752e+01] [-1.02341495e-01 9.94737966e-01 4.75361360e-03 6.79647552e+00] [ 5.23001016e-02 6.08565917e-04 9.98631228e-01 -3.82454598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85534707000001 meters 0.014042655421610074 Centerline is valid? [True, True] Translation: X:-74.97, Y:6.80, Z:-3.82 [[ 9.93517333e-01 1.01380264e-01 -5.14329675e-02 -7.49692488e+01] [-1.01272645e-01 9.94847603e-01 4.70097293e-03 6.79592369e+00] [ 5.16445503e-02 5.38254560e-04 9.98665385e-01 -3.82423833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88534707000001 meters 0.012581400232010306 Centerline is valid? [True, True] Translation: X:-75.00, Y:6.79, Z:-3.83 [[ 9.93658083e-01 1.00213037e-01 -5.09996234e-02 -7.49962726e+01] [-1.00104422e-01 9.94965902e-01 4.68604788e-03 6.79434738e+00] [ 5.12124894e-02 4.48958464e-04 9.98687679e-01 -3.82597213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91534707000001 meters 0.01357846179727482 Centerline is valid? [True, True] Translation: X:-75.03, Y:6.79, Z:-3.83 [[ 9.93813509e-01 9.84578668e-02 -5.13882985e-02 -7.50254949e+01] [-9.83439560e-02 9.95141164e-01 4.74668593e-03 6.79456057e+00] [ 5.16059598e-02 3.36407971e-04 9.98667468e-01 -3.82661583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94534707000001 meters 0.012516603157993668 Centerline is valid? [True, True] Translation: X:-75.05, Y:6.80, Z:-3.83 [[ 9.93795816e-01 9.81861972e-02 -5.22431529e-02 -7.50530145e+01] [-9.80669726e-02 9.95168014e-01 4.84687263e-03 6.79698295e+00] [ 5.24666107e-02 3.06526104e-04 9.98622632e-01 -3.83194631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97534707000001 meters 0.015459145099401366 Centerline is valid? [True, True] Translation: X:-75.08, Y:6.80, Z:-3.83 [[ 9.93668325e-01 9.90371574e-02 -5.30556518e-02 -7.50813306e+01] [-9.89139934e-02 9.95083681e-01 4.94871029e-03 6.79831975e+00] [ 5.32849195e-02 3.30569723e-04 9.98579295e-01 -3.82991959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00534707000001 meters 0.012478045545721028 Centerline is valid? [True, True] Translation: X:-75.11, Y:6.80, Z:-3.83 [[ 9.93801421e-01 9.81335516e-02 -5.22354386e-02 -7.51090354e+01] [-9.80115810e-02 9.95173222e-01 4.89771362e-03 6.79991929e+00] [ 5.24639398e-02 2.52323165e-04 9.98622787e-01 -3.83414731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03534707000001 meters 0.01322798819440916 Centerline is valid? [True, True] Translation: X:-75.14, Y:6.80, Z:-3.83 [[ 9.93992953e-01 9.69191642e-02 -5.08398028e-02 -7.51358126e+01] [-9.68008182e-02 9.95292244e-01 4.79076034e-03 6.80072266e+00] [ 5.10647779e-02 1.59352493e-04 9.98695330e-01 -3.83388025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06534707000002 meters 0.01226980274260482 Centerline is valid? [True, True] Translation: X:-75.16, Y:6.80, Z:-3.84 [[ 9.94169511e-01 9.50966134e-02 -5.08292990e-02 -7.51631457e+01] [-9.49753846e-02 9.95468046e-01 4.80054490e-03 6.80073537e+00] [ 5.10554586e-02 5.49768506e-05 9.98695818e-01 -3.83665517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09534707000002 meters 0.01208035606106461 Centerline is valid? [True, True] Translation: X:-75.19, Y:6.80, Z:-3.84 [[ 9.94479197e-01 9.17677262e-02 -5.08901900e-02 -7.51914559e+01] [-9.16412911e-02 9.95780432e-01 4.81720365e-03 6.79998871e+00] [ 5.11175192e-02 -1.26966108e-04 9.98692637e-01 -3.83864658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12534707 meters 0.012127357771303145 Centerline is valid? [True, True] Translation: X:-75.22, Y:6.80, Z:-3.84 [[ 9.94698065e-01 8.97180015e-02 -5.02637095e-02 -7.52196898e+01] [-8.95908366e-02 9.95967176e-01 4.78183679e-03 6.79945049e+00] [ 5.04900217e-02 -2.53316015e-04 9.98724533e-01 -3.83989273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15534707 meters 0.012895874151900922 Centerline is valid? [True, True] Translation: X:-75.25, Y:6.80, Z:-3.84 [[ 9.95020555e-01 8.60260382e-02 -5.03350458e-02 -7.52488952e+01] [-8.58926135e-02 9.96292781e-01 4.81185444e-03 6.79818481e+00] [ 5.05623875e-02 -4.64485438e-04 9.98720796e-01 -3.84112222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18534707 meters 0.014494742363569641 Centerline is valid? [True, True] Translation: X:-75.28, Y:6.80, Z:-3.84 [[ 9.95435434e-01 8.16458674e-02 -4.94191250e-02 -7.52781913e+01] [-8.15108404e-02 9.96661161e-01 4.74484903e-03 6.79601280e+00] [ 4.96415198e-02 -6.94996449e-04 9.98766858e-01 -3.84137121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21534707 meters 0.01434650101763259 Centerline is valid? [True, True] Translation: X:-75.31, Y:6.79, Z:-3.84 [[ 9.95556088e-01 7.91744920e-02 -5.09850441e-02 -7.53070132e+01] [-7.90264755e-02 9.96860398e-01 4.91569087e-03 6.79291119e+00] [ 5.12141687e-02 -8.64677637e-04 9.98687319e-01 -3.84407708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24534707000001 meters 0.01513713646823597 Centerline is valid? [True, True] Translation: X:-75.34, Y:6.79, Z:-3.85 [[ 9.95708989e-01 7.76706689e-02 -5.03078257e-02 -7.53364640e+01] [-7.75235848e-02 9.96978618e-01 4.87132723e-03 6.79134103e+00] [ 5.05341858e-02 -9.50381316e-04 9.98721880e-01 -3.84533393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27534707000001 meters 0.01571743965589112 Centerline is valid? [True, True] Translation: X:-75.36, Y:6.79, Z:-3.84 [[ 9.95801552e-01 7.68267012e-02 -4.97687320e-02 -7.53641091e+01] [-7.66806535e-02 9.97043956e-01 4.84007453e-03 6.79236598e+00] [ 4.99934605e-02 -1.00345484e-03 9.98749041e-01 -3.84428388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30534707000001 meters 0.01434247345691493 Centerline is valid? [True, True] Translation: X:-75.39, Y:6.79, Z:-3.85 [[ 9.95890359e-01 7.59819016e-02 -4.92863480e-02 -7.53912866e+01] [-7.58373306e-02 9.97108653e-01 4.79940486e-03 6.79463031e+00] [ 4.95085120e-02 -1.04193596e-03 9.98773158e-01 -3.84708592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33534707000001 meters 0.014944613068757624 Centerline is valid? [True, True] Translation: X:-75.42, Y:6.80, Z:-3.85 [[ 9.95877783e-01 7.62266914e-02 -4.91623019e-02 -7.54187356e+01] [-7.60820790e-02 9.97089962e-01 4.80890040e-03 6.79519809e+00] [ 4.93858043e-02 -1.04870693e-03 9.98779226e-01 -3.84892619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36534707000001 meters 0.01484489041280925 Centerline is valid? [True, True] Translation: X:-75.45, Y:6.79, Z:-3.85 [[ 9.95480120e-01 7.97927418e-02 -5.15019302e-02 -7.54479548e+01] [-7.96381792e-02 9.96811046e-01 5.04956299e-03 6.79431524e+00] [ 5.17406114e-02 -9.25219625e-04 9.98660129e-01 -3.85045602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39534707000001 meters 0.014321459552236479 Centerline is valid? [True, True] Translation: X:-75.48, Y:6.80, Z:-3.85 [[ 9.95376239e-01 8.07604913e-02 -5.19988986e-02 -7.54753978e+01] [-8.06029932e-02 9.96733124e-01 5.12227233e-03 6.79838908e+00] [ 5.22427018e-02 -9.07321302e-04 9.98634005e-01 -3.85046417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42534707000002 meters 0.013854108689826825 Centerline is valid? [True, True] Translation: X:-75.50, Y:6.80, Z:-3.85 [[ 9.95047910e-01 8.43528857e-02 -5.25761152e-02 -7.55035284e+01] [-8.41962030e-02 9.96435670e-01 5.19186962e-03 6.80116532e+00] [ 5.28266657e-02 -7.39449744e-04 9.98603423e-01 -3.85279384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45534707000002 meters 0.013982189450098801 Centerline is valid? [True, True] Translation: X:-75.53, Y:6.80, Z:-3.85 [[ 9.94544141e-01 8.97216679e-02 -5.32162895e-02 -7.55319003e+01] [-8.95683608e-02 9.95966768e-01 5.26363498e-03 6.80446436e+00] [ 5.34739180e-02 -4.68421506e-04 9.98569137e-01 -3.85081805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48534707000002 meters 0.012859649561258069 Centerline is valid? [True, True] Translation: X:-75.56, Y:6.81, Z:-3.85 [[ 9.94234276e-01 9.26678986e-02 -5.39524298e-02 -7.55601305e+01] [-9.25141886e-02 9.95697020e-01 5.34495206e-03 6.80546666e+00] [ 5.42155790e-02 -3.22769282e-04 9.98529202e-01 -3.85474300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51534707 meters 0.013961326986671565 Centerline is valid? [True, True] Translation: X:-75.59, Y:6.81, Z:-3.85 [[ 9.93973151e-01 9.61878528e-02 -5.25858611e-02 -7.55875263e+01] [-9.60463308e-02 9.95363189e-01 5.21763604e-03 6.80816521e+00] [ 5.28439037e-02 -1.35511120e-04 9.98602776e-01 -3.85258070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54534707 meters 0.011923508841780974 Centerline is valid? [True, True] Translation: X:-75.61, Y:6.81, Z:-3.85 [[ 9.93637428e-01 9.90806443e-02 -5.35507950e-02 -7.56142144e+01] [-9.89377006e-02 9.95079407e-01 5.32030048e-03 6.81030112e+00] [ 5.38144321e-02 1.17428355e-05 9.98550954e-01 -3.85499969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57534707 meters 0.013578641017135643 Centerline is valid? [True, True] Translation: X:-75.64, Y:6.81, Z:-3.85 [[ 9.93368327e-01 1.01752073e-01 -5.35339307e-02 -7.56425711e+01] [-1.01612570e-01 9.94809778e-01 5.32835962e-03 6.81181146e+00] [ 5.37982493e-02 1.46696596e-04 9.98551815e-01 -3.85470927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60534707000001 meters 0.013442017085090971 Centerline is valid? [True, True] Translation: X:-75.67, Y:6.81, Z:-3.86 [[ 9.93173581e-01 1.03282570e-01 -5.42120667e-02 -7.56708396e+01] [-1.03140542e-01 9.94652033e-01 5.41866076e-03 6.81266381e+00] [ 5.44817955e-02 2.09791210e-04 9.98514742e-01 -3.85556567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63534707000001 meters 0.014447728742274974 Centerline is valid? [True, True] Translation: X:-75.70, Y:6.81, Z:-3.86 [[ 9.92864993e-01 1.05723095e-01 -5.51519126e-02 -7.56986478e+01] [-1.05578593e-01 9.94395555e-01 5.53537922e-03 6.81251169e+00] [ 5.54280341e-02 3.26977080e-04 9.98462631e-01 -3.85642888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66534707000001 meters 0.012797145460807164 Centerline is valid? [True, True] Translation: X:-75.73, Y:6.81, Z:-3.86 [[ 9.92621195e-01 1.07245399e-01 -5.65825672e-02 -7.57272461e+01] [-1.07095274e-01 9.94232494e-01 5.68766256e-03 6.81147877e+00] [ 5.68662026e-02 4.14031102e-04 9.98381722e-01 -3.85956486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69534707000001 meters 0.01285135493564776 Centerline is valid? [True, True] Translation: X:-75.75, Y:6.81, Z:-3.86 [[ 9.92362109e-01 1.09147128e-01 -5.74834699e-02 -7.57549275e+01] [-1.08993991e-01 9.94025476e-01 5.80199963e-03 6.81090152e+00] [ 5.77733051e-02 5.07668233e-04 9.98329599e-01 -3.86069385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72534707000001 meters 0.012627224494958737 Centerline is valid? [True, True] Translation: X:-75.78, Y:6.81, Z:-3.86 [[ 9.92377335e-01 1.09115611e-01 -5.72800866e-02 -7.57834212e+01] [-1.08962986e-01 9.94028942e-01 5.79045536e-03 6.80965624e+00] [ 5.75698929e-02 4.95092631e-04 9.98341356e-01 -3.86296424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75534707000001 meters 0.013390541271838422 Centerline is valid? [True, True] Translation: X:-75.81, Y:6.81, Z:-3.86 [[ 9.92254860e-01 1.10501988e-01 -5.67415479e-02 -7.58110606e+01] [-1.10353102e-01 9.93875753e-01 5.76023873e-03 6.80840399e+00] [ 5.70305664e-02 5.45980921e-04 9.98372283e-01 -3.86409776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78534707000001 meters 0.012957960864419757 Centerline is valid? [True, True] Translation: X:-75.84, Y:6.81, Z:-3.87 [[ 9.92238521e-01 1.10682422e-01 -5.66755533e-02 -7.58397792e+01] [-1.10533149e-01 9.93855680e-01 5.77153234e-03 6.80519657e+00] [ 5.69661278e-02 5.37790693e-04 9.98375967e-01 -3.86821773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81534707000002 meters 0.013491358283434002 Centerline is valid? [True, True] Translation: X:-75.87, Y:6.80, Z:-3.87 [[ 9.92059959e-01 1.11518660e-01 -5.81431450e-02 -7.58683617e+01] [-1.11361427e-01 9.93762174e-01 5.94761770e-03 6.80434227e+00] [ 5.84437286e-02 5.74510256e-04 9.98290539e-01 -3.87042500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84534707000002 meters 0.01424998455067158 Centerline is valid? [True, True] Translation: X:-75.90, Y:6.80, Z:-3.87 [[ 9.92017541e-01 1.12268589e-01 -5.74191777e-02 -7.58955967e+01] [-1.12115117e-01 9.93677724e-01 5.89757994e-03 6.80220897e+00] [ 5.77182708e-02 5.87055046e-04 9.98332738e-01 -3.86852015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87534707 meters 0.014091827019646393 Centerline is valid? [True, True] Translation: X:-75.92, Y:6.80, Z:-3.87 [[ 9.91884656e-01 1.13520801e-01 -5.72525751e-02 -7.59238121e+01] [-1.13369588e-01 9.93535410e-01 5.89283755e-03 6.80130807e+00] [ 5.75514203e-02 6.45685718e-04 9.98342335e-01 -3.87048791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90534707 meters 0.013172514782222443 Centerline is valid? [True, True] Translation: X:-75.95, Y:6.80, Z:-3.87 [[ 9.91554151e-01 1.15860954e-01 -5.82803953e-02 -7.59525956e+01] [-1.15706730e-01 9.93265145e-01 6.02533045e-03 6.80132428e+00] [ 5.85859858e-02 7.68992539e-04 9.98282070e-01 -3.87306496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93534707 meters 0.013397898827846444 Centerline is valid? [True, True] Translation: X:-75.98, Y:6.80, Z:-3.88 [[ 9.91344914e-01 1.17425007e-01 -5.87079922e-02 -7.59805249e+01] [-1.17269934e-01 9.93081393e-01 6.09178604e-03 6.79938800e+00] [ 5.90171427e-02 8.45621282e-04 9.98256611e-01 -3.87596024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96534707 meters 0.014567199849946038 Centerline is valid? [True, True] Translation: X:-76.01, Y:6.80, Z:-3.88 [[ 9.90831183e-01 1.21116017e-01 -5.98705083e-02 -7.60095973e+01] [-1.20960824e-01 9.92637775e-01 6.22305937e-03 6.80217837e+00] [ 6.01834403e-02 1.07598473e-03 9.98186754e-01 -3.87691301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99534707000001 meters 0.014964032133620686 Centerline is valid? [True, True] Translation: X:-76.04, Y:6.80, Z:-3.88 [[ 9.90418659e-01 1.24286894e-01 -6.01967456e-02 -7.60375509e+01] [-1.24134456e-01 9.92245534e-01 6.27996257e-03 6.80085571e+00] [ 6.05104690e-02 1.25269819e-03 9.98166777e-01 -3.87519246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02534707000001 meters 0.01601887016592181 Centerline is valid? [True, True] Translation: X:-76.07, Y:6.80, Z:-3.88 [[ 9.90194498e-01 1.26122028e-01 -6.00673767e-02 -7.60654364e+01] [-1.25973077e-01 9.92013812e-01 6.27538663e-03 6.80141867e+00] [ 6.03791318e-02 1.35301893e-03 9.98174599e-01 -3.87698235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05534707000001 meters 0.017744420761067546 Centerline is valid? [True, True] Translation: X:-76.09, Y:6.80, Z:-3.88 [[ 9.89435179e-01 1.31399258e-01 -6.12556995e-02 -7.60941246e+01] [-1.31253879e-01 9.91328073e-01 6.40867070e-03 6.80164834e+00] [ 6.15665891e-02 1.69908394e-03 9.98101532e-01 -3.87847151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08534707000001 meters 0.017662491830137756 Centerline is valid? [True, True] Translation: X:-76.12, Y:6.80, Z:-3.88 [[ 9.89157714e-01 1.33417040e-01 -6.13751626e-02 -7.61231433e+01] [-1.33274355e-01 9.91058317e-01 6.43110924e-03 6.80191651e+00] [ 6.16843848e-02 1.81835391e-03 9.98094049e-01 -3.87953964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11534707000001 meters 0.01963592970543731 Centerline is valid? [True, True] Translation: X:-76.15, Y:6.80, Z:-3.88 [[ 9.88499516e-01 1.38015813e-01 -6.18089159e-02 -7.61522092e+01] [-1.37878608e-01 9.90427806e-01 6.50004904e-03 6.80316423e+00] [ 6.21143785e-02 2.09683197e-03 9.98066835e-01 -3.88048445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14534707000001 meters 0.019894051817705337 Centerline is valid? [True, True] Translation: X:-76.18, Y:6.80, Z:-3.88 [[ 9.88092640e-01 1.40834740e-01 -6.19557106e-02 -7.61807494e+01] [-1.40701772e-01 9.90030518e-01 6.52570483e-03 6.80338557e+00] [ 6.22570902e-02 2.26927736e-03 9.98057566e-01 -3.88265078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17534707000002 meters 0.019894051817705337 Centerline is valid? [True, True] Translation: X:-76.21, Y:6.81, Z:-3.88 [[ 9.88024850e-01 1.41310772e-01 -6.19528980e-02 -7.62081483e+01] [-1.41177073e-01 9.89962677e-01 6.55230584e-03 6.80606219e+00] [ 6.22569681e-02 2.27248779e-03 9.98057566e-01 -3.88412031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20534707000002 meters 0.02151156944206082 Centerline is valid? [True, True] Translation: X:-76.24, Y:6.81, Z:-3.88 [[ 9.87845707e-01 1.43076070e-01 -6.07461692e-02 -7.62367514e+01] [-1.42949110e-01 9.89709002e-01 6.45324681e-03 6.80637657e+00] [ 6.10443357e-02 2.30879864e-03 9.98132385e-01 -3.88495218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23534707000002 meters 0.02099974596376776 Centerline is valid? [True, True] Translation: X:-76.27, Y:6.81, Z:-3.89 [[ 9.87526859e-01 1.45028708e-01 -6.12974507e-02 -7.62659934e+01] [-1.44901570e-01 9.89424474e-01 6.53796276e-03 6.80620563e+00] [ 6.15973902e-02 2.42568303e-03 9.98098130e-01 -3.88785565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26534707 meters 0.021164998182839373 Centerline is valid? [True, True] Translation: X:-76.29, Y:6.81, Z:-3.89 [[ 9.87416991e-01 1.45795881e-01 -6.12474208e-02 -7.62940996e+01] [-1.45668807e-01 9.89311670e-01 6.55882918e-03 6.80506806e+00] [ 6.15490384e-02 2.44553937e-03 9.98101065e-01 -3.88991896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29534707 meters 0.020633667381275648 Centerline is valid? [True, True] Translation: X:-76.32, Y:6.80, Z:-3.89 [[ 9.87325518e-01 1.46869548e-01 -6.01469628e-02 -7.63223890e+01] [-1.46747278e-01 9.89152863e-01 6.46917858e-03 6.80022093e+00] [ 6.04446658e-02 2.43921800e-03 9.98168569e-01 -3.89168970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32534707 meters 0.027274943944527813 Centerline is valid? [True, True] Translation: X:-76.35, Y:6.81, Z:-3.89 [[ 9.88141575e-01 1.43811422e-01 -5.38005833e-02 -7.63511859e+01] [-1.43707911e-01 9.89603105e-01 5.80790240e-03 6.81306122e+00] [ 5.40764670e-02 1.99253962e-03 9.98534809e-01 -3.89165561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35534707000001 meters 0.021076136435646313 Centerline is valid? [True, True] Translation: X:-76.38, Y:6.80, Z:-3.89 [[ 9.87406007e-01 1.47440360e-01 -5.73647746e-02 -7.63804065e+01] [-1.47328562e-01 9.89068197e-01 6.19653718e-03 6.79787376e+00] [ 5.76512938e-02 2.33297174e-03 9.98334055e-01 -3.89396856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38534707000001 meters 0.02169464741091971 Centerline is valid? [True, True] Translation: X:-76.41, Y:6.80, Z:-3.89 [[ 9.87369878e-01 1.47997336e-01 -5.65465545e-02 -7.64090161e+01] [-1.47889177e-01 9.88985029e-01 6.11586799e-03 6.79876552e+00] [ 5.68288280e-02 2.32399958e-03 9.98381231e-01 -3.89262315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41534707000001 meters 0.02187718093045427 Centerline is valid? [True, True] Translation: X:-76.44, Y:6.80, Z:-3.89 [[ 9.87236326e-01 1.49118033e-01 -5.59307571e-02 -7.64386647e+01] [-1.49012539e-01 9.88816643e-01 6.07539960e-03 6.79735604e+00] [ 5.62112151e-02 2.33652893e-03 9.98416166e-01 -3.89312266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44534707000001 meters 0.022629244232964123 Centerline is valid? [True, True] Translation: X:-76.47, Y:6.80, Z:-3.89 [[ 9.87624897e-01 1.47119126e-01 -5.43417580e-02 -7.64665275e+01] [-1.47015420e-01 9.89116467e-01 5.92290806e-03 6.79791992e+00] [ 5.46217008e-02 2.13946489e-03 9.98504828e-01 -3.89276479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47534707000001 meters 0.024495036071237507 Centerline is valid? [True, True] Translation: X:-76.50, Y:6.80, Z:-3.89 [[ 9.88338451e-01 1.44559967e-01 -4.78489566e-02 -7.64956540e+01] [-1.44476132e-01 9.89494494e-01 5.22424595e-03 6.80112222e+00] [ 4.81014960e-02 1.74970903e-03 9.98840921e-01 -3.89026212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50534707000001 meters 0.02290207370324228 Centerline is valid? [True, True] Translation: X:-76.53, Y:6.79, Z:-3.89 [[ 9.87624253e-01 1.48173329e-01 -5.14101112e-02 -7.65250720e+01] [-1.48080789e-01 9.88959268e-01 5.62550322e-03 6.79370183e+00] [ 5.16760554e-02 2.05696643e-03 9.98661782e-01 -3.89082793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53534707000001 meters 0.022939639029436815 Centerline is valid? [True, True] Translation: X:-76.55, Y:6.79, Z:-3.89 [[ 9.88323332e-01 1.44467061e-01 -4.84382088e-02 -7.65545635e+01] [-1.44379526e-01 9.89508087e-01 5.31959381e-03 6.79197053e+00] [ 4.86985054e-02 1.73600693e-03 9.98812015e-01 -3.89197432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56534707000002 meters 0.021715478326718766 Centerline is valid? [True, True] Translation: X:-76.58, Y:6.79, Z:-3.89 [[ 9.88472735e-01 1.43633116e-01 -4.78662774e-02 -7.65833725e+01] [-1.43546479e-01 9.89629595e-01 5.26053069e-03 6.78848549e+00] [ 4.81254712e-02 1.67114442e-03 9.98839900e-01 -3.89226132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59534707000002 meters 0.02251598389939046 Centerline is valid? [True, True] Translation: X:-76.61, Y:6.79, Z:-3.89 [[ 9.88572481e-01 1.43540941e-01 -4.60483287e-02 -7.66119152e+01] [-1.43460468e-01 9.89643088e-01 5.06487941e-03 6.78870562e+00] [ 4.62984278e-02 1.59911438e-03 9.98926373e-01 -3.88977640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62534707 meters 0.02257660245892655 Centerline is valid? [True, True] Translation: X:-76.64, Y:6.78, Z:-3.89 [[ 9.89102092e-01 1.40661955e-01 -4.34886801e-02 -7.66416693e+01] [-1.40586515e-01 9.90056745e-01 4.80356386e-03 6.78364199e+00] [ 4.37319397e-02 1.36270691e-03 9.99042372e-01 -3.88883990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65534707 meters 0.022152235425000548 Centerline is valid? [True, True] Translation: X:-76.67, Y:6.78, Z:-3.89 [[ 9.89407707e-01 1.38770248e-01 -4.26052438e-02 -7.66702120e+01] [-1.38695364e-01 9.90323831e-01 4.72291739e-03 6.78072060e+00] [ 4.28483886e-02 1.23625894e-03 9.99080821e-01 -3.88771299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68534707 meters 0.023192043567507755 Centerline is valid? [True, True] Translation: X:-76.70, Y:6.78, Z:-3.89 [[ 9.89658888e-01 1.37510094e-01 -4.08198417e-02 -7.66991779e+01] [-1.37440190e-01 9.90499721e-01 4.52730518e-03 6.78069302e+00] [ 4.10545919e-02 1.12979899e-03 9.99156266e-01 -3.88678173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71534707 meters 0.022744539544862552 Centerline is valid? [True, True] Translation: X:-76.73, Y:6.78, Z:-3.89 [[ 9.89901670e-01 1.36205881e-01 -3.92764671e-02 -7.67280039e+01] [-1.36139413e-01 9.90680031e-01 4.37447862e-03 6.77726454e+00] [ 3.95062414e-02 1.01677148e-03 9.99218806e-01 -3.88726588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74534707000001 meters 0.023246287392840063 Centerline is valid? [True, True] Translation: X:-76.76, Y:6.78, Z:-3.88 [[ 9.89992945e-01 1.35875693e-01 -3.81020329e-02 -7.67562340e+01] [-1.35812882e-01 9.90725416e-01 4.24405714e-03 6.77692177e+00] [ 3.83253166e-02 9.73160270e-04 9.99264841e-01 -3.88453951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77534707000001 meters 0.024532504294703526 Centerline is valid? [True, True] Translation: X:-76.79, Y:6.77, Z:-3.88 [[ 9.90307942e-01 1.34549288e-01 -3.44480654e-02 -7.67864158e+01] [-1.34496607e-01 9.90906565e-01 3.85260106e-03 6.77313710e+00] [ 3.46531789e-02 8.17886493e-04 9.99399064e-01 -3.88172712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80534707000001 meters 0.0233817078644923 Centerline is valid? [True, True] Translation: X:-76.81, Y:6.77, Z:-3.88 [[ 9.90592474e-01 1.32587491e-01 -3.38689788e-02 -7.68141928e+01] [-1.32534883e-01 9.91171043e-01 3.80361015e-03 6.77222251e+00] [ 3.40742622e-02 7.20993546e-04 9.99419044e-01 -3.88459982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83534707000001 meters 0.02328176935009575 Centerline is valid? [True, True] Translation: X:-76.84, Y:6.77, Z:-3.88 [[ 9.90783362e-01 1.31803874e-01 -3.12420922e-02 -7.68440351e+01] [-1.31758777e-01 9.91275606e-01 3.50685804e-03 6.76825643e+00] [ 3.14317413e-02 6.41883259e-04 9.99505695e-01 -3.88200083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86534707000001 meters 0.025085144635940658 Centerline is valid? [True, True] Translation: X:-76.87, Y:6.77, Z:-3.88 [[ 9.90316121e-01 1.35438894e-01 -3.05006151e-02 -7.68737477e+01] [-1.35397268e-01 9.90785434e-01 3.43553477e-03 6.76889489e+00] [ 3.06848702e-02 7.27434483e-04 9.99528844e-01 -3.87997528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89534707000001 meters 0.024160194930312354 Centerline is valid? [True, True] Translation: X:-76.90, Y:6.77, Z:-3.88 [[ 9.90851527e-01 1.31858917e-01 -2.87485296e-02 -7.69030865e+01] [-1.31820172e-01 9.91268328e-01 3.24708624e-03 6.76524627e+00] [ 2.89256641e-02 5.72255762e-04 9.99581402e-01 -3.87861399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92534707000002 meters 0.02365626337607041 Centerline is valid? [True, True] Translation: X:-76.93, Y:6.76, Z:-3.88 [[ 9.91247843e-01 1.29206380e-01 -2.70818370e-02 -7.69317835e+01] [-1.29170598e-01 9.91617622e-01 3.07389432e-03 6.76227724e+00] [ 2.72519935e-02 4.51185969e-04 9.99628494e-01 -3.87811173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95534707000002 meters 0.024523315858867762 Centerline is valid? [True, True] Translation: X:-76.96, Y:6.76, Z:-3.88 [[ 9.90869413e-01 1.32078507e-01 -2.70753460e-02 -7.69618665e+01] [-1.32043869e-01 9.91239116e-01 3.07114504e-03 6.75836867e+00] [ 2.72437743e-02 5.32029752e-04 9.99628678e-01 -3.87531016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98534707000002 meters 0.025071345330845846 Centerline is valid? [True, True] Translation: X:-76.99, Y:6.76, Z:-3.88 [[ 9.90621034e-01 1.33804686e-01 -2.76816464e-02 -7.69902737e+01] [-1.33768698e-01 9.91007555e-01 3.15619813e-03 6.75613353e+00] [ 2.78550348e-02 5.76341545e-04 9.99611807e-01 -3.87636118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01534707 meters 0.025098912723297576 Centerline is valid? [True, True] Translation: X:-77.02, Y:6.75, Z:-3.87 [[ 9.90350353e-01 1.35713879e-01 -2.80699196e-02 -7.70189087e+01] [-1.35677532e-01 9.90747869e-01 3.20433997e-03 6.75376937e+00] [ 2.82450865e-02 6.35038188e-04 9.99600826e-01 -3.87454484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04534707 meters 0.025761429010079002 Centerline is valid? [True, True] Translation: X:-77.05, Y:6.75, Z:-3.87 [[ 9.89023539e-01 1.44363062e-01 -3.14919843e-02 -7.70479758e+01] [-1.44321500e-01 9.89524299e-01 3.60083066e-03 6.75314227e+00] [ 3.16819107e-02 9.83664124e-04 9.99497518e-01 -3.87298078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07534707 meters 0.02517924611915776 Centerline is valid? [True, True] Translation: X:-77.08, Y:6.75, Z:-3.87 [[ 9.88366637e-01 1.48407663e-01 -3.32649329e-02 -7.70762687e+01] [-1.48363452e-01 9.88925574e-01 3.80720605e-03 6.75101459e+00] [ 3.34615614e-02 1.17238484e-03 9.99439318e-01 -3.87447419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10534707000001 meters 0.02318121155004432 Centerline is valid? [True, True] Translation: X:-77.10, Y:6.75, Z:-3.87 [[ 9.88383878e-01 1.48453741e-01 -3.25391633e-02 -7.71046241e+01] [-1.48411528e-01 9.88918684e-01 3.72218669e-03 6.75067102e+00] [ 3.27311591e-02 1.15023762e-03 9.99463530e-01 -3.87205619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13534707000001 meters 0.02212984956042489 Centerline is valid? [True, True] Translation: X:-77.13, Y:6.75, Z:-3.87 [[ 9.88108070e-01 1.50197594e-01 -3.29108710e-02 -7.71336219e+01] [-1.50154854e-01 9.88655262e-01 3.78047032e-03 6.75142136e+00] [ 3.31053234e-02 1.20621382e-03 9.99451141e-01 -3.86992653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16534707000001 meters 0.022843353542334507 Centerline is valid? [True, True] Translation: X:-77.16, Y:6.75, Z:-3.87 [[ 9.86392931e-01 1.60117010e-01 -3.73032010e-02 -7.71635664e+01] [-1.60068312e-01 9.87096540e-01 4.30780765e-03 6.75181603e+00] [ 3.75116139e-02 1.72186940e-03 9.99294708e-01 -3.87154131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19534707000001 meters 0.022880718944271943 Centerline is valid? [True, True] Translation: X:-77.19, Y:6.75, Z:-3.87 [[ 9.86054488e-01 1.62062632e-01 -3.78450798e-02 -7.71923232e+01] [-1.62014151e-01 9.86778781e-01 4.36479772e-03 6.75449745e+00] [ 3.80520923e-02 1.82751008e-03 9.99274086e-01 -3.86883101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22534707000001 meters 0.02317833612814133 Centerline is valid? [True, True] Translation: X:-77.22, Y:6.76, Z:-3.87 [[ 9.85764313e-01 1.63772145e-01 -3.80447677e-02 -7.72208363e+01] [-1.63723882e-01 9.86496383e-01 4.40188485e-03 6.75706625e+00] [ 3.82519318e-02 1.88961604e-03 9.99266340e-01 -3.86893434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25534707000001 meters 0.02072306571692516 Centerline is valid? [True, True] Translation: X:-77.25, Y:6.75, Z:-3.87 [[ 9.85894569e-01 1.63033575e-01 -3.78411425e-02 -7.72500056e+01] [-1.62984643e-01 9.86618816e-01 4.39516768e-03 6.74989531e+00] [ 3.80513431e-02 1.83435316e-03 9.99274102e-01 -3.86528451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28534707000001 meters 0.022361036862158117 Centerline is valid? [True, True] Translation: X:-77.28, Y:6.75, Z:-3.86 [[ 9.85259010e-01 1.66426410e-01 -3.95845153e-02 -7.72793767e+01] [-1.66375484e-01 9.86051740e-01 4.60043793e-03 6.75363736e+00] [ 3.97980145e-02 2.05326997e-03 9.99205636e-01 -3.86391930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31534707000002 meters 0.021019233848754898 Centerline is valid? [True, True] Translation: X:-77.31, Y:6.75, Z:-3.86 [[ 9.85840530e-01 1.63274994e-01 -3.82063517e-02 -7.73089703e+01] [-1.63224524e-01 9.86578879e-01 4.45762511e-03 6.75119619e+00] [ 3.84213984e-02 1.84170608e-03 9.99259928e-01 -3.85946290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34534707000002 meters 0.02203764053581505 Centerline is valid? [True, True] Translation: X:-77.34, Y:6.75, Z:-3.86 [[ 9.85355553e-01 1.65777623e-01 -3.99025655e-02 -7.73384410e+01] [-1.65724537e-01 9.86161085e-01 4.65755120e-03 6.75393162e+00] [ 4.01224750e-02 2.02349024e-03 9.99192720e-01 -3.85716101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37534707 meters 0.023243993169145945 Centerline is valid? [True, True] Translation: X:-77.37, Y:6.75, Z:-3.86 [[ 9.84871402e-01 1.67953722e-01 -4.26599292e-02 -7.73673975e+01] [-1.67894776e-01 9.85792310e-01 4.98652788e-03 6.75391005e+00] [ 4.28913360e-02 2.25129054e-03 9.99077207e-01 -3.85714687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40534707 meters 0.019583433484023093 Centerline is valid? [True, True] Translation: X:-77.40, Y:6.75, Z:-3.85 [[ 9.85973093e-01 1.62122773e-01 -3.96644219e-02 -7.73976121e+01] [-1.62066453e-01 9.86768877e-01 4.65264711e-03 6.74823826e+00] [ 3.98939171e-02 1.84088733e-03 9.99202225e-01 -3.85292318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43534707 meters 0.01998849810928391 Centerline is valid? [True, True] Translation: X:-77.43, Y:6.75, Z:-3.85 [[ 9.85935384e-01 1.62160768e-01 -4.04388898e-02 -7.74270258e+01] [-1.62102295e-01 9.86762562e-01 4.74262104e-03 6.74864389e+00] [ 4.06726496e-02 1.87931894e-03 9.99170758e-01 -3.85210227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46534707 meters 0.024883480956757832 Centerline is valid? [True, True] Translation: X:-77.45, Y:6.76, Z:-3.85 [[ 9.85241357e-01 1.65436133e-01 -4.39357913e-02 -7.74549786e+01] [-1.65369525e-01 9.86218117e-01 5.17157270e-03 6.75879046e+00] [ 4.41858384e-02 2.17039362e-03 9.99020971e-01 -3.85406978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49534707000001 meters 0.020965175982488957 Centerline is valid? [True, True] Translation: X:-77.48, Y:6.75, Z:-3.86 [[ 9.85424214e-01 1.64203973e-01 -4.44541664e-02 -7.74846627e+01] [-1.64133754e-01 9.86424122e-01 5.24999861e-03 6.74669292e+00] [ 4.47127327e-02 2.12295345e-03 9.98997630e-01 -3.85580314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52534707000001 meters 0.018043705519890874 Centerline is valid? [True, True] Translation: X:-77.51, Y:6.74, Z:-3.85 [[ 9.86962819e-01 1.54967805e-01 -4.34669230e-02 -7.75148657e+01] [-1.54890948e-01 9.87918145e-01 5.15104701e-03 6.74070106e+00] [ 4.37400084e-02 1.64874103e-03 9.99041587e-01 -3.85491024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55534707000001 meters 0.01761692365346162 Centerline is valid? [True, True] Translation: X:-77.54, Y:6.74, Z:-3.86 [[ 9.87159920e-01 1.53020039e-01 -4.58275103e-02 -7.75444686e+01] [-1.52932510e-01 9.88221713e-01 5.43081359e-03 6.73826125e+00] [ 4.61187640e-02 1.64743465e-03 9.98934605e-01 -3.85686422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58534707000001 meters 0.0162741207423364 Centerline is valid? [True, True] Translation: X:-77.57, Y:6.73, Z:-3.86 [[ 9.88024927e-01 1.47514575e-01 -4.52348693e-02 -7.75740675e+01] [-1.47422714e-01 9.89058954e-01 5.37847728e-03 6.73445833e+00] [ 4.55333563e-02 1.35457759e-03 9.98961900e-01 -3.85591640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61534707000001 meters 0.017822656786388783 Centerline is valid? [True, True] Translation: X:-77.60, Y:6.74, Z:-3.86 [[ 9.87909312e-01 1.47250520e-01 -4.85023177e-02 -7.76030297e+01] [-1.47144446e-01 9.89098185e-01 5.76990378e-03 6.73837686e+00] [ 4.88231758e-02 1.43670500e-03 9.98806404e-01 -3.85587478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64534707000001 meters 0.017465543356300572 Centerline is valid? [True, True] Translation: X:-77.63, Y:6.74, Z:-3.86 [[ 9.87998805e-01 1.45523094e-01 -5.17821522e-02 -7.76320150e+01] [-1.45398713e-01 9.89353833e-01 6.18121999e-03 6.73669719e+00] [ 5.21303811e-02 1.42202032e-03 9.98639275e-01 -3.86138446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67534707000002 meters 0.016065616313262164 Centerline is valid? [True, True] Translation: X:-77.66, Y:6.74, Z:-3.87 [[ 9.88972258e-01 1.38053632e-01 -5.36196634e-02 -7.76617692e+01] [-1.37908396e-01 9.90424200e-01 6.41705577e-03 6.73646184e+00] [ 5.39921101e-02 1.04831165e-03 9.98540812e-01 -3.86504736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70534707000002 meters 0.013387291909534717 Centerline is valid? [True, True] Translation: X:-77.69, Y:6.73, Z:-3.86 [[ 9.90220304e-01 1.30203345e-01 -5.01082669e-02 -7.76912879e+01] [-1.30066357e-01 9.91487144e-01 5.99891284e-03 6.73221763e+00] [ 5.04627810e-02 5.77154434e-04 9.98725775e-01 -3.86047492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73534707000002 meters 0.011926393362336259 Centerline is valid? [True, True] Translation: X:-77.72, Y:6.73, Z:-3.86 [[ 9.90848389e-01 1.25160277e-01 -5.05408303e-02 -7.77194134e+01] [-1.25014179e-01 9.92136484e-01 6.05409967e-03 6.72956100e+00] [ 5.09011345e-02 3.19625487e-04 9.98703646e-01 -3.85875080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76534707 meters 0.011463254886053225 Centerline is valid? [True, True] Translation: X:-77.75, Y:6.73, Z:-3.86 [[ 9.91180191e-01 1.21849801e-01 -5.21004343e-02 -7.77487155e+01] [-1.21689369e-01 9.92548541e-01 6.25235360e-03 6.72880193e+00] [ 5.24740581e-02 1.42859942e-04 9.98622277e-01 -3.85833763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79534707 meters 0.01144799073643082 Centerline is valid? [True, True] Translation: X:-77.78, Y:6.73, Z:-3.86 [[ 9.91462597e-01 1.19220651e-01 -5.28048784e-02 -7.77770584e+01] [-1.19050986e-01 9.92867784e-01 6.35819246e-03 6.72810174e+00] [ 5.31862904e-02 -1.74371817e-05 9.98584607e-01 -3.85895017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82534707 meters 0.01129715731607956 Centerline is valid? [True, True] Translation: X:-77.81, Y:6.73, Z:-3.86 [[ 9.91632237e-01 1.16651453e-01 -5.52986996e-02 -7.78056804e+01] [-1.16459889e-01 9.93172897e-01 6.68516414e-03 6.72777787e+00] [ 5.57010037e-02 -1.89143854e-04 9.98447476e-01 -3.85947724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85534707000001 meters 0.011840163067596707 Centerline is valid? [True, True] Translation: X:-77.83, Y:6.73, Z:-3.86 [[ 9.91922565e-01 1.12157561e-01 -5.92478319e-02 -7.78339382e+01] [-1.11927920e-01 9.93690309e-01 7.19100532e-03 6.72599788e+00] [ 5.96805220e-02 -5.01433835e-04 9.98217403e-01 -3.86045968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88534707000001 meters 0.012418840084875564 Centerline is valid? [True, True] Translation: X:-77.86, Y:6.72, Z:-3.86 [[ 9.92661914e-01 1.05268556e-01 -5.95050866e-02 -7.78630158e+01] [-1.05023296e-01 9.94443385e-01 7.24296962e-03 6.72449639e+00] [ 5.99368967e-02 -9.40399793e-04 9.98201725e-01 -3.86020460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91534707000001 meters 0.012862833971135454 Centerline is valid? [True, True] Translation: X:-77.89, Y:6.72, Z:-3.86 [[ 9.92603331e-01 1.04153232e-01 -6.23757347e-02 -7.78927705e+01] [-1.03880159e-01 9.94560678e-01 7.61381475e-03 6.72307530e+00] [ 6.28294564e-02 -1.07789667e-03 9.98023696e-01 -3.86145542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94534707000001 meters 0.012880914081184776 Centerline is valid? [True, True] Translation: X:-77.92, Y:6.73, Z:-3.86 [[ 9.93311113e-01 9.73604037e-02 -6.20804707e-02 -7.79207963e+01] [-9.70759925e-02 9.95248044e-01 7.58836337e-03 6.72507118e+00] [ 6.25242731e-02 -1.51108235e-03 9.98042300e-01 -3.85731801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97534707000001 meters 0.013381967043855384 Centerline is valid? [True, True] Translation: X:-77.95, Y:6.73, Z:-3.86 [[ 9.93580085e-01 9.40208063e-02 -6.29182202e-02 -7.79488993e+01] [-9.37214202e-02 9.95568689e-01 7.69942648e-03 6.72547840e+00] [ 6.33633163e-02 -1.75321186e-03 9.97988986e-01 -3.85549256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00534707000001 meters 0.015343001675852962 Centerline is valid? [True, True] Translation: X:-77.98, Y:6.72, Z:-3.86 [[ 9.93538734e-01 9.37135952e-02 -6.40198937e-02 -7.79782876e+01] [-9.34022238e-02 9.95597542e-01 7.84596512e-03 6.72230695e+00] [ 6.44733224e-02 -1.81566982e-03 9.97917779e-01 -3.85911196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03534707000001 meters 0.014212708863135913 Centerline is valid? [True, True] Translation: X:-78.01, Y:6.73, Z:-3.86 [[ 9.93527425e-01 9.28420006e-02 -6.54493524e-02 -7.80057136e+01] [-9.25130960e-02 9.95678968e-01 8.04483503e-03 6.72711301e+00] [ 6.59134422e-02 -1.93784201e-03 9.97823463e-01 -3.85581699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06534707000002 meters 0.014561231162433668 Centerline is valid? [True, True] Translation: X:-78.03, Y:6.73, Z:-3.86 [[ 9.93427354e-01 9.37682575e-02 -6.56475844e-02 -7.80341579e+01] [-9.34384505e-02 9.95592245e-01 8.08312070e-03 6.73024458e+00] [ 6.61161661e-02 -1.89598465e-03 9.97810131e-01 -3.85835681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09534707000002 meters 0.014561231162433668 Centerline is valid? [True, True] Translation: X:-78.06, Y:6.73, Z:-3.86 [[ 9.93390331e-01 9.41611035e-02 -6.56455434e-02 -7.80615958e+01] [-9.38310603e-02 9.95555186e-01 8.09966490e-03 6.73341926e+00] [ 6.61164345e-02 -1.88653786e-03 9.97810131e-01 -3.85982956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12534707 meters 0.013058949646994139 Centerline is valid? [True, True] Translation: X:-78.09, Y:6.74, Z:-3.86 [[ 9.93152991e-01 9.57510754e-02 -6.69243466e-02 -7.80891506e+01] [-9.54100372e-02 9.95403611e-01 8.28102964e-03 6.73909451e+00] [ 6.74096538e-02 -1.83907496e-03 9.97723687e-01 -3.85755698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15534707 meters 0.014064631846155154 Centerline is valid? [True, True] Translation: X:-78.12, Y:6.74, Z:-3.86 [[ 9.92906387e-01 9.82997340e-02 -6.68884879e-02 -7.81185999e+01] [-9.79639668e-02 9.95155438e-01 8.28941737e-03 6.73873405e+00] [ 6.73792900e-02 -1.67795384e-03 9.97726022e-01 -3.86075230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18534707 meters 0.012478819011465216 Centerline is valid? [True, True] Translation: X:-78.15, Y:6.75, Z:-3.86 [[ 9.92383675e-01 1.03310690e-01 -6.70935364e-02 -7.81452352e+01] [-1.02982713e-01 9.94648198e-01 8.33804571e-03 6.74573693e+00] [ 6.75958744e-02 -1.36506607e-03 9.97711849e-01 -3.86116047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21534707 meters 0.012404156455942904 Centerline is valid? [True, True] Translation: X:-78.17, Y:6.75, Z:-3.86 [[ 9.92059687e-01 1.06053313e-01 -6.76037826e-02 -7.81734125e+01] [-1.05726084e-01 9.94359726e-01 8.41013687e-03 6.74844018e+00] [ 6.81144016e-02 -1.19587456e-03 9.97676800e-01 -3.86303350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24534707000001 meters 0.014066270077144833 Centerline is valid? [True, True] Translation: X:-78.20, Y:6.75, Z:-3.86 [[ 9.91782228e-01 1.08667276e-01 -6.75235838e-02 -7.82011450e+01] [-1.08346284e-01 9.94077650e-01 8.40878708e-03 6.75300516e+00] [ 6.80374456e-02 -1.02375617e-03 9.97682243e-01 -3.85905294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27534707000001 meters 0.01167225581152503 Centerline is valid? [True, True] Translation: X:-78.23, Y:6.76, Z:-3.87 [[ 9.91508011e-01 1.10788821e-01 -6.81006743e-02 -7.82300687e+01] [-1.10466478e-01 9.93843565e-01 8.49270999e-03 6.75549692e+00] [ 6.86223143e-02 -8.97748358e-04 9.97642307e-01 -3.86517139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30534707000001 meters 0.010793660910600444 Centerline is valid? [True, True] Translation: X:-78.26, Y:6.76, Z:-3.86 [[ 9.91270261e-01 1.12609469e-01 -6.85738839e-02 -7.82580481e+01] [-1.12285525e-01 9.93639004e-01 8.57264712e-03 6.75739360e+00] [ 6.91030470e-02 -7.97955602e-04 9.97609208e-01 -3.86404333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33534707000001 meters 0.011530001449735193 Centerline is valid? [True, True] Translation: X:-78.29, Y:6.76, Z:-3.87 [[ 9.91147919e-01 1.13496504e-01 -6.88792102e-02 -7.82856647e+01] [-1.13170843e-01 9.93538110e-01 8.62461982e-03 6.75796074e+00] [ 6.94129845e-02 -7.53155712e-04 9.97587726e-01 -3.86785114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36534707000001 meters 0.011923406819838764 Centerline is valid? [True, True] Translation: X:-78.31, Y:6.76, Z:-3.86 [[ 9.91244508e-01 1.13042692e-01 -6.82325141e-02 -7.83127558e+01] [-1.12720880e-01 9.93589814e-01 8.56063989e-03 6.76165020e+00] [ 6.87628488e-02 -7.94458211e-04 9.97632718e-01 -3.86397866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39534707000001 meters 0.013894134074111825 Centerline is valid? [True, True] Translation: X:-78.34, Y:6.76, Z:-3.87 [[ 9.90985051e-01 1.14894716e-01 -6.89045209e-02 -7.83406487e+01] [-1.14569546e-01 9.93377433e-01 8.66577197e-03 6.76061119e+00] [ 6.94438474e-02 -6.93290823e-04 9.97585621e-01 -3.87017430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42534707000002 meters 0.013094631327069993 Centerline is valid? [True, True] Translation: X:-78.37, Y:6.76, Z:-3.86 [[ 9.91130743e-01 1.13585300e-01 -6.89799309e-02 -7.83684525e+01] [-1.13254615e-01 9.93527918e-01 8.69869717e-03 6.76442703e+00] [ 6.95215313e-02 -8.09250649e-04 9.97580123e-01 -3.86433626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45534707000002 meters 0.011167798090422726 Centerline is valid? [True, True] Translation: X:-78.40, Y:6.76, Z:-3.87 [[ 9.91102351e-01 1.13798195e-01 -6.90369537e-02 -7.83963802e+01] [-1.13466495e-01 9.93503556e-01 8.71998865e-03 6.76394872e+00] [ 6.95807780e-02 -8.09020112e-04 9.97575993e-01 -3.87184249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48534707000002 meters 0.015153026706498696 Centerline is valid? [True, True] Translation: X:-78.43, Y:6.76, Z:-3.87 [[ 9.91243726e-01 1.12617730e-01 -6.89428978e-02 -7.84253523e+01] [-1.12282166e-01 9.93637964e-01 8.73562833e-03 6.76344746e+00] [ 6.94880672e-02 -9.18078862e-04 9.97582360e-01 -3.86999708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51534707 meters 0.011333284913953603 Centerline is valid? [True, True] Translation: X:-78.45, Y:6.76, Z:-3.87 [[ 9.91242477e-01 1.11963706e-01 -7.00177156e-02 -7.84535127e+01] [-1.11614519e-01 9.93711794e-01 8.89208075e-03 6.76492825e+00] [ 7.05730201e-02 -9.99214508e-04 9.97506115e-01 -3.87182378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54534707 meters 0.013282322784518378 Centerline is valid? [True, True] Translation: X:-78.48, Y:6.76, Z:-3.87 [[ 9.91196376e-01 1.12492477e-01 -6.98225309e-02 -7.84821839e+01] [-1.12145643e-01 9.93652101e-01 8.88010419e-03 6.76497231e+00] [ 7.03782495e-02 -9.71634455e-04 9.97519904e-01 -3.87378314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57534707 meters 0.011935375637056734 Centerline is valid? [True, True] Translation: X:-78.51, Y:6.77, Z:-3.88 [[ 9.91339932e-01 1.11034448e-01 -7.01176959e-02 -7.85115764e+01] [-1.10679268e-01 9.93815944e-01 8.94249591e-03 6.76569320e+00] [ 7.06770092e-02 -1.10447804e-03 9.97498642e-01 -3.87731631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60534707000001 meters 0.010741714081882322 Centerline is valid? [True, True] Translation: X:-78.54, Y:6.77, Z:-3.87 [[ 9.91279061e-01 1.11163882e-01 -7.07701501e-02 -7.85392995e+01] [-1.10801078e-01 9.93801453e-01 9.04392172e-03 6.77025142e+00] [ 7.13368354e-02 -1.12364134e-03 9.97451650e-01 -3.87228091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63534707000001 meters 0.014236906701483622 Centerline is valid? [True, True] Translation: X:-78.57, Y:6.77, Z:-3.88 [[ 9.91082444e-01 1.12991202e-01 -7.06298578e-02 -7.85683155e+01] [-1.12633510e-01 9.93595482e-01 9.03942475e-03 6.76771452e+00] [ 7.11988830e-02 -1.00352637e-03 9.97461634e-01 -3.88016457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66534707000001 meters 0.01429393095439629 Centerline is valid? [True, True] Translation: X:-78.60, Y:6.77, Z:-3.89 [[ 9.91097801e-01 1.12695390e-01 -7.08865209e-02 -7.85968977e+01] [-1.12332562e-01 9.93629025e-01 9.09700976e-03 6.76770496e+00] [ 7.14600957e-02 -1.05316184e-03 9.97442903e-01 -3.88501767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69534707000001 meters 0.012988852102978347 Centerline is valid? [True, True] Translation: X:-78.62, Y:6.77, Z:-3.88 [[ 9.90987726e-01 1.13583663e-01 -7.10075891e-02 -7.86238377e+01] [-1.13220154e-01 9.93527917e-01 9.13643553e-03 6.77100089e+00] [ 7.15857719e-02 -1.01460527e-03 9.97433932e-01 -3.88347377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72534707000001 meters 0.011856435803962161 Centerline is valid? [True, True] Translation: X:-78.65, Y:6.77, Z:-3.89 [[ 9.90877507e-01 1.14582160e-01 -7.09414889e-02 -7.86503207e+01] [-1.14220109e-01 9.93413305e-01 9.15268204e-03 6.77392641e+00] [ 7.15229530e-02 -9.66242165e-04 9.97438486e-01 -3.88625477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75534707000001 meters 0.011578859908027662 Centerline is valid? [True, True] Translation: X:-78.68, Y:6.77, Z:-3.89 [[ 9.90943006e-01 1.13769262e-01 -7.13338179e-02 -7.86784691e+01] [-1.13399552e-01 9.93506642e-01 9.22458726e-03 6.77448893e+00] [ 7.19200964e-02 -1.05181724e-03 9.97409842e-01 -3.88573002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78534707000001 meters 0.012205232336906567 Centerline is valid? [True, True] Translation: X:-78.71, Y:6.77, Z:-3.89 [[ 9.90797461e-01 1.14826138e-01 -7.16613530e-02 -7.87061850e+01] [-1.14454841e-01 9.93385108e-01 9.27989602e-03 6.77465263e+00] [ 7.22528955e-02 -9.92508638e-04 9.97385850e-01 -3.89140103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81534707000002 meters 0.012097887649127458 Centerline is valid? [True, True] Translation: X:-78.73, Y:6.78, Z:-3.89 [[ 9.90746849e-01 1.15091993e-01 -7.19340978e-02 -7.87340634e+01] [-1.14716714e-01 9.93354332e-01 9.34058356e-03 6.77700135e+00] [ 7.25310740e-02 -1.00211041e-03 9.97365650e-01 -3.89173784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84534707000002 meters 0.013942118529458335 Centerline is valid? [True, True] Translation: X:-78.76, Y:6.78, Z:-3.89 [[ 9.90665258e-01 1.15930740e-01 -7.17106035e-02 -7.87620367e+01] [-1.15558526e-01 9.93256838e-01 9.33172486e-03 6.78061176e+00] [ 7.23088811e-02 -9.57843966e-04 9.97381827e-01 -3.88939670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87534707 meters 0.011485065429839398 Centerline is valid? [True, True] Translation: X:-78.79, Y:6.78, Z:-3.89 [[ 9.90611330e-01 1.16166450e-01 -7.20732185e-02 -7.87897024e+01] [-1.15790101e-01 9.93229297e-01 9.39233614e-03 6.78203216e+00] [ 7.26763065e-02 -9.58789357e-04 9.97355120e-01 -3.89222971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90534707 meters 0.011882822273124889 Centerline is valid? [True, True] Translation: X:-78.82, Y:6.78, Z:-3.90 [[ 9.90247171e-01 1.18585432e-01 -7.31302610e-02 -7.88177014e+01] [-1.18202500e-01 9.92943514e-01 9.55753482e-03 6.78439672e+00] [ 7.37476028e-02 -8.20142160e-04 9.97276601e-01 -3.89667434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93534707 meters 0.0101599093845029 Centerline is valid? [True, True] Translation: X:-78.85, Y:6.79, Z:-3.90 [[ 9.89310083e-01 1.25505481e-01 -7.42558613e-02 -7.88450351e+01] [-1.25128465e-01 9.92092871e-01 9.72638916e-03 6.79128999e+00] [ 7.48894258e-02 -3.30892952e-04 9.97191789e-01 -3.89566324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96534707 meters 0.01042296969426513 Centerline is valid? [True, True] Translation: X:-78.87, Y:6.80, Z:-3.90 [[ 9.88821559e-01 1.29706666e-01 -7.35398168e-02 -7.88726967e+01] [-1.29347780e-01 9.91552409e-01 9.64217623e-03 6.79682006e+00] [ 7.41692371e-02 -2.21796929e-05 9.97245669e-01 -3.90094298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99534707000001 meters 0.011592402449188813 Centerline is valid? [True, True] Translation: X:-78.90, Y:6.80, Z:-3.91 [[ 9.87869880e-01 1.36845907e-01 -7.33913993e-02 -7.89008696e+01] [-1.36507354e-01 9.90592220e-01 9.63310133e-03 6.80383823e+00] [ 7.40191996e-02 5.02215093e-04 9.97256690e-01 -3.90840294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02534707000001 meters 0.011859289832412198 Centerline is valid? [True, True] Translation: X:-78.93, Y:6.81, Z:-3.91 [[ 9.87050485e-01 1.42381774e-01 -7.38834977e-02 -7.89284493e+01] [-1.42053207e-01 9.89811396e-01 9.71010044e-03 6.80808207e+00] [ 7.45132693e-02 9.11028429e-04 9.97219606e-01 -3.90647679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05534707000001 meters 0.012068585659309508 Centerline is valid? [True, True] Translation: X:-78.96, Y:6.81, Z:-3.91 [[ 9.86746830e-01 1.44223228e-01 -7.43663497e-02 -7.89565943e+01] [-1.43894699e-01 9.89544626e-01 9.78509614e-03 6.81070302e+00] [ 7.50000599e-02 1.04551094e-03 9.97182981e-01 -3.90729061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08534707000001 meters 0.013467240721509668 Centerline is valid? [True, True] Translation: X:-78.99, Y:6.81, Z:-3.91 [[ 9.86108600e-01 1.48308387e-01 -7.47960724e-02 -7.89850386e+01] [-1.47986768e-01 9.88940240e-01 9.85488222e-03 6.81441435e+00] [ 7.54304075e-02 1.35084493e-03 9.97150154e-01 -3.91241695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11534707000001 meters 0.012368677667617048 Centerline is valid? [True, True] Translation: X:-79.01, Y:6.81, Z:-3.91 [[ 9.86023622e-01 1.48780173e-01 -7.49791751e-02 -7.90133639e+01] [-1.48456446e-01 9.88869352e-01 9.90395925e-03 6.81063615e+00] [ 7.56181211e-02 1.36560407e-03 9.97135916e-01 -3.91074110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14534707000001 meters 0.013211269586656155 Centerline is valid? [True, True] Translation: X:-79.04, Y:6.81, Z:-3.91 [[ 9.85606304e-01 1.51300893e-01 -7.54205064e-02 -7.90421491e+01] [-1.50978578e-01 9.88486554e-01 9.99011774e-03 6.81261082e+00] [ 7.60636702e-02 1.54055779e-03 9.97101773e-01 -3.91424026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17534707000002 meters 0.01386966200633655 Centerline is valid? [True, True] Translation: X:-79.07, Y:6.81, Z:-3.92 [[ 9.85692617e-01 1.50850918e-01 -7.51935237e-02 -7.90713880e+01] [-1.50527315e-01 9.88555421e-01 9.98529830e-03 6.81033191e+00] [ 7.58392569e-02 1.47624445e-03 9.97118964e-01 -3.91681891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20534707000002 meters 0.014413969176735705 Centerline is valid? [True, True] Translation: X:-79.10, Y:6.81, Z:-3.92 [[ 9.85488065e-01 1.52114405e-01 -7.53291552e-02 -7.91007638e+01] [-1.51791510e-01 9.88361673e-01 1.00270043e-02 6.80830768e+00] [ 7.59777016e-02 1.55283318e-03 9.97108308e-01 -3.92187810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23534707000002 meters 0.013092750966160093 Centerline is valid? [True, True] Translation: X:-79.13, Y:6.80, Z:-3.92 [[ 9.85492157e-01 1.52027935e-01 -7.54500867e-02 -7.91287719e+01] [-1.51702314e-01 9.88375013e-01 1.00618996e-02 6.80330727e+00] [ 7.61026702e-02 1.53002961e-03 9.97098813e-01 -3.91915672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26534707 meters 0.013300064218284257 Centerline is valid? [True, True] Translation: X:-79.16, Y:6.80, Z:-3.92 [[ 9.85535347e-01 1.52018866e-01 -7.49022293e-02 -7.91578992e+01] [-1.51696738e-01 9.88376450e-01 1.00046350e-02 6.80309221e+00] [ 7.55524927e-02 1.50250243e-03 9.97140694e-01 -3.92120245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29534707 meters 0.012839003508501623 Centerline is valid? [True, True] Translation: X:-79.19, Y:6.80, Z:-3.92 [[ 9.85446199e-01 1.52136815e-01 -7.58299360e-02 -7.91865656e+01] [-1.51804988e-01 9.88358299e-01 1.01547697e-02 6.79785054e+00] [ 7.64920609e-02 1.50438332e-03 9.97069056e-01 -3.92080655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32534707 meters 0.013744046109539842 Centerline is valid? [True, True] Translation: X:-79.22, Y:6.80, Z:-3.93 [[ 9.85175801e-01 1.53976927e-01 -7.56290136e-02 -7.92154312e+01] [-1.53650163e-01 9.88073123e-01 1.01553787e-02 6.79829878e+00] [ 7.62906896e-02 1.61557688e-03 9.97084310e-01 -3.92551732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35534707000001 meters 0.014289528049438375 Centerline is valid? [True, True] Translation: X:-79.24, Y:6.80, Z:-3.93 [[ 9.85013635e-01 1.54985362e-01 -7.56814128e-02 -7.92441595e+01] [-1.54659201e-01 9.87915355e-01 1.01874082e-02 6.79976452e+00] [ 7.63457289e-02 1.67009081e-03 9.97080007e-01 -3.93056010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38534707000001 meters 0.014139111238513262 Centerline is valid? [True, True] Translation: X:-79.27, Y:6.80, Z:-3.93 [[ 9.84973875e-01 1.55178541e-01 -7.58029372e-02 -7.92717204e+01] [-1.54850303e-01 9.87885034e-01 1.02246046e-02 6.79921037e+00] [ 7.64712265e-02 1.66713932e-03 9.97070395e-01 -3.93099672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41534707000001 meters 0.015501234183203505 Centerline is valid? [True, True] Translation: X:-79.30, Y:6.80, Z:-3.93 [[ 9.84735787e-01 1.56738804e-01 -7.56860418e-02 -7.93017421e+01] [-1.56415088e-01 9.87638501e-01 1.02230576e-02 6.79818897e+00] [ 7.63527987e-02 1.77142814e-03 9.97079291e-01 -3.92861466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44534707000001 meters 0.013067820227973394 Centerline is valid? [True, True] Translation: X:-79.33, Y:6.80, Z:-3.93 [[ 9.84934231e-01 1.55472174e-01 -7.57163401e-02 -7.93301099e+01] [-1.55143228e-01 9.87838881e-01 1.02432564e-02 6.79598563e+00] [ 7.63880860e-02 1.65794361e-03 9.97076783e-01 -3.92796663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47534707000001 meters 0.014653749129483229 Centerline is valid? [True, True] Translation: X:-79.36, Y:6.80, Z:-3.93 [[ 9.84874919e-01 1.56046398e-01 -7.53054763e-02 -7.93574369e+01] [-1.55721538e-01 9.87748301e-01 1.02028008e-02 6.79895586e+00] [ 7.59749665e-02 1.67820194e-03 9.97108313e-01 -3.93332125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50534707000001 meters 0.014413062622062048 Centerline is valid? [True, True] Translation: X:-79.39, Y:6.80, Z:-3.93 [[ 9.84982341e-01 1.55762431e-01 -7.44839077e-02 -7.93866311e+01] [-1.55441820e-01 9.87793231e-01 1.01179859e-02 6.79830103e+00] [ 7.51507019e-02 1.61187679e-03 9.97170885e-01 -3.93447806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53534707000001 meters 0.012881249149861395 Centerline is valid? [True, True] Translation: X:-79.41, Y:6.79, Z:-3.93 [[ 9.85085875e-01 1.54818506e-01 -7.50802821e-02 -7.94149300e+01] [-1.54488643e-01 9.87941737e-01 1.02168507e-02 6.79383459e+00] [ 7.57567019e-02 1.53457552e-03 9.97125151e-01 -3.93440060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56534707000002 meters 0.012967310530361537 Centerline is valid? [True, True] Translation: X:-79.44, Y:6.79, Z:-3.94 [[ 9.85019441e-01 1.55421481e-01 -7.47051868e-02 -7.94419508e+01] [-1.55095799e-01 9.87847014e-01 1.01769331e-02 6.79350569e+00] [ 7.53790098e-02 1.56198364e-03 9.97153732e-01 -3.93582967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59534707000002 meters 0.013287173371629364 Centerline is valid? [True, True] Translation: X:-79.47, Y:6.79, Z:-3.94 [[ 9.85047754e-01 1.55217983e-01 -7.47549358e-02 -7.94696893e+01] [-1.54889976e-01 9.87879059e-01 1.02009563e-02 6.79431310e+00] [ 7.54322075e-02 1.53036116e-03 9.97149758e-01 -3.93938405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62534707 meters 0.0123805401329932 Centerline is valid? [True, True] Translation: X:-79.50, Y:6.79, Z:-3.94 [[ 9.85195414e-01 1.53867296e-01 -7.55966305e-02 -7.94985376e+01] [-1.53526107e-01 9.88090501e-01 1.03390441e-02 6.79184736e+00] [ 7.62871533e-02 1.42007762e-03 9.97084878e-01 -3.93974186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65534707 meters 0.013094834980489672 Centerline is valid? [True, True] Translation: X:-79.53, Y:6.79, Z:-3.94 [[ 9.85038516e-01 1.54790791e-01 -7.57557527e-02 -7.95269505e+01] [-1.54449737e-01 9.87946163e-01 1.03758128e-02 6.79427425e+00] [ 7.64486854e-02 1.47988087e-03 9.97072419e-01 -3.94117219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68534707 meters 0.014156705504469376 Centerline is valid? [True, True] Translation: X:-79.56, Y:6.80, Z:-3.94 [[ 9.84734311e-01 1.57221826e-01 -7.46969490e-02 -7.95560000e+01] [-1.56895199e-01 9.87561987e-01 1.02576336e-02 6.79800928e+00] [ 7.53805913e-02 1.61854889e-03 9.97153522e-01 -3.94485263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71534707 meters 0.013290592454709017 Centerline is valid? [True, True] Translation: X:-79.58, Y:6.80, Z:-3.94 [[ 9.84761632e-01 1.57192908e-01 -7.43970349e-02 -7.95842229e+01] [-1.56867029e-01 9.87566643e-01 1.02402077e-02 6.79866449e+00] [ 7.50817180e-02 1.58627817e-03 9.97176123e-01 -3.94294368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74534707000001 meters 0.014068827826151467 Centerline is valid? [True, True] Translation: X:-79.61, Y:6.80, Z:-3.95 [[ 9.84452763e-01 1.59351665e-01 -7.38904893e-02 -7.96132101e+01] [-1.59034517e-01 9.87220393e-01 1.01940496e-02 6.80253496e+00] [ 7.45706366e-02 1.71557799e-03 9.97214258e-01 -3.94676600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77534707000001 meters 0.014012083840396625 Centerline is valid? [True, True] Translation: X:-79.64, Y:6.80, Z:-3.95 [[ 9.84171118e-01 1.60674776e-01 -7.47718332e-02 -7.96411092e+01] [-1.60352327e-01 9.87005730e-01 1.03353850e-02 6.80391675e+00] [ 7.54608635e-02 1.81805005e-03 9.97147107e-01 -3.94705406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80534707000001 meters 0.016337719036857462 Centerline is valid? [True, True] Translation: X:-79.67, Y:6.81, Z:-3.95 [[ 9.83557971e-01 1.64312297e-01 -7.49345537e-02 -7.96695013e+01] [-1.63997991e-01 9.86406157e-01 1.03707767e-02 6.81158695e+00] [ 7.56199513e-02 2.08885616e-03 9.97134524e-01 -3.95408991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83534707000001 meters 0.015137094238867594 Centerline is valid? [True, True] Translation: X:-79.70, Y:6.81, Z:-3.95 [[ 9.83284708e-01 1.65908211e-01 -7.50043289e-02 -7.96979842e+01] [-1.65596432e-01 9.86138759e-01 1.04004437e-02 6.80949530e+00] [ 7.56901948e-02 2.19385203e-03 9.97128969e-01 -3.95165150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86534707000001 meters 0.014381033062479011 Centerline is valid? [True, True] Translation: X:-79.73, Y:6.81, Z:-3.95 [[ 9.83650881e-01 1.64216155e-01 -7.39188699e-02 -7.97270644e+01] [-1.63907589e-01 9.86422309e-01 1.02630690e-02 6.81199554e+00] [ 7.46005841e-02 2.02058688e-03 9.97211447e-01 -3.95114975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89534707000001 meters 0.015115317468714385 Centerline is valid? [True, True] Translation: X:-79.76, Y:6.82, Z:-3.95 [[ 9.83322322e-01 1.65907126e-01 -7.45119952e-02 -7.97558065e+01] [-1.65597132e-01 9.86139040e-01 1.03625970e-02 6.81538602e+00] [ 7.51984161e-02 2.14919982e-03 9.97166275e-01 -3.95459360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92534707000002 meters 0.014872798213112208 Centerline is valid? [True, True] Translation: X:-79.78, Y:6.82, Z:-3.96 [[ 9.82920739e-01 1.67932277e-01 -7.52699861e-02 -7.97837942e+01] [-1.67620320e-01 9.85795833e-01 1.04882489e-02 6.81565010e+00] [ 7.59621542e-02 2.30766177e-03 9.97108031e-01 -3.95627137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95534707000002 meters 0.016681310001562734 Centerline is valid? [True, True] Translation: X:-79.81, Y:6.82, Z:-3.96 [[ 9.82811717e-01 1.68910026e-01 -7.45018865e-02 -7.98104703e+01] [-1.68606106e-01 9.85628686e-01 1.03958512e-02 6.82318866e+00] [ 7.51871600e-02 2.34430862e-03 9.97166684e-01 -3.96339828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98534707000002 meters 0.016681310001562734 Centerline is valid? [True, True] Translation: X:-79.84, Y:6.83, Z:-3.96 [[ 9.82753407e-01 1.69250659e-01 -7.44980281e-02 -7.98378844e+01] [-1.68945626e-01 9.85570255e-01 1.04234387e-02 6.82680271e+00] [ 7.51872144e-02 2.34244609e-03 9.97166684e-01 -3.96486639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01534707 meters 0.01690552128969573 Centerline is valid? [True, True] Translation: X:-79.87, Y:6.83, Z:-3.97 [[ 9.82649750e-01 1.69699473e-01 -7.48435528e-02 -7.98662362e+01] [-1.69390891e-01 9.85493030e-01 1.04983144e-02 6.82852731e+00] [ 7.55393580e-02 2.36165015e-03 9.97140024e-01 -3.96786951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04534707 meters 0.0167206764917139 Centerline is valid? [True, True] Translation: X:-79.90, Y:6.83, Z:-3.97 [[ 9.82658993e-01 1.69862283e-01 -7.43512430e-02 -7.98951220e+01] [-1.69556308e-01 9.85465048e-01 1.04545866e-02 6.82999260e+00] [ 7.50463912e-02 2.33342874e-03 9.97177313e-01 -3.97073137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07534707 meters 0.01719165306347882 Centerline is valid? [True, True] Translation: X:-79.92, Y:6.83, Z:-3.97 [[ 9.82940037e-01 1.68526136e-01 -7.36737761e-02 -7.99241445e+01] [-1.68220279e-01 9.85694756e-01 1.03820045e-02 6.83172360e+00] [ 7.43694939e-02 2.18853526e-03 9.97228353e-01 -3.97329875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10534707000001 meters 0.01637784396127706 Centerline is valid? [True, True] Translation: X:-79.95, Y:6.83, Z:-3.98 [[ 9.83218772e-01 1.66939347e-01 -7.35669820e-02 -7.99524098e+01] [-1.66628551e-01 9.85965042e-01 1.03856485e-02 6.83211116e+00] [ 7.42682459e-02 2.04699511e-03 9.97236199e-01 -3.97659717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13534707000001 meters 0.013735031335873404 Centerline is valid? [True, True] Translation: X:-79.98, Y:6.83, Z:-3.97 [[ 9.83962559e-01 1.62480403e-01 -7.36057159e-02 -7.99820649e+01] [-1.62156287e-01 9.86710299e-01 1.03982729e-02 6.82882741e+00] [ 7.43170335e-02 1.70411838e-03 9.97233210e-01 -3.97355671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16534707000001 meters 0.013869487812069082 Centerline is valid? [True, True] Translation: X:-80.01, Y:6.83, Z:-3.98 [[ 9.84110452e-01 1.61639635e-01 -7.34795639e-02 -8.00114183e+01] [-1.61313543e-01 9.86848508e-01 1.03904918e-02 6.83053032e+00] [ 7.41927133e-02 1.62785718e-03 9.97242594e-01 -3.97580703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19534707000001 meters 0.012764367991920367 Centerline is valid? [True, True] Translation: X:-80.04, Y:6.83, Z:-3.98 [[ 9.84935501e-01 1.56720997e-01 -7.30793228e-02 -8.00406480e+01] [-1.56383634e-01 9.87642146e-01 1.03513416e-02 6.82977641e+00] [ 7.37984918e-02 1.23300622e-03 9.97272411e-01 -3.97774153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22534707000001 meters 0.01227897872219569 Centerline is valid? [True, True] Translation: X:-80.07, Y:6.83, Z:-3.98 [[ 9.85244680e-01 1.55023726e-01 -7.25297474e-02 -8.00699345e+01] [-1.54686110e-01 9.87910148e-01 1.02833051e-02 6.82912735e+00] [ 7.32470298e-02 1.08777285e-03 9.97313235e-01 -3.98027068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25534707000001 meters 0.011174731002482017 Centerline is valid? [True, True] Translation: X:-80.10, Y:6.83, Z:-3.98 [[ 9.85974354e-01 1.50669649e-01 -7.17860034e-02 -8.00986819e+01] [-1.50325753e-01 9.88583895e-01 1.02004729e-02 6.82814289e+00] [ 7.25033886e-02 7.33880376e-04 9.97367896e-01 -3.97711544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28534707000001 meters 0.010772056780847672 Centerline is valid? [True, True] Translation: X:-80.13, Y:6.83, Z:-3.98 [[ 9.86353800e-01 1.48081139e-01 -7.19594109e-02 -8.01278619e+01] [-1.47727040e-01 9.88975077e-01 1.02478362e-02 6.82881609e+00] [ 7.26835752e-02 5.22358616e-04 9.97354914e-01 -3.98005048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31534707000002 meters 0.010612266316905017 Centerline is valid? [True, True] Translation: X:-80.16, Y:6.83, Z:-3.98 [[ 9.86646343e-01 1.45818417e-01 -7.25670893e-02 -8.01555853e+01] [-1.45450388e-01 9.89311315e-01 1.03589223e-02 6.82785709e+00] [ 7.33019642e-02 3.34318465e-04 9.97309736e-01 -3.97974971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34534707000002 meters 0.010448823008382832 Centerline is valid? [True, True] Translation: X:-80.18, Y:6.83, Z:-3.99 [[ 9.87206222e-01 1.42029101e-01 -7.24679854e-02 -8.01839206e+01] [-1.41649863e-01 9.89862482e-01 1.03721870e-02 6.82606005e+00] [ 7.32064923e-02 2.55927035e-05 9.97316805e-01 -3.98712170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37534707 meters 0.010556339660779793 Centerline is valid? [True, True] Translation: X:-80.21, Y:6.83, Z:-3.99 [[ 9.87666372e-01 1.39149904e-01 -7.17805161e-02 -8.02124641e+01] [-1.38768567e-01 9.90271307e-01 1.02967979e-02 6.82590227e+00] [ 7.25149839e-02 -2.08921647e-04 9.97367301e-01 -3.98650013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40534707 meters 0.01029029599242458 Centerline is valid? [True, True] Translation: X:-80.24, Y:6.83, Z:-3.98 [[ 9.88415947e-01 1.33849958e-01 -7.15409308e-02 -8.02405328e+01] [-1.33456406e-01 9.91001422e-01 1.02746645e-02 6.82667671e+00] [ 7.22724276e-02 -6.08046737e-04 9.97384743e-01 -3.98305790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43534707 meters 0.010361803903308464 Centerline is valid? [True, True] Translation: X:-80.27, Y:6.83, Z:-3.99 [[ 9.88483646e-01 1.32964682e-01 -7.22528542e-02 -8.02684957e+01] [-1.32559988e-01 9.91120535e-01 1.03891581e-02 6.82733903e+00] [ 7.29926786e-02 -6.91675388e-04 9.97332237e-01 -3.98644610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46534707 meters 0.011315464769861875 Centerline is valid? [True, True] Translation: X:-80.30, Y:6.83, Z:-3.99 [[ 9.89271377e-01 1.27472307e-01 -7.13649344e-02 -8.02975377e+01] [-1.27062299e-01 9.91841524e-01 1.02744009e-02 6.82640030e+00] [ 7.20924069e-02 -1.09637810e-03 9.97397355e-01 -3.98743101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49534707000001 meters 0.011330383403463744 Centerline is valid? [True, True] Translation: X:-80.33, Y:6.83, Z:-3.99 [[ 9.89636363e-01 1.24760859e-01 -7.10956882e-02 -8.03253788e+01] [-1.24345473e-01 9.92185977e-01 1.02562288e-02 6.82911960e+00] [ 7.18197208e-02 -1.30950999e-03 9.97416770e-01 -3.98628166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52534707000001 meters 0.0124519434724783 Centerline is valid? [True, True] Translation: X:-80.36, Y:6.83, Z:-3.99 [[ 9.89995763e-01 1.21971643e-01 -7.09317156e-02 -8.03550976e+01] [-1.21550128e-01 9.92532420e-01 1.02450432e-02 6.82888675e+00] [ 7.16516321e-02 -1.52079021e-03 9.97428559e-01 -3.99003591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55534707000001 meters 0.013595616074271667 Centerline is valid? [True, True] Translation: X:-80.38, Y:6.83, Z:-3.99 [[ 9.90125154e-01 1.21240485e-01 -7.03770171e-02 -8.03835945e+01] [-1.20822023e-01 9.92621898e-01 1.01885072e-02 6.82936959e+00] [ 7.10930279e-02 -1.58480374e-03 9.97468430e-01 -3.99283264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58534707000001 meters 0.012834671456401405 Centerline is valid? [True, True] Translation: X:-80.41, Y:6.83, Z:-3.99 [[ 9.90226621e-01 1.20122058e-01 -7.08655717e-02 -8.04106873e+01] [-1.19693343e-01 9.92757678e-01 1.02808927e-02 6.83421337e+00] [ 7.15873024e-02 -1.69827652e-03 9.97432892e-01 -3.99469941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61534707000001 meters 0.013682233732656769 Centerline is valid? [True, True] Translation: X:-80.44, Y:6.84, Z:-4.00 [[ 9.90659265e-01 1.16955130e-01 -7.01121874e-02 -8.04382278e+01] [-1.16526998e-01 9.93135354e-01 1.01797466e-02 6.83742157e+00] [ 7.08214657e-02 -1.91469757e-03 9.97487170e-01 -3.99626996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64534707000001 meters 0.014181355106614772 Centerline is valid? [True, True] Translation: X:-80.47, Y:6.84, Z:-4.00 [[ 9.90813163e-01 1.15847554e-01 -6.97754954e-02 -8.04668420e+01] [-1.15419965e-01 9.93265000e-01 1.01425288e-02 6.83998250e+00] [ 7.04805446e-02 -1.99586577e-03 9.97511158e-01 -3.99661525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67534707000002 meters 0.016138086974231934 Centerline is valid? [True, True] Translation: X:-80.50, Y:6.84, Z:-4.00 [[ 9.91143087e-01 1.13163956e-01 -6.94931627e-02 -8.04966525e+01] [-1.12731722e-01 9.93573894e-01 1.01230848e-02 6.83856340e+00] [ 7.01921606e-02 -2.19934164e-03 9.97531064e-01 -4.00035364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70534707000002 meters 0.016027556332906617 Centerline is valid? [True, True] Translation: X:-80.52, Y:6.84, Z:-4.00 [[ 9.91439566e-01 1.10778117e-01 -6.91071315e-02 -8.05245286e+01] [-1.10343580e-01 9.93842329e-01 1.00856497e-02 6.84333664e+00] [ 6.97988618e-02 -2.37378388e-03 9.97558261e-01 -3.99927120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73534707000002 meters 0.016907578212265472 Centerline is valid? [True, True] Translation: X:-80.55, Y:6.85, Z:-4.00 [[ 9.91834088e-01 1.07383416e-01 -6.88036635e-02 -8.05526775e+01] [-1.06943815e-01 9.94214253e-01 1.00518091e-02 6.84777335e+00] [ 6.94849805e-02 -2.61160064e-03 9.97579579e-01 -3.99867749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76534707 meters 0.018011460811595246 Centerline is valid? [True, True] Translation: X:-80.58, Y:6.85, Z:-4.00 [[ 9.92187928e-01 1.04391150e-01 -6.83052229e-02 -8.05810231e+01] [-1.03950314e-01 9.94532354e-01 9.98648639e-03 6.85296914e+00] [ 6.89742549e-02 -2.80812185e-03 9.97614488e-01 -3.99963826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79534707 meters 0.017377488094985485 Centerline is valid? [True, True] Translation: X:-80.61, Y:6.86, Z:-4.00 [[ 9.92238463e-01 1.03607840e-01 -6.87622558e-02 -8.06083610e+01] [-1.03158403e-01 9.94614018e-01 1.00647509e-02 6.86112324e+00] [ 6.94346906e-02 -2.89322848e-03 9.97582304e-01 -3.99887111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82534707 meters 0.018762542684188567 Centerline is valid? [True, True] Translation: X:-80.64, Y:6.86, Z:-4.01 [[ 9.91944095e-01 1.05962344e-01 -6.94182560e-02 -8.06375805e+01] [-1.05508960e-01 9.94366286e-01 1.01758916e-02 6.86172351e+00] [ 7.01054347e-02 -2.76966754e-03 9.97535742e-01 -4.00646319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85534707000001 meters 0.018725643963911756 Centerline is valid? [True, True] Translation: X:-80.67, Y:6.87, Z:-4.01 [[ 9.91786922e-01 1.07653007e-01 -6.90617897e-02 -8.06658484e+01] [-1.07206775e-01 9.94184972e-01 1.01463341e-02 6.86930420e+00] [ 6.97524768e-02 -2.65910972e-03 9.97560786e-01 -4.00794074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88534707000001 meters 0.01817652087201042 Centerline is valid? [True, True] Translation: X:-80.69, Y:6.88, Z:-4.01 [[ 9.91429195e-01 1.11084755e-01 -6.87628453e-02 -8.06935685e+01] [-1.10649433e-01 9.93807980e-01 1.01193886e-02 6.88233284e+00] [ 6.94611742e-02 -2.42408746e-03 9.97581710e-01 -4.00921059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91534707000001 meters 0.015209247242403417 Centerline is valid? [True, True] Translation: X:-80.72, Y:6.90, Z:-4.01 [[ 9.90822398e-01 1.15694377e-01 -6.98984039e-02 -8.07201484e+01] [-1.15255685e-01 9.93282554e-01 1.02905462e-02 6.90018401e+00] [ 7.06194235e-02 -2.13991524e-03 9.97501036e-01 -4.00845432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94534707000001 meters 0.01502021372552278 Centerline is valid? [True, True] Translation: X:-80.75, Y:6.91, Z:-4.01 [[ 9.90305605e-01 1.19681586e-01 -7.05062185e-02 -8.07473321e+01] [-1.19244771e-01 9.92810549e-01 1.03873918e-02 6.91001609e+00] [ 7.12424970e-02 -1.87919437e-03 9.97457255e-01 -4.01287624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97534707000001 meters 0.014618193773720081 Centerline is valid? [True, True] Translation: X:-80.77, Y:6.92, Z:-4.02 [[ 9.89975034e-01 1.22481987e-01 -7.03391363e-02 -8.07748830e+01] [-1.22053487e-01 9.92469306e-01 1.03741247e-02 6.91995431e+00] [ 7.10800772e-02 -1.68498759e-03 9.97469189e-01 -4.01586776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00534707000001 meters 0.013041302278773525 Centerline is valid? [True, True] Translation: X:-80.80, Y:6.93, Z:-4.01 [[ 9.90056036e-01 1.22684238e-01 -6.88304013e-02 -8.08007444e+01] [-1.22273177e-01 9.92444380e-01 1.01697199e-02 6.93437545e+00] [ 6.95580093e-02 -1.65248076e-03 9.97576540e-01 -4.01436286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03534707000001 meters 0.015265791537716561 Centerline is valid? [True, True] Translation: X:-80.83, Y:6.93, Z:-4.02 [[ 9.90122222e-01 1.22484067e-01 -6.82322493e-02 -8.08293792e+01] [-1.22078520e-01 9.92469078e-01 1.00977626e-02 6.93278857e+00] [ 6.89552126e-02 -1.66832709e-03 9.97618362e-01 -4.01658056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06534707000002 meters 0.014583784083937484 Centerline is valid? [True, True] Translation: X:-80.86, Y:6.94, Z:-4.01 [[ 9.90389694e-01 1.20788218e-01 -6.73680997e-02 -8.08564495e+01] [-1.20387159e-01 9.92676685e-01 9.99650524e-03 6.94321455e+00] [ 6.80822020e-02 -1.79018161e-03 9.97678109e-01 -4.01415030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09534707000002 meters 0.015667979968297406 Centerline is valid? [True, True] Translation: X:-80.89, Y:6.94, Z:-4.02 [[ 9.90358137e-01 1.20593412e-01 -6.81761601e-02 -8.08852529e+01] [-1.20180636e-01 9.92700264e-01 1.01390389e-02 6.94389009e+00] [ 6.89011934e-02 -1.84782533e-03 9.97621778e-01 -4.01983712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12534707 meters 0.016168887415277434 Centerline is valid? [True, True] Translation: X:-80.91, Y:6.95, Z:-4.02 [[ 9.90575886e-01 1.18455786e-01 -6.87578365e-02 -8.09123478e+01] [-1.18029232e-01 9.92957241e-01 1.02478462e-02 6.94979709e+00] [ 6.94875083e-02 -2.03583469e-03 9.97580744e-01 -4.02209684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15534707 meters 0.016270778635370343 Centerline is valid? [True, True] Translation: X:-80.94, Y:6.95, Z:-4.02 [[ 9.90466913e-01 1.18768979e-01 -6.97798245e-02 -8.09416906e+01] [-1.18328909e-01 9.92919768e-01 1.04213241e-02 6.95199387e+00] [ 7.05234972e-02 -2.06500620e-03 9.97507981e-01 -4.02400237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18534707 meters 0.015673577106332857 Centerline is valid? [True, True] Translation: X:-80.97, Y:6.96, Z:-4.02 [[ 9.90723681e-01 1.16720125e-01 -6.95916717e-02 -8.09689126e+01] [-1.16275863e-01 9.93162351e-01 1.04147913e-02 6.95860476e+00] [ 7.03314441e-02 -2.22634867e-03 9.97521193e-01 -4.02294459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21534707 meters 0.017473469227897494 Centerline is valid? [True, True] Translation: X:-81.00, Y:6.96, Z:-4.02 [[ 9.90904277e-01 1.15714714e-01 -6.86936529e-02 -8.09979034e+01] [-1.15277938e-01 9.93279851e-01 1.03021381e-02 6.95928569e+00] [ 6.94241303e-02 -2.28957000e-03 9.97584607e-01 -4.02418447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24534707000001 meters 0.016501977290249544 Centerline is valid? [True, True] Translation: X:-81.02, Y:6.97, Z:-4.02 [[ 9.91095104e-01 1.14054142e-01 -6.87178864e-02 -8.10248963e+01] [-1.13611752e-01 9.93471574e-01 1.03247883e-02 6.96634087e+00] [ 6.94468517e-02 -2.42568768e-03 9.97582704e-01 -4.02237322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27534707000001 meters 0.01665040233855213 Centerline is valid? [True, True] Translation: X:-81.05, Y:6.97, Z:-4.02 [[ 9.90851118e-01 1.16397458e-01 -6.83058821e-02 -8.10532266e+01] [-1.15965116e-01 9.93200145e-01 1.02744728e-02 6.97099415e+00] [ 6.90373345e-02 -2.25937334e-03 9.97611518e-01 -4.02107508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30534707000001 meters 0.01611111234917639 Centerline is valid? [True, True] Translation: X:-81.08, Y:6.98, Z:-4.02 [[ 9.90715571e-01 1.17348848e-01 -6.86433223e-02 -8.10810196e+01] [-1.16913120e-01 9.93088266e-01 1.03450067e-02 6.97600064e+00] [ 6.93828525e-02 -2.22365428e-03 9.97587628e-01 -4.02322815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33534707000001 meters 0.01538070715355616 Centerline is valid? [True, True] Translation: X:-81.11, Y:6.98, Z:-4.02 [[ 9.90343853e-01 1.20194494e-01 -6.90820960e-02 -8.11088774e+01] [-1.19759510e-01 9.92748256e-01 1.04191873e-02 6.98199179e+00] [ 6.98334593e-02 -2.04534013e-03 9.97556567e-01 -4.02484175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36534707000001 meters 0.014134619792616359 Centerline is valid? [True, True] Translation: X:-81.14, Y:6.99, Z:-4.03 [[ 9.89979528e-01 1.22929089e-01 -6.94908161e-02 -8.11369248e+01] [-1.22494864e-01 9.92413686e-01 1.04920774e-02 6.98947351e+00] [ 7.02534185e-02 -1.87467383e-03 9.97527415e-01 -4.02553504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39534707000001 meters 0.013533196070447008 Centerline is valid? [True, True] Translation: X:-81.16, Y:7.00, Z:-4.02 [[ 9.89488792e-01 1.26594628e-01 -6.98979968e-02 -8.11637784e+01] [-1.26163137e-01 9.91953176e-01 1.05715958e-02 6.99695830e+00] [ 7.06738472e-02 -1.64192500e-03 9.97498126e-01 -4.02470511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42534707000002 meters 0.012232347176123742 Centerline is valid? [True, True] Translation: X:-81.19, Y:7.00, Z:-4.02 [[ 9.89071406e-01 1.29872964e-01 -6.97908842e-02 -8.11907289e+01] [-1.29450350e-01 9.91529634e-01 1.05637322e-02 7.00380891e+00] [ 7.05716731e-02 -1.41383101e-03 9.97505709e-01 -4.02488101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45534707000002 meters 0.011815182854640114 Centerline is valid? [True, True] Translation: X:-81.22, Y:7.01, Z:-4.03 [[ 9.88261845e-01 1.35553992e-01 -7.04531172e-02 -8.12196976e+01] [-1.35136813e-01 9.90769425e-01 1.06765354e-02 7.00824922e+00] [ 7.12500414e-02 -1.03040286e-03 9.97457954e-01 -4.02625552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48534707000002 meters 0.012797371484026286 Centerline is valid? [True, True] Translation: X:-81.25, Y:7.01, Z:-4.03 [[ 9.88006920e-01 1.37469893e-01 -7.03161072e-02 -8.12480208e+01] [-1.37057477e-01 9.90505524e-01 1.06796672e-02 7.01183436e+00] [ 7.11166253e-02 -9.14236871e-04 9.97467588e-01 -4.02836708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51534707 meters 0.01247794983648741 Centerline is valid? [True, True] Translation: X:-81.28, Y:7.02, Z:-4.03 [[ 9.87518980e-01 1.40939154e-01 -7.03023430e-02 -8.12751909e+01] [-1.40534271e-01 9.90018024e-01 1.06972689e-02 7.01714164e+00] [ 7.11082507e-02 -6.83867619e-04 9.97468370e-01 -4.02667563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54534707 meters 0.012306884961519418 Centerline is valid? [True, True] Translation: X:-81.30, Y:7.02, Z:-4.03 [[ 9.86792320e-01 1.45547049e-01 -7.11124008e-02 -8.13033447e+01] [-1.45143820e-01 9.89351263e-01 1.08328487e-02 7.02132358e+00] [ 7.19318327e-02 -3.68246453e-04 9.97409483e-01 -4.02871627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57534707 meters 0.01276701385967264 Centerline is valid? [True, True] Translation: X:-81.33, Y:7.02, Z:-4.03 [[ 9.86112496e-01 1.49531451e-01 -7.22668029e-02 -8.13314927e+01] [-1.49123871e-01 9.88756964e-01 1.10334241e-02 7.02419586e+00] [ 7.31041486e-02 -1.03491924e-04 9.97324307e-01 -4.03324373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60534707000001 meters 0.013658039806643396 Centerline is valid? [True, True] Translation: X:-81.36, Y:7.02, Z:-4.04 [[ 9.86009467e-01 1.50036346e-01 -7.26252357e-02 -8.13586142e+01] [-1.49624463e-01 9.88680478e-01 1.11100436e-02 7.02462174e+00] [ 7.34700631e-02 -8.80963313e-05 9.97297419e-01 -4.03571954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63534707000001 meters 0.013946254931864145 Centerline is valid? [True, True] Translation: X:-81.39, Y:7.02, Z:-4.03 [[ 9.86247165e-01 1.48749067e-01 -7.20433587e-02 -8.13862050e+01] [-1.48339211e-01 9.88874955e-01 1.10364203e-02 7.02456511e+00] [ 7.28835302e-02 -1.97783261e-04 9.97340439e-01 -4.03330196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66534707000001 meters 0.014140596715685213 Centerline is valid? [True, True] Translation: X:-81.41, Y:7.02, Z:-4.03 [[ 9.86265049e-01 1.48545131e-01 -7.22190889e-02 -8.14135644e+01] [-1.48131056e-01 9.88905601e-01 1.10861160e-02 7.02397304e+00] [ 7.30646501e-02 -2.35958877e-04 9.97327179e-01 -4.03169754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69534707000001 meters 0.014852822859508365 Centerline is valid? [True, True] Translation: X:-81.44, Y:7.02, Z:-4.04 [[ 9.86061120e-01 1.49889417e-01 -7.22262399e-02 -8.14415604e+01] [-1.49477656e-01 9.88702756e-01 1.11036513e-02 7.02399656e+00] [ 7.30746023e-02 -1.52669855e-04 9.97326466e-01 -4.03640073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72534707000001 meters 0.01475391729422511 Centerline is valid? [True, True] Translation: X:-81.47, Y:7.02, Z:-4.03 [[ 9.85940332e-01 1.50346005e-01 -7.29228384e-02 -8.14698458e+01] [-1.49925791e-01 9.88633430e-01 1.12338247e-02 7.02339497e+00] [ 7.37829165e-02 -1.42866641e-04 9.97274316e-01 -4.03458495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75534707000001 meters 0.01507888908226506 Centerline is valid? [True, True] Translation: X:-81.50, Y:7.02, Z:-4.03 [[ 9.85856384e-01 1.50900698e-01 -7.29120711e-02 -8.14981656e+01] [-1.50481095e-01 9.88548919e-01 1.12460720e-02 7.02459094e+00] [ 7.37741892e-02 -1.15123558e-04 9.97274965e-01 -4.03300442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78534707000001 meters 0.015336829138870715 Centerline is valid? [True, True] Translation: X:-81.53, Y:7.03, Z:-4.04 [[ 9.85579925e-01 1.52234933e-01 -7.38697255e-02 -8.15264998e+01] [-1.51805935e-01 9.88344334e-01 1.14208041e-02 7.02672331e+00] [ 7.47473700e-02 -4.22525356e-05 9.97202501e-01 -4.03796676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81534707000002 meters 0.015463254808126986 Centerline is valid? [True, True] Translation: X:-81.55, Y:7.03, Z:-4.04 [[ 9.84974385e-01 1.55867085e-01 -7.43701108e-02 -8.15549530e+01] [-1.55440996e-01 9.87778015e-01 1.15191536e-02 7.02709092e+00] [ 7.52566173e-02 2.14092837e-04 9.97164177e-01 -4.03984687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84534707000002 meters 0.012825422133269808 Centerline is valid? [True, True] Translation: X:-81.58, Y:7.03, Z:-4.04 [[ 9.84825745e-01 1.56718672e-01 -7.45487056e-02 -8.15828350e+01] [-1.56291853e-01 9.87643249e-01 1.15615445e-02 7.03000056e+00] [ 7.54394357e-02 2.65248629e-04 9.97150350e-01 -4.04112845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87534707 meters 0.01130116168405027 Centerline is valid? [True, True] Translation: X:-81.61, Y:7.03, Z:-4.04 [[ 9.84395024e-01 1.59366698e-01 -7.46236751e-02 -8.16111859e+01] [-1.58944439e-01 9.87219358e-01 1.16018788e-02 7.03322383e+00] [ 7.55188898e-02 4.40186408e-04 9.97144274e-01 -4.04411144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90534707 meters 0.01130116168405027 Centerline is valid? [True, True] Translation: X:-81.64, Y:7.04, Z:-4.05 [[ 9.84336147e-01 1.59731964e-01 -7.46193663e-02 -8.16385609e+01] [-1.59308656e-01 9.87160324e-01 1.16295356e-02 7.03724618e+00] [ 7.55188864e-02 4.40138707e-04 9.97144274e-01 -4.04557988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93534707 meters 0.011086780523498312 Centerline is valid? [True, True] Translation: X:-81.67, Y:7.04, Z:-4.05 [[ 9.83941405e-01 1.62242257e-01 -7.44094152e-02 -8.16668281e+01] [-1.61826414e-01 9.86750772e-01 1.16243745e-02 7.04129586e+00] [ 7.53095126e-02 6.03705509e-04 9.97160024e-01 -4.04695932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96534707 meters 0.010249013167391534 Centerline is valid? [True, True] Translation: X:-81.69, Y:7.04, Z:-4.04 [[ 9.83860357e-01 1.62951112e-01 -7.39306011e-02 -8.16948447e+01] [-1.62541015e-01 9.86633942e-01 1.15708111e-02 7.04347210e+00] [ 7.48279169e-02 6.32692627e-04 9.97196261e-01 -4.04353475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99534707000001 meters 0.01224724009722518 Centerline is valid? [True, True] Translation: X:-81.72, Y:7.05, Z:-4.05 [[ 9.82845035e-01 1.68117136e-01 -7.58436958e-02 -8.17227040e+01] [-1.67699699e-01 9.85766479e-01 1.18852367e-02 7.04882226e+00] [ 7.67622850e-02 1.03761909e-03 9.97048883e-01 -4.05467979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02534707000001 meters 0.011266412563768714 Centerline is valid? [True, True] Translation: X:-81.75, Y:7.05, Z:-4.05 [[ 9.83509059e-01 1.64912929e-01 -7.42539968e-02 -8.17514428e+01] [-1.64502188e-01 9.86307843e-01 1.16562410e-02 7.04830279e+00] [ 7.51595643e-02 7.50926323e-04 9.97171237e-01 -4.04788774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05534707000001 meters 0.010696322669258303 Centerline is valid? [True, True] Translation: X:-81.78, Y:7.05, Z:-4.05 [[ 9.84277772e-01 1.60452540e-01 -7.38393485e-02 -8.17805643e+01] [-1.60033196e-01 9.87043476e-01 1.15997110e-02 7.04681245e+00] [ 7.47438503e-02 3.99409184e-04 9.97202686e-01 -4.04676437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08534707000001 meters 0.010827029805743292 Centerline is valid? [True, True] Translation: X:-81.81, Y:7.05, Z:-4.06 [[ 9.84497619e-01 1.58541873e-01 -7.50260820e-02 -8.18094573e+01] [-1.58102384e-01 9.87352224e-01 1.17992315e-02 7.04513528e+00] [ 7.59478412e-02 2.45487121e-04 9.97111762e-01 -4.05552728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11534707000001 meters 0.01268691447696728 Centerline is valid? [True, True] Translation: X:-81.84, Y:7.04, Z:-4.06 [[ 9.84791654e-01 1.56080834e-01 -7.63162641e-02 -8.18389208e+01] [-1.55616917e-01 9.87744285e-01 1.20251021e-02 7.04339247e+00] [ 7.72578417e-02 3.38815006e-05 9.97011146e-01 -4.05686978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14534707000001 meters 0.012280413246834453 Centerline is valid? [True, True] Translation: X:-81.87, Y:7.04, Z:-4.06 [[ 9.85111094e-01 1.53925775e-01 -7.65701557e-02 -8.18667092e+01] [-1.53450421e-01 9.88082401e-01 1.20887427e-02 7.04390441e+00] [ 7.75183924e-02 -1.59031901e-04 9.96990909e-01 -4.06349030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17534707000002 meters 0.012686635918809875 Centerline is valid? [True, True] Translation: X:-81.89, Y:7.05, Z:-4.06 [[ 9.85159885e-01 1.53680749e-01 -7.64344710e-02 -8.18943792e+01] [-1.53204275e-01 9.88120532e-01 1.20939822e-02 7.05008307e+00] [ 7.73850824e-02 -2.04418411e-04 9.97001257e-01 -4.06296570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20534707000002 meters 0.011930517260175228 Centerline is valid? [True, True] Translation: X:-81.92, Y:7.06, Z:-4.06 [[ 9.84615495e-01 1.56901496e-01 -7.69041461e-02 -8.19214345e+01] [-1.56427217e-01 9.87614257e-01 1.21904043e-02 7.05792158e+00] [ 7.78643238e-02 2.70406114e-05 9.96963964e-01 -4.05656137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23534707000002 meters 0.012966207880532939 Centerline is valid? [True, True] Translation: X:-81.95, Y:7.07, Z:-4.06 [[ 9.83973427e-01 1.60979426e-01 -7.66936740e-02 -8.19484180e+01] [-1.60518737e-01 9.86957707e-01 1.21745726e-02 7.06952967e+00] [ 7.76532683e-02 3.31315812e-04 9.96980371e-01 -4.05880958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26534707 meters 0.013238787184024147 Centerline is valid? [True, True] Translation: X:-81.98, Y:7.08, Z:-4.06 [[ 9.83338829e-01 1.64347554e-01 -7.76828689e-02 -8.19758608e+01] [-1.63883194e-01 9.86402325e-01 1.23592463e-02 7.07794459e+00] [ 7.86577745e-02 5.77589864e-04 9.96901510e-01 -4.06031470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29534707 meters 0.013150917880798123 Centerline is valid? [True, True] Translation: X:-82.00, Y:7.09, Z:-4.07 [[ 9.82665882e-01 1.67855167e-01 -7.86918551e-02 -8.20037753e+01] [-1.67387731e-01 9.85811307e-01 1.25465233e-02 7.08684186e+00] [ 7.96813193e-02 8.43010693e-04 9.96820032e-01 -4.06535765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32534707 meters 0.014103583688402253 Centerline is valid? [True, True] Translation: X:-82.03, Y:7.10, Z:-4.07 [[ 9.81861147e-01 1.72607594e-01 -7.84557582e-02 -8.20313792e+01] [-1.72155995e-01 9.84989940e-01 1.25352351e-02 7.09738429e+00] [ 7.94418094e-02 1.19876874e-03 9.96838784e-01 -4.06719694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35534707000001 meters 0.01478254354419438 Centerline is valid? [True, True] Translation: X:-82.06, Y:7.11, Z:-4.06 [[ 9.81808043e-01 1.73124170e-01 -7.79806871e-02 -8.20580200e+01] [-1.72677553e-01 9.84899267e-01 1.24858815e-02 7.10706112e+00] [ 7.89647294e-02 1.20677539e-03 9.96876680e-01 -4.06430140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38534707000001 meters 0.016246499924951016 Centerline is valid? [True, True] Translation: X:-82.09, Y:7.12, Z:-4.07 [[ 9.80976202e-01 1.76921813e-01 -7.99022081e-02 -8.20857488e+01] [-1.76463626e-01 9.84223724e-01 1.28160233e-02 7.11577043e+00] [ 8.09090828e-02 1.52761950e-03 9.96720315e-01 -4.07032314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41534707000001 meters 0.015912986318563072 Centerline is valid? [True, True] Translation: X:-82.11, Y:7.12, Z:-4.07 [[ 9.80925215e-01 1.77212652e-01 -7.98836506e-02 -8.21129565e+01] [-1.76754432e-01 9.84171385e-01 1.28279383e-02 7.12016065e+00] [ 8.08924761e-02 1.53654109e-03 9.96721649e-01 -4.07061687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44534707000001 meters 0.017032992166033472 Centerline is valid? [True, True] Translation: X:-82.14, Y:7.13, Z:-4.08 [[ 9.79822219e-01 1.81822481e-01 -8.30000234e-02 -8.21418770e+01] [-1.81341834e-01 9.83329410e-01 1.33570463e-02 7.12603167e+00] [ 8.40449754e-02 1.96384573e-03 9.96460027e-01 -4.07819064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47534707000001 meters 0.017222500376702525 Centerline is valid? [True, True] Translation: X:-82.17, Y:7.13, Z:-4.08 [[ 9.79731427e-01 1.82106948e-01 -8.34469318e-02 -8.21696002e+01] [-1.81619895e-01 9.83276750e-01 1.34553640e-02 7.13181237e+00] [ 8.45017432e-02 1.97298006e-03 9.96421378e-01 -4.07756103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50534707000001 meters 0.016277594170134302 Centerline is valid? [True, True] Translation: X:-82.20, Y:7.14, Z:-4.08 [[ 9.79192671e-01 1.84398209e-01 -8.47290558e-02 -8.21964673e+01] [-1.83902586e-01 9.82849197e-01 1.36855908e-02 7.13660213e+00] [ 8.57994829e-02 2.18106228e-03 9.96310038e-01 -4.08318049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53534707000001 meters 0.01557806322944049 Centerline is valid? [True, True] Translation: X:-82.23, Y:7.14, Z:-4.09 [[ 9.80055971e-01 1.80828112e-01 -8.24104856e-02 -8.22255901e+01] [-1.80345984e-01 9.83513051e-01 1.33192965e-02 7.14335071e+00] [ 8.34602914e-02 1.80874411e-03 9.96509462e-01 -4.08597768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56534707000002 meters 0.015337799411212221 Centerline is valid? [True, True] Translation: X:-82.25, Y:7.15, Z:-4.09 [[ 9.80296302e-01 1.80185303e-01 -8.09470042e-02 -8.22533888e+01] [-1.79717410e-01 9.83631187e-01 1.30896836e-02 7.14893635e+00] [ 8.19805665e-02 1.71581749e-03 9.96632451e-01 -4.08833531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59534707000002 meters 0.014985495549268707 Centerline is valid? [True, True] Translation: X:-82.28, Y:7.16, Z:-4.09 [[ 9.80743893e-01 1.77821860e-01 -8.07514818e-02 -8.22819878e+01] [-1.77346972e-01 9.84061552e-01 1.30733920e-02 7.15507306e+00] [ 8.17891634e-02 1.49938147e-03 9.96648526e-01 -4.08985332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62534707000002 meters 0.015399011309002302 Centerline is valid? [True, True] Translation: X:-82.31, Y:7.16, Z:-4.09 [[ 9.80598888e-01 1.78474024e-01 -8.10730728e-02 -8.23092690e+01] [-1.77995311e-01 9.83943430e-01 1.31528056e-02 7.16202974e+00] [ 8.21187515e-02 1.53300029e-03 9.96621373e-01 -4.09488039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65534707 meters 0.016466393103197523 Centerline is valid? [True, True] Translation: X:-82.34, Y:7.17, Z:-4.10 [[ 9.79728448e-01 1.82887632e-01 -8.17574597e-02 -8.23373673e+01] [-1.82413842e-01 9.83132003e-01 1.32911873e-02 7.16747343e+00] [ 8.28091689e-02 1.89193800e-03 9.96563627e-01 -4.09642189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68534707 meters 0.017011704924404222 Centerline is valid? [True, True] Translation: X:-82.37, Y:7.18, Z:-4.10 [[ 9.79295582e-01 1.84873859e-01 -8.24731468e-02 -8.23653608e+01] [-1.84396772e-01 9.82760110e-01 1.34311620e-02 7.17648343e+00] [ 8.35343896e-02 2.05470444e-03 9.96502777e-01 -4.10383025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71534707 meters 0.018778953901160838 Centerline is valid? [True, True] Translation: X:-82.39, Y:7.19, Z:-4.10 [[ 9.79112632e-01 1.86397617e-01 -8.12057985e-02 -8.23917532e+01] [-1.85938337e-01 9.82472088e-01 1.32488316e-02 7.18747541e+00] [ 8.22519811e-02 2.12717271e-03 9.96609295e-01 -4.10356143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74534707000001 meters 0.019290315751728158 Centerline is valid? [True, True] Translation: X:-82.42, Y:7.20, Z:-4.11 [[ 9.77393930e-01 1.94013208e-01 -8.40236854e-02 -8.24192487e+01] [-1.93547791e-01 9.80994793e-01 1.37284059e-02 7.19718487e+00] [ 8.50902899e-02 2.84453803e-03 9.96369184e-01 -4.10569485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77534707000001 meters 0.022010626090084914 Centerline is valid? [True, True] Translation: X:-82.45, Y:7.21, Z:-4.11 [[ 9.77007947e-01 1.96227387e-01 -8.33683661e-02 -8.24468208e+01] [-1.95776151e-01 9.80553827e-01 1.36341893e-02 7.21056797e+00] [ 8.44225718e-02 3.00082653e-03 9.96425524e-01 -4.10889860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80534707000001 meters 0.02073502098322368 Centerline is valid? [True, True] Translation: X:-82.47, Y:7.21, Z:-4.11 [[ 9.77104758e-01 1.95673209e-01 -8.35361453e-02 -8.24746111e+01] [-1.95216506e-01 9.80664750e-01 1.36808076e-02 7.21451300e+00] [ 8.45979205e-02 2.94005216e-03 9.96410833e-01 -4.10936175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83534707000001 meters 0.01857711663406249 Centerline is valid? [True, True] Translation: X:-82.50, Y:7.21, Z:-4.11 [[ 9.77205891e-01 1.94809951e-01 -8.43666368e-02 -8.25028533e+01] [-1.94340085e-01 9.80836766e-01 1.38263891e-02 7.21331233e+00] [ 8.54434174e-02 2.88459045e-03 9.96338849e-01 -4.10763524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86534707000001 meters 0.020151492402826217 Centerline is valid? [True, True] Translation: X:-82.53, Y:7.22, Z:-4.11 [[ 9.78040606e-01 1.90588990e-01 -8.43351045e-02 -8.25311290e+01] [-1.90102884e-01 9.81666729e-01 1.38320779e-02 7.22266075e+00] [ 8.54252079e-02 2.50401281e-03 9.96341439e-01 -4.11331576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89534707000001 meters 0.016879391440854253 Centerline is valid? [True, True] Translation: X:-82.56, Y:7.22, Z:-4.11 [[ 9.77660711e-01 1.91329367e-01 -8.70207350e-02 -8.25604448e+01] [-1.90813609e-01 9.81522343e-01 1.42848703e-02 7.21643825e+00] [ 8.81459108e-02 2.63898403e-03 9.96104078e-01 -4.10948456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92534707000002 meters 0.01778856817645316 Centerline is valid? [True, True] Translation: X:-82.59, Y:7.22, Z:-4.11 [[ 9.78590802e-01 1.86890536e-01 -8.62088743e-02 -8.25889840e+01] [-1.86365744e-01 9.82378277e-01 1.41679128e-02 7.22470857e+00] [ 8.73375742e-02 2.20179182e-03 9.96176340e-01 -4.11489462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95534707000002 meters 0.017236042471152367 Centerline is valid? [True, True] Translation: X:-82.62, Y:7.23, Z:-4.11 [[ 9.79015680e-01 1.84986547e-01 -8.54884509e-02 -8.26176616e+01] [-1.84461123e-01 9.82739037e-01 1.40740540e-02 7.23039777e+00] [ 8.66163485e-02 1.99057615e-03 9.96239753e-01 -4.11136357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98534707000002 meters 0.01689096107427088 Centerline is valid? [True, True] Translation: X:-82.65, Y:7.24, Z:-4.11 [[ 9.79229242e-01 1.83624757e-01 -8.59769696e-02 -8.26461036e+01] [-1.83085836e-01 9.82994662e-01 1.41799765e-02 7.23535799e+00] [ 8.71186969e-02 1.85571770e-03 9.96196210e-01 -4.11217986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01534707 meters 0.01818946018751549 Centerline is valid? [True, True] Translation: X:-82.67, Y:7.24, Z:-4.11 [[ 9.78674005e-01 1.85897001e-01 -8.74042135e-02 -8.26739264e+01] [-1.85346689e-01 9.82567064e-01 1.44419133e-02 7.24130463e+00] [ 8.85652099e-02 2.06615645e-03 9.96068238e-01 -4.11430745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04534707 meters 0.015777178819789534 Centerline is valid? [True, True] Translation: X:-82.70, Y:7.25, Z:-4.12 [[ 9.79152445e-01 1.83709924e-01 -8.66669050e-02 -8.27008220e+01] [-1.83158330e-01 9.82978797e-01 1.43426619e-02 7.24904582e+00] [ 8.78266193e-02 1.83011306e-03 9.96134095e-01 -4.11670510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07534707 meters 0.01574309254399515 Centerline is valid? [True, True] Translation: X:-82.73, Y:7.26, Z:-4.11 [[ 9.79139437e-01 1.84221573e-01 -8.57226585e-02 -8.27278502e+01] [-1.83682732e-01 9.82883014e-01 1.41998427e-02 7.25595313e+00] [ 8.68712622e-02 1.84214606e-03 9.96217843e-01 -4.11358385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10534707000001 meters 0.015206596494255454 Centerline is valid? [True, True] Translation: X:-82.76, Y:7.26, Z:-4.12 [[ 9.79401695e-01 1.83309878e-01 -8.46747175e-02 -8.27554208e+01] [-1.82779327e-01 9.83053670e-01 1.40427444e-02 7.26325444e+00] [ 8.58139656e-02 1.72330022e-03 9.96309688e-01 -4.11844445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13534707000001 meters 0.015997137747159808 Centerline is valid? [True, True] Translation: X:-82.78, Y:7.27, Z:-4.12 [[ 9.79014371e-01 1.84949607e-01 -8.55833181e-02 -8.27831929e+01] [-1.84411421e-01 9.82746246e-01 1.42212382e-02 7.27141146e+00] [ 8.67368970e-02 1.85974467e-03 9.96229518e-01 -4.12407824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16534707000001 meters 0.015242771595898754 Centerline is valid? [True, True] Translation: X:-82.81, Y:7.28, Z:-4.12 [[ 9.79609688e-01 1.82360795e-01 -8.43172559e-02 -8.28113337e+01] [-1.81826500e-01 9.83230414e-01 1.40383927e-02 7.27541145e+00] [ 8.54633429e-02 1.57896608e-03 9.96340064e-01 -4.12251048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19534707000001 meters 0.014282743674065262 Centerline is valid? [True, True] Translation: X:-82.84, Y:7.28, Z:-4.13 [[ 9.79966550e-01 1.80264362e-01 -8.46777410e-02 -8.28399123e+01] [-1.79715287e-01 9.83617237e-01 1.41260828e-02 7.28116770e+00] [ 8.58369150e-02 1.37479589e-03 9.96308252e-01 -4.12778175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22534707000001 meters 0.014652174262455107 Centerline is valid? [True, True] Translation: X:-82.87, Y:7.29, Z:-4.13 [[ 9.80286901e-01 1.78585828e-01 -8.45262849e-02 -8.28679353e+01] [-1.78030108e-01 9.83923608e-01 1.41285063e-02 7.28632958e+00] [ 8.56905582e-02 1.19823389e-03 9.96321079e-01 -4.13390574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25534707000001 meters 0.013337338960746507 Centerline is valid? [True, True] Translation: X:-82.90, Y:7.29, Z:-4.13 [[ 9.81297536e-01 1.73510509e-01 -8.33621589e-02 -8.28958442e+01] [-1.72949734e-01 9.84831754e-01 1.39573120e-02 7.28624848e+00] [ 8.45194414e-02 7.21187281e-04 9.96421569e-01 -4.13479008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28534707000001 meters 0.012529902838597892 Centerline is valid? [True, True] Translation: X:-82.92, Y:7.29, Z:-4.13 [[ 9.81868729e-01 1.70160077e-01 -8.35424884e-02 -8.29240085e+01] [-1.69583521e-01 9.85416345e-01 1.40020282e-02 7.28664765e+00] [ 8.47067198e-02 4.19275677e-04 9.96405839e-01 -4.13331762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31534707000002 meters 0.012413178672797173 Centerline is valid? [True, True] Translation: X:-82.95, Y:7.29, Z:-4.14 [[ 9.83355431e-01 1.61911515e-01 -8.24424555e-02 -8.29530621e+01] [-1.61319715e-01 9.86805233e-01 1.38340435e-02 7.28601589e+00] [ 8.35945375e-02 -3.04188382e-04 9.96499805e-01 -4.13987649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34534707000002 meters 0.013680668493849657 Centerline is valid? [True, True] Translation: X:-82.98, Y:7.28, Z:-4.14 [[ 9.85043939e-01 1.51958300e-01 -8.12226142e-02 -8.29833757e+01] [-1.51347881e-01 9.88386226e-01 1.36560221e-02 7.28109684e+00] [ 8.23544590e-02 -1.15891129e-03 9.96602428e-01 -4.14229019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37534707000002 meters 0.014626234752918245 Centerline is valid? [True, True] Translation: X:-83.01, Y:7.28, Z:-4.14 [[ 9.85854478e-01 1.46799039e-01 -8.08763939e-02 -8.30132683e+01] [-1.46174759e-01 9.89165036e-01 1.36187475e-02 7.28008580e+00] [ 8.19993202e-02 -1.60401580e-03 9.96631095e-01 -4.14467221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40534707 meters 0.015692292750566352 Centerline is valid? [True, True] Translation: X:-83.04, Y:7.28, Z:-4.14 [[ 9.86723052e-01 1.40421000e-01 -8.16061400e-02 -8.30423577e+01] [-1.39762657e-01 9.90089519e-01 1.37529401e-02 7.27949317e+00] [ 8.27285855e-02 -2.16485201e-03 9.96569764e-01 -4.14345703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43534707 meters 0.019235528010592123 Centerline is valid? [True, True] Translation: X:-83.07, Y:7.27, Z:-4.15 [[ 9.87861028e-01 1.32876977e-01 -8.04630242e-02 -8.30729790e+01] [-1.32211417e-01 9.91128683e-01 1.35674256e-02 7.27190596e+00] [ 8.15520097e-02 -2.76460053e-03 9.96665253e-01 -4.14889047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46534707 meters 0.020368396618807235 Centerline is valid? [True, True] Translation: X:-83.10, Y:7.27, Z:-4.15 [[ 9.89059623e-01 1.24738425e-01 -7.87488846e-02 -8.31016481e+01] [-1.24074833e-01 9.92183948e-01 1.32834296e-02 7.27330369e+00] [ 7.97903333e-02 -3.36734911e-03 9.96805981e-01 -4.14549965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49534707000001 meters 0.021902710943812714 Centerline is valid? [True, True] Translation: X:-83.13, Y:7.27, Z:-4.15 [[ 9.89486075e-01 1.21014573e-01 -7.92008909e-02 -8.31319563e+01] [-1.20331058e-01 9.92643859e-01 1.33643263e-02 7.27126157e+00] [ 8.02355562e-02 -3.69348785e-03 9.96769087e-01 -4.15075398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52534707000001 meters 0.022003696653132454 Centerline is valid? [True, True] Translation: X:-83.16, Y:7.28, Z:-4.15 [[ 9.90178458e-01 1.16380112e-01 -7.74744494e-02 -8.31605241e+01] [-1.15711657e-01 9.93196756e-01 1.30773359e-02 7.27626694e+00] [ 7.84693136e-02 -3.98419938e-03 9.96908568e-01 -4.14882162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55534707000001 meters 0.02296037382671022 Centerline is valid? [True, True] Translation: X:-83.19, Y:7.28, Z:-4.15 [[ 9.90297727e-01 1.15245441e-01 -7.76459990e-02 -8.31896302e+01] [-1.14569529e-01 9.93328602e-01 1.31191386e-02 7.27596442e+00] [ 7.86399125e-02 -4.09598761e-03 9.96894672e-01 -4.15293629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58534707000001 meters 0.02367396934480644 Centerline is valid? [True, True] Translation: X:-83.22, Y:7.28, Z:-4.15 [[ 9.90533620e-01 1.13840161e-01 -7.67043978e-02 -8.32191413e+01] [-1.13174327e-01 9.93490274e-01 1.29864439e-02 7.27783161e+00] [ 7.76834521e-02 -4.18254076e-03 9.96969301e-01 -4.15378764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61534707000001 meters 0.02645612205632108 Centerline is valid? [True, True] Translation: X:-83.25, Y:7.27, Z:-4.16 [[ 9.90560789e-01 1.13842619e-01 -7.63490787e-02 -8.32479955e+01] [-1.13181181e-01 9.93489979e-01 1.29492223e-02 7.27228455e+00] [ 7.73262179e-02 -4.18571296e-03 9.96997059e-01 -4.16185307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64534707000001 meters 0.02453484049326518 Centerline is valid? [True, True] Translation: X:-83.28, Y:7.28, Z:-4.16 [[ 9.90730197e-01 1.12519992e-01 -7.61112825e-02 -8.32753159e+01] [-1.11857182e-01 9.93640173e-01 1.29296990e-02 7.28076845e+00] [ 7.70820776e-02 -4.29624963e-03 9.97015494e-01 -4.16368407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67534707000002 meters 0.023349515320494018 Centerline is valid? [True, True] Translation: X:-83.30, Y:7.29, Z:-4.16 [[ 9.90632481e-01 1.13413735e-01 -7.60566441e-02 -8.33025524e+01] [-1.12752917e-01 9.93538783e-01 1.29409098e-02 7.28742173e+00] [ 7.70329025e-02 -4.24407711e-03 9.97019518e-01 -4.15753054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70534707000002 meters 0.025865346899599212 Centerline is valid? [True, True] Translation: X:-83.33, Y:7.29, Z:-4.16 [[ 9.90879088e-01 1.12454743e-01 -7.42466383e-02 -8.33318455e+01] [-1.11821398e-01 9.93647851e-01 1.26460772e-02 7.28569905e+00] [ 7.51971239e-02 -4.22837058e-03 9.97159723e-01 -4.16264591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73534707000002 meters 0.027478390724844634 Centerline is valid? [True, True] Translation: X:-83.36, Y:7.28, Z:-4.17 [[ 9.90995194e-01 1.12253914e-01 -7.29903044e-02 -8.33603597e+01] [-1.11639564e-01 9.93670700e-01 1.24558270e-02 7.28451729e+00] [ 7.39265422e-02 -4.19505895e-03 9.97254866e-01 -4.16745226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76534707 meters 0.02672577859384651 Centerline is valid? [True, True] Translation: X:-83.39, Y:7.29, Z:-4.17 [[ 9.90749111e-01 1.14330484e-01 -7.31077287e-02 -8.33888855e+01] [-1.13717907e-01 9.93434427e-01 1.25010630e-02 7.28924633e+00] [ 7.40569871e-02 -4.07175913e-03 9.97245699e-01 -4.16844048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79534707 meters 0.02672577859384651 Centerline is valid? [True, True] Translation: X:-83.42, Y:7.29, Z:-4.17 [[ 9.90710476e-01 1.14667245e-01 -7.31038657e-02 -8.34162323e+01] [-1.14053921e-01 9.93395622e-01 1.25236181e-02 7.29365615e+00] [ 7.40571089e-02 -4.06949715e-03 9.97245699e-01 -4.16991252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82534707 meters 0.02344513700111138 Centerline is valid? [True, True] Translation: X:-83.44, Y:7.30, Z:-4.17 [[ 9.90676739e-01 1.15635367e-01 -7.20281899e-02 -8.34427782e+01] [-1.15040965e-01 9.93283839e-01 1.23608908e-02 7.30296816e+00] [ 7.29737931e-02 -3.95945451e-03 9.97325999e-01 -4.16697142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85534707000001 meters 0.024592096749504907 Centerline is valid? [True, True] Translation: X:-83.47, Y:7.30, Z:-4.17 [[ 9.90430303e-01 1.17903847e-01 -7.17390957e-02 -8.34721886e+01] [-1.17319004e-01 9.93017774e-01 1.23268731e-02 7.30204562e+00] [ 7.26915829e-02 -3.79254942e-03 9.97347257e-01 -4.17294860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88534707000001 meters 0.02199731238663009 Centerline is valid? [True, True] Translation: X:-83.50, Y:7.31, Z:-4.17 [[ 9.90516165e-01 1.18192255e-01 -7.00593929e-02 -8.34991885e+01] [-1.17633645e-01 9.92983818e-01 1.20607682e-02 7.30901439e+00] [ 7.09933328e-02 -3.70504410e-03 9.97469909e-01 -4.16984139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91534707000001 meters 0.021095147574356196 Centerline is valid? [True, True] Translation: X:-83.53, Y:7.31, Z:-4.17 [[ 9.90621286e-01 1.17563998e-01 -6.96288322e-02 -8.35270237e+01] [-1.17009289e-01 9.93058240e-01 1.20065779e-02 7.31351850e+00] [ 7.05570268e-02 -3.74675148e-03 9.97500711e-01 -4.17024526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94534707000001 meters 0.021789513807971797 Centerline is valid? [True, True] Translation: X:-83.56, Y:7.31, Z:-4.17 [[ 9.90694158e-01 1.17398686e-01 -6.88667848e-02 -8.35561729e+01] [-1.16854575e-01 9.93077849e-01 1.18909334e-02 7.31245909e+00] [ 6.97860584e-02 -3.73287941e-03 9.97554997e-01 -4.16776795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97534707000001 meters 0.020311866333917846 Centerline is valid? [True, True] Translation: X:-83.58, Y:7.32, Z:-4.17 [[ 9.90802572e-01 1.16508289e-01 -6.88191977e-02 -8.35837164e+01] [-1.15961219e-01 9.93182391e-01 1.19052044e-02 7.31792873e+00] [ 6.97370703e-02 -3.81534907e-03 9.97558111e-01 -4.16705247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00534707000001 meters 0.02234084811153682 Centerline is valid? [True, True] Translation: X:-83.61, Y:7.31, Z:-4.17 [[ 9.90622212e-01 1.17853180e-01 -6.91249702e-02 -8.36141153e+01] [-1.17303614e-01 9.93023951e-01 1.19705701e-02 7.31186178e+00] [ 7.00535208e-02 -3.74970387e-03 9.97536187e-01 -4.17004216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03534707000001 meters 0.0208436099323527 Centerline is valid? [True, True] Translation: X:-83.64, Y:7.31, Z:-4.17 [[ 9.90483058e-01 1.18554005e-01 -6.99160925e-02 -8.36419118e+01] [-1.17992020e-01 9.92940474e-01 1.21284395e-02 7.31274891e+00] [ 7.08603931e-02 -3.76347285e-03 9.97479143e-01 -4.16940024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06534707000002 meters 0.023318080456341952 Centerline is valid? [True, True] Translation: X:-83.67, Y:7.31, Z:-4.17 [[ 9.90481137e-01 1.18554828e-01 -6.99418995e-02 -8.36724034e+01] [-1.17991587e-01 9.92940326e-01 1.21447700e-02 7.30596169e+00] [ 7.08879535e-02 -3.77660992e-03 9.97477135e-01 -4.17297863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09534707000002 meters 0.02083280794146155 Centerline is valid? [True, True] Translation: X:-83.70, Y:7.31, Z:-4.17 [[ 9.90648795e-01 1.17323158e-01 -6.96436744e-02 -8.36995805e+01] [-1.16760376e-01 9.93086263e-01 1.21115236e-02 7.31165504e+00] [ 7.05831385e-02 -3.86664465e-03 9.97498406e-01 -4.16867775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12534707000002 meters 0.021492767096936344 Centerline is valid? [True, True] Translation: X:-83.73, Y:7.31, Z:-4.17 [[ 9.90648926e-01 1.16838527e-01 -7.04518597e-02 -8.37295579e+01] [-1.16260480e-01 9.93143034e-01 1.22643911e-02 7.30975779e+00] [ 7.14017271e-02 -3.95893879e-03 9.97439783e-01 -4.16914324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15534707 meters 0.02353776127183093 Centerline is valid? [True, True] Translation: X:-83.76, Y:7.30, Z:-4.17 [[ 9.90665316e-01 1.16491140e-01 -7.07957992e-02 -8.37602996e+01] [-1.15904812e-01 9.93183565e-01 1.23483127e-02 7.30072565e+00] [ 7.17516933e-02 -4.02747131e-03 9.97414394e-01 -4.17177429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18534707 meters 0.022150094648542576 Centerline is valid? [True, True] Translation: X:-83.79, Y:7.31, Z:-4.17 [[ 9.90539976e-01 1.17370740e-01 -7.10961667e-02 -8.37877148e+01] [-1.16780129e-01 9.93080104e-01 1.24220572e-02 7.30615865e+00] [ 7.20621748e-02 -4.00192472e-03 9.97392113e-01 -4.17112832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21534707 meters 0.023272861621585164 Centerline is valid? [True, True] Translation: X:-83.82, Y:7.30, Z:-4.17 [[ 9.90464511e-01 1.17664358e-01 -7.16599638e-02 -8.38168882e+01] [-1.17063860e-01 9.93045248e-01 1.25374478e-02 7.30129021e+00] [ 7.26367973e-02 -4.02910510e-03 9.97350321e-01 -4.17361023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24534707000001 meters 0.021424048627185836 Centerline is valid? [True, True] Translation: X:-83.85, Y:7.31, Z:-4.17 [[ 9.89496539e-01 1.24399213e-01 -7.36303990e-02 -8.38452800e+01] [-1.23782137e-01 9.92225522e-01 1.29033365e-02 7.31326743e+00] [ 7.46631260e-02 -3.65367870e-03 9.97202120e-01 -4.17200827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27534707000001 meters 0.020306144486693448 Centerline is valid? [True, True] Translation: X:-83.87, Y:7.32, Z:-4.17 [[ 9.89183970e-01 1.26903256e-01 -7.35570312e-02 -8.38730414e+01] [-1.26294125e-01 9.91909052e-01 1.28929180e-02 7.31952870e+00] [ 7.45980384e-02 -3.46364692e-03 9.97207669e-01 -4.17464160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30534707000001 meters 0.0185891826494815 Centerline is valid? [True, True] Translation: X:-83.90, Y:7.33, Z:-4.18 [[ 9.88767332e-01 1.30490436e-01 -7.28794108e-02 -8.39015612e+01] [-1.29901909e-01 9.91444509e-01 1.27781261e-02 7.32894075e+00] [ 7.39233149e-02 -3.16741911e-03 9.97258899e-01 -4.17550586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33534707000001 meters 0.01863097791957612 Centerline is valid? [True, True] Translation: X:-83.93, Y:7.33, Z:-4.17 [[ 9.88694600e-01 1.31436115e-01 -7.21632515e-02 -8.39299031e+01] [-1.30861294e-01 9.91319887e-01 1.26571342e-02 7.33441197e+00] [ 7.32004709e-02 -3.07066375e-03 9.97312520e-01 -4.16961234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36534707000001 meters 0.018758160956280235 Centerline is valid? [True, True] Translation: X:-83.96, Y:7.34, Z:-4.17 [[ 9.88767621e-01 1.30541686e-01 -7.27836537e-02 -8.39588487e+01] [-1.29953350e-01 9.91437723e-01 1.27815443e-02 7.33760279e+00] [ 7.38289843e-02 -3.17949753e-03 9.97265848e-01 -4.17045657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39534707000001 meters 0.01958839666457656 Centerline is valid? [True, True] Translation: X:-83.99, Y:7.34, Z:-4.18 [[ 9.88634371e-01 1.30626342e-01 -7.44233826e-02 -8.39876542e+01] [-1.30009571e-01 9.91426282e-01 1.30934361e-02 7.33728916e+00] [ 7.54956452e-02 -3.26886889e-03 9.97140773e-01 -4.17634618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42534707000002 meters 0.018848886170256998 Centerline is valid? [True, True] Translation: X:-84.02, Y:7.34, Z:-4.17 [[ 9.89175019e-01 1.26476249e-01 -7.44079273e-02 -8.40160928e+01] [-1.25846647e-01 9.91963092e-01 1.31089722e-02 7.34244765e+00] [ 7.54678912e-02 -3.60307967e-03 9.97141723e-01 -4.16922413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45534707000002 meters 0.0209810134845253 Centerline is valid? [True, True] Translation: X:-84.05, Y:7.34, Z:-4.17 [[ 9.89348602e-01 1.24672080e-01 -7.51413111e-02 -8.40459734e+01] [-1.24023941e-01 9.92190766e-01 1.32493541e-02 7.33984002e+00] [ 7.62063396e-02 -3.78890842e-03 9.97084870e-01 -4.17404333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48534707000002 meters 0.022228225949061178 Centerline is valid? [True, True] Translation: X:-84.08, Y:7.34, Z:-4.18 [[ 9.89621259e-01 1.22204750e-01 -7.56026632e-02 -8.40753501e+01] [-1.21540012e-01 9.92496762e-01 1.33492506e-02 7.33890641e+00] [ 7.66667403e-02 -4.02195357e-03 9.97048662e-01 -4.17696071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51534707 meters 0.02275291057390859 Centerline is valid? [True, True] Translation: X:-84.11, Y:7.34, Z:-4.18 [[ 9.90180911e-01 1.17050375e-01 -7.64262569e-02 -8.41050314e+01] [-1.16355262e-01 9.93115893e-01 1.35009646e-02 7.33951034e+00] [ 7.74804233e-02 -4.47580031e-03 9.96983827e-01 -4.17545775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54534707 meters 0.024803279647502095 Centerline is valid? [True, True] Translation: X:-84.13, Y:7.34, Z:-4.18 [[ 9.90621428e-01 1.13700279e-01 -7.57722468e-02 -8.41347889e+01] [-1.13006527e-01 9.93503947e-01 1.33952580e-02 7.33870057e+00] [ 7.68030708e-02 -4.70687116e-03 9.97035172e-01 -4.17946001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57534707 meters 0.025384435476666547 Centerline is valid? [True, True] Translation: X:-84.16, Y:7.34, Z:-4.18 [[ 9.90784065e-01 1.11884597e-01 -7.63464073e-02 -8.41639984e+01] [-1.11173601e-01 9.93709119e-01 1.35135664e-02 7.33766639e+00] [ 7.73780811e-02 -4.90132118e-03 9.96989774e-01 -4.17979916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60534707000001 meters 0.024347110019046624 Centerline is valid? [True, True] Translation: X:-84.19, Y:7.34, Z:-4.18 [[ 9.90576549e-01 1.12844838e-01 -7.76153543e-02 -8.41908151e+01] [-1.12112161e-01 9.93600460e-01 1.37473492e-02 7.34424814e+00] [ 7.86699691e-02 -4.91617666e-03 9.96888593e-01 -4.17950153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63534707000001 meters 0.02283320338438236 Centerline is valid? [True, True] Translation: X:-84.22, Y:7.35, Z:-4.18 [[ 9.90438376e-01 1.13574954e-01 -7.83106202e-02 -8.42175330e+01] [-1.12830214e-01 9.93517269e-01 1.38845023e-02 7.35244917e+00] [ 7.93798852e-02 -4.91593989e-03 9.96832317e-01 -4.17801992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66534707000001 meters 0.022548120468787437 Centerline is valid? [True, True] Translation: X:-84.25, Y:7.36, Z:-4.18 [[ 9.90040709e-01 1.16820591e-01 -7.85642667e-02 -8.42465909e+01] [-1.16080294e-01 9.93141999e-01 1.39404224e-02 7.35894383e+00] [ 7.96540012e-02 -4.68182257e-03 9.96811577e-01 -4.17921582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69534707000001 meters 0.022072735153209642 Centerline is valid? [True, True] Translation: X:-84.28, Y:7.36, Z:-4.19 [[ 9.89551548e-01 1.20903748e-01 -7.85494637e-02 -8.42758211e+01] [-1.20176232e-01 9.92654677e-01 1.39414753e-02 7.36371134e+00] [ 7.96580692e-02 -4.35602995e-03 9.96812729e-01 -4.18507425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72534707000001 meters 0.02065045973673861 Centerline is valid? [True, True] Translation: X:-84.30, Y:7.37, Z:-4.18 [[ 9.88949890e-01 1.25438321e-01 -7.90148312e-02 -8.43041569e+01] [-1.24716286e-01 9.92093284e-01 1.40272172e-02 7.37277710e+00] [ 8.01496340e-02 -4.01777856e-03 9.96774746e-01 -4.18314618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75534707000001 meters 0.02023836472694256 Centerline is valid? [True, True] Translation: X:-84.33, Y:7.38, Z:-4.18 [[ 9.89254578e-01 1.23286545e-01 -7.85863018e-02 -8.43319644e+01] [-1.22565209e-01 9.92362337e-01 1.39557357e-02 7.38053854e+00] [ 7.97066406e-02 -4.17382889e-03 9.96809626e-01 -4.17967168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78534707000001 meters 0.019762531082768993 Centerline is valid? [True, True] Translation: X:-84.36, Y:7.38, Z:-4.18 [[ 9.88942297e-01 1.25327410e-01 -7.92853979e-02 -8.43608737e+01] [-1.24598497e-01 9.92107130e-01 1.40945634e-02 7.38493278e+00] [ 8.04260437e-02 -4.05986848e-03 9.96752311e-01 -4.17833079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81534707000002 meters 0.020659240078089402 Centerline is valid? [True, True] Translation: X:-84.39, Y:7.38, Z:-4.18 [[ 9.88901605e-01 1.24916077e-01 -8.04337587e-02 -8.43908007e+01] [-1.24162540e-01 9.92158520e-01 1.43225347e-02 7.38241591e+00] [ 8.15921538e-02 -4.17671783e-03 9.96657050e-01 -4.18296391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84534707000002 meters 0.02182250671816576 Centerline is valid? [True, True] Translation: X:-84.42, Y:7.38, Z:-4.19 [[ 9.89160412e-01 1.22260393e-01 -8.13269703e-02 -8.44205664e+01] [-1.21480096e-01 9.92488054e-01 1.44930729e-02 7.38179022e+00] [ 8.24879753e-02 -4.45636587e-03 9.96582096e-01 -4.18634418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87534707000002 meters 0.023367024800938798 Centerline is valid? [True, True] Translation: X:-84.45, Y:7.38, Z:-4.19 [[ 9.89191954e-01 1.22146938e-01 -8.11135219e-02 -8.44498855e+01] [-1.21369315e-01 9.92501977e-01 1.44677206e-02 7.38493849e+00] [ 8.22725186e-02 -4.46666019e-03 9.96599860e-01 -4.18706440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90534707 meters 0.02057565910027514 Centerline is valid? [True, True] Translation: X:-84.48, Y:7.40, Z:-4.19 [[ 9.88802925e-01 1.24416022e-01 -8.23979965e-02 -8.44762169e+01] [-1.23619570e-01 9.92220530e-01 1.47180652e-02 7.39755828e+00] [ 8.35881469e-02 -4.36726106e-03 9.96490817e-01 -4.18534475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93534707 meters 0.021458014776814027 Centerline is valid? [True, True] Translation: X:-84.51, Y:7.40, Z:-4.20 [[ 9.88387519e-01 1.27298767e-01 -8.29767188e-02 -8.45054153e+01] [-1.26499828e-01 9.91855659e-01 1.48373122e-02 7.39774431e+00] [ 8.41896996e-02 -4.16847358e-03 9.96441026e-01 -4.19592212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96534707 meters 0.02267622464887264 Centerline is valid? [True, True] Translation: X:-84.54, Y:7.40, Z:-4.19 [[ 9.88645734e-01 1.25802087e-01 -8.21793640e-02 -8.45354595e+01] [-1.25011226e-01 9.92046129e-01 1.47197287e-02 7.39822006e+00] [ 8.33774925e-02 -4.27925396e-03 9.96508847e-01 -4.19452203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99534707000001 meters 0.02221120218381951 Centerline is valid? [True, True] Translation: X:-84.56, Y:7.40, Z:-4.19 [[ 9.88653908e-01 1.25048078e-01 -8.32251616e-02 -8.45649737e+01] [-1.24232678e-01 9.92140851e-01 1.49255853e-02 7.40151203e+00] [ 8.44374984e-02 -4.41695351e-03 9.96418988e-01 -4.19172219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02534707000001 meters 0.021329296076323195 Centerline is valid? [True, True] Translation: X:-84.59, Y:7.41, Z:-4.19 [[ 9.88748536e-01 1.23782154e-01 -8.39899440e-02 -8.45928614e+01] [-1.22946448e-01 9.92298872e-01 1.50704988e-02 7.40784058e+00] [ 8.52085854e-02 -4.57466830e-03 9.96352633e-01 -4.19079596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05534707000001 meters 0.02286613882835786 Centerline is valid? [True, True] Translation: X:-84.62, Y:7.41, Z:-4.20 [[ 9.88909758e-01 1.21653967e-01 -8.51927349e-02 -8.46232224e+01] [-1.20784992e-01 9.92560768e-01 1.53005729e-02 7.40579199e+00] [ 8.64203417e-02 -4.84088205e-03 9.96247003e-01 -4.19925658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08534707000001 meters 0.02330593514350368 Centerline is valid? [True, True] Translation: X:-84.65, Y:7.41, Z:-4.20 [[ 9.88956489e-01 1.20778502e-01 -8.58930493e-02 -8.46528832e+01] [-1.19889661e-01 9.92666974e-01 1.54514419e-02 7.40689074e+00] [ 8.71293954e-02 -4.98311516e-03 9.96184540e-01 -4.20240779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11534707000001 meters 0.021750563467002666 Centerline is valid? [True, True] Translation: X:-84.68, Y:7.42, Z:-4.20 [[ 9.88698316e-01 1.22001936e-01 -8.71273092e-02 -8.46795540e+01] [-1.21090259e-01 9.92517440e-01 1.56932985e-02 7.41935743e+00] [ 8.83899868e-02 -4.96566938e-03 9.96073568e-01 -4.19608575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14534707000001 meters 0.021599603241265003 Centerline is valid? [True, True] Translation: X:-84.71, Y:7.42, Z:-4.20 [[ 9.88724068e-01 1.21985752e-01 -8.68573208e-02 -8.47073435e+01] [-1.21078079e-01 9.92519410e-01 1.56626532e-02 7.42479979e+00] [ 8.81181974e-02 -4.96952462e-03 9.96097629e-01 -4.19909733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17534707000002 meters 0.02403849793308932 Centerline is valid? [True, True] Translation: X:-84.74, Y:7.42, Z:-4.21 [[ 9.88939195e-01 1.20357777e-01 -8.66791465e-02 -8.47377781e+01] [-1.19445096e-01 9.92717313e-01 1.56590408e-02 7.41937875e+00] [ 8.79325768e-02 -5.13244024e-03 9.96113206e-01 -4.20675719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20534707000002 meters 0.02646434526582698 Centerline is valid? [True, True] Translation: X:-84.77, Y:7.41, Z:-4.21 [[ 9.89272152e-01 1.17437489e-01 -8.68852470e-02 -8.47688452e+01] [-1.16507052e-01 9.93065433e-01 1.57210693e-02 7.41453685e+00] [ 8.81289784e-02 -5.42967206e-03 9.96094274e-01 -4.20934280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23534707000002 meters 0.02391307295510348 Centerline is valid? [True, True] Translation: X:-84.80, Y:7.43, Z:-4.20 [[ 9.89915186e-01 1.11333808e-01 -8.75939970e-02 -8.47950591e+01] [-1.10362933e-01 9.93764725e-01 1.58648733e-02 7.43101828e+00] [ 8.88141211e-02 -6.03774858e-03 9.96029918e-01 -4.20214707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26534707 meters 0.024624122975042708 Centerline is valid? [True, True] Translation: X:-84.83, Y:7.42, Z:-4.22 [[ 9.89982272e-01 1.08269824e-01 -9.06242001e-02 -8.48259856e+01] [-1.07216372e-01 9.94099989e-01 1.64274387e-02 7.42262282e+00] [ 9.18681122e-02 -6.54647515e-03 9.95749664e-01 -4.21609453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29534707 meters 0.027394925470791136 Centerline is valid? [True, True] Translation: X:-84.86, Y:7.42, Z:-4.22 [[ 9.90348578e-01 1.04224279e-01 -9.13618809e-02 -8.48560954e+01] [-1.03134764e-01 9.94529208e-01 1.65793764e-02 7.41958190e+00] [ 9.25900326e-02 -6.99677577e-03 9.95679733e-01 -4.22174756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32534707 meters 0.02875594876854524 Centerline is valid? [True, True] Translation: X:-84.88, Y:7.43, Z:-4.22 [[ 9.90584828e-01 1.02640774e-01 -9.05901263e-02 -8.48846550e+01] [-1.01562370e-01 9.94693209e-01 1.64470300e-02 7.42624671e+00] [ 9.17975193e-02 -7.09163046e-03 9.95752441e-01 -4.21877378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35534707000001 meters 0.034706597717945625 Centerline is valid? [True, True] Translation: X:-84.92, Y:7.41, Z:-4.23 [[ 9.90930087e-01 1.00225785e-01 -8.95117621e-02 -8.49159011e+01] [-9.91624738e-02 9.94938409e-01 1.62593596e-02 7.41383002e+00] [ 9.06882972e-02 -7.23568089e-03 9.95853040e-01 -4.22508058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38534707000001 meters 0.03485198794083001 Centerline is valid? [True, True] Translation: X:-84.94, Y:7.42, Z:-4.21 [[ 9.91243321e-01 9.73720237e-02 -8.91928693e-02 -8.49440495e+01] [-9.63041690e-02 9.95219965e-01 1.62088929e-02 7.42301581e+00] [ 9.03448170e-02 -7.47731166e-03 9.95882475e-01 -4.20779889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41534707000001 meters 0.034342658963144874 Centerline is valid? [True, True] Translation: X:-84.97, Y:7.43, Z:-4.21 [[ 9.91455393e-01 9.47562468e-02 -8.96518624e-02 -8.49718368e+01] [-9.36661501e-02 9.95470242e-01 1.62987609e-02 7.42872663e+00] [ 9.07901706e-02 -7.76214960e-03 9.95839793e-01 -4.20950541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44534707000001 meters 0.03289702537162708 Centerline is valid? [True, True] Translation: X:-85.00, Y:7.44, Z:-4.21 [[ 9.91206522e-01 9.58879796e-02 -9.11873091e-02 -8.49985512e+01] [-9.47641103e-02 9.95361581e-01 1.65857161e-02 7.43791009e+00] [ 9.23547149e-02 -7.79858579e-03 9.95695631e-01 -4.20798736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47534707000001 meters 0.03281756076035893 Centerline is valid? [True, True] Translation: X:-85.03, Y:7.44, Z:-4.22 [[ 9.90716829e-01 9.95757758e-02 -9.25463635e-02 -8.50270926e+01] [-9.84332616e-02 9.95001152e-01 1.68404538e-02 7.44265491e+00] [ 9.37606395e-02 -7.57448059e-03 9.95565954e-01 -4.21500206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50534707000001 meters 0.03210975486189177 Centerline is valid? [True, True] Translation: X:-85.06, Y:7.45, Z:-4.22 [[ 9.90620056e-01 1.01582623e-01 -9.13940624e-02 -8.50562370e+01] [-1.00476654e-01 9.94800359e-01 1.66339207e-02 7.44607845e+00] [ 9.26085634e-02 -7.29492590e-03 9.95675870e-01 -4.22047237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53534707000001 meters 0.03207975523447997 Centerline is valid? [True, True] Translation: X:-85.09, Y:7.44, Z:-4.22 [[ 9.90622758e-01 1.03051673e-01 -8.97045356e-02 -8.50851283e+01] [-1.01991826e-01 9.94651164e-01 1.63318625e-02 7.44465723e+00] [ 9.09077465e-02 -7.02958523e-03 9.95834508e-01 -4.22368085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56534707000002 meters 0.033292002892795734 Centerline is valid? [True, True] Translation: X:-85.11, Y:7.45, Z:-4.22 [[ 9.90288166e-01 1.05666945e-01 -9.03539985e-02 -8.51139798e+01] [-1.04601759e-01 9.94378008e-01 1.64575147e-02 7.44968639e+00] [ 9.15850443e-02 -6.84649488e-03 9.95773722e-01 -4.22164444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59534707000002 meters 0.03145437087275311 Centerline is valid? [True, True] Translation: X:-85.14, Y:7.46, Z:-4.22 [[ 9.89854019e-01 1.08790893e-01 -9.13978307e-02 -8.51423010e+01] [-1.07713667e-01 9.94042491e-01 1.66520830e-02 7.46196658e+00] [ 9.26649223e-02 -6.63833577e-03 9.95675220e-01 -4.21899329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62534707000002 meters 0.031117528681623458 Centerline is valid? [True, True] Translation: X:-85.17, Y:7.47, Z:-4.22 [[ 9.89993243e-01 1.07795266e-01 -9.10689796e-02 -8.51693447e+01] [-1.06721143e-01 9.94150454e-01 1.65973385e-02 7.46731569e+00] [ 9.23253820e-02 -6.71226738e-03 9.95706267e-01 -4.22145982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65534707 meters 0.031327828186916186 Centerline is valid? [True, True] Translation: X:-85.20, Y:7.47, Z:-4.22 [[ 9.89267651e-01 1.13616696e-01 -9.18736101e-02 -8.51983015e+01] [-1.12547023e-01 9.93505073e-01 1.67581808e-02 7.47313750e+00] [ 9.31809069e-02 -6.23822486e-03 9.95629652e-01 -4.22112381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68534707 meters 0.02890030892014048 Centerline is valid? [True, True] Translation: X:-85.22, Y:7.48, Z:-4.22 [[ 9.89213372e-01 1.14016504e-01 -9.19627192e-02 -8.52245978e+01] [-1.12944973e-01 9.93459369e-01 1.67903457e-02 7.48457082e+00] [ 9.32756015e-02 -6.22250763e-03 9.95620883e-01 -4.21953269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71534707 meters 0.02890030892014048 Centerline is valid? [True, True] Translation: X:-85.25, Y:7.49, Z:-4.22 [[ 9.89173256e-01 1.14366905e-01 -9.19591209e-02 -8.52519817e+01] [-1.13295057e-01 9.93419173e-01 1.68100330e-02 7.48928542e+00] [ 9.32764653e-02 -6.20952121e-03 9.95620883e-01 -4.22101482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74534707000001 meters 0.027732575330640177 Centerline is valid? [True, True] Translation: X:-85.28, Y:7.50, Z:-4.22 [[ 9.88974155e-01 1.16221654e-01 -9.17749868e-02 -8.52798370e+01] [-1.15159400e-01 9.93204872e-01 1.68046123e-02 7.49836153e+00] [ 9.31044239e-02 -6.05057483e-03 9.95637965e-01 -4.22482745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77534707000001 meters 0.03116337955024533 Centerline is valid? [True, True] Translation: X:-85.31, Y:7.49, Z:-4.23 [[ 9.89244818e-01 1.15454310e-01 -8.98052992e-02 -8.53102840e+01] [-1.14431849e-01 9.93294576e-01 1.64692546e-02 7.48878069e+00] [ 9.11045631e-02 -6.01553833e-03 9.95823163e-01 -4.23231525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80534707000001 meters 0.03084058298280838 Centerline is valid? [True, True] Translation: X:-85.34, Y:7.49, Z:-4.23 [[ 9.89659782e-01 1.10804278e-01 -9.10819860e-02 -8.53392327e+01] [-1.09730935e-01 9.93820617e-01 1.67243003e-02 7.49175964e+00] [ 9.23722796e-02 -6.55685584e-03 9.95702952e-01 -4.23442737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83534707000001 meters 0.03744541394150814 Centerline is valid? [True, True] Translation: X:-85.37, Y:7.48, Z:-4.24 [[ 9.90530583e-01 1.03061228e-01 -9.07058235e-02 -8.53717471e+01] [-1.01963381e-01 9.94648511e-01 1.66676143e-02 7.47824201e+00] [ 9.19381971e-02 -7.26110924e-03 9.95738241e-01 -4.23624608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86534707000001 meters 0.035819850991803695 Centerline is valid? [True, True] Translation: X:-85.40, Y:7.48, Z:-4.23 [[ 9.91049710e-01 9.67102065e-02 -9.20196030e-02 -8.54007791e+01] [-9.55515035e-02 9.95280578e-01 1.69257456e-02 7.48436086e+00] [ 9.32222160e-02 -7.98164389e-03 9.95613334e-01 -4.22953731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89534707000001 meters 0.03610092593904462 Centerline is valid? [True, True] Translation: X:-85.43, Y:7.49, Z:-4.23 [[ 9.91610259e-01 9.11269367e-02 -9.16786590e-02 -8.54296541e+01] [-8.99526649e-02 9.95803174e-01 1.68687850e-02 7.48866050e+00] [ 9.28311004e-02 -8.48052053e-03 9.95645754e-01 -4.22870460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92534707000002 meters 0.037968630552753645 Centerline is valid? [True, True] Translation: X:-85.46, Y:7.49, Z:-4.23 [[ 9.91703934e-01 8.96026305e-02 -9.21665669e-02 -8.54595599e+01] [-8.84087779e-02 9.95939816e-01 1.69637925e-02 7.48701636e+00] [ 9.33123541e-02 -8.67472622e-03 9.95599093e-01 -4.23470405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95534707000002 meters 0.03775666706088873 Centerline is valid? [True, True] Translation: X:-85.49, Y:7.50, Z:-4.23 [[ 9.92035387e-01 8.65154776e-02 -9.15470506e-02 -8.54872346e+01] [-8.53241463e-02 9.96210662e-01 1.68554713e-02 7.49508390e+00] [ 9.26584071e-02 -8.91005003e-03 9.95658089e-01 -4.23085532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98534707000002 meters 0.04026525898653727 Centerline is valid? [True, True] Translation: X:-85.52, Y:7.49, Z:-4.23 [[ 9.92346013e-01 8.39947945e-02 -9.05221809e-02 -8.55182157e+01] [-8.28185115e-02 9.96425048e-01 1.66798610e-02 7.48996240e+00] [ 9.15995899e-02 -9.05528130e-03 9.95754747e-01 -4.23446385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01534707 meters 0.04402287351905022 Centerline is valid? [True, True] Translation: X:-85.55, Y:7.48, Z:-4.24 [[ 9.93002366e-01 7.68554462e-02 -8.96634885e-02 -8.55501343e+01] [-7.56711821e-02 9.96995665e-01 1.65383246e-02 7.48321498e+00] [ 9.06651696e-02 -9.63765332e-03 9.95834797e-01 -4.23569966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04534707 meters 0.0501707256991665 Centerline is valid? [True, True] Translation: X:-85.58, Y:7.47, Z:-4.24 [[ 9.93361446e-01 7.17723120e-02 -8.98986851e-02 -8.55825763e+01] [-7.05607680e-02 9.97369561e-01 1.65872586e-02 7.47278011e+00] [ 9.08527179e-02 -1.01338229e-02 9.95812778e-01 -4.24046357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07534707 meters 0.048229296684201534 Centerline is valid? [True, True] Translation: X:-85.61, Y:7.49, Z:-4.24 [[ 9.93443059e-01 6.86296764e-02 -9.14377124e-02 -8.56098801e+01] [-6.73626572e-02 9.97585836e-01 1.68751907e-02 7.48612398e+00] [ 9.23751056e-02 -1.06050538e-02 9.95667802e-01 -4.23732987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10534707000001 meters 0.04514121442442005 Centerline is valid? [True, True] Translation: X:-85.64, Y:7.50, Z:-4.24 [[ 9.93589790e-01 6.53696961e-02 -9.22286994e-02 -8.56366339e+01] [-6.40662163e-02 9.97800383e-01 1.70269064e-02 7.49868370e+00] [ 9.31388753e-02 -1.10090166e-02 9.95592262e-01 -4.23504498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13534707000001 meters 0.04692250320446557 Centerline is valid? [True, True] Translation: X:-85.67, Y:7.50, Z:-4.24 [[ 9.93528591e-01 6.62685359e-02 -9.22465198e-02 -8.56663862e+01] [-6.49668526e-02 9.97741816e-01 1.70463214e-02 7.49828605e+00] [ 9.31678449e-02 -1.09430417e-02 9.95590278e-01 -4.24004491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16534707000001 meters 0.04524078210454932 Centerline is valid? [True, True] Translation: X:-85.69, Y:7.51, Z:-4.24 [[ 9.93537199e-01 6.66018239e-02 -9.19131695e-02 -8.56934318e+01] [-6.53089735e-02 9.97720166e-01 1.70061394e-02 7.50611446e+00] [ 9.28362626e-02 -1.08934774e-02 9.95621796e-01 -4.24217614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19534707000001 meters 0.04774268996875729 Centerline is valid? [True, True] Translation: X:-85.72, Y:7.51, Z:-4.24 [[ 9.93045804e-01 7.30497540e-02 -9.23242315e-02 -8.57230752e+01] [-7.17719146e-02 9.97274640e-01 1.70905118e-02 7.51071668e+00] [ 9.33210723e-02 -1.03453741e-02 9.95582317e-01 -4.24321597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22534707000001 meters 0.047743046554498784 Centerline is valid? [True, True] Translation: X:-85.75, Y:7.52, Z:-4.25 [[ 9.92907865e-01 7.55439068e-02 -9.17991851e-02 -8.57515517e+01] [-7.42907136e-02 9.97091756e-01 1.69976762e-02 7.52171035e+00] [ 9.28162815e-02 -1.00572994e-02 9.95632457e-01 -4.24521570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25534707000001 meters 0.04753999865119607 Centerline is valid? [True, True] Translation: X:-85.78, Y:7.53, Z:-4.25 [[ 9.92439903e-01 8.02382613e-02 -9.28701286e-02 -8.57807435e+01] [-7.89755961e-02 9.96728185e-01 1.71982496e-02 7.52716027e+00] [ 9.39462324e-02 -9.73375535e-03 9.95529688e-01 -4.24998013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28534707000001 meters 0.04433450068347135 Centerline is valid? [True, True] Translation: X:-85.81, Y:7.54, Z:-4.25 [[ 9.92030926e-01 8.52709656e-02 -9.27550745e-02 -8.58068885e+01] [-8.40328862e-02 9.96314875e-01 1.71797555e-02 7.54092847e+00] [ 9.38781948e-02 -9.24837212e-03 9.95540734e-01 -4.25394360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31534707000002 meters 0.040877505292312176 Centerline is valid? [True, True] Translation: X:-85.83, Y:7.56, Z:-4.25 [[ 9.92001807e-01 8.57630058e-02 -9.26127472e-02 -8.58328170e+01] [-8.45299216e-02 9.96273112e-01 1.71633138e-02 7.55635269e+00] [ 9.37395672e-02 -9.19749002e-03 9.95554268e-01 -4.24950476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34534707000002 meters 0.039927363859033636 Centerline is valid? [True, True] Translation: X:-85.86, Y:7.57, Z:-4.25 [[ 9.91663437e-01 8.84982653e-02 -9.36572758e-02 -8.58612398e+01] [-8.72480765e-02 9.96035199e-01 1.73682173e-02 7.56508524e+00] [ 9.48230005e-02 -9.05200887e-03 9.95452992e-01 -4.24850266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37534707000002 meters 0.041915141487104186 Centerline is valid? [True, True] Translation: X:-85.89, Y:7.57, Z:-4.25 [[ 9.91474501e-01 9.03458652e-02 -9.38932284e-02 -8.58903720e+01] [-8.90969787e-02 9.95870649e-01 1.74177935e-02 7.56752448e+00] [ 9.50791359e-02 -8.90369513e-03 9.95429898e-01 -4.25295582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40534707 meters 0.03683566696688366 Centerline is valid? [True, True] Translation: X:-85.92, Y:7.59, Z:-4.25 [[ 9.90937126e-01 9.62364635e-02 -9.37131557e-02 -8.59163386e+01] [-9.50177954e-02 9.95323651e-01 1.73910177e-02 7.58657986e+00] [ 9.49485704e-02 -8.32898767e-03 9.95447335e-01 -4.25068298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43534707 meters 0.03514626320685426 Centerline is valid? [True, True] Translation: X:-85.94, Y:7.60, Z:-4.25 [[ 9.90236988e-01 1.02907336e-01 -9.40254663e-02 -8.59447289e+01] [-1.01709641e-01 9.94660974e-01 1.74555105e-02 7.59813080e+00] [ 9.53197620e-02 -7.72179573e-03 9.95416755e-01 -4.25007102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46534707 meters 0.03199876693393394 Centerline is valid? [True, True] Translation: X:-85.97, Y:7.61, Z:-4.25 [[ 9.89346274e-01 1.10906017e-01 -9.43069749e-02 -8.59723889e+01] [-1.09736625e-01 9.93806405e-01 1.75129016e-02 7.61305874e+00] [ 9.56651619e-02 -6.97739484e-03 9.95389116e-01 -4.24715184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49534707000001 meters 0.029683052974643298 Centerline is valid? [True, True] Translation: X:-86.00, Y:7.63, Z:-4.25 [[ 9.88266323e-01 1.18924430e-01 -9.58470436e-02 -8.59991873e+01] [-1.17753222e-01 9.92883261e-01 1.78047395e-02 7.62577006e+00] [ 9.72823437e-02 -6.30952618e-03 9.95236824e-01 -4.24798426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52534707000001 meters 0.026878602108399374 Centerline is valid? [True, True] Translation: X:-86.03, Y:7.64, Z:-4.25 [[ 9.87083658e-01 1.26894048e-01 -9.77944457e-02 -8.60264771e+01] [-1.25712695e-01 9.91900214e-01 1.81736960e-02 7.63806775e+00] [ 9.93084655e-02 -5.64495499e-03 9.95040684e-01 -4.25326852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55534707000001 meters 0.02432748370232176 Centerline is valid? [True, True] Translation: X:-86.05, Y:7.65, Z:-4.26 [[ 9.85246680e-01 1.38627824e-01 -1.00355895e-01 -8.60528866e+01] [-1.37443348e-01 9.90333924e-01 1.86559461e-02 7.65438755e+00] [ 1.01972080e-01 -4.58745875e-03 9.94776684e-01 -4.26106820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58534707000001 meters 0.020801318377039302 Centerline is valid? [True, True] Translation: X:-86.08, Y:7.68, Z:-4.25 [[ 9.85726689e-01 1.38011833e-01 -9.64138410e-02 -8.60787056e+01] [-1.36915346e-01 9.90420480e-01 1.79293281e-02 7.67611801e+00] [ 9.79647021e-02 -4.47288280e-03 9.95179838e-01 -4.25328386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61534707000001 meters 0.019665952246377745 Centerline is valid? [True, True] Translation: X:-86.11, Y:7.68, Z:-4.26 [[ 9.84795479e-01 1.44615228e-01 -9.62512307e-02 -8.61074669e+01] [-1.43552430e-01 9.89480578e-01 1.79132783e-02 7.68408122e+00] [ 9.78292562e-02 -3.82381739e-03 9.95195868e-01 -4.25905025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64534707000001 meters 0.018701041594057333 Centerline is valid? [True, True] Translation: X:-86.14, Y:7.69, Z:-4.26 [[ 9.84270276e-01 1.48087806e-01 -9.63432643e-02 -8.61351778e+01] [-1.47038004e-01 9.88968032e-01 1.79459247e-02 7.69360926e+00] [ 9.79379812e-02 -3.49751896e-03 9.95186374e-01 -4.26326068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67534707000002 meters 0.017714307480282656 Centerline is valid? [True, True] Translation: X:-86.16, Y:7.70, Z:-4.27 [[ 9.83627088e-01 1.52147455e-01 -9.65862546e-02 -8.61639115e+01] [-1.51110257e-01 9.88352890e-01 1.80070625e-02 7.70284355e+00] [ 9.82010326e-02 -3.11706066e-03 9.95161716e-01 -4.26654840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70534707000002 meters 0.016521328288202845 Centerline is valid? [True, True] Translation: X:-86.19, Y:7.71, Z:-4.27 [[ 9.83399606e-01 1.54065213e-01 -9.58599254e-02 -8.61909880e+01] [-1.53050759e-01 9.88056358e-01 1.78912788e-02 7.71232727e+00] [ 9.74714325e-02 -2.92284217e-03 9.95234031e-01 -4.26598015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73534707000002 meters 0.015846906010525935 Centerline is valid? [True, True] Translation: X:-86.22, Y:7.72, Z:-4.27 [[ 9.82879872e-01 1.57086761e-01 -9.62855498e-02 -8.62193327e+01] [-1.56075624e-01 9.87581235e-01 1.79917779e-02 7.72030985e+00] [ 9.79160723e-02 -2.65592909e-03 9.95191132e-01 -4.26743027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76534707 meters 0.01641637048795017 Centerline is valid? [True, True] Translation: X:-86.25, Y:7.72, Z:-4.28 [[ 9.82588365e-01 1.58280721e-01 -9.73001434e-02 -8.62480659e+01] [-1.57250659e-01 9.87390739e-01 1.82142612e-02 7.72200167e+00] [ 9.89562269e-02 -2.59660940e-03 9.95088399e-01 -4.27610805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79534707 meters 0.016558321548801436 Centerline is valid? [True, True] Translation: X:-86.28, Y:7.73, Z:-4.28 [[ 9.82786893e-01 1.57221654e-01 -9.70117271e-02 -8.62768847e+01] [-1.56189447e-01 9.87559577e-01 1.81917018e-02 7.72524070e+00] [ 9.86649896e-02 -2.72635803e-03 9.95116971e-01 -4.27945691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82534707 meters 0.016787846392693206 Centerline is valid? [True, True] Translation: X:-86.30, Y:7.73, Z:-4.28 [[ 9.83178804e-01 1.54721432e-01 -9.70603851e-02 -8.63046256e+01] [-1.53673900e-01 9.87953580e-01 1.82223882e-02 7.72773200e+00] [ 9.87105490e-02 -3.00021796e-03 9.95111665e-01 -4.27800490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85534707000001 meters 0.01751964491336701 Centerline is valid? [True, True] Translation: X:-86.33, Y:7.73, Z:-4.29 [[ 9.82704165e-01 1.56886525e-01 -9.83826269e-02 -8.63333398e+01] [-1.55818619e-01 9.87612539e-01 1.84940596e-02 7.72788145e+00] [ 1.00065385e-01 -2.84434434e-03 9.94976798e-01 -4.28624551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88534707000001 meters 0.017665815366844626 Centerline is valid? [True, True] Translation: X:-86.36, Y:7.73, Z:-4.28 [[ 9.83569139e-01 1.51962216e-01 -9.74640113e-02 -8.63616441e+01] [-1.50887750e-01 9.88380669e-01 1.83450580e-02 7.73206329e+00] [ 9.91193003e-02 -3.33750756e-03 9.95069960e-01 -4.28128542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91534707000001 meters 0.018625835357286364 Centerline is valid? [True, True] Translation: X:-86.39, Y:7.73, Z:-4.29 [[ 9.83500563e-01 1.51954982e-01 -9.81647913e-02 -8.63908201e+01] [-1.50862941e-01 9.88381629e-01 1.84967056e-02 7.73333985e+00] [ 9.98349429e-02 -3.38209129e-03 9.94998264e-01 -4.28829728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94534707000001 meters 0.017586120565876835 Centerline is valid? [True, True] Translation: X:-86.42, Y:7.74, Z:-4.29 [[ 9.83113657e-01 1.54201016e-01 -9.85372235e-02 -8.64192801e+01] [-1.53108838e-01 9.88034327e-01 1.85971114e-02 7.73902996e+00] [ 1.00225853e-01 -3.19615447e-03 9.94959579e-01 -4.29104472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97534707000001 meters 0.017380212400458193 Centerline is valid? [True, True] Translation: X:-86.45, Y:7.74, Z:-4.30 [[ 9.82363269e-01 1.58257876e-01 -9.95833937e-02 -8.64479435e+01] [-1.57160049e-01 9.87393726e-01 1.88241701e-02 7.74227807e+00] [ 1.01307091e-01 -2.84164226e-03 9.94851144e-01 -4.30094767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00534707000001 meters 0.01639737253139845 Centerline is valid? [True, True] Translation: X:-86.48, Y:7.75, Z:-4.29 [[ 9.82838778e-01 1.55102605e-01 -9.98554844e-02 -8.64752229e+01] [-1.53980283e-01 9.87893192e-01 1.88974559e-02 7.75159485e+00] [ 1.01577598e-01 -3.19737668e-03 9.94822481e-01 -4.28895673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03534707000001 meters 0.017036511016004896 Centerline is valid? [True, True] Translation: X:-86.50, Y:7.75, Z:-4.30 [[ 9.82263540e-01 1.58736853e-01 -9.98045518e-02 -8.65035790e+01] [-1.57632224e-01 9.87316839e-01 1.89087714e-02 7.75351175e+00] [ 1.01540233e-01 -2.84098322e-03 9.94827377e-01 -4.30072289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06534707000002 meters 0.016674604927530493 Centerline is valid? [True, True] Translation: X:-86.53, Y:7.76, Z:-4.30 [[ 9.81983909e-01 1.60332876e-01 -1.00004858e-01 -8.65319890e+01] [-1.59228902e-01 9.87059276e-01 1.89774130e-02 7.75813751e+00] [ 1.01753426e-01 -2.71185054e-03 9.94805954e-01 -4.30385256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09534707000002 meters 0.016612019818579477 Centerline is valid? [True, True] Translation: X:-86.56, Y:7.76, Z:-4.31 [[ 9.81581418e-01 1.62154707e-01 -1.01013714e-01 -8.65592161e+01] [-1.61034487e-01 9.86761971e-01 1.92017333e-02 7.76309662e+00] [ 1.02790143e-01 -2.58137304e-03 9.94699715e-01 -4.30823326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12534707000002 meters 0.015426744669017091 Centerline is valid? [True, True] Translation: X:-86.59, Y:7.77, Z:-4.31 [[ 9.81029283e-01 1.65040965e-01 -1.01700664e-01 -8.65864453e+01] [-1.63917412e-01 9.86283967e-01 1.93654161e-02 7.77000705e+00] [ 1.03501822e-01 -2.32753051e-03 9.94626541e-01 -4.30925526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15534707 meters 0.015749434335807663 Centerline is valid? [True, True] Translation: X:-86.62, Y:7.77, Z:-4.31 [[ 9.81162543e-01 1.64040740e-01 -1.02032839e-01 -8.66155307e+01] [-1.62901187e-01 9.86450468e-01 1.94596404e-02 7.77059785e+00] [ 1.03842516e-01 -2.47179967e-03 9.94590681e-01 -4.31346327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18534707 meters 0.016337484953594827 Centerline is valid? [True, True] Translation: X:-86.64, Y:7.77, Z:-4.32 [[ 9.81233995e-01 1.63470689e-01 -1.02260362e-01 -8.66446987e+01] [-1.62319670e-01 9.86544847e-01 1.95343222e-02 7.77205609e+00] [ 1.04077723e-01 -2.56887268e-03 9.94565849e-01 -4.32063325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21534707 meters 0.017161043243121427 Centerline is valid? [True, True] Translation: X:-86.67, Y:7.77, Z:-4.33 [[ 9.81361993e-01 1.63110366e-01 -1.01605351e-01 -8.66735304e+01] [-1.61968997e-01 9.86604349e-01 1.94397072e-02 7.77363072e+00] [ 1.03415099e-01 -2.62047300e-03 9.94634833e-01 -4.32790588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24534707000001 meters 0.01645876768491019 Centerline is valid? [True, True] Translation: X:-86.70, Y:7.78, Z:-4.32 [[ 9.81762590e-01 1.60012174e-01 -1.02656328e-01 -8.67018030e+01] [-1.58827988e-01 9.87110489e-01 1.96609245e-02 7.77997700e+00] [ 1.04479126e-01 -2.99766204e-03 9.94522562e-01 -4.31684529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27534707000001 meters 0.016260426573394868 Centerline is valid? [True, True] Translation: X:-86.73, Y:7.78, Z:-4.32 [[ 9.81346697e-01 1.62160868e-01 -1.03259449e-01 -8.67289537e+01] [-1.60973113e-01 9.86760366e-01 1.97898080e-02 7.78386416e+00] [ 1.05101464e-01 -2.79866779e-03 9.94457566e-01 -4.32021688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30534707000001 meters 0.015399174582474445 Centerline is valid? [True, True] Translation: X:-86.76, Y:7.79, Z:-4.32 [[ 9.81235274e-01 1.62966079e-01 -1.03050440e-01 -8.67579188e+01] [-1.61784914e-01 9.86627890e-01 1.97749198e-02 7.78656529e+00] [ 1.04895079e-01 -2.73184225e-03 9.94479542e-01 -4.32409412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33534707000001 meters 0.01611519884965024 Centerline is valid? [True, True] Translation: X:-86.79, Y:7.79, Z:-4.33 [[ 9.81204216e-01 1.63223271e-01 -1.02939063e-01 -8.67861991e+01] [-1.62042357e-01 9.86585362e-01 1.97888524e-02 7.78850420e+00] [ 1.04788174e-01 -2.73641704e-03 9.94490800e-01 -4.33126744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36534707000001 meters 0.015657901461046172 Centerline is valid? [True, True] Translation: X:-86.81, Y:7.79, Z:-4.33 [[ 9.81033357e-01 1.63551811e-01 -1.04040175e-01 -8.68133718e+01] [-1.62344561e-01 9.86530898e-01 2.00257772e-02 7.79327755e+00] [ 1.05914099e-01 -2.75559895e-03 9.94371465e-01 -4.33138808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39534707000001 meters 0.015020835649327548 Centerline is valid? [True, True] Translation: X:-86.84, Y:7.80, Z:-4.33 [[ 9.80962740e-01 1.64142931e-01 -1.03774763e-01 -8.68403750e+01] [-1.62942766e-01 9.86432851e-01 1.99971283e-02 7.80128246e+00] [ 1.05649223e-01 -2.70709083e-03 9.94399775e-01 -4.32863688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42534707000002 meters 0.014237286916222457 Centerline is valid? [True, True] Translation: X:-86.87, Y:7.81, Z:-4.34 [[ 9.80062575e-01 1.68965814e-01 -1.04536611e-01 -8.68688154e+01] [-1.67771563e-01 9.85619372e-01 2.01780919e-02 7.80717358e+00] [ 1.06442717e-01 -2.23752205e-03 9.94316319e-01 -4.33606728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45534707000002 meters 0.01397463575076733 Centerline is valid? [True, True] Translation: X:-86.90, Y:7.81, Z:-4.34 [[ 9.79584194e-01 1.71761486e-01 -1.04464338e-01 -8.68969962e+01] [-1.70581090e-01 9.85136603e-01 2.01981536e-02 7.81297822e+00] [ 1.06380908e-01 -1.96615129e-03 9.94323507e-01 -4.34039285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48534707000002 meters 0.0138332810642711 Centerline is valid? [True, True] Translation: X:-86.93, Y:7.82, Z:-4.35 [[ 9.78728018e-01 1.76398881e-01 -1.04761168e-01 -8.69252372e+01] [-1.75234591e-01 9.84317624e-01 2.02892329e-02 7.82012540e+00] [ 1.06697262e-01 -1.49986021e-03 9.94290423e-01 -4.34723758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51534707 meters 0.01362338723498075 Centerline is valid? [True, True] Translation: X:-86.95, Y:7.83, Z:-4.35 [[ 9.77923968e-01 1.80834766e-01 -1.04706734e-01 -8.69526949e+01] [-1.79693530e-01 9.83512933e-01 2.03112148e-02 7.82960432e+00] [ 1.06653400e-01 -1.04770120e-03 9.94295708e-01 -4.35081160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54534707 meters 0.013166594095040927 Centerline is valid? [True, True] Translation: X:-86.98, Y:7.84, Z:-4.35 [[ 9.76643042e-01 1.86829175e-01 -1.06128360e-01 -8.69790915e+01] [-1.85689467e-01 9.82392326e-01 2.06092115e-02 7.84155763e+00] [ 1.08110088e-01 -4.20924364e-04 9.94138839e-01 -4.34810489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57534707 meters 0.014910319443356348 Centerline is valid? [True, True] Translation: X:-87.00, Y:7.86, Z:-4.36 [[ 9.73795748e-01 1.99929106e-01 -1.08398314e-01 -8.70046810e+01] [-1.98819441e-01 9.79809811e-01 2.10609629e-02 7.85893912e+00] [ 1.10420431e-01 1.04261612e-03 9.93884421e-01 -4.35534493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60534707000001 meters 0.014910319443356348 Centerline is valid? [True, True] Translation: X:-87.03, Y:7.86, Z:-4.36 [[ 9.73724165e-01 2.00280022e-01 -1.08393561e-01 -8.70319515e+01] [-1.99169804e-01 9.79738126e-01 2.10854007e-02 7.86399887e+00] [ 1.10420289e-01 1.05736020e-03 9.93884421e-01 -4.35682564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63534707000001 meters 0.01668292179436096 Centerline is valid? [True, True] Translation: X:-87.06, Y:7.88, Z:-4.36 [[ 9.72115296e-01 2.08097988e-01 -1.08106794e-01 -8.70592091e+01] [-2.07038580e-01 9.78106116e-01 2.10582900e-02 7.87753981e+00] [ 1.10122104e-01 1.91119123e-03 9.93916229e-01 -4.36103674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66534707000001 meters 0.01909408006757064 Centerline is valid? [True, True] Translation: X:-87.09, Y:7.89, Z:-4.36 [[ 9.70241385e-01 2.16935147e-01 -1.07567640e-01 -8.70870470e+01] [-2.15937552e-01 9.76181788e-01 2.09783395e-02 7.88910490e+00] [ 1.09556510e-01 2.87383953e-03 9.93976414e-01 -4.36210048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69534707000001 meters 0.022057766603301394 Centerline is valid? [True, True] Translation: X:-87.11, Y:7.90, Z:-4.37 [[ 9.69360248e-01 2.21530914e-01 -1.06135596e-01 -8.71142915e+01] [-2.20583628e-01 9.75147713e-01 2.07316255e-02 7.89981631e+00] [ 1.08090579e-01 3.31536121e-03 9.94135521e-01 -4.36648649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72534707000001 meters 0.022151638364183192 Centerline is valid? [True, True] Translation: X:-87.14, Y:7.90, Z:-4.37 [[ 9.69123836e-01 2.22564954e-01 -1.06131199e-01 -8.71429460e+01] [-2.21621475e-01 9.74911906e-01 2.07532654e-02 7.89955101e+00] [ 1.08087519e-01 3.40846870e-03 9.94135539e-01 -4.37197114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75534707000001 meters 0.02107295481225327 Centerline is valid? [True, True] Translation: X:-87.17, Y:7.90, Z:-4.37 [[ 9.69530557e-01 2.20625321e-01 -1.06465800e-01 -8.71717501e+01] [-2.19662461e-01 9.75353430e-01 2.08348211e-02 7.89507437e+00] [ 1.08438472e-01 3.18654384e-03 9.94098055e-01 -4.37447423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78534707000001 meters 0.01931099353145603 Centerline is valid? [True, True] Translation: X:-87.20, Y:7.89, Z:-4.37 [[ 9.70558850e-01 2.15815088e-01 -1.06954971e-01 -8.72019365e+01] [-2.14812543e-01 9.76430666e-01 2.09457751e-02 7.89223311e+00] [ 1.08954528e-01 2.64616194e-03 9.94043213e-01 -4.37195566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81534707000002 meters 0.016510334236814927 Centerline is valid? [True, True] Translation: X:-87.23, Y:7.89, Z:-4.36 [[ 9.71938345e-01 2.09408143e-01 -1.07163813e-01 -8.72310496e+01] [-2.08361725e-01 9.77826435e-01 2.09965280e-02 7.89273869e+00] [ 1.09184453e-01 1.92150627e-03 9.94019649e-01 -4.36232789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84534707000002 meters 0.015177670392328342 Centerline is valid? [True, True] Translation: X:-87.26, Y:7.89, Z:-4.37 [[ 9.73031943e-01 2.04034513e-01 -1.07604623e-01 -8.72609762e+01] [-2.02944162e-01 9.78962831e-01 2.11055229e-02 7.89131563e+00] [ 1.09647181e-01 1.30138213e-03 9.93969719e-01 -4.36861593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87534707000002 meters 0.014313216717085362 Centerline is valid? [True, True] Translation: X:-87.29, Y:7.89, Z:-4.37 [[ 9.73934656e-01 2.00107348e-01 -1.06809807e-01 -8.72906322e+01] [-1.99005773e-01 9.79773636e-01 2.09838859e-02 7.88975977e+00] [ 1.08848462e-01 8.18834466e-04 9.94058017e-01 -4.37448909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90534707 meters 0.013863154005479151 Centerline is valid? [True, True] Translation: X:-87.32, Y:7.90, Z:-4.37 [[ 9.74425386e-01 1.97819073e-01 -1.06596347e-01 -8.73194183e+01] [-1.96704507e-01 9.80238407e-01 2.09762221e-02 7.89592909e+00] [ 1.08639330e-01 5.28218518e-04 9.94081092e-01 -4.37362078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93534707 meters 0.014063191504423391 Centerline is valid? [True, True] Translation: X:-87.35, Y:7.90, Z:-4.38 [[ 9.74212380e-01 1.98651172e-01 -1.06995097e-01 -8.73469005e+01] [-1.97529454e-01 9.80070081e-01 2.10891057e-02 7.90388750e+00] [ 1.09052069e-01 5.89415211e-04 9.94035864e-01 -4.37626310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96534707 meters 0.01464100784199958 Centerline is valid? [True, True] Translation: X:-87.37, Y:7.91, Z:-4.38 [[ 9.73623875e-01 2.01627815e-01 -1.06783770e-01 -8.73737444e+01] [-2.00524344e-01 9.79461812e-01 2.10842558e-02 7.91410179e+00] [ 1.08841797e-01 8.84610524e-04 9.94058691e-01 -4.38309034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99534707000001 meters 0.01490224826064945 Centerline is valid? [True, True] Translation: X:-87.40, Y:7.92, Z:-4.38 [[ 9.73470571e-01 2.02255557e-01 -1.06994098e-01 -8.74013585e+01] [-2.01147171e-01 9.79332348e-01 2.11652640e-02 7.92153590e+00] [ 1.09063573e-01 9.17798397e-04 9.94034353e-01 -4.38497191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02534707000001 meters 0.015611963727452053 Centerline is valid? [True, True] Translation: X:-87.43, Y:7.93, Z:-4.39 [[ 9.72484623e-01 2.07173057e-01 -1.06550372e-01 -8.74274851e+01] [-2.06100487e-01 9.78303254e-01 2.11028964e-02 7.93372817e+00] [ 1.08610527e-01 1.43784124e-03 9.94083340e-01 -4.38508654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05534707000001 meters 0.016358892290083447 Centerline is valid? [True, True] Translation: X:-87.45, Y:7.94, Z:-4.39 [[ 9.71739867e-01 2.11001565e-01 -1.05829913e-01 -8.74544656e+01] [-2.09963296e-01 9.77484015e-01 2.09860429e-02 7.94486242e+00] [ 1.07875136e-01 1.82742284e-03 9.94162771e-01 -4.38690383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08534707000001 meters 0.01793449189314708 Centerline is valid? [True, True] Translation: X:-87.48, Y:7.96, Z:-4.39 [[ 9.70230057e-01 2.17143591e-01 -1.07248762e-01 -8.74810525e+01] [-2.16111846e-01 9.76136421e-01 2.12921723e-02 7.95544289e+00] [ 1.09312882e-01 2.51942245e-03 9.94004198e-01 -4.39251165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11534707000001 meters 0.019751366849134252 Centerline is valid? [True, True] Translation: X:-87.51, Y:7.97, Z:-4.40 [[ 9.68791257e-01 2.23486441e-01 -1.07225518e-01 -8.75076103e+01] [-2.22492266e-01 9.74701719e-01 2.13014239e-02 7.96889611e+00] [ 1.09273476e-01 3.22021525e-03 9.94006508e-01 -4.39765178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14534707000001 meters 0.022865108592907323 Centerline is valid? [True, True] Translation: X:-87.53, Y:7.98, Z:-4.41 [[ 9.68102422e-01 2.26898403e-01 -1.06277068e-01 -8.75340551e+01] [-2.25939383e-01 9.73911973e-01 2.11391586e-02 7.98225981e+00] [ 1.08300950e-01 3.54730459e-03 9.94111825e-01 -4.40615081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17534707000002 meters 0.022113679383894306 Centerline is valid? [True, True] Translation: X:-87.56, Y:7.99, Z:-4.41 [[ 9.67750569e-01 2.27769047e-01 -1.07610859e-01 -8.75614277e+01] [-2.26788525e-01 9.73708276e-01 2.14279706e-02 7.98637128e+00] [ 1.09662213e-01 3.66797722e-03 9.93962145e-01 -4.40610852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20534707000002 meters 0.021686057483807957 Centerline is valid? [True, True] Translation: X:-87.59, Y:7.99, Z:-4.41 [[ 9.67138057e-01 2.29397803e-01 -1.09638621e-01 -8.75898665e+01] [-2.28388895e-01 9.73324885e-01 2.18444702e-02 7.98734614e+00] [ 1.11725072e-01 3.91362513e-03 9.93731449e-01 -4.40978411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23534707000002 meters 0.0211699686919351 Centerline is valid? [True, True] Translation: X:-87.62, Y:7.99, Z:-4.41 [[ 9.67802418e-01 2.27497643e-01 -1.07718625e-01 -8.76197018e+01] [-2.26509600e-01 9.73771953e-01 2.14845391e-02 7.98902059e+00] [ 1.09781058e-01 3.60651377e-03 9.93949250e-01 -4.41246617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26534707 meters 0.023231468829978345 Centerline is valid? [True, True] Translation: X:-87.65, Y:8.00, Z:-4.42 [[ 9.68255649e-01 2.27178712e-01 -1.04263281e-01 -8.76481609e+01] [-2.26248041e-01 9.73847065e-01 2.08259153e-02 7.99646047e+00] [ 1.06267694e-01 3.42455283e-03 9.94331660e-01 -4.41695523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29534707 meters 0.022147618393866884 Centerline is valid? [True, True] Translation: X:-87.68, Y:8.00, Z:-4.42 [[ 9.66984460e-01 2.31457389e-01 -1.06623318e-01 -8.76753268e+01] [-2.30507622e-01 9.72836970e-01 2.13181928e-02 8.00393759e+00] [ 1.08661358e-01 3.96312626e-03 9.94070924e-01 -4.41994136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32534707 meters 0.025169315520257998 Centerline is valid? [True, True] Translation: X:-87.70, Y:8.02, Z:-4.42 [[ 9.66532565e-01 2.33442608e-01 -1.06392432e-01 -8.77016201e+01] [-2.32507378e-01 9.72361670e-01 2.12862093e-02 8.02192745e+00] [ 1.08421031e-01 4.16321090e-03 9.94096347e-01 -4.42181608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35534707000001 meters 0.026627323223369657 Centerline is valid? [True, True] Translation: X:-87.73, Y:8.03, Z:-4.42 [[ 9.66396199e-01 2.33696950e-01 -1.07070638e-01 -8.77297503e+01] [-2.32749588e-01 9.72300399e-01 2.14374382e-02 8.02602733e+00] [ 1.09114688e-01 4.20358825e-03 9.94020279e-01 -4.42109969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38534707000001 meters 0.02319459116433008 Centerline is valid? [True, True] Translation: X:-87.76, Y:8.03, Z:-4.43 [[ 9.66389327e-01 2.33698663e-01 -1.07128911e-01 -8.77569073e+01] [-2.32747332e-01 9.72300089e-01 2.14759297e-02 8.03134054e+00] [ 1.09180345e-01 4.17985896e-03 9.94013169e-01 -4.42895696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41534707000001 meters 0.02239699817588809 Centerline is valid? [True, True] Translation: X:-87.79, Y:8.04, Z:-4.43 [[ 9.67069893e-01 2.31121032e-01 -1.06578096e-01 -8.77858337e+01] [-2.30159937e-01 9.72917456e-01 2.14015905e-02 8.03596108e+00] [ 1.08638048e-01 3.83317406e-03 9.94073982e-01 -4.43224505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44534707000001 meters 0.02155476214573047 Centerline is valid? [True, True] Translation: X:-87.82, Y:8.04, Z:-4.43 [[ 9.67715825e-01 2.28935484e-01 -1.05425927e-01 -8.78157967e+01] [-2.27978881e-01 9.73435238e-01 2.12006362e-02 8.04096464e+00] [ 1.07478891e-01 3.51869378e-03 9.94201140e-01 -4.42892956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47534707000001 meters 0.020577990417609025 Centerline is valid? [True, True] Translation: X:-87.84, Y:8.04, Z:-4.44 [[ 9.67683537e-01 2.27871571e-01 -1.07995926e-01 -8.78439891e+01] [-2.26857535e-01 9.73685074e-01 2.17493855e-02 8.04409301e+00] [ 1.10110088e-01 3.45316727e-03 9.93913399e-01 -4.43502212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50534707000001 meters 0.019937790747544842 Centerline is valid? [True, True] Translation: X:-87.87, Y:8.05, Z:-4.44 [[ 9.68988753e-01 2.23730007e-01 -1.04907958e-01 -8.78727686e+01] [-2.22745532e-01 9.74646952e-01 2.11600154e-02 8.04869291e+00] [ 1.06982352e-01 2.86396204e-03 9.94256795e-01 -4.43636925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53534707000001 meters 0.02113174068803935 Centerline is valid? [True, True] Translation: X:-87.90, Y:8.06, Z:-4.44 [[ 9.69531372e-01 2.21861612e-01 -1.03857324e-01 -8.79005604e+01] [-2.20882629e-01 9.75074701e-01 2.09807709e-02 8.05919323e+00] [ 1.05923477e-01 2.59876319e-03 9.94370888e-01 -4.44126797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56534707000002 meters 0.02206547635593928 Centerline is valid? [True, True] Translation: X:-87.93, Y:8.07, Z:-4.45 [[ 9.69377198e-01 2.22368832e-01 -1.04211091e-01 -8.79281384e+01] [-2.21382656e-01 9.74959063e-01 2.10842167e-02 8.06816175e+00] [ 1.06290020e-01 2.63196919e-03 9.94331687e-01 -4.44584620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59534707000002 meters 0.020377423186563406 Centerline is valid? [True, True] Translation: X:-87.96, Y:8.07, Z:-4.45 [[ 9.68047216e-01 2.27010854e-01 -1.06539475e-01 -8.79568305e+01] [-2.26005668e-01 9.73886999e-01 2.15766159e-02 8.06997117e+00] [ 1.08655535e-01 3.19134215e-03 9.94074338e-01 -4.44946180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62534707000002 meters 0.021286030337138814 Centerline is valid? [True, True] Translation: X:-87.98, Y:8.08, Z:-4.45 [[ 9.67863133e-01 2.28728381e-01 -1.04519298e-01 -8.79845686e+01] [-2.27768598e-01 9.73484697e-01 2.11898607e-02 8.08084088e+00] [ 1.06594660e-01 3.29732905e-03 9.94297091e-01 -4.44903043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65534707 meters 0.021484969219621387 Centerline is valid? [True, True] Translation: X:-88.01, Y:8.09, Z:-4.45 [[ 9.67871094e-01 2.29081478e-01 -1.03668810e-01 -8.80124606e+01] [-2.28135641e-01 9.73401741e-01 2.10518180e-02 8.08747916e+00] [ 1.05733982e-01 3.27510422e-03 9.94389058e-01 -4.45121011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68534707 meters 0.02216075948268354 Centerline is valid? [True, True] Translation: X:-88.04, Y:8.10, Z:-4.45 [[ 9.67329317e-01 2.31495565e-01 -1.03362447e-01 -8.80399537e+01] [-2.30565430e-01 9.72829681e-01 2.10236583e-02 8.09933079e+00] [ 1.05420940e-01 3.49500589e-03 9.94421546e-01 -4.44950950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71534707 meters 0.0225917427680743 Centerline is valid? [True, True] Translation: X:-88.07, Y:8.11, Z:-4.46 [[ 9.66177702e-01 2.34906590e-01 -1.06393340e-01 -8.80668422e+01] [-2.33939078e-01 9.72009886e-01 2.16630802e-02 8.10642117e+00] [ 1.08504179e-01 3.95917481e-03 9.94088109e-01 -4.45663539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74534707000001 meters 0.02575611098281016 Centerline is valid? [True, True] Translation: X:-88.09, Y:8.12, Z:-4.46 [[ 9.65100903e-01 2.39687361e-01 -1.05499835e-01 -8.80926328e+01] [-2.38762294e-01 9.70839980e-01 2.15011447e-02 8.12314686e+00] [ 1.07577010e-01 4.43860848e-03 9.94186846e-01 -4.46399196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77534707000001 meters 0.025759368733417456 Centerline is valid? [True, True] Translation: X:-88.12, Y:8.13, Z:-4.46 [[ 9.64880393e-01 2.41111299e-01 -1.04264898e-01 -8.81194510e+01] [-2.40213530e-01 9.70486946e-01 2.12731528e-02 8.13239042e+00] [ 1.06316920e-01 4.51979112e-03 9.94322022e-01 -4.46178677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80534707000001 meters 0.025283752816579155 Centerline is valid? [True, True] Translation: X:-88.15, Y:8.14, Z:-4.46 [[ 9.64575418e-01 2.42261879e-01 -1.04419563e-01 -8.81466753e+01] [-2.41366488e-01 9.70199808e-01 2.13202138e-02 8.13922752e+00] [ 1.06472915e-01 4.63842909e-03 9.94304784e-01 -4.46469332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83534707000001 meters 0.02552547239465036 Centerline is valid? [True, True] Translation: X:-88.17, Y:8.15, Z:-4.47 [[ 9.64697813e-01 2.42161359e-01 -1.03518143e-01 -8.81748583e+01] [-2.41278293e-01 9.70225256e-01 2.11598130e-02 8.14804856e+00] [ 1.05560006e-01 4.56385547e-03 9.94402462e-01 -4.46504039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86534707000001 meters 0.02546007623544557 Centerline is valid? [True, True] Translation: X:-88.20, Y:8.16, Z:-4.46 [[ 9.65897706e-01 2.38499161e-01 -1.00795696e-01 -8.82029247e+01] [-2.37638740e-01 9.71134380e-01 2.06360179e-02 8.15719958e+00] [ 1.02807838e-01 4.02067968e-03 9.94693110e-01 -4.46238857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89534707000001 meters 0.026237082171954456 Centerline is valid? [True, True] Translation: X:-88.23, Y:8.17, Z:-4.47 [[ 9.66581871e-01 2.36221866e-01 -9.95927568e-02 -8.82302941e+01] [-2.35367831e-01 9.71692050e-01 2.04094174e-02 8.16726639e+00] [ 1.01594641e-01 3.71355829e-03 9.94818948e-01 -4.46751843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92534707000002 meters 0.02668613667185503 Centerline is valid? [True, True] Translation: X:-88.26, Y:8.17, Z:-4.47 [[ 9.65828166e-01 2.38237247e-01 -1.02073348e-01 -8.82576438e+01] [-2.37350366e-01 9.71198686e-01 2.09264439e-02 8.17319080e+00] [ 1.04118960e-01 4.01579761e-03 9.94556743e-01 -4.47223917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95534707000002 meters 0.025795161184996574 Centerline is valid? [True, True] Translation: X:-88.28, Y:8.18, Z:-4.47 [[ 9.65774215e-01 2.38553432e-01 -1.01845105e-01 -8.82844822e+01] [-2.37670914e-01 9.71121020e-01 2.08926214e-02 8.17814709e+00] [ 1.03887929e-01 4.02806414e-03 9.94580853e-01 -4.47235278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98534707000002 meters 0.026475459713293802 Centerline is valid? [True, True] Translation: X:-88.31, Y:8.19, Z:-4.47 [[ 9.65360905e-01 2.40567716e-01 -1.01022263e-01 -8.83122529e+01] [-2.39707918e-01 9.70623328e-01 2.07477430e-02 8.18677295e+00] [ 1.03045803e-01 4.18677648e-03 9.94667801e-01 -4.47212181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01534707 meters 0.025965211068452794 Centerline is valid? [True, True] Translation: X:-88.34, Y:8.19, Z:-4.47 [[ 9.66079781e-01 2.38212392e-01 -9.97231780e-02 -8.83403238e+01] [-2.37360045e-01 9.71205395e-01 2.05009601e-02 8.19450113e+00] [ 1.01735271e-01 3.86473490e-03 9.94804000e-01 -4.47204727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04534707 meters 0.024890746285179413 Centerline is valid? [True, True] Translation: X:-88.37, Y:8.20, Z:-4.47 [[ 9.66761883e-01 2.36343935e-01 -9.75346443e-02 -8.83684900e+01] [-2.35518215e-01 9.71662877e-01 2.00605099e-02 8.19894405e+00] [ 9.95119729e-02 3.57744904e-03 9.95029934e-01 -4.46837844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07534707 meters 0.023474867758380993 Centerline is valid? [True, True] Translation: X:-88.40, Y:8.21, Z:-4.46 [[ 9.68053722e-01 2.32389881e-01 -9.41644058e-02 -8.83978430e+01] [-2.31599766e-01 9.72617960e-01 1.93869052e-02 8.20625679e+00] [ 9.60913129e-02 3.04088870e-03 9.95367878e-01 -4.46059357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10534707000001 meters 0.023288361430178164 Centerline is valid? [True, True] Translation: X:-88.43, Y:8.21, Z:-4.47 [[ 9.67356116e-01 2.34472965e-01 -9.61487028e-02 -8.84251839e+01] [-2.33657239e-01 9.72117055e-01 1.98173204e-02 8.21045911e+00] [ 9.81144197e-02 3.29543424e-03 9.95169684e-01 -4.46613188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13534707000001 meters 0.022916787600603394 Centerline is valid? [True, True] Translation: X:-88.45, Y:8.22, Z:-4.46 [[ 9.68782068e-01 2.30055313e-01 -9.23897059e-02 -8.84533798e+01] [-2.29280349e-01 9.73173763e-01 1.90616835e-02 8.22033506e+00] [ 9.42964793e-02 2.71652690e-03 9.95540453e-01 -4.45995934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16534707000001 meters 0.023115870822445757 Centerline is valid? [True, True] Translation: X:-88.48, Y:8.23, Z:-4.46 [[ 9.70115994e-01 2.25345943e-01 -8.99675700e-02 -8.84816804e+01] [-2.24588529e-01 9.74276389e-01 1.85878934e-02 8.23005232e+00] [ 9.18419856e-02 2.17327151e-03 9.95771222e-01 -4.45784115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19534707000001 meters 0.022319173787929393 Centerline is valid? [True, True] Translation: X:-88.51, Y:8.24, Z:-4.46 [[ 9.69716041e-01 2.26149289e-01 -9.22350224e-02 -8.85090656e+01] [-2.25354878e-01 9.74089970e-01 1.90764211e-02 8.23671113e+00] [ 9.41593293e-02 2.28690075e-03 9.95554514e-01 -4.45860648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22534707000001 meters 0.022848252476374294 Centerline is valid? [True, True] Translation: X:-88.54, Y:8.25, Z:-4.45 [[ 9.71059072e-01 2.22110091e-01 -8.78145046e-02 -8.85376491e+01] [-2.21371863e-01 9.75019961e-01 1.81816855e-02 8.24603502e+00] [ 8.96592307e-02 1.78416985e-03 9.95970903e-01 -4.45321743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25534707000001 meters 0.02166889676024384 Centerline is valid? [True, True] Translation: X:-88.56, Y:8.25, Z:-4.45 [[ 9.71201944e-01 2.21735444e-01 -8.71789948e-02 -8.85647473e+01] [-2.21004543e-01 9.75105351e-01 1.80705986e-02 8.25399593e+00] [ 8.90155965e-02 1.71675343e-03 9.96028753e-01 -4.45280163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28534707000001 meters 0.022427679976234613 Centerline is valid? [True, True] Translation: X:-88.59, Y:8.27, Z:-4.45 [[ 9.71178847e-01 2.22997084e-01 -8.41661866e-02 -8.85918117e+01] [-2.22319190e-01 9.74817537e-01 1.74627554e-02 8.26779919e+00] [ 8.59408183e-02 1.75229982e-03 9.96298703e-01 -4.45295950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31534707000002 meters 0.0216718759086493 Centerline is valid? [True, True] Translation: X:-88.62, Y:8.28, Z:-4.45 [[ 9.72302862e-01 2.19482758e-01 -8.03396711e-02 -8.86199864e+01] [-2.18851232e-01 9.75615442e-01 1.66927257e-02 8.28028412e+00] [ 8.20443892e-02 1.35205103e-03 9.96627759e-01 -4.45049451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34534707000002 meters 0.021790448950762393 Centerline is valid? [True, True] Translation: X:-88.65, Y:8.29, Z:-4.45 [[ 9.72543491e-01 2.18712208e-01 -7.95243913e-02 -8.86462324e+01] [-2.18089527e-01 9.75788598e-01 1.65399506e-02 8.29062532e+00] [ 8.12164834e-02 1.25761556e-03 9.96695691e-01 -4.45016808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37534707000002 meters 0.02229141895358642 Centerline is valid? [True, True] Translation: X:-88.67, Y:8.30, Z:-4.45 [[ 9.72105195e-01 2.20869583e-01 -7.89184235e-02 -8.86727658e+01] [-2.20262153e-01 9.75302331e-01 1.64300838e-02 8.30300094e+00] [ 8.05982281e-02 1.41097202e-03 9.96745672e-01 -4.45443050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40534707 meters 0.022206694198034088 Centerline is valid? [True, True] Translation: X:-88.70, Y:8.31, Z:-4.46 [[ 9.72962234e-01 2.17864321e-01 -7.66787398e-02 -8.87002310e+01] [-2.17279485e-01 9.75978444e-01 1.59907197e-02 8.31346305e+00] [ 7.83206045e-02 1.10235071e-03 9.96927614e-01 -4.45663876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43534707 meters 0.02181165699874744 Centerline is valid? [True, True] Translation: X:-88.73, Y:8.32, Z:-4.46 [[ 9.72536294e-01 2.19465524e-01 -7.75115477e-02 -8.87272610e+01] [-2.18871338e-01 9.75619487e-01 1.61849794e-02 8.31912486e+00] [ 7.91738214e-02 1.22457629e-03 9.96860074e-01 -4.46105613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46534707 meters 0.021347547085113668 Centerline is valid? [True, True] Translation: X:-88.75, Y:8.33, Z:-4.46 [[ 9.73892703e-01 2.15075392e-01 -7.26331758e-02 -8.87549433e+01] [-2.14540941e-01 9.76597117e-01 1.51742006e-02 8.32570566e+00] [ 7.41969472e-02 8.04746614e-04 9.97243283e-01 -4.45628604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49534707000001 meters 0.02104413213582103 Centerline is valid? [True, True] Translation: X:-88.78, Y:8.33, Z:-4.46 [[ 9.74773229e-01 2.12151432e-01 -6.93463840e-02 -8.87822321e+01] [-2.11656420e-01 9.77236649e-01 1.44945246e-02 8.33425378e+00] [ 7.08428621e-02 5.48732796e-04 9.97487337e-01 -4.45634229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52534707000001 meters 0.02104413213582103 Centerline is valid? [True, True] Translation: X:-88.81, Y:8.34, Z:-4.46 [[ 9.74699739e-01 2.12489644e-01 -6.93438522e-02 -8.88093383e+01] [-2.11994625e-01 9.77163158e-01 1.45066272e-02 8.33967792e+00] [ 7.08427656e-02 5.60918207e-04 9.97487337e-01 -4.45781751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55534707000001 meters 0.020624684221137477 Centerline is valid? [True, True] Translation: X:-88.84, Y:8.35, Z:-4.46 [[ 9.74810528e-01 2.12011927e-01 -6.92486683e-02 -8.88360176e+01] [-2.11515579e-01 9.77266948e-01 1.45076540e-02 8.34563537e+00] [ 7.07502304e-02 5.04958285e-04 9.97493935e-01 -4.46012831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58534707000001 meters 0.021020631354989196 Centerline is valid? [True, True] Translation: X:-88.86, Y:8.35, Z:-4.46 [[ 9.75444058e-01 2.09801773e-01 -6.70231718e-02 -8.88642404e+01] [-2.09330872e-01 9.77743889e-01 1.40525450e-02 8.35384996e+00] [ 6.84797455e-02 3.22547408e-04 9.97652455e-01 -4.46178726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61534707000001 meters 0.020391742586590076 Centerline is valid? [True, True] Translation: X:-88.89, Y:8.36, Z:-4.47 [[ 9.75454367e-01 2.09550964e-01 -6.76547985e-02 -8.88913669e+01] [-2.09069160e-01 9.77797684e-01 1.42047906e-02 8.35857823e+00] [ 6.91293329e-02 2.88406848e-04 9.97607664e-01 -4.46625757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64534707000001 meters 0.01986108473129329 Centerline is valid? [True, True] Translation: X:-88.92, Y:8.37, Z:-4.47 [[ 9.75766451e-01 2.08596039e-01 -6.60872592e-02 -8.89188762e+01] [-2.08133443e-01 9.78001866e-01 1.38859473e-02 8.37013687e+00] [ 6.75300164e-02 2.05527231e-04 9.97717222e-01 -4.46636722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67534707000002 meters 0.019899495717424956 Centerline is valid? [True, True] Translation: X:-88.94, Y:8.38, Z:-4.47 [[ 9.75545138e-01 2.09756118e-01 -6.56814689e-02 -8.89447060e+01] [-2.09300464e-01 9.77753702e-01 1.38208047e-02 8.37880413e+00] [ 6.71192977e-02 2.64343076e-04 9.97744922e-01 -4.46624429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70534707000002 meters 0.0193081649697235 Centerline is valid? [True, True] Translation: X:-88.97, Y:8.38, Z:-4.47 [[ 9.76251390e-01 2.07099112e-01 -6.35860201e-02 -8.89723121e+01] [-2.06665545e-01 9.78319965e-01 1.33939940e-02 8.38280625e+00] [ 6.49813572e-02 6.51341897e-05 9.97886476e-01 -4.46743694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73534707000002 meters 0.019302818809386557 Centerline is valid? [True, True] Translation: X:-89.00, Y:8.39, Z:-4.47 [[ 9.77202874e-01 2.03191509e-01 -6.15447297e-02 -8.90013208e+01] [-2.02776993e-01 9.79138995e-01 1.29738113e-02 8.38705276e+00] [ 6.28970131e-02 -1.98190513e-04 9.98020003e-01 -4.47022412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76534707000002 meters 0.019302028379970103 Centerline is valid? [True, True] Translation: X:-89.03, Y:8.39, Z:-4.47 [[ 9.77766012e-01 2.00639987e-01 -6.09690126e-02 -8.90291738e+01] [-2.00226854e-01 9.79664969e-01 1.28746338e-02 8.39166986e+00] [ 6.23123722e-02 -3.80745796e-04 9.98056623e-01 -4.46786034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79534707 meters 0.019409952501394254 Centerline is valid? [True, True] Translation: X:-89.06, Y:8.40, Z:-4.47 [[ 9.78651283e-01 1.96277931e-01 -6.09642556e-02 -8.90566422e+01] [-1.95855035e-01 9.80548067e-01 1.28955092e-02 8.39613923e+00] [ 6.23094868e-02 -6.80050266e-04 9.98056644e-01 -4.47174691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82534707 meters 0.02018830766704466 Centerline is valid? [True, True] Translation: X:-89.09, Y:8.40, Z:-4.47 [[ 9.79584314e-01 1.92048863e-01 -5.94289960e-02 -8.90857271e+01] [-1.91638699e-01 9.81384920e-01 1.25796340e-02 8.39827091e+00] [ 6.07386249e-02 -9.33916642e-04 9.98153268e-01 -4.46814488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85534707000001 meters 0.02106653911436895 Centerline is valid? [True, True] Translation: X:-89.11, Y:8.40, Z:-4.47 [[ 9.80126143e-01 1.89343599e-01 -5.91755548e-02 -8.91147835e+01] [-1.88930756e-01 9.81910257e-01 1.25465434e-02 8.40011043e+00] [ 6.04806919e-02 -1.11711285e-03 9.98168742e-01 -4.47374690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88534707000001 meters 0.021047442884452528 Centerline is valid? [True, True] Translation: X:-89.14, Y:8.40, Z:-4.47 [[ 9.80599252e-01 1.87029780e-01 -5.86938514e-02 -8.91422497e+01] [-1.86618423e-01 9.82353427e-01 1.24622829e-02 8.40441091e+00] [ 5.99889241e-02 -1.26715130e-03 9.98198238e-01 -4.47259850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91534707000001 meters 0.02080904250495909 Centerline is valid? [True, True] Translation: X:-89.17, Y:8.41, Z:-4.47 [[ 9.80799410e-01 1.86069835e-01 -5.83997742e-02 -8.91700096e+01] [-1.85660409e-01 9.82535625e-01 1.24079669e-02 8.41075556e+00] [ 5.96886070e-02 -1.32720068e-03 9.98216163e-01 -4.47404705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94534707000001 meters 0.021455782239285442 Centerline is valid? [True, True] Translation: X:-89.20, Y:8.42, Z:-4.47 [[ 9.81174779e-01 1.84326398e-01 -5.76179799e-02 -8.91989373e+01] [-1.83923723e-01 9.82864042e-01 1.22612832e-02 8.41564773e+00] [ 5.88907188e-02 -1.43314852e-03 9.98263407e-01 -4.47482557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97534707000001 meters 0.021789310320118712 Centerline is valid? [True, True] Translation: X:-89.23, Y:8.42, Z:-4.47 [[ 9.81514660e-01 1.82787129e-01 -5.67259959e-02 -8.92264712e+01] [-1.82393151e-01 9.83151338e-01 1.20907310e-02 8.42322528e+00] [ 5.79802688e-02 -1.52079660e-03 9.98316571e-01 -4.47467407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00534707000001 meters 0.021327797973655156 Centerline is valid? [True, True] Translation: X:-89.25, Y:8.43, Z:-4.48 [[ 9.81279910e-01 1.83781222e-01 -5.75691010e-02 -8.92549680e+01] [-1.83375966e-01 9.82966023e-01 1.22903733e-02 8.42910724e+00] [ 5.88472101e-02 -1.50350687e-03 9.98265869e-01 -4.47522546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03534707000001 meters 0.021112720429990895 Centerline is valid? [True, True] Translation: X:-89.28, Y:8.43, Z:-4.48 [[ 9.81034656e-01 1.84666708e-01 -5.89000128e-02 -8.92824919e+01] [-1.84242917e-01 9.82800055e-01 1.25936178e-02 8.43468515e+00] [ 6.02125578e-02 -1.50286536e-03 9.98184447e-01 -4.47768559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06534707000002 meters 0.02158053186591365 Centerline is valid? [True, True] Translation: X:-89.31, Y:8.44, Z:-4.48 [[ 9.81077998e-01 1.84523034e-01 -5.86277325e-02 -8.93102444e+01] [-1.84102356e-01 9.82827024e-01 1.25444630e-02 8.43842103e+00] [ 5.99356622e-02 -1.51359294e-03 9.98201095e-01 -4.47899529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09534707000002 meters 0.02093867306354812 Centerline is valid? [True, True] Translation: X:-89.34, Y:8.45, Z:-4.48 [[ 9.81499693e-01 1.82078277e-01 -5.92102507e-02 -8.93384385e+01] [-1.81643292e-01 9.83282564e-01 1.26930581e-02 8.44675258e+00] [ 6.05315373e-02 -1.70308772e-03 9.98164832e-01 -4.47747716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12534707000002 meters 0.021466223225974603 Centerline is valid? [True, True] Translation: X:-89.37, Y:8.45, Z:-4.48 [[ 9.81182577e-01 1.84010811e-01 -5.84873595e-02 -8.93673823e+01] [-1.83588495e-01 9.82922940e-01 1.25602358e-02 8.44890660e+00] [ 5.97997865e-02 -1.58627824e-03 9.98209131e-01 -4.47773144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15534707 meters 0.021461622614260212 Centerline is valid? [True, True] Translation: X:-89.39, Y:8.45, Z:-4.48 [[ 9.81186024e-01 1.83530455e-01 -5.99212620e-02 -8.93947252e+01] [-1.83084936e-01 9.83012595e-01 1.28897270e-02 8.45422841e+00] [ 6.12690126e-02 -1.67653958e-03 9.98119881e-01 -4.47522222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18534707 meters 0.02117651305257286 Centerline is valid? [True, True] Translation: X:-89.42, Y:8.46, Z:-4.48 [[ 9.81388377e-01 1.82067815e-01 -6.10586883e-02 -8.94213436e+01] [-1.81601880e-01 9.83284311e-01 1.31423127e-02 8.46147438e+00] [ 6.24308425e-02 -1.80934034e-03 9.98047652e-01 -4.47654895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21534707 meters 0.02253825730557341 Centerline is valid? [True, True] Translation: X:-89.45, Y:8.46, Z:-4.48 [[ 9.80910170e-01 1.84812985e-01 -6.04929715e-02 -8.94506385e+01] [-1.84360351e-01 9.82772360e-01 1.30287955e-02 8.46072805e+00] [ 6.18587110e-02 -1.62757253e-03 9.98083589e-01 -4.47782263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24534707000001 meters 0.0222534191419908 Centerline is valid? [True, True] Translation: X:-89.48, Y:8.47, Z:-4.48 [[ 9.80729944e-01 1.85844323e-01 -6.02549969e-02 -8.94780135e+01] [-1.85396687e-01 9.82577956e-01 1.29856821e-02 8.46700129e+00] [ 6.16185470e-02 -1.56437052e-03 9.98098546e-01 -4.47740712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27534707000001 meters 0.021498939449907137 Centerline is valid? [True, True] Translation: X:-89.51, Y:8.47, Z:-4.48 [[ 9.80985143e-01 1.83836639e-01 -6.22273259e-02 -8.95050658e+01] [-1.83354679e-01 9.82955246e-01 1.34180911e-02 8.47432930e+00] [ 6.36334133e-02 -1.75327660e-03 9.97971801e-01 -4.47578271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30534707000001 meters 0.022358199188070478 Centerline is valid? [True, True] Translation: X:-89.53, Y:8.48, Z:-4.48 [[ 9.80365459e-01 1.87225997e-01 -6.18869349e-02 -8.95338657e+01] [-1.86755418e-01 9.82315668e-01 1.33545021e-02 8.47653856e+00] [ 6.32928158e-02 -1.53457222e-03 9.97993820e-01 -4.47809620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33534707000001 meters 0.021917282046619607 Centerline is valid? [True, True] Translation: X:-89.56, Y:8.48, Z:-4.48 [[ 9.80817318e-01 1.84680854e-01 -6.23728414e-02 -8.95613988e+01] [-1.84196516e-01 9.82797022e-01 1.34779910e-02 8.48306503e+00] [ 6.37889697e-02 -1.73058685e-03 9.97961909e-01 -4.47720076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36534707000001 meters 0.02250574067346439 Centerline is valid? [True, True] Translation: X:-89.59, Y:8.48, Z:-4.48 [[ 9.80412102e-01 1.86747204e-01 -6.25906689e-02 -8.95906573e+01] [-1.86263036e-01 9.82406680e-01 1.35350256e-02 8.48471939e+00] [ 6.40171194e-02 -1.61157492e-03 9.97947499e-01 -4.47913505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39534707000001 meters 0.022893224538200432 Centerline is valid? [True, True] Translation: X:-89.62, Y:8.49, Z:-4.48 [[ 9.80626188e-01 1.85450854e-01 -6.30893011e-02 -8.96207819e+01] [-1.84954873e-01 9.82652016e-01 1.36641846e-02 8.48599565e+00] [ 6.45288637e-02 -1.73078363e-03 9.97914340e-01 -4.47616511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42534707000002 meters 0.02284693606136741 Centerline is valid? [True, True] Translation: X:-89.65, Y:8.49, Z:-4.47 [[ 9.81102470e-01 1.83001153e-01 -6.28372631e-02 -8.96483301e+01] [-1.82503038e-01 9.83110861e-01 1.36262988e-02 8.49009592e+00] [ 6.42696242e-02 -1.90080401e-03 9.97930760e-01 -4.47330924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45534707000002 meters 0.023630886201226577 Centerline is valid? [True, True] Translation: X:-89.68, Y:8.49, Z:-4.47 [[ 9.81354805e-01 1.81613402e-01 -6.29231216e-02 -8.96771441e+01] [-1.81110461e-01 9.83367966e-01 1.36544399e-02 8.49322789e+00] [ 6.43564114e-02 -2.00381460e-03 9.97924966e-01 -4.47473686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48534707000002 meters 0.023186393764750835 Centerline is valid? [True, True] Translation: X:-89.71, Y:8.50, Z:-4.47 [[ 9.81383215e-01 1.81281648e-01 -6.34346062e-02 -8.97058212e+01] [-1.80768440e-01 9.83429057e-01 1.37862824e-02 8.49795643e+00] [ 6.48826349e-02 -2.06265131e-03 9.97890770e-01 -4.47282744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51534707000002 meters 0.023056304258571657 Centerline is valid? [True, True] Translation: X:-89.73, Y:8.50, Z:-4.47 [[ 9.81426869e-01 1.81293669e-01 -6.27208621e-02 -8.97332895e+01] [-1.80790822e-01 9.83426854e-01 1.36492493e-02 8.50369993e+00] [ 6.41559026e-02 -2.05638377e-03 9.97937769e-01 -4.47154462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54534707 meters 0.023075656806498004 Centerline is valid? [True, True] Translation: X:-89.76, Y:8.51, Z:-4.47 [[ 9.81549302e-01 1.80687936e-01 -6.25526847e-02 -8.97620091e+01] [-1.80185947e-01 9.83538236e-01 1.36221759e-02 8.50800050e+00] [ 6.39843200e-02 -2.09972247e-03 9.97948695e-01 -4.47102360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57534707 meters 0.02345668870254616 Centerline is valid? [True, True] Translation: X:-89.79, Y:8.51, Z:-4.47 [[ 9.81294280e-01 1.81643766e-01 -6.37736412e-02 -8.97898571e+01] [-1.81122534e-01 9.83362159e-01 1.39101305e-02 8.51110819e+00] [ 6.52392740e-02 -2.09908802e-03 9.97867442e-01 -4.47344836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60534707000001 meters 0.022970297571863446 Centerline is valid? [True, True] Translation: X:-89.82, Y:8.52, Z:-4.48 [[ 9.81282234e-01 1.81749452e-01 -6.36577955e-02 -8.98163032e+01] [-1.81228893e-01 9.83342608e-01 1.39069680e-02 8.51623181e+00] [ 6.51250064e-02 -2.11002884e-03 9.97874883e-01 -4.47545171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63534707000001 meters 0.023521736438693014 Centerline is valid? [True, True] Translation: X:-89.84, Y:8.52, Z:-4.48 [[ 9.81147287e-01 1.82000905e-01 -6.50051713e-02 -8.98449295e+01] [-1.81457693e-01 9.83296010e-01 1.42148776e-02 8.51908482e+00] [ 6.65064462e-02 -2.15120011e-03 9.97783676e-01 -4.47638146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66534707000001 meters 0.02283474881937833 Centerline is valid? [True, True] Translation: X:-89.87, Y:8.52, Z:-4.48 [[ 9.81336965e-01 1.81043774e-01 -6.48144511e-02 -8.98721106e+01] [-1.80500366e-01 9.83472513e-01 1.41927392e-02 8.52493707e+00] [ 6.63127382e-02 -2.22882749e-03 9.97796399e-01 -4.47735987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69534707000001 meters 0.02343752504275841 Centerline is valid? [True, True] Translation: X:-89.90, Y:8.53, Z:-4.48 [[ 9.81452701e-01 1.80690792e-01 -6.40424287e-02 -8.99002874e+01] [-1.80158782e-01 9.83537409e-01 1.40349155e-02 8.52822316e+00] [ 6.55241044e-02 -2.23679972e-03 9.97848480e-01 -4.47823380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72534707000001 meters 0.02374795769198035 Centerline is valid? [True, True] Translation: X:-89.93, Y:8.53, Z:-4.48 [[ 9.81863744e-01 1.78225338e-01 -6.46476448e-02 -8.99284585e+01] [-1.77676304e-01 9.83986656e-01 1.41912865e-02 8.53216156e+00] [ 6.61416666e-02 -2.44755512e-03 9.97807241e-01 -4.47599466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75534707000001 meters 0.024288362727307757 Centerline is valid? [True, True] Translation: X:-89.96, Y:8.53, Z:-4.48 [[ 9.82085887e-01 1.76456819e-01 -6.61082512e-02 -8.99573688e+01] [-1.75877657e-01 9.84304843e-01 1.45267354e-02 8.53455423e+00] [ 6.76340133e-02 -2.63953749e-03 9.97706707e-01 -4.47868525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78534707000001 meters 0.02467113121719712 Centerline is valid? [True, True] Translation: X:-89.99, Y:8.54, Z:-4.48 [[ 9.82104066e-01 1.76916905e-01 -6.45911140e-02 -8.99860787e+01] [-1.76363579e-01 9.84222437e-01 1.42155680e-02 8.53791336e+00] [ 6.60869979e-02 -2.56964711e-03 9.97810556e-01 -4.47948002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81534707000002 meters 0.02601988566510297 Centerline is valid? [True, True] Translation: X:-90.02, Y:8.54, Z:-4.48 [[ 9.82149855e-01 1.76355784e-01 -6.54239966e-02 -9.00164472e+01] [-1.75785279e-01 9.84322884e-01 1.44220344e-02 8.53641588e+00] [ 6.69417462e-02 -2.66402349e-03 9.97753329e-01 -4.48144970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84534707000002 meters 0.026536324216397376 Centerline is valid? [True, True] Translation: X:-90.05, Y:8.54, Z:-4.48 [[ 9.82461386e-01 1.74580817e-01 -6.55069784e-02 -9.00457342e+01] [-1.74003533e-01 9.84638841e-01 1.44610823e-02 8.53955119e+00] [ 6.70253429e-02 -2.80900924e-03 9.97747319e-01 -4.48262832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87534707000002 meters 0.026112587679022595 Centerline is valid? [True, True] Translation: X:-90.07, Y:8.54, Z:-4.48 [[ 9.82630203e-01 1.73959724e-01 -6.46211964e-02 -9.00731228e+01] [-1.73395474e-01 9.84748702e-01 1.42829670e-02 8.54450337e+00] [ 6.61203003e-02 -2.82985178e-03 9.97807646e-01 -4.48164392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90534707 meters 0.026440529597825543 Centerline is valid? [True, True] Translation: X:-90.10, Y:8.55, Z:-4.48 [[ 9.83215679e-01 1.70528953e-01 -6.48598890e-02 -9.01012616e+01] [-1.69952611e-01 9.85347856e-01 1.43427118e-02 8.54952490e+00] [ 6.63554002e-02 -3.07887158e-03 9.97791302e-01 -4.48261469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93534707 meters 0.02675081966637308 Centerline is valid? [True, True] Translation: X:-90.13, Y:8.55, Z:-4.48 [[ 9.83625483e-01 1.67926373e-01 -6.54342679e-02 -9.01293615e+01] [-1.67333631e-01 9.85794053e-01 1.44755340e-02 8.55357817e+00] [ 6.69355361e-02 -3.28915046e-03 9.97751881e-01 -4.48265412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96534707 meters 0.02673224780362642 Centerline is valid? [True, True] Translation: X:-90.16, Y:8.56, Z:-4.48 [[ 9.84197279e-01 1.64370040e-01 -6.58650624e-02 -9.01578025e+01] [-1.63761094e-01 9.86392321e-01 1.45771209e-02 8.55774582e+00] [ 6.73648337e-02 -3.56062810e-03 9.97722056e-01 -4.48379497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99534707000001 meters 0.029642179899916007 Centerline is valid? [True, True] Translation: X:-90.19, Y:8.55, Z:-4.49 [[ 9.84016012e-01 1.65673661e-01 -6.53048765e-02 -9.01880871e+01] [-1.65077441e-01 9.86174602e-01 1.44600462e-02 8.55230885e+00] [ 6.67976594e-02 -3.44855511e-03 9.97760583e-01 -4.48572650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02534707000001 meters 0.029213595901415815 Centerline is valid? [True, True] Translation: X:-90.22, Y:8.56, Z:-4.49 [[ 9.84530207e-01 1.62163237e-01 -6.63577919e-02 -9.02161238e+01] [-1.61538871e-01 9.86756790e-01 1.47047960e-02 8.55809336e+00] [ 6.78635790e-02 -3.75795313e-03 9.97687532e-01 -4.48765281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05534707000001 meters 0.029344231348948008 Centerline is valid? [True, True] Translation: X:-90.24, Y:8.56, Z:-4.49 [[ 9.84494423e-01 1.62542833e-01 -6.59587607e-02 -9.02444271e+01] [-1.61926174e-01 9.86694481e-01 1.46258179e-02 8.56180219e+00] [ 6.74584670e-02 -3.71858640e-03 9.97715153e-01 -4.48668783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08534707000001 meters 0.029775452800672574 Centerline is valid? [True, True] Translation: X:-90.27, Y:8.56, Z:-4.49 [[ 9.84923059e-01 1.59735570e-01 -6.64162314e-02 -9.02728590e+01] [-1.59102493e-01 9.87151899e-01 1.47487619e-02 8.56480090e+00] [ 6.79188108e-02 -3.95940767e-03 9.97682995e-01 -4.48809478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11534707000001 meters 0.0302409393677192 Centerline is valid? [True, True] Translation: X:-90.30, Y:8.57, Z:-4.49 [[ 9.84707659e-01 1.61578399e-01 -6.51402074e-02 -9.03021765e+01] [-1.60972897e-01 9.86852690e-01 1.44739029e-02 8.56599335e+00] [ 6.66224590e-02 -3.76675520e-03 9.97771146e-01 -4.48851091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14534707000001 meters 0.02952224600520464 Centerline is valid? [True, True] Translation: X:-90.33, Y:8.57, Z:-4.49 [[ 9.84923400e-01 1.60010799e-01 -6.57452641e-02 -9.03294803e+01] [-1.59389185e-01 9.87107448e-01 1.46278728e-02 8.57262899e+00] [ 6.72382574e-02 -3.92825017e-03 9.97729215e-01 -4.49031291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17534707000002 meters 0.03277369586079939 Centerline is valid? [True, True] Translation: X:-90.36, Y:8.57, Z:-4.49 [[ 9.84786307e-01 1.60917721e-01 -6.55851785e-02 -9.03599930e+01] [-1.60300403e-01 9.86960246e-01 1.46031779e-02 8.56680582e+00] [ 6.70798740e-02 -3.86767912e-03 9.97740112e-01 -4.49303767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20534707000002 meters 0.02946076670250251 Centerline is valid? [True, True] Translation: X:-90.39, Y:8.58, Z:-4.49 [[ 9.85084545e-01 1.58504247e-01 -6.69689657e-02 -9.03857766e+01] [-1.57853628e-01 9.87349627e-01 1.49313827e-02 8.58036906e+00] [ 6.84884709e-02 -4.13738014e-03 9.97643329e-01 -4.49185958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23534707000002 meters 0.02953378562045964 Centerline is valid? [True, True] Translation: X:-90.41, Y:8.59, Z:-4.49 [[ 9.85397748e-01 1.56695278e-01 -6.66173187e-02 -9.04137778e+01] [-1.56046833e-01 9.87637859e-01 1.48608611e-02 8.58512556e+00] [ 6.81224128e-02 -4.24843746e-03 9.97667925e-01 -4.49361762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26534707000002 meters 0.031401635131144204 Centerline is valid? [True, True] Translation: X:-90.44, Y:8.58, Z:-4.50 [[ 9.85451205e-01 1.56530399e-01 -6.62129594e-02 -9.04439073e+01] [-1.55888759e-01 9.87664024e-01 1.47807585e-02 8.58340304e+00] [ 6.77097960e-02 -4.24386015e-03 9.97696032e-01 -4.49670493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29534707 meters 0.030290712826919326 Centerline is valid? [True, True] Translation: X:-90.47, Y:8.59, Z:-4.49 [[ 9.85610262e-01 1.55303378e-01 -6.67328422e-02 -9.04709068e+01] [-1.54647423e-01 9.87857103e-01 1.49170633e-02 8.59082648e+00] [ 6.82391825e-02 -4.38234862e-03 9.97659365e-01 -4.49437011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32534707 meters 0.032661351614837505 Centerline is valid? [True, True] Translation: X:-90.50, Y:8.59, Z:-4.50 [[ 9.85581445e-01 1.55933751e-01 -6.56801385e-02 -9.05005135e+01] [-1.55299014e-01 9.87758240e-01 1.46927330e-02 8.58994278e+00] [ 6.71671910e-02 -4.28082421e-03 9.97732551e-01 -4.49739825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35534707000001 meters 0.028553762992991852 Centerline is valid? [True, True] Translation: X:-90.53, Y:8.61, Z:-4.49 [[ 9.86242852e-01 1.51174373e-01 -6.68681245e-02 -9.05266157e+01] [-1.50504201e-01 9.88495899e-01 1.49780624e-02 8.60726716e+00] [ 6.83631661e-02 -4.70807333e-03 9.97649393e-01 -4.49140217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38534707000001 meters 0.029129429228609192 Centerline is valid? [True, True] Translation: X:-90.56, Y:8.61, Z:-4.50 [[ 9.85508248e-01 1.56396804e-01 -6.56774895e-02 -9.05564789e+01] [-1.55761376e-01 9.87685053e-01 1.47183599e-02 8.60988643e+00] [ 6.71705791e-02 -4.27504890e-03 9.97732348e-01 -4.49563816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41534707000001 meters 0.029129429228609192 Centerline is valid? [True, True] Translation: X:-90.58, Y:8.62, Z:-4.50 [[ 9.85450226e-01 1.56763388e-01 -6.56741381e-02 -9.05836049e+01] [-1.56127778e-01 9.87626978e-01 1.47332997e-02 8.61572741e+00] [ 6.71711925e-02 -4.26537627e-03 9.97732348e-01 -4.49711580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44534707000001 meters 0.03220647835921266 Centerline is valid? [True, True] Translation: X:-90.61, Y:8.61, Z:-4.50 [[ 9.85229501e-01 1.58080297e-01 -6.58289418e-02 -9.06142488e+01] [-1.57442908e-01 9.87417284e-01 1.47931965e-02 8.61010813e+00] [ 6.73391478e-02 -4.21039356e-03 9.97721260e-01 -4.50135184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47534707000001 meters 0.03115998298545272 Centerline is valid? [True, True] Translation: X:-90.64, Y:8.62, Z:-4.50 [[ 9.85386925e-01 1.56850389e-01 -6.64120744e-02 -9.06409540e+01] [-1.56197499e-01 9.87612784e-01 1.49442227e-02 8.61718264e+00] [ 6.79334208e-02 -4.35244178e-03 9.97680363e-01 -4.50182643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50534707000001 meters 0.031872431376762045 Centerline is valid? [True, True] Translation: X:-90.67, Y:8.62, Z:-4.51 [[ 9.85091095e-01 1.58936827e-01 -6.58378326e-02 -9.06709307e+01] [-1.58299223e-01 9.87279902e-01 1.48239964e-02 8.61994569e+00] [ 6.73564479e-02 -4.18090907e-03 9.97720216e-01 -4.50509786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53534707000001 meters 0.02942588837466741 Centerline is valid? [True, True] Translation: X:-90.70, Y:8.63, Z:-4.50 [[ 9.85310908e-01 1.57043664e-01 -6.70798155e-02 -9.06976459e+01] [-1.56376498e-01 9.87581838e-01 1.51163463e-02 8.63129116e+00] [ 6.86207340e-02 -4.40459426e-03 9.97633096e-01 -4.50400100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56534707000002 meters 0.03043712912424318 Centerline is valid? [True, True] Translation: X:-90.73, Y:8.63, Z:-4.50 [[ 9.85269036e-01 1.57732552e-01 -6.60709326e-02 -9.07274608e+01] [-1.57086204e-01 9.87472504e-01 1.48989141e-02 8.63305340e+00] [ 6.75932730e-02 -4.30060673e-03 9.97703691e-01 -4.50484087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59534707000002 meters 0.030960046921082434 Centerline is valid? [True, True] Translation: X:-90.76, Y:8.64, Z:-4.50 [[ 9.85618560e-01 1.55763633e-01 -6.55266673e-02 -9.07568013e+01] [-1.55122223e-01 9.87784472e-01 1.47963549e-02 8.63674912e+00] [ 6.70309585e-02 -4.41891975e-03 9.97741111e-01 -4.50332801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62534707000002 meters 0.03112721502987386 Centerline is valid? [True, True] Translation: X:-90.79, Y:8.64, Z:-4.50 [[ 9.85638958e-01 1.55749606e-01 -6.52526189e-02 -9.07852398e+01] [-1.55112665e-01 9.87786706e-01 1.47473632e-02 8.64014212e+00] [ 6.67525655e-02 -4.41406805e-03 9.97759796e-01 -4.50465779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65534707 meters 0.03265509454292428 Centerline is valid? [True, True] Translation: X:-90.82, Y:8.64, Z:-4.51 [[ 9.85951902e-01 1.53483391e-01 -6.58915490e-02 -9.08151509e+01] [-1.52827419e-01 9.88140364e-01 1.49131249e-02 8.64160791e+00] [ 6.73990162e-02 -4.63358850e-03 9.97715341e-01 -4.50832441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68534707 meters 0.03046740435599778 Centerline is valid? [True, True] Translation: X:-90.84, Y:8.65, Z:-4.51 [[ 9.85947229e-01 1.53013127e-01 -6.70450923e-02 -9.08414064e+01] [-1.52331678e-01 9.88212669e-01 1.51914971e-02 8.65163752e+00] [ 6.85793081e-02 -4.76492311e-03 9.97634289e-01 -4.50881670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71534707 meters 0.03352949428556638 Centerline is valid? [True, True] Translation: X:-90.87, Y:8.65, Z:-4.51 [[ 9.86293468e-01 1.51210902e-01 -6.60337717e-02 -9.08713991e+01] [-1.50545348e-01 9.88489754e-01 1.49701254e-02 8.65064345e+00] [ 6.75373529e-02 -4.82385969e-03 9.97705085e-01 -4.51185294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74534707000001 meters 0.035569459534927024 Centerline is valid? [True, True] Translation: X:-90.90, Y:8.65, Z:-4.51 [[ 9.86060052e-01 1.52741061e-01 -6.59980431e-02 -9.09009406e+01] [-1.52078969e-01 9.88254942e-01 1.49718458e-02 8.65057710e+00] [ 6.75097079e-02 -4.72622469e-03 9.97707423e-01 -4.51312576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77534707000001 meters 0.033198940306833624 Centerline is valid? [True, True] Translation: X:-90.93, Y:8.66, Z:-4.51 [[ 9.86242201e-01 1.51833822e-01 -6.53667523e-02 -9.09271085e+01] [-1.51180957e-01 9.88394558e-01 1.48498057e-02 8.66241485e+00] [ 6.68628450e-02 -4.76329686e-03 9.97750806e-01 -4.51420060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80534707000001 meters 0.033806457500102076 Centerline is valid? [True, True] Translation: X:-90.95, Y:8.67, Z:-4.51 [[ 9.86190811e-01 1.52224140e-01 -6.52341611e-02 -9.09549576e+01] [-1.51573348e-01 9.88334592e-01 1.48409991e-02 8.66613631e+00] [ 6.67323363e-02 -4.74829672e-03 9.97759615e-01 -4.51493467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83534707000001 meters 0.03163308514914726 Centerline is valid? [True, True] Translation: X:-90.98, Y:8.68, Z:-4.52 [[ 9.86289002e-01 1.51080618e-01 -6.63976826e-02 -9.09813298e+01] [-1.50402361e-01 9.88509137e-01 1.51266852e-02 8.67747097e+00] [ 6.79200648e-02 -4.93291500e-03 9.97678571e-01 -4.51761771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86534707000001 meters 0.036763761453216845 Centerline is valid? [True, True] Translation: X:-91.01, Y:8.67, Z:-4.52 [[ 9.86396583e-01 1.50393557e-01 -6.63593123e-02 -9.10123650e+01] [-1.49713866e-01 9.88613628e-01 1.51278589e-02 8.67245183e+00] [ 6.78788531e-02 -4.98715919e-03 9.97681106e-01 -4.52175759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89534707000001 meters 0.03588662553391354 Centerline is valid? [True, True] Translation: X:-91.04, Y:8.68, Z:-4.52 [[ 9.87092686e-01 1.45673548e-01 -6.65375553e-02 -9.10389634e+01] [-1.44978256e-01 9.89318276e-01 1.51873288e-02 8.68393647e+00] [ 6.80392116e-02 -5.34480247e-03 9.97668331e-01 -4.52155223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92534707000002 meters 0.034890605422762795 Centerline is valid? [True, True] Translation: X:-91.07, Y:8.69, Z:-4.52 [[ 9.87043910e-01 1.45563460e-01 -6.74951806e-02 -9.10653984e+01] [-1.44847316e-01 9.89333985e-01 1.54117268e-02 8.69316568e+00] [ 6.90186603e-02 -5.43555537e-03 9.97600561e-01 -4.52159516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95534707000002 meters 0.037028965290348145 Centerline is valid? [True, True] Translation: X:-91.09, Y:8.70, Z:-4.53 [[ 9.86777686e-01 1.47659248e-01 -6.68322214e-02 -9.10947855e+01] [-1.46961367e-01 9.89024389e-01 1.52680882e-02 8.69550870e+00] [ 6.83531713e-02 -5.24445411e-03 9.97647402e-01 -4.52509659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98534707000002 meters 0.03504142432210164 Centerline is valid? [True, True] Translation: X:-91.12, Y:8.71, Z:-4.52 [[ 9.86561050e-01 1.48731411e-01 -6.76480715e-02 -9.11195263e+01] [-1.48018324e-01 9.88863740e-01 1.54621787e-02 8.71041135e+00] [ 6.91944367e-02 -5.24122912e-03 9.97589424e-01 -4.52466576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01534707000002 meters 0.03355903375467031 Centerline is valid? [True, True] Translation: X:-91.15, Y:8.72, Z:-4.53 [[ 9.86189702e-01 1.51381744e-01 -6.71821395e-02 -9.11450392e+01] [-1.50683969e-01 9.88462583e-01 1.53643713e-02 8.72473319e+00] [ 6.87329165e-02 -5.02891330e-03 9.97622422e-01 -4.52874578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04534707 meters 0.031217935179898328 Centerline is valid? [True, True] Translation: X:-91.17, Y:8.74, Z:-4.53 [[ 9.85429366e-01 1.56046482e-01 -6.76643229e-02 -9.11704317e+01] [-1.55349108e-01 9.87738321e-01 1.54810882e-02 8.74118260e+00] [ 6.92504141e-02 -4.74392678e-03 9.97588029e-01 -4.52956373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07534707 meters 0.032878651912113 Centerline is valid? [True, True] Translation: X:-91.20, Y:8.75, Z:-4.53 [[ 9.84720029e-01 1.60447918e-01 -6.76973345e-02 -9.11983199e+01] [-1.59759782e-01 9.87034310e-01 1.54946014e-02 8.74866923e+00] [ 6.93056684e-02 -4.44253295e-03 9.97585579e-01 -4.53494629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10534707000001 meters 0.028245872858069298 Centerline is valid? [True, True] Translation: X:-91.22, Y:8.77, Z:-4.54 [[ 9.83486447e-01 1.67184674e-01 -6.93086776e-02 -9.12228577e+01] [-1.66479622e-01 9.85917207e-01 1.58680654e-02 8.77103085e+00] [ 7.09855152e-02 -4.06754480e-03 9.97469053e-01 -4.53906000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13534707000001 meters 0.02609572041594541 Centerline is valid? [True, True] Translation: X:-91.25, Y:8.79, Z:-4.54 [[ 9.82433686e-01 1.72998928e-01 -6.99673006e-02 -9.12495843e+01] [-1.72294609e-01 9.84915106e-01 1.60250482e-02 8.78697621e+00] [ 7.16841675e-02 -3.68855840e-03 9.97420561e-01 -4.54212961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16534707000001 meters 0.025488844584217536 Centerline is valid? [True, True] Translation: X:-91.28, Y:8.80, Z:-4.55 [[ 9.81620215e-01 1.77523624e-01 -7.00508103e-02 -9.12772353e+01] [-1.76828582e-01 9.84110772e-01 1.60512086e-02 8.79854281e+00] [ 7.17872257e-02 -3.36920544e-03 9.97414278e-01 -4.54781176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19534707000001 meters 0.025340376685134815 Centerline is valid? [True, True] Translation: X:-91.30, Y:8.81, Z:-4.55 [[ 9.81693785e-01 1.77275063e-01 -6.96481427e-02 -9.13037787e+01] [-1.76586718e-01 9.84155551e-01 1.59681758e-02 8.80894270e+00] [ 7.13753656e-02 -3.37692207e-03 9.97443810e-01 -4.54779150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22534707000001 meters 0.024057590487608548 Centerline is valid? [True, True] Translation: X:-91.33, Y:8.82, Z:-4.55 [[ 9.81412707e-01 1.79118889e-01 -6.88877446e-02 -9.13291858e+01] [-1.78449441e-01 9.83822181e-01 1.58023282e-02 8.82072664e+00] [ 7.06037866e-02 -3.21562623e-03 9.97499256e-01 -4.54866535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25534707000001 meters 0.02351307871735333 Centerline is valid? [True, True] Translation: X:-91.36, Y:8.83, Z:-4.55 [[ 9.81580150e-01 1.77932677e-01 -6.95727845e-02 -9.13550412e+01] [-1.77246083e-01 9.84036979e-01 1.59702841e-02 8.83229349e+00] [ 7.13038280e-02 -3.34461035e-03 9.97449035e-01 -4.54723645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28534707000001 meters 0.024371177878183777 Centerline is valid? [True, True] Translation: X:-91.38, Y:8.84, Z:-4.55 [[ 9.80492208e-01 1.84017917e-01 -6.90828277e-02 -9.13843880e+01] [-1.83355163e-01 9.82918630e-01 1.58697935e-02 8.83780917e+00] [ 7.08231247e-02 -2.89351573e-03 9.97484693e-01 -4.55244425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31534707000002 meters 0.02317572375826423 Centerline is valid? [True, True] Translation: X:-91.41, Y:8.85, Z:-4.56 [[ 9.80165448e-01 1.85556102e-01 -6.96033634e-02 -9.14101869e+01] [-1.84886508e-01 9.82629647e-01 1.59986522e-02 8.85059728e+00] [ 7.13629759e-02 -2.81260336e-03 9.97446447e-01 -4.55522057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34534707000002 meters 0.02066493563590922 Centerline is valid? [True, True] Translation: X:-91.44, Y:8.87, Z:-4.56 [[ 9.79760218e-01 1.87174516e-01 -7.09620761e-02 -9.14353180e+01] [-1.86482101e-01 9.82322811e-01 1.63193298e-02 8.86601010e+00] [ 7.27622288e-02 -2.75587311e-03 9.97345508e-01 -4.55625596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37534707000002 meters 0.022303063009975824 Centerline is valid? [True, True] Translation: X:-91.46, Y:8.87, Z:-4.56 [[ 9.79489777e-01 1.89094327e-01 -6.95924678e-02 -9.14642135e+01] [-1.88432334e-01 9.81955551e-01 1.60172314e-02 8.86997774e+00] [ 7.13654776e-02 -2.57524330e-03 9.97446909e-01 -4.55949165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40534707 meters 0.021586736442749093 Centerline is valid? [True, True] Translation: X:-91.49, Y:8.88, Z:-4.56 [[ 9.79200640e-01 1.90380713e-01 -7.01519085e-02 -9.14906271e+01] [-1.89709711e-01 9.81707093e-01 1.61681452e-02 8.88143444e+00] [ 7.19467292e-02 -2.52335988e-03 9.97405284e-01 -4.55880251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43534707 meters 0.020741926709059926 Centerline is valid? [True, True] Translation: X:-91.52, Y:8.89, Z:-4.56 [[ 9.79391482e-01 1.89925382e-01 -6.87071654e-02 -9.15170158e+01] [-1.89279871e-01 9.81795307e-01 1.58463084e-02 8.89176485e+00] [ 7.04659887e-02 -2.51485601e-03 9.97511012e-01 -4.55551227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46534707 meters 0.0202571955188898 Centerline is valid? [True, True] Translation: X:-91.54, Y:8.90, Z:-4.56 [[ 9.79186102e-01 1.91075242e-01 -6.84458182e-02 -9.15440141e+01] [-1.90436850e-01 9.81572382e-01 1.57944388e-02 8.89860453e+00] [ 7.02024511e-02 -2.43108890e-03 9.97529802e-01 -4.55503057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49534707000001 meters 0.02124512250484389 Centerline is valid? [True, True] Translation: X:-91.57, Y:8.91, Z:-4.56 [[ 9.79809006e-01 1.88456900e-01 -6.67705643e-02 -9.15725301e+01] [-1.87842589e-01 9.82078111e-01 1.54190105e-02 8.90533612e+00] [ 6.84797286e-02 -2.56532967e-03 9.97649210e-01 -4.55782971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52534707000001 meters 0.02097198854621874 Centerline is valid? [True, True] Translation: X:-91.60, Y:8.91, Z:-4.56 [[ 9.79445847e-01 1.89800512e-01 -6.82758961e-02 -9.16001137e+01] [-1.89159783e-01 9.81819364e-01 1.57896660e-02 8.91251606e+00] [ 7.00314836e-02 -2.55006907e-03 9.97541522e-01 -4.55932089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55534707000001 meters 0.022507750227019778 Centerline is valid? [True, True] Translation: X:-91.63, Y:8.91, Z:-4.57 [[ 9.79990364e-01 1.86645223e-01 -6.91552454e-02 -9.16301085e+01] [-1.85978324e-01 9.82423291e-01 1.60168503e-02 8.91297925e+00] [ 7.09291924e-02 -2.83498237e-03 9.97477324e-01 -4.56558001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58534707000001 meters 0.025200066040011265 Centerline is valid? [True, True] Translation: X:-91.66, Y:8.91, Z:-4.57 [[ 9.80929633e-01 1.81736247e-01 -6.89129229e-02 -9.16597754e+01] [-1.81060374e-01 9.83342104e-01 1.59827394e-02 8.91399279e+00] [ 7.06696217e-02 -3.20054310e-03 9.97494642e-01 -4.56877058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61534707000001 meters 0.023609457666628336 Centerline is valid? [True, True] Translation: X:-91.69, Y:8.92, Z:-4.57 [[ 9.81036976e-01 1.80266305e-01 -7.12075161e-02 -9.16861189e+01] [-1.79539365e-01 9.83611843e-01 1.65335882e-02 8.92365808e+00] [ 7.30210049e-02 -3.43550916e-03 9.97324486e-01 -4.56846518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64534707000001 meters 0.026891236375418993 Centerline is valid? [True, True] Translation: X:-91.72, Y:8.92, Z:-4.57 [[ 9.82054132e-01 1.75617267e-01 -6.87623303e-02 -9.17165494e+01] [-1.74927285e-01 9.84451706e-01 1.59775699e-02 8.92407180e+00] [ 7.04991306e-02 -3.66243073e-03 9.97505117e-01 -4.57274283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67534707000002 meters 0.026797610089720557 Centerline is valid? [True, True] Translation: X:-91.74, Y:8.93, Z:-4.57 [[ 9.82128382e-01 1.74321979e-01 -7.09625937e-02 -9.17446354e+01] [-1.73582309e-01 9.84681003e-01 1.65077004e-02 8.92955310e+00] [ 7.27531729e-02 -3.89483024e-03 9.97342372e-01 -4.57185546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70534707000002 meters 0.026616008889154885 Centerline is valid? [True, True] Translation: X:-91.77, Y:8.94, Z:-4.57 [[ 9.82000359e-01 1.75128751e-01 -7.07475551e-02 -9.17728994e+01] [-1.74394806e-01 9.84538072e-01 1.64692652e-02 8.93632956e+00] [ 7.25379033e-02 -3.83481814e-03 9.97358284e-01 -4.57244897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73534707000002 meters 0.030150476733601696 Centerline is valid? [True, True] Translation: X:-91.80, Y:8.94, Z:-4.58 [[ 9.81910221e-01 1.75990868e-01 -6.98536468e-02 -9.18023126e+01] [-1.75275837e-01 9.84384668e-01 1.62851392e-02 8.93604082e+00] [ 7.16288947e-02 -3.74688829e-03 9.97424314e-01 -4.57766632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76534707000002 meters 0.024907700876805484 Centerline is valid? [True, True] Translation: X:-91.83, Y:8.96, Z:-4.58 [[ 9.80885672e-01 1.81272116e-01 -7.07369634e-02 -9.18267559e+01] [-1.80551114e-01 9.83427019e-01 1.65104051e-02 8.95565091e+00] [ 7.25575171e-02 -3.42318229e-03 9.97358355e-01 -4.57674769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79534707 meters 0.023871665832230816 Centerline is valid? [True, True] Translation: X:-91.85, Y:8.97, Z:-4.58 [[ 9.80397285e-01 1.83816283e-01 -7.09417917e-02 -9.18529122e+01] [-1.83097368e-01 9.82955247e-01 1.65631062e-02 8.96740373e+00] [ 7.27771750e-02 -3.24916893e-03 9.97342933e-01 -4.57776775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82534707 meters 0.023508055591776794 Centerline is valid? [True, True] Translation: X:-91.88, Y:8.98, Z:-4.58 [[ 9.79662397e-01 1.88132060e-01 -6.97704511e-02 -9.18805854e+01] [-1.87447194e-01 9.82139501e-01 1.62957204e-02 8.97927962e+00] [ 7.15900635e-02 -2.88602925e-03 9.97429964e-01 -4.57843749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85534707000001 meters 0.01998248120629418 Centerline is valid? [True, True] Translation: X:-91.91, Y:9.00, Z:-4.58 [[ 9.78460609e-01 1.94138496e-01 -7.01789201e-02 -9.19063250e+01] [-1.93460622e-01 9.80971031e-01 1.63958488e-02 8.99520036e+00] [ 7.20265530e-02 -2.46583471e-03 9.97399667e-01 -4.57958736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88534707000001 meters 0.019829971924663542 Centerline is valid? [True, True] Translation: X:-91.93, Y:9.00, Z:-4.58 [[ 9.78301975e-01 1.95354831e-01 -6.90053350e-02 -9.19330940e+01] [-1.94702109e-01 9.80729834e-01 1.61270657e-02 9.00473735e+00] [ 7.08260909e-02 -2.34165596e-03 9.97485930e-01 -4.57979983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91534707000001 meters 0.01970195706481952 Centerline is valid? [True, True] Translation: X:-91.96, Y:9.01, Z:-4.58 [[ 9.77582060e-01 1.98823662e-01 -6.92998433e-02 -9.19615267e+01] [-1.98173158e-01 9.80033006e-01 1.62082155e-02 9.01167577e+00] [ 7.11387105e-02 -2.11149184e-03 9.97464198e-01 -4.58123073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94534707000001 meters 0.01956528749378115 Centerline is valid? [True, True] Translation: X:-91.99, Y:9.02, Z:-4.58 [[ 9.77478332e-01 1.99414849e-01 -6.90639502e-02 -9.19881204e+01] [-1.98768839e-01 9.79912949e-01 1.61728262e-02 9.02051869e+00] [ 7.09017608e-02 -2.08082593e-03 9.97481133e-01 -4.58191566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97534707000001 meters 0.01881060849774805 Centerline is valid? [True, True] Translation: X:-92.01, Y:9.03, Z:-4.58 [[ 9.76970521e-01 2.01469065e-01 -7.02767158e-02 -9.20147934e+01] [-2.00804558e-01 9.79492881e-01 1.64689207e-02 9.02826704e+00] [ 7.21535209e-02 -1.97776524e-03 9.97391577e-01 -4.58453532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00534707000001 meters 0.019640291609537223 Centerline is valid? [True, True] Translation: X:-92.04, Y:9.03, Z:-4.59 [[ 9.76904116e-01 2.01789434e-01 -7.02806692e-02 -9.20425696e+01] [-2.01123955e-01 9.79426931e-01 1.64936892e-02 9.03291965e+00] [ 7.21630324e-02 -1.97762674e-03 9.97390889e-01 -4.58635626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03534707000001 meters 0.01919401325352393 Centerline is valid? [True, True] Translation: X:-92.07, Y:9.04, Z:-4.59 [[ 9.76775313e-01 2.02174495e-01 -7.09609910e-02 -9.20701258e+01] [-2.01495102e-01 9.79347485e-01 1.66801752e-02 9.03647310e+00] [ 7.28677741e-02 -1.99449127e-03 9.97339616e-01 -4.58907737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06534707000002 meters 0.019434883238831628 Centerline is valid? [True, True] Translation: X:-92.10, Y:9.04, Z:-4.59 [[ 9.77471941e-01 1.98767501e-01 -7.09935581e-02 -9.20972538e+01] [-1.98076944e-01 9.80044042e-01 1.67092655e-02 9.04294871e+00] [ 7.28980726e-02 -2.27065120e-03 9.97336811e-01 -4.58717698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09534707000002 meters 0.019657344540323442 Centerline is valid? [True, True] Translation: X:-92.13, Y:9.05, Z:-4.59 [[ 9.77829827e-01 1.97038671e-01 -7.08843595e-02 -9.21259654e+01] [-1.96344782e-01 9.80392759e-01 1.66962405e-02 9.04687755e+00] [ 7.27843178e-02 -2.40830781e-03 9.97344797e-01 -4.58736923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12534707000002 meters 0.021812928916516986 Centerline is valid? [True, True] Translation: X:-92.16, Y:9.05, Z:-4.60 [[ 9.77957145e-01 1.96437848e-01 -7.07954479e-02 -9.21553994e+01] [-1.95742370e-01 9.80513158e-01 1.66994467e-02 9.04528060e+00] [ 7.26962715e-02 -2.47367440e-03 9.97351058e-01 -4.59510907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15534707 meters 0.022014717406282584 Centerline is valid? [True, True] Translation: X:-92.18, Y:9.05, Z:-4.59 [[ 9.77842987e-01 1.97036329e-01 -7.07091058e-02 -9.21844080e+01] [-1.96342385e-01 9.80393128e-01 1.67027822e-02 9.04882509e+00] [ 7.26137763e-02 -2.44950394e-03 9.97357127e-01 -4.59489097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18534707 meters 0.02176085662159107 Centerline is valid? [True, True] Translation: X:-92.21, Y:9.05, Z:-4.60 [[ 9.78151654e-01 1.95569905e-01 -7.05106607e-02 -9.22123851e+01] [-1.94874677e-01 9.80686397e-01 1.66748957e-02 9.05421809e+00] [ 7.24099535e-02 -2.56983464e-03 9.97371643e-01 -4.59549060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21534707 meters 0.021780574683360185 Centerline is valid? [True, True] Translation: X:-92.24, Y:9.06, Z:-4.60 [[ 9.77837311e-01 1.97031152e-01 -7.08019636e-02 -9.22409103e+01] [-1.96332955e-01 9.80394077e-01 1.67577988e-02 9.05763892e+00] [ 7.27156341e-02 -2.48564214e-03 9.97349617e-01 -4.59703920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24534707000001 meters 0.021194740736975245 Centerline is valid? [True, True] Translation: X:-92.27, Y:9.06, Z:-4.60 [[ 9.77754108e-01 1.97534381e-01 -7.05483690e-02 -9.22675568e+01] [-1.96841092e-01 9.80292877e-01 1.67170437e-02 9.06399816e+00] [ 7.24602545e-02 -2.45834014e-03 9.97368271e-01 -4.59890099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27534707000001 meters 0.02169798756732831 Centerline is valid? [True, True] Translation: X:-92.30, Y:9.07, Z:-4.60 [[ 9.77865418e-01 1.97023792e-01 -7.04332969e-02 -9.22963339e+01] [-1.96330318e-01 9.80395501e-01 1.67053141e-02 9.06754514e+00] [ 7.23438317e-02 -2.50735734e-03 9.97376600e-01 -4.60073229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30534707000001 meters 0.020945945129640885 Centerline is valid? [True, True] Translation: X:-92.32, Y:9.07, Z:-4.60 [[ 9.77378675e-01 1.99329025e-01 -7.07026554e-02 -9.23249394e+01] [-1.98634654e-01 9.79929761e-01 1.67910080e-02 9.07279427e+00] [ 7.26305715e-02 -2.36717568e-03 9.97356103e-01 -4.60404222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33534707000001 meters 0.020945945129640885 Centerline is valid? [True, True] Translation: X:-92.35, Y:9.08, Z:-4.61 [[ 9.77312825e-01 1.99653435e-01 -7.06975801e-02 -9.23519125e+01] [-1.98958368e-01 9.79863721e-01 1.68123542e-02 9.07893052e+00] [ 7.26306382e-02 -2.36505418e-03 9.97356103e-01 -4.60551265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36534707000001 meters 0.021049278926235013 Centerline is valid? [True, True] Translation: X:-92.38, Y:9.08, Z:-4.61 [[ 9.77451297e-01 1.98892507e-01 -7.09276555e-02 -9.23794710e+01] [-1.98189418e-01 9.80018250e-01 1.68873982e-02 9.08322248e+00] [ 7.28691737e-02 -2.44949850e-03 9.97338500e-01 -4.60744644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39534707000001 meters 0.02107712479894055 Centerline is valid? [True, True] Translation: X:-92.41, Y:9.09, Z:-4.61 [[ 9.77638175e-01 1.97800131e-01 -7.14052343e-02 -9.24077047e+01] [-1.97084034e-01 9.80239040e-01 1.70090491e-02 9.08718475e+00] [ 7.33585905e-02 -2.55586403e-03 9.97302354e-01 -4.60628002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42534707000002 meters 0.020924934932167884 Centerline is valid? [True, True] Translation: X:-92.44, Y:9.09, Z:-4.61 [[ 9.77759792e-01 1.97292561e-01 -7.11437659e-02 -9.24361031e+01] [-1.96579532e-01 9.80341220e-01 1.69581664e-02 9.09221747e+00] [ 7.30908863e-02 -2.59560503e-03 9.97321906e-01 -4.60652967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45534707000002 meters 0.02113647299368591 Centerline is valid? [True, True] Translation: X:-92.46, Y:9.10, Z:-4.61 [[ 9.77641490e-01 1.97838900e-01 -7.12522757e-02 -9.24644908e+01] [-1.97123512e-01 9.80231152e-01 1.70061744e-02 9.09504062e+00] [ 7.32081831e-02 -2.58044286e-03 9.97313343e-01 -4.60880522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48534707000002 meters 0.021575417334968375 Centerline is valid? [True, True] Translation: X:-92.49, Y:9.10, Z:-4.61 [[ 9.78008973e-01 1.95929667e-01 -7.14843701e-02 -9.24924209e+01] [-1.95202960e-01 9.80614086e-01 1.70826739e-02 9.09821393e+00] [ 7.34455829e-02 -2.75304772e-03 9.97295426e-01 -4.61008531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51534707000002 meters 0.021039196758803412 Centerline is valid? [True, True] Translation: X:-92.52, Y:9.10, Z:-4.61 [[ 9.77805037e-01 1.96744577e-01 -7.20338872e-02 -9.25209850e+01] [-1.96007845e-01 9.80450989e-01 1.72273989e-02 9.10129211e+00] [ 7.40150932e-02 -2.72583038e-03 9.97253396e-01 -4.60956290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54534707 meters 0.021741854795461802 Centerline is valid? [True, True] Translation: X:-92.55, Y:9.10, Z:-4.61 [[ 9.78403871e-01 1.93794236e-01 -7.19003350e-02 -9.25496241e+01] [-1.93050734e-01 9.81037720e-01 1.72164765e-02 9.10437374e+00] [ 7.38733946e-02 -2.96425482e-03 9.97263222e-01 -4.60797040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57534707 meters 0.022175983439112583 Centerline is valid? [True, True] Translation: X:-92.58, Y:9.11, Z:-4.61 [[ 9.79096323e-01 1.90430379e-01 -7.14609015e-02 -9.25774099e+01] [-1.89686404e-01 9.81695466e-01 1.71195642e-02 9.10918505e+00] [ 7.34129282e-02 -3.20654099e-03 9.97296476e-01 -4.60882477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60534707000001 meters 0.021916547069380794 Centerline is valid? [True, True] Translation: X:-92.61, Y:9.11, Z:-4.61 [[ 9.78540903e-01 1.93250485e-01 -7.14979160e-02 -9.26064397e+01] [-1.92512405e-01 9.81144843e-01 1.71397318e-02 9.11291627e+00] [ 7.34620731e-02 -3.00769288e-03 9.97293476e-01 -4.60999215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63534707000001 meters 0.022025324193575564 Centerline is valid? [True, True] Translation: X:-92.64, Y:9.12, Z:-4.61 [[ 9.78377097e-01 1.94077733e-01 -7.14988807e-02 -9.26359888e+01] [-1.93340909e-01 9.80981694e-01 1.71525295e-02 9.11541610e+00] [ 7.34680171e-02 -2.95798345e-03 9.97293187e-01 -4.61390825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66534707000001 meters 0.022328642631401902 Centerline is valid? [True, True] Translation: X:-92.66, Y:9.12, Z:-4.62 [[ 9.78408136e-01 1.94062586e-01 -7.11142137e-02 -9.26638076e+01] [-1.93331834e-01 9.80984662e-01 1.70849252e-02 9.11881790e+00] [ 7.30774977e-02 -2.96738841e-03 9.97321851e-01 -4.61544778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69534707000001 meters 0.02281500717434781 Centerline is valid? [True, True] Translation: X:-92.69, Y:9.12, Z:-4.62 [[ 9.78322065e-01 1.94570625e-01 -7.09098594e-02 -9.26924677e+01] [-1.93843819e-01 9.80884099e-01 1.70575209e-02 9.12104175e+00] [ 7.28732460e-02 -2.94231110e-03 9.97336870e-01 -4.61685433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72534707000001 meters 0.0222268843470321 Centerline is valid? [True, True] Translation: X:-92.72, Y:9.13, Z:-4.62 [[ 9.78408739e-01 1.94121497e-01 -7.09449386e-02 -9.27206061e+01] [-1.93392189e-01 9.80972952e-01 1.70742369e-02 9.12536794e+00] [ 7.29095423e-02 -2.98538562e-03 9.97334090e-01 -4.61697810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75534707000001 meters 0.021912270589056478 Centerline is valid? [True, True] Translation: X:-92.75, Y:9.13, Z:-4.62 [[ 9.78844583e-01 1.91851735e-01 -7.11069198e-02 -9.27480011e+01] [-1.91112500e-01 9.81418801e-01 1.71216000e-02 9.12958778e+00] [ 7.30704766e-02 -3.16996419e-03 9.97321742e-01 -4.61730418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78534707000001 meters 0.02156691969953447 Centerline is valid? [True, True] Translation: X:-92.78, Y:9.14, Z:-4.62 [[ 9.79264140e-01 1.89744187e-01 -7.09851285e-02 -9.27751349e+01] [-1.89001332e-01 9.81827915e-01 1.71009386e-02 9.13524640e+00] [ 7.29399844e-02 -3.33005208e-03 9.97330772e-01 -4.61617119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81534707000002 meters 0.022529837954805457 Centerline is valid? [True, True] Translation: X:-92.81, Y:9.13, Z:-4.62 [[ 9.78731357e-01 1.92546823e-01 -7.07859645e-02 -9.28052408e+01] [-1.91814470e-01 9.81282810e-01 1.70662392e-02 9.13392506e+00] [ 7.27471002e-02 -3.12549115e-03 9.97345522e-01 -4.61855809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84534707000002 meters 0.021420912487618553 Centerline is valid? [True, True] Translation: X:-92.83, Y:9.14, Z:-4.62 [[ 9.79159027e-01 1.89931759e-01 -7.19272329e-02 -9.28325949e+01] [-1.89166942e-01 9.81791426e-01 1.73627369e-02 9.14042820e+00] [ 7.39152756e-02 -3.39462589e-03 9.97258747e-01 -4.61779529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87534707000002 meters 0.023790160335424682 Centerline is valid? [True, True] Translation: X:-92.86, Y:9.14, Z:-4.62 [[ 9.79306900e-01 1.89565027e-01 -7.08738039e-02 -9.28621032e+01] [-1.88820495e-01 9.81862331e-01 1.71226237e-02 9.13716969e+00] [ 7.28341689e-02 -3.38587679e-03 9.97338318e-01 -4.62160311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90534707 meters 0.02374792295463472 Centerline is valid? [True, True] Translation: X:-92.89, Y:9.14, Z:-4.62 [[ 9.79531978e-01 1.88332703e-01 -7.10485482e-02 -9.28914801e+01] [-1.87579289e-01 9.82099004e-01 1.71917328e-02 9.13830305e+00] [ 7.30144740e-02 -3.51261590e-03 9.97324695e-01 -4.62133329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93534707 meters 0.02300013581467962 Centerline is valid? [True, True] Translation: X:-92.92, Y:9.15, Z:-4.62 [[ 9.80607513e-01 1.82286811e-01 -7.19751671e-02 -9.29194385e+01] [-1.81496051e-01 9.83237134e-01 1.74333750e-02 9.14507090e+00] [ 7.39465314e-02 -4.03208991e-03 9.97254056e-01 -4.61635274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96534707 meters 0.02268716390344148 Centerline is valid? [True, True] Translation: X:-92.95, Y:9.15, Z:-4.62 [[ 9.80690687e-01 1.82228522e-01 -7.09826958e-02 -9.29472268e+01] [-1.81458395e-01 9.83248098e-01 1.72054560e-02 9.14957637e+00] [ 7.29289255e-02 -3.99282441e-03 9.97329148e-01 -4.61569184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99534707000001 meters 0.022746698204068674 Centerline is valid? [True, True] Translation: X:-92.98, Y:9.16, Z:-4.61 [[ 9.81821686e-01 1.76134587e-01 -7.07303603e-02 -9.29757590e+01] [-1.75352499e-01 9.84356024e-01 1.71673833e-02 9.15571770e+00] [ 7.26476262e-02 -4.45256376e-03 9.97347731e-01 -4.60925340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02534707000001 meters 0.023433524806564843 Centerline is valid? [True, True] Translation: X:-93.01, Y:9.15, Z:-4.62 [[ 9.80571342e-01 1.83039659e-01 -7.05430776e-02 -9.30062838e+01] [-1.82278710e-01 9.83097630e-01 1.71324555e-02 9.15428886e+00] [ 7.24866513e-02 -3.94109376e-03 9.97361596e-01 -4.61740862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05534707000001 meters 0.021386033955075847 Centerline is valid? [True, True] Translation: X:-93.03, Y:9.16, Z:-4.61 [[ 9.81457329e-01 1.77997556e-01 -7.11223050e-02 -9.30337820e+01] [-1.77209577e-01 9.84021242e-01 1.72904731e-02 9.16300509e+00] [ 7.30635209e-02 -4.36630789e-03 9.97317731e-01 -4.61434611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08534707000001 meters 0.023952266216025964 Centerline is valid? [True, True] Translation: X:-93.07, Y:9.16, Z:-4.62 [[ 9.80679811e-01 1.82765462e-01 -6.97416269e-02 -9.30650869e+01] [-1.82019059e-01 9.83148634e-01 1.69654411e-02 9.15844062e+00] [ 7.16670819e-02 -3.94336028e-03 9.97420814e-01 -4.62016208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11534707000001 meters 0.026679702139247523 Centerline is valid? [True, True] Translation: X:-93.10, Y:9.15, Z:-4.63 [[ 9.79906169e-01 1.87492477e-01 -6.80475695e-02 -9.30963364e+01] [-1.86791970e-01 9.82259701e-01 1.65722434e-02 9.15288446e+00] [ 6.99475563e-02 -3.52850395e-03 9.97544430e-01 -4.62887786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14534707000001 meters 0.02469160452550021 Centerline is valid? [True, True] Translation: X:-93.12, Y:9.16, Z:-4.63 [[ 9.80525552e-01 1.83715940e-01 -6.94124950e-02 -9.31231189e+01] [-1.82976607e-01 9.82971688e-01 1.69181188e-02 9.16365403e+00] [ 7.13386454e-02 -3.88778501e-03 9.97444576e-01 -4.62561979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17534707000002 meters 0.02352834929517006 Centerline is valid? [True, True] Translation: X:-93.15, Y:9.17, Z:-4.63 [[ 9.80039975e-01 1.86196458e-01 -6.96600778e-02 -9.31520170e+01] [-1.85457308e-01 9.82505450e-01 1.69890595e-02 9.16826310e+00] [ 7.16047088e-02 -3.73098691e-03 9.97426110e-01 -4.62986809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20534707000002 meters 0.024422759425061502 Centerline is valid? [True, True] Translation: X:-93.18, Y:9.17, Z:-4.63 [[ 9.80535261e-01 1.83553797e-01 -6.97037039e-02 -9.31824639e+01] [-1.82805406e-01 9.83001733e-01 1.70228279e-02 9.16879876e+00] [ 7.16434664e-02 -3.94926911e-03 9.97422487e-01 -4.62855149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23534707000002 meters 0.02365366557288944 Centerline is valid? [True, True] Translation: X:-93.21, Y:9.17, Z:-4.63 [[ 9.80352893e-01 1.84903357e-01 -6.86946404e-02 -9.32117969e+01] [-1.84178294e-01 9.82749301e-01 1.67978304e-02 9.17190633e+00] [ 7.06155851e-02 -3.81573994e-03 9.97496305e-01 -4.62882063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26534707000002 meters 0.02386297378030629 Centerline is valid? [True, True] Translation: X:-93.24, Y:9.17, Z:-4.63 [[ 9.80016253e-01 1.87012288e-01 -6.77831017e-02 -9.32420586e+01] [-1.86309954e-01 9.82350848e-01 1.65955429e-02 9.17474500e+00] [ 6.96903579e-02 -3.63523524e-03 9.97562048e-01 -4.63068666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29534707 meters 0.023773829127941456 Centerline is valid? [True, True] Translation: X:-93.27, Y:9.18, Z:-4.63 [[ 9.80192825e-01 1.86180529e-01 -6.75191496e-02 -9.32693909e+01] [-1.85480540e-01 9.82508599e-01 1.65475578e-02 9.17955296e+00] [ 6.94189782e-02 -3.69630916e-03 9.97580745e-01 -4.62951772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32534707 meters 0.022792234310054272 Centerline is valid? [True, True] Translation: X:-93.30, Y:9.19, Z:-4.63 [[ 9.79796894e-01 1.88073452e-01 -6.80178220e-02 -9.32974979e+01] [-1.87366780e-01 9.82148367e-01 1.66815752e-02 9.18640124e+00] [ 6.99409543e-02 -3.60027524e-03 9.97544636e-01 -4.63007905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35534707000001 meters 0.020259793675187363 Centerline is valid? [True, True] Translation: X:-93.32, Y:9.20, Z:-4.63 [[ 9.78229241e-01 1.96072126e-01 -6.79946528e-02 -9.33220629e+01] [-1.95383799e-01 9.80584743e-01 1.66952831e-02 9.20327987e+00] [ 6.99479988e-02 -3.04676054e-03 9.97545986e-01 -4.63408905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38534707000001 meters 0.018216200594446043 Centerline is valid? [True, True] Translation: X:-93.35, Y:9.21, Z:-4.64 [[ 9.77055608e-01 2.01476150e-01 -6.90630125e-02 -9.33480435e+01] [-2.00778888e-01 9.79489673e-01 1.69652357e-02 9.21454559e+00] [ 7.10645979e-02 -2.70958384e-03 9.97468035e-01 -4.63654820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41534707000001 meters 0.01678595158677436 Centerline is valid? [True, True] Translation: X:-93.38, Y:9.22, Z:-4.64 [[ 9.75525329e-01 2.09309961e-01 -6.73770979e-02 -9.33762404e+01] [-2.08664290e-01 9.77847097e-01 1.65610720e-02 9.22472334e+00] [ 6.93508969e-02 -2.09655088e-03 9.97590125e-01 -4.63846421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44534707000001 meters 0.015906756441577817 Centerline is valid? [True, True] Translation: X:-93.40, Y:9.24, Z:-4.64 [[ 9.74247491e-01 2.15340823e-01 -6.68592348e-02 -9.34036661e+01] [-2.14718032e-01 9.76537525e-01 1.64508281e-02 9.23618207e+00] [ 6.88330865e-02 -1.67129464e-03 9.97626790e-01 -4.63955248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47534707000001 meters 0.01541881830869516 Centerline is valid? [True, True] Translation: X:-93.43, Y:9.25, Z:-4.64 [[ 9.72748270e-01 2.21703694e-01 -6.78842766e-02 -9.34307147e+01] [-2.21076417e-01 9.75113281e-01 1.67124769e-02 9.24677399e+00] [ 6.99000775e-02 -1.24942039e-03 9.97553216e-01 -4.64290138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50534707000001 meters 0.01444408942780606 Centerline is valid? [True, True] Translation: X:-93.46, Y:9.26, Z:-4.65 [[ 9.72702967e-01 2.21592267e-01 -6.88898063e-02 -9.34572535e+01] [-2.20944444e-01 9.75138547e-01 1.69813952e-02 9.25557635e+00] [ 7.09400515e-02 -1.29703351e-03 9.97479738e-01 -4.64661109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53534707000001 meters 0.015535160929846397 Centerline is valid? [True, True] Translation: X:-93.49, Y:9.25, Z:-4.65 [[ 9.72253876e-01 2.23818972e-01 -6.80255019e-02 -9.34871242e+01] [-2.23191646e-01 9.74630072e-01 1.67842704e-02 9.25453868e+00] [ 7.00563380e-02 -1.13584823e-03 9.97542390e-01 -4.65196698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56534707000002 meters 0.01541432941805657 Centerline is valid? [True, True] Translation: X:-93.52, Y:9.26, Z:-4.64 [[ 9.74039770e-01 2.16325911e-01 -6.67055178e-02 -9.35150231e+01] [-2.15703745e-01 9.76319792e-01 1.64790245e-02 9.26095135e+00] [ 6.86907572e-02 -1.66259528e-03 9.97636615e-01 -4.63998296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59534707000002 meters 0.016144383366494666 Centerline is valid? [True, True] Translation: X:-93.54, Y:9.26, Z:-4.64 [[ 9.73904051e-01 2.17546448e-01 -6.46872612e-02 -9.35438923e+01] [-2.16963490e-01 9.76048759e-01 1.59895227e-02 9.26338127e+00] [ 6.66163849e-02 -1.53748702e-03 9.97777477e-01 -4.63804992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62534707000002 meters 0.015835265383038588 Centerline is valid? [True, True] Translation: X:-93.57, Y:9.27, Z:-4.64 [[ 9.73742502e-01 2.17574595e-01 -6.69838455e-02 -9.35711979e+01] [-2.16948652e-01 9.76042380e-01 1.65697030e-02 9.26999614e+00] [ 6.89842184e-02 -1.60256900e-03 9.97616464e-01 -4.64279785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65534707 meters 0.015494493878964417 Centerline is valid? [True, True] Translation: X:-93.60, Y:9.28, Z:-4.65 [[ 9.73360100e-01 2.18815537e-01 -6.84826767e-02 -9.35977379e+01] [-2.18163371e-01 9.75764994e-01 1.69534853e-02 9.27635888e+00] [ 7.05326846e-02 -1.56143451e-03 9.97508247e-01 -4.64874481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68534707 meters 0.016697755191004502 Centerline is valid? [True, True] Translation: X:-93.63, Y:9.28, Z:-4.65 [[ 9.74228926e-01 2.15207564e-01 -6.75551985e-02 -9.36271233e+01] [-2.14562523e-01 9.76566629e-01 1.67493983e-02 9.27805055e+00] [ 6.95767497e-02 -1.82293443e-03 9.97574936e-01 -4.65124113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71534707 meters 0.016284891232666965 Centerline is valid? [True, True] Translation: X:-93.65, Y:9.29, Z:-4.64 [[ 9.75550393e-01 2.09228905e-01 -6.72658554e-02 -9.36541490e+01] [-2.08573633e-01 9.77864075e-01 1.67000049e-02 9.28946677e+00] [ 6.92709872e-02 -2.26181252e-03 9.97595316e-01 -4.64382699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74534707000001 meters 0.01774980419252988 Centerline is valid? [True, True] Translation: X:-93.68, Y:9.29, Z:-4.65 [[ 9.75560142e-01 2.09357836e-01 -6.67210980e-02 -9.36829523e+01] [-2.08712120e-01 9.77836499e-01 1.65840791e-02 9.29020141e+00] [ 6.87143318e-02 -2.25326476e-03 9.97633832e-01 -4.64792431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77534707000001 meters 0.018275153485466985 Centerline is valid? [True, True] Translation: X:-93.71, Y:9.30, Z:-4.65 [[ 9.76013625e-01 2.07413634e-01 -6.61588117e-02 -9.37117757e+01] [-2.06773127e-01 9.78250421e-01 1.64616838e-02 9.29618185e+00] [ 6.81342630e-02 -2.38696330e-03 9.97673306e-01 -4.64855552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80534707000001 meters 0.01929728324864131 Centerline is valid? [True, True] Translation: X:-93.74, Y:9.30, Z:-4.65 [[ 9.76792971e-01 2.04098717e-01 -6.49554053e-02 -9.37395069e+01] [-2.03473285e-01 9.78946909e-01 1.61731568e-02 9.29851183e+00] [ 6.68888138e-02 -2.58113621e-03 9.97757097e-01 -4.65380893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83534707000001 meters 0.01988228538705773 Centerline is valid? [True, True] Translation: X:-93.77, Y:9.30, Z:-4.66 [[ 9.76656943e-01 2.04822515e-01 -6.47221161e-02 -9.37697407e+01] [-2.04202422e-01 9.78795852e-01 1.61261020e-02 9.29837783e+00] [ 6.66527275e-02 -2.53325664e-03 9.97773019e-01 -4.65671142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86534707000001 meters 0.0219880815140119 Centerline is valid? [True, True] Translation: X:-93.80, Y:9.30, Z:-4.66 [[ 9.77909659e-01 1.99048409e-01 -6.38155876e-02 -9.37989356e+01] [-1.98432050e-01 9.79985354e-01 1.59194237e-02 9.30047623e+00] [ 6.57070772e-02 -2.90470034e-03 9.97834727e-01 -4.65995600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89534707000001 meters 0.022714381024388542 Centerline is valid? [True, True] Translation: X:-93.83, Y:9.31, Z:-4.66 [[ 9.79003561e-01 1.93739378e-01 -6.33804406e-02 -9.38267350e+01] [-1.93119922e-01 9.81047667e-01 1.58167607e-02 9.30643634e+00] [ 6.52435628e-02 -3.24463927e-03 9.97864094e-01 -4.65628342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92534707000002 meters 0.025849801618011793 Centerline is valid? [True, True] Translation: X:-93.86, Y:9.31, Z:-4.66 [[ 9.79714983e-01 1.90033158e-01 -6.36077858e-02 -9.38569681e+01] [-1.89401093e-01 9.81771400e-01 1.58790535e-02 9.30538800e+00] [ 6.54658516e-02 -3.50956245e-03 9.97848638e-01 -4.65887435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95534707000002 meters 0.025276313275636897 Centerline is valid? [True, True] Translation: X:-93.88, Y:9.32, Z:-4.66 [[ 9.80136321e-01 1.87455102e-01 -6.47562899e-02 -9.38832341e+01] [-1.86793796e-01 9.82265988e-01 1.61742909e-02 9.31724416e+00] [ 6.66398544e-02 -3.75693681e-03 9.97770021e-01 -4.66182345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98534707000002 meters 0.024405940314077897 Centerline is valid? [True, True] Translation: X:-93.91, Y:9.32, Z:-4.67 [[ 9.80273812e-01 1.86778519e-01 -6.46300153e-02 -9.39094508e+01] [-1.86117213e-01 9.82394653e-01 1.61594878e-02 9.32467532e+00] [ 6.65104267e-02 -3.81196438e-03 9.97778448e-01 -4.66761216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01534707000002 meters 0.026940504551236352 Centerline is valid? [True, True] Translation: X:-93.94, Y:9.32, Z:-4.67 [[ 9.80817869e-01 1.84436675e-01 -6.30826509e-02 -9.39395106e+01] [-1.83801228e-01 9.82836720e-01 1.57825895e-02 9.32432181e+00] [ 6.49108340e-02 -3.88517714e-03 9.97883505e-01 -4.67055075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04534707 meters 0.027170193980681424 Centerline is valid? [True, True] Translation: X:-93.97, Y:9.33, Z:-4.67 [[ 9.81689094e-01 1.80188903e-01 -6.17938612e-02 -9.39673251e+01] [-1.79569706e-01 9.83623489e-01 1.54775140e-02 9.33072251e+00] [ 6.35707696e-02 -4.09780123e-03 9.97968920e-01 -4.66908495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07534707 meters 0.028621889368053276 Centerline is valid? [True, True] Translation: X:-94.00, Y:9.34, Z:-4.66 [[ 9.82763324e-01 1.74504321e-01 -6.10286082e-02 -9.39964939e+01] [-1.73889012e-01 9.84646499e-01 1.52932413e-02 9.33538721e+00] [ 6.27603421e-02 -4.41743224e-03 9.98018850e-01 -4.66465969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10534707000001 meters 0.03201721494459597 Centerline is valid? [True, True] Translation: X:-94.03, Y:9.33, Z:-4.68 [[ 9.82663694e-01 1.74461647e-01 -6.27311525e-02 -9.40265362e+01] [-1.73810056e-01 9.84653391e-01 1.57405143e-02 9.33109780e+00] [ 6.45145581e-02 -4.56432681e-03 9.97906328e-01 -4.67755601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13534707000001 meters 0.032880074991832715 Centerline is valid? [True, True] Translation: X:-94.06, Y:9.34, Z:-4.68 [[ 9.83415227e-01 1.70318761e-01 -6.23378818e-02 -9.40558737e+01] [-1.69665708e-01 9.85377200e-01 1.56627683e-02 9.33513184e+00] [ 6.40939907e-02 -4.82640404e-03 9.97932195e-01 -4.67760065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16534707000001 meters 0.026159091820797124 Centerline is valid? [True, True] Translation: X:-94.08, Y:9.36, Z:-4.67 [[ 9.83519613e-01 1.70141962e-01 -6.11627712e-02 -9.40786014e+01] [-1.69511990e-01 9.85408055e-01 1.53834247e-02 9.35859393e+00] [ 6.28876535e-02 -4.76207681e-03 9.98009251e-01 -4.67247422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19534707000001 meters 0.02789725113635785 Centerline is valid? [True, True] Translation: X:-94.11, Y:9.36, Z:-4.67 [[ 9.84038073e-01 1.67420403e-01 -6.03280979e-02 -9.41079271e+01] [-1.66801969e-01 9.85873538e-01 1.51812600e-02 9.36097911e+00] [ 6.20175280e-02 -4.87609230e-03 9.98063149e-01 -4.67367513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22534707000001 meters 0.02789725113635785 Centerline is valid? [True, True] Translation: X:-94.13, Y:9.37, Z:-4.68 [[ 9.83970522e-01 1.67817717e-01 -6.03259949e-02 -9.41349720e+01] [-1.67199515e-01 9.85806065e-01 1.51896112e-02 9.36752395e+00] [ 6.20188175e-02 -4.85965256e-03 9.98063149e-01 -4.67515993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25534707000001 meters 0.032117763147030354 Centerline is valid? [True, True] Translation: X:-94.17, Y:9.36, Z:-4.69 [[ 9.83201018e-01 1.71528173e-01 -6.24006792e-02 -9.41670018e+01] [-1.70872536e-01 9.85167478e-01 1.57358231e-02 9.35867459e+00] [ 6.41742567e-02 -4.80891495e-03 9.97927121e-01 -4.68568970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28534707000001 meters 0.030592501622866135 Centerline is valid? [True, True] Translation: X:-94.19, Y:9.37, Z:-4.69 [[ 9.82792465e-01 1.73637728e-01 -6.29992939e-02 -9.41945154e+01] [-1.72973404e-01 9.84798279e-01 1.58918813e-02 9.36711222e+00] [ 6.48010263e-02 -4.72121892e-03 9.97887036e-01 -4.68617521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31534707000002 meters 0.029321526828755363 Centerline is valid? [True, True] Translation: X:-94.22, Y:9.38, Z:-4.69 [[ 9.81609947e-01 1.79910037e-01 -6.38301647e-02 -9.42204889e+01] [-1.79240808e-01 9.83673359e-01 1.61075941e-02 9.38304010e+00] [ 6.56859504e-02 -4.37040427e-03 9.97830775e-01 -4.68840481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34534707000002 meters 0.02697565226903654 Centerline is valid? [True, True] Translation: X:-94.25, Y:9.40, Z:-4.69 [[ 9.81108925e-01 1.82658675e-01 -6.37266418e-02 -9.42462902e+01] [-1.81997063e-01 9.83167483e-01 1.60863178e-02 9.39798513e+00] [ 6.55922675e-02 -4.18436828e-03 9.97837735e-01 -4.68535799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37534707000002 meters 0.02263515723918155 Centerline is valid? [True, True] Translation: X:-94.27, Y:9.42, Z:-4.69 [[ 9.79681154e-01 1.89860584e-01 -6.46358614e-02 -9.42707925e+01] [-1.89195062e-01 9.81803853e-01 1.63224597e-02 9.41713376e+00] [ 6.65587295e-02 -3.76202041e-03 9.97775417e-01 -4.69395825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40534707 meters 0.021781732999645517 Centerline is valid? [True, True] Translation: X:-94.30, Y:9.43, Z:-4.69 [[ 9.79599347e-01 1.91052259e-01 -6.23229748e-02 -9.42972726e+01] [-1.90435432e-01 9.81573421e-01 1.57469051e-02 9.42900235e+00] [ 6.41830573e-02 -3.55715528e-03 9.97931802e-01 -4.68658642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43534707 meters 0.024321279394224456 Centerline is valid? [True, True] Translation: X:-94.33, Y:9.43, Z:-4.69 [[ 9.78776930e-01 1.94744683e-01 -6.37983543e-02 -9.43282907e+01] [-1.94105118e-01 9.80848048e-01 1.61341188e-02 9.42722779e+00] [ 6.57185251e-02 -3.40811616e-03 9.97832381e-01 -4.69237889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46534707 meters 0.021515720840499835 Centerline is valid? [True, True] Translation: X:-94.35, Y:9.45, Z:-4.70 [[ 9.76612365e-01 2.03261678e-01 -7.00926463e-02 -9.43531272e+01] [-2.02509848e-01 9.79119428e-01 1.77456047e-02 9.44685249e+00] [ 7.22360731e-02 -3.13612588e-03 9.97382632e-01 -4.70215357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49534707000001 meters 0.016990100128993692 Centerline is valid? [True, True] Translation: X:-94.37, Y:9.48, Z:-4.70 [[ 9.75021003e-01 2.10725586e-01 -7.02052017e-02 -9.43749161e+01] [-2.09990085e-01 9.77541813e-01 1.77811339e-02 9.47551781e+00] [ 7.23754600e-02 -2.59458278e-03 9.97374083e-01 -4.69879998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52534707000001 meters 0.018143760975606153 Centerline is valid? [True, True] Translation: X:-94.40, Y:9.48, Z:-4.71 [[ 9.74570448e-01 2.12302604e-01 -7.16941114e-02 -9.44029319e+01] [-2.11538728e-01 9.77200661e-01 1.81723718e-02 9.47887018e+00] [ 7.39175749e-02 -2.54417542e-03 9.97261109e-01 -4.70641874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55534707000001 meters 0.01988742888288579 Centerline is valid? [True, True] Translation: X:-94.43, Y:9.48, Z:-4.71 [[ 9.75088965e-01 2.09741522e-01 -7.21803635e-02 -9.44316152e+01] [-2.08958113e-01 9.77752903e-01 1.83239743e-02 9.48394979e+00] [ 7.44178582e-02 -2.78483257e-03 9.97223258e-01 -4.71201798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58534707000001 meters 0.018654212293039388 Centerline is valid? [True, True] Translation: X:-94.46, Y:9.50, Z:-4.70 [[ 9.76101332e-01 2.06184027e-01 -6.86610256e-02 -9.44574120e+01] [-2.05465285e-01 9.78508867e-01 1.74474611e-02 9.49732130e+00] [ 7.07828101e-02 -2.92303281e-03 9.97487468e-01 -4.70160731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61534707000001 meters 0.02083052703049606 Centerline is valid? [True, True] Translation: X:-94.49, Y:9.50, Z:-4.70 [[ 9.76926709e-01 2.02074213e-01 -6.91391118e-02 -9.44872839e+01] [-2.01334224e-01 9.79364799e-01 1.75818006e-02 9.49949360e+00] [ 7.12652409e-02 -3.25606121e-03 9.97452086e-01 -4.70355474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64534707000001 meters 0.02324751946206488 Centerline is valid? [True, True] Translation: X:-94.52, Y:9.50, Z:-4.71 [[ 9.77910730e-01 1.97054169e-01 -6.97155619e-02 -9.45161453e+01] [-1.96287572e-01 9.80385724e-01 1.77488575e-02 9.50423867e+00] [ 7.18456279e-02 -3.67249983e-03 9.97409003e-01 -4.70587590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67534707000002 meters 0.025353602006197247 Centerline is valid? [True, True] Translation: X:-94.55, Y:9.51, Z:-4.71 [[ 9.78819049e-01 1.91864489e-01 -7.14232936e-02 -9.45450682e+01] [-1.91045098e-01 9.81412586e-01 1.81963442e-02 9.50657087e+00] [ 7.35869515e-02 -4.16585817e-03 9.97280104e-01 -4.71381087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70534707000002 meters 0.03526092564003122 Centerline is valid? [True, True] Translation: X:-94.58, Y:9.50, Z:-4.72 [[ 9.81964749e-01 1.75355162e-01 -7.06809654e-02 -9.45774067e+01] [-1.74508927e-01 9.84490629e-01 1.80232294e-02 9.49664126e+00] [ 7.27452144e-02 -5.36371651e-03 9.97336134e-01 -4.71621770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73534707000002 meters 0.03958773192729565 Centerline is valid? [True, True] Translation: X:-94.61, Y:9.50, Z:-4.71 [[ 9.84431478e-01 1.60985012e-01 -7.05584268e-02 -9.46065246e+01] [-1.60104466e-01 9.86935953e-01 1.79995572e-02 9.49743240e+00] [ 7.25343071e-02 -6.42261149e-03 9.97345238e-01 -4.71410961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76534707000002 meters 0.047378212430528636 Centerline is valid? [True, True] Translation: X:-94.64, Y:9.49, Z:-4.71 [[ 9.86943740e-01 1.44775940e-01 -7.05831484e-02 -9.46385215e+01] [-1.43853189e-01 9.89435093e-01 1.80126678e-02 9.49008686e+00] [ 7.24452450e-02 -7.62387871e-03 9.97343252e-01 -4.71425329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79534707 meters 0.04532791074773608 Centerline is valid? [True, True] Translation: X:-94.66, Y:9.51, Z:-4.71 [[ 9.89202827e-01 1.29389742e-01 -6.88190457e-02 -9.46636510e+01] [-1.28475426e-01 9.91557062e-01 1.75686533e-02 9.50718445e+00] [ 7.05112143e-02 -8.53740528e-03 9.97474451e-01 -4.70971649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82534707 meters 0.06365201616826689 Centerline is valid? [True, True] Translation: X:-94.70, Y:9.48, Z:-4.71 [[ 9.91197181e-01 1.14452996e-01 -6.65481748e-02 -9.47023804e+01] [-1.13564625e-01 9.93385247e-01 1.69949293e-02 9.47516754e+00] [ 6.80530956e-02 -9.28780749e-03 9.97638468e-01 -4.71185341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85534707000001 meters 0.06449550080239122 Centerline is valid? [True, True] Translation: X:-94.73, Y:9.49, Z:-4.71 [[ 9.92667081e-01 1.01138639e-01 -6.62045508e-02 -9.47286443e+01] [-1.00230060e-01 9.94820530e-01 1.69129278e-02 9.48754451e+00] [ 6.75721968e-02 -1.01532205e-02 9.97662724e-01 -4.71188063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88534707000001 meters 0.06426415144598638 Centerline is valid? [True, True] Translation: X:-94.75, Y:9.51, Z:-4.71 [[ 9.93024967e-01 9.77204709e-02 -6.59706398e-02 -9.47529169e+01] [-9.68106262e-02 9.95160041e-01 1.68580901e-02 9.50898112e+00] [ 6.72987251e-02 -1.03538454e-02 9.97679147e-01 -4.70578276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91534707000001 meters 0.06363196542166234 Centerline is valid? [True, True] Translation: X:-94.78, Y:9.53, Z:-4.71 [[ 9.91646785e-01 1.09600026e-01 -6.80035937e-02 -9.47776433e+01] [-1.08660014e-01 9.93926985e-01 1.73824669e-02 9.53129134e+00] [ 6.94957257e-02 -9.84799603e-03 9.97533639e-01 -4.70683291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94534707000001 meters 0.05172191321144838 Centerline is valid? [True, True] Translation: X:-94.80, Y:9.58, Z:-4.71 [[ 9.89225114e-01 1.27615476e-01 -7.17493216e-02 -9.47950820e+01] [-1.26614803e-01 9.91782314e-01 1.83448291e-02 9.57826829e+00] [ 7.35007923e-02 -9.06263945e-03 9.97253981e-01 -4.71353221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97534707000001 meters 0.043011354041242886 Centerline is valid? [True, True] Translation: X:-94.82, Y:9.61, Z:-4.73 [[ 9.86070238e-01 1.48325172e-01 -7.52670558e-02 -9.48157881e+01] [-1.47282551e-01 9.88907121e-01 1.92498313e-02 9.60968483e+00] [ 7.72873620e-02 -7.89616175e-03 9.96977590e-01 -4.72849681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00534707000001 meters 0.03912353955668686 Centerline is valid? [True, True] Translation: X:-94.84, Y:9.64, Z:-4.74 [[ 9.82029390e-01 1.72601625e-01 -7.63344996e-02 -9.48395733e+01] [-1.71601001e-01 9.84972959e-01 1.95286210e-02 9.63648716e+00] [ 7.85580897e-02 -6.07860330e-03 9.96891006e-01 -4.73914159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03534707000001 meters 0.033682186351702344 Centerline is valid? [True, True] Translation: X:-94.86, Y:9.66, Z:-4.74 [[ 9.80531678e-01 1.80504360e-01 -7.73033334e-02 -9.48634681e+01] [-1.79501904e-01 9.83558682e-01 1.97834533e-02 9.65838582e+00] [ 7.96033643e-02 -5.52220713e-03 9.96811321e-01 -4.73871600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06534707000002 meters 0.024574265053581464 Centerline is valid? [True, True] Translation: X:-94.89, Y:9.69, Z:-4.74 [[ 9.77200144e-01 1.96732231e-01 -7.98517827e-02 -9.48854426e+01] [-1.95715430e-01 9.80447606e-01 2.04441134e-02 9.68756470e+00] [ 8.23125053e-02 -4.34976460e-03 9.96597076e-01 -4.74200284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09534707000002 meters 0.02247960549158517 Centerline is valid? [True, True] Translation: X:-94.91, Y:9.70, Z:-4.74 [[ 9.75855035e-01 2.03833173e-01 -7.84792226e-02 -9.49123933e+01] [-2.02872965e-01 9.78998653e-01 2.01046441e-02 9.70162723e+00] [ 8.09290466e-02 -3.69790555e-03 9.96713005e-01 -4.73883124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12534707000002 meters 0.021366063526816637 Centerline is valid? [True, True] Translation: X:-94.94, Y:9.71, Z:-4.73 [[ 9.74644962e-01 2.09904568e-01 -7.75065838e-02 -9.49405710e+01] [-2.08985676e-01 9.77716732e-01 1.98740820e-02 9.71276997e+00] [ 7.99511444e-02 -3.17240805e-03 9.96793735e-01 -4.73426753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15534707 meters 0.01620258961366968 Centerline is valid? [True, True] Translation: X:-94.97, Y:9.73, Z:-4.74 [[ 9.71057350e-01 2.25241706e-01 -7.94593977e-02 -9.49657828e+01] [-2.24325549e-01 9.74300914e-01 2.03906285e-02 9.73185993e+00] [ 8.20101837e-02 -1.97569666e-03 9.96629533e-01 -4.73818829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18534707 meters 0.01287934846910222 Centerline is valid? [True, True] Translation: X:-94.99, Y:9.75, Z:-4.73 [[ 9.68163505e-01 2.37329364e-01 -7.95876928e-02 -9.49911446e+01] [-2.36450287e-01 9.71428766e-01 2.04307062e-02 9.74985020e+00] [ 8.21625807e-02 -9.61731410e-04 9.96618475e-01 -4.73468052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21534707 meters 0.012413320243880565 Centerline is valid? [True, True] Translation: X:-95.02, Y:9.77, Z:-4.74 [[ 9.65901237e-01 2.45993694e-01 -8.07582950e-02 -9.50165216e+01] [-2.45117879e-01 9.69271399e-01 2.07407780e-02 9.76500091e+00] [ 8.33788062e-02 -2.38241148e-04 9.96517896e-01 -4.73660759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24534707000001 meters 0.012809566244538466 Centerline is valid? [True, True] Translation: X:-95.04, Y:9.78, Z:-4.74 [[ 9.63007521e-01 2.56315515e-01 -8.31797541e-02 -9.50417840e+01] [-2.55422887e-01 9.66592949e-01 2.13827020e-02 9.78046466e+00] [ 8.58816820e-02 6.54310134e-04 9.96305128e-01 -4.74158923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27534707000001 meters 0.014705156609088253 Centerline is valid? [True, True] Translation: X:-95.07, Y:9.80, Z:-4.74 [[ 9.60412611e-01 2.65424910e-01 -8.46004318e-02 -9.50676398e+01] [-2.64534345e-01 9.64130418e-01 2.17742302e-02 9.79819911e+00] [ 8.73452728e-02 1.46747449e-03 9.96177017e-01 -4.74433717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30534707000001 meters 0.015477708933820899 Centerline is valid? [True, True] Translation: X:-95.09, Y:9.81, Z:-4.75 [[ 9.59204977e-01 2.69475921e-01 -8.54900040e-02 -9.50938769e+01] [-2.68580752e-01 9.63005377e-01 2.20232475e-02 9.80834110e+00] [ 8.82620684e-02 1.83616096e-03 9.96095596e-01 -4.74589013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33534707000001 meters 0.015783343949126984 Centerline is valid? [True, True] Translation: X:-95.12, Y:9.82, Z:-4.75 [[ 9.58486001e-01 2.71890107e-01 -8.59090003e-02 -9.51206014e+01] [-2.70994861e-01 9.62326105e-01 2.21416522e-02 9.81638229e+00] [ 8.86925698e-02 2.05843391e-03 9.96056922e-01 -4.74685087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36534707000001 meters 0.016794599372642532 Centerline is valid? [True, True] Translation: X:-95.15, Y:9.82, Z:-4.75 [[ 9.58185759e-01 2.72597579e-01 -8.70092555e-02 -9.51479546e+01] [-2.71680445e-01 9.62125776e-01 2.24438694e-02 9.82477479e+00] [ 8.98319919e-02 2.13331714e-03 9.95954649e-01 -4.75128033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39534707000001 meters 0.015521814730300178 Centerline is valid? [True, True] Translation: X:-95.18, Y:9.83, Z:-4.75 [[ 9.58641117e-01 2.71125640e-01 -8.65915418e-02 -9.51758052e+01] [-2.70208679e-01 9.62541976e-01 2.23654604e-02 9.83052154e+00] [ 8.94118435e-02 1.95733619e-03 9.95992817e-01 -4.74982721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42534707000002 meters 0.01481695862973844 Centerline is valid? [True, True] Translation: X:-95.20, Y:9.84, Z:-4.76 [[ 9.59383676e-01 2.68515543e-01 -8.65006692e-02 -9.52038532e+01] [-2.67587349e-01 9.63273879e-01 2.23706210e-02 9.83633717e+00] [ 8.93306946e-02 1.68447615e-03 9.96000597e-01 -4.75560143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45534707000002 meters 0.014178950326504717 Centerline is valid? [True, True] Translation: X:-95.23, Y:9.84, Z:-4.76 [[ 9.59921882e-01 2.66570435e-01 -8.65458510e-02 -9.52315182e+01] [-2.65631456e-01 9.63814299e-01 2.24037305e-02 9.84091780e+00] [ 8.93863008e-02 1.48346924e-03 9.95995928e-01 -4.75798809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48534707000002 meters 0.013541113673446214 Centerline is valid? [True, True] Translation: X:-95.26, Y:9.84, Z:-4.76 [[ 9.61015014e-01 2.62466746e-01 -8.69560176e-02 -9.52595989e+01] [-2.61501089e-01 9.64940415e-01 2.25205570e-02 9.84439944e+00] [ 8.98182731e-02 1.09649990e-03 9.95957567e-01 -4.76430451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51534707000002 meters 0.012651139526324552 Centerline is valid? [True, True] Translation: X:-95.29, Y:9.85, Z:-4.77 [[ 9.62299991e-01 2.57645066e-01 -8.71650584e-02 -9.52876422e+01] [-2.56654023e-01 9.66239418e-01 2.25853710e-02 9.84701623e+00] [ 9.00413248e-02 6.37360577e-04 9.95937826e-01 -4.76570904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54534707 meters 0.012197641138345795 Centerline is valid? [True, True] Translation: X:-95.32, Y:9.85, Z:-4.77 [[ 9.63516837e-01 2.53111080e-01 -8.70062398e-02 -9.53163659e+01] [-2.52103524e-01 9.67437204e-01 2.25625811e-02 9.85002332e+00] [ 8.98839126e-02 1.95152873e-04 9.95952230e-01 -4.76966622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57534707 meters 0.012256931834605161 Centerline is valid? [True, True] Translation: X:-95.35, Y:9.85, Z:-4.77 [[ 9.64959322e-01 2.47616843e-01 -8.68297544e-02 -9.53454720e+01] [-2.46588369e-01 9.68857977e-01 2.25476634e-02 9.84979634e+00] [ 8.97088814e-02 -3.46370503e-04 9.95967970e-01 -4.77399701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60534707000001 meters 0.012403665373871437 Centerline is valid? [True, True] Translation: X:-95.37, Y:9.85, Z:-4.78 [[ 9.65206215e-01 2.46808695e-01 -8.63853576e-02 -9.53741000e+01] [-2.45784811e-01 9.69064119e-01 2.24624108e-02 9.85466694e+00] [ 8.92568688e-02 -4.48649709e-04 9.96008539e-01 -4.77682350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63534707000001 meters 0.01204084744974942 Centerline is valid? [True, True] Translation: X:-95.40, Y:9.86, Z:-4.77 [[ 9.65573537e-01 2.44891876e-01 -8.77252209e-02 -9.54015497e+01] [-2.43826095e-01 9.69550173e-01 2.28319315e-02 9.85911956e+00] [ 9.06453577e-02 -6.56210858e-04 9.95883020e-01 -4.77384873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66534707000001 meters 0.01266552746973607 Centerline is valid? [True, True] Translation: X:-95.43, Y:9.86, Z:-4.78 [[ 9.65716915e-01 2.44085174e-01 -8.83926873e-02 -9.54300904e+01] [-2.42997944e-01 9.69753503e-01 2.30248380e-02 9.86357024e+00] [ 9.13391397e-02 -7.56234212e-04 9.95819557e-01 -4.78291430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69534707000001 meters 0.012253090531930164 Centerline is valid? [True, True] Translation: X:-95.46, Y:9.87, Z:-4.78 [[ 9.65899787e-01 2.43290075e-01 -8.85863461e-02 -9.54575678e+01] [-2.42192712e-01 9.69953199e-01 2.30972106e-02 9.87090915e+00] [ 9.15439319e-02 -8.54623351e-04 9.95800672e-01 -4.78136543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72534707000001 meters 0.01215768871056585 Centerline is valid? [True, True] Translation: X:-95.48, Y:9.88, Z:-4.78 [[ 9.64701671e-01 2.47372194e-01 -9.03198978e-02 -9.54836729e+01] [-2.46248139e-01 9.68920409e-01 2.35604415e-02 9.88040059e+00] [ 9.33409905e-02 -4.87690587e-04 9.95634080e-01 -4.78483882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75534707000001 meters 0.011514448719984572 Centerline is valid? [True, True] Translation: X:-95.51, Y:9.89, Z:-4.79 [[ 9.64010810e-01 2.49999973e-01 -9.04608869e-02 -9.55098239e+01] [-2.48882657e-01 9.68245812e-01 2.36108181e-02 9.88928173e+00] [ 9.34910788e-02 -2.46937966e-04 9.95620087e-01 -4.78540720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78534707000001 meters 0.011914197323143244 Centerline is valid? [True, True] Translation: X:-95.54, Y:9.90, Z:-4.79 [[ 9.63002611e-01 2.54281659e-01 -8.92569782e-02 -9.55370763e+01] [-2.53210162e-01 9.67130196e-01 2.33194529e-02 9.89750177e+00] [ 9.22528281e-02 1.44079851e-04 9.95735605e-01 -4.78897958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81534707000002 meters 0.012352649951548823 Centerline is valid? [True, True] Translation: X:-95.56, Y:9.91, Z:-4.79 [[ 9.62135096e-01 2.57656036e-01 -8.89349438e-02 -9.55638163e+01] [-2.56603624e-01 9.66236606e-01 2.32680364e-02 9.90610373e+00] [ 9.19273482e-02 4.34034489e-04 9.95765622e-01 -4.79377608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84534707000002 meters 0.013541498546579168 Centerline is valid? [True, True] Translation: X:-95.59, Y:9.91, Z:-4.80 [[ 9.61321226e-01 2.60924033e-01 -8.82051507e-02 -9.55901558e+01] [-2.59899534e-01 9.65359077e-01 2.31102720e-02 9.91436125e+00] [ 9.11796683e-02 7.08082557e-04 9.95834206e-01 -4.79960123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87534707000002 meters 0.012650124707696591 Centerline is valid? [True, True] Translation: X:-95.62, Y:9.92, Z:-4.80 [[ 9.61440694e-01 2.60407402e-01 -8.84294972e-02 -9.56174631e+01] [-2.59372410e-01 9.65498623e-01 2.32026476e-02 9.91873919e+00] [ 9.14206989e-02 6.28202140e-04 9.95812162e-01 -4.79769760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90534707000002 meters 0.012559330801230771 Centerline is valid? [True, True] Translation: X:-95.65, Y:9.92, Z:-4.80 [[ 9.62297379e-01 2.57057859e-01 -8.89101359e-02 -9.56463390e+01] [-2.55994145e-01 9.66395974e-01 2.33627583e-02 9.92100493e+00] [ 9.19279780e-02 2.78553131e-04 9.95765620e-01 -4.80070843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93534707 meters 0.012050303273418599 Centerline is valid? [True, True] Translation: X:-95.67, Y:9.92, Z:-4.80 [[ 9.63083051e-01 2.53976227e-01 -8.92586894e-02 -9.56746228e+01] [-2.52888648e-01 9.67210460e-01 2.34788655e-02 9.92446748e+00] [ 9.22950117e-02 -3.95881538e-05 9.95731705e-01 -4.80212262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96534707 meters 0.012522931133205059 Centerline is valid? [True, True] Translation: X:-95.70, Y:9.93, Z:-4.81 [[ 9.63912976e-01 2.50724411e-01 -8.94932603e-02 -9.57037641e+01] [-2.49615284e-01 9.68058434e-01 2.35600874e-02 9.92638373e+00] [ 9.25417945e-02 -3.70988345e-04 9.95708732e-01 -4.80798160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99534707000001 meters 0.012940336227127121 Centerline is valid? [True, True] Translation: X:-95.73, Y:9.93, Z:-4.81 [[ 9.64610258e-01 2.47921087e-01 -8.97896737e-02 -9.57329947e+01] [-2.46789700e-01 9.68779998e-01 2.36676925e-02 9.92763256e+00] [ 9.28541599e-02 -6.70932339e-04 9.95679494e-01 -4.81323368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02534707000001 meters 0.01354173461307937 Centerline is valid? [True, True] Translation: X:-95.76, Y:9.93, Z:-4.81 [[ 9.64993297e-01 2.46400499e-01 -8.98595008e-02 -9.57620932e+01] [-2.45258154e-01 9.69167725e-01 2.37140954e-02 9.92926676e+00] [ 9.29320930e-02 -8.45167857e-04 9.95672090e-01 -4.81471987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05534707000001 meters 0.013094078054494225 Centerline is valid? [True, True] Translation: X:-95.79, Y:9.93, Z:-4.81 [[ 9.66281502e-01 2.41930591e-01 -8.81456037e-02 -9.57900374e+01] [-2.40811001e-01 9.70292725e-01 2.32827991e-02 9.93303921e+00] [ 9.11598594e-02 -1.27130696e-03 9.95835460e-01 -4.80560416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08534707000001 meters 0.013858903514595977 Centerline is valid? [True, True] Translation: X:-95.82, Y:9.94, Z:-4.82 [[ 9.65944915e-01 2.43429829e-01 -8.77059882e-02 -9.58181420e+01] [-2.42325777e-01 9.69917837e-01 2.31863462e-02 9.93685932e+00] [ 9.07118507e-02 -1.14331150e-03 9.95876525e-01 -4.81971533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11534707000001 meters 0.01324123113062309 Centerline is valid? [True, True] Translation: X:-95.84, Y:9.94, Z:-4.82 [[ 9.65187392e-01 2.46175908e-01 -8.83782827e-02 -9.58448007e+01] [-2.45064197e-01 9.69224734e-01 2.33870388e-02 9.94470546e+00] [ 9.14157431e-02 -9.14522109e-04 9.95812395e-01 -4.82148979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14534707000001 meters 0.01324123113062309 Centerline is valid? [True, True] Translation: X:-95.87, Y:9.95, Z:-4.82 [[ 9.65104905e-01 2.46500776e-01 -8.83735814e-02 -9.58716096e+01] [-2.45388798e-01 9.69142174e-01 2.34047920e-02 9.95153059e+00] [ 9.14158642e-02 -9.02192685e-04 9.95812395e-01 -4.82296634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17534707000002 meters 0.012652652344527409 Centerline is valid? [True, True] Translation: X:-95.90, Y:9.96, Z:-4.82 [[ 9.64607623e-01 2.48247809e-01 -8.89109650e-02 -9.58973310e+01] [-2.47127349e-01 9.68696258e-01 2.35718820e-02 9.96140567e+00] [ 9.19793871e-02 -7.65285997e-04 9.95760617e-01 -4.82083960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20534707000002 meters 0.012807194302259885 Centerline is valid? [True, True] Translation: X:-95.92, Y:9.97, Z:-4.83 [[ 9.62442810e-01 2.55943536e-01 -9.05358741e-02 -9.59244529e+01] [-2.54813526e-01 9.66691731e-01 2.40242224e-02 9.97150027e+00] [ 9.36691253e-02 -5.21748051e-05 9.95603381e-01 -4.83025664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23534707000002 meters 0.012975443445743532 Centerline is valid? [True, True] Translation: X:-95.95, Y:9.98, Z:-4.83 [[ 9.60840480e-01 2.61465479e-01 -9.17680498e-02 -9.59505870e+01] [-2.60326595e-01 9.65212717e-01 2.43818510e-02 9.98336768e+00] [ 9.49507011e-02 4.62594492e-04 9.95481868e-01 -4.83025754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26534707000002 meters 0.014493715588163559 Centerline is valid? [True, True] Translation: X:-95.98, Y:9.99, Z:-4.84 [[ 9.59533008e-01 2.66241910e-01 -9.17150553e-02 -9.59774318e+01] [-2.65123194e-01 9.63905818e-01 2.43980656e-02 9.99380775e+00] [ 9.49004630e-02 9.05039179e-04 9.95486355e-01 -4.83782504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29534707 meters 0.013869113014280931 Centerline is valid? [True, True] Translation: X:-96.01, Y:10.00, Z:-4.84 [[ 9.60116559e-01 2.64548582e-01 -9.04999445e-02 -9.60056457e+01] [-2.63449126e-01 9.64372106e-01 2.41039371e-02 1.00006762e+01] [ 9.36522845e-02 6.99542106e-04 9.95604721e-01 -4.83745409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32534707 meters 0.013678801307052256 Centerline is valid? [True, True] Translation: X:-96.03, Y:10.01, Z:-4.84 [[ 9.59687275e-01 2.66132401e-01 -9.04095134e-02 -9.60327226e+01] [-2.65039321e-01 9.63936132e-01 2.41100019e-02 1.00053395e+01] [ 9.35654493e-02 8.24014005e-04 9.95612790e-01 -4.83621249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35534707000001 meters 0.01353916944158783 Centerline is valid? [True, True] Translation: X:-96.06, Y:10.01, Z:-4.84 [[ 9.59963514e-01 2.65590343e-01 -8.90607735e-02 -9.60603763e+01] [-2.64525290e-01 9.64085694e-01 2.37727921e-02 1.00083643e+01] [ 9.21760416e-02 7.37813879e-04 9.95742453e-01 -4.83784198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38534707000001 meters 0.01322661026388874 Centerline is valid? [True, True] Translation: X:-96.09, Y:10.01, Z:-4.83 [[ 9.60001080e-01 2.65582334e-01 -8.86789202e-02 -9.60888076e+01] [-2.64525416e-01 9.64087911e-01 2.36813098e-02 1.00117885e+01] [ 9.17836125e-02 7.23745260e-04 9.95778713e-01 -4.83450255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41534707000001 meters 0.012952084672903898 Centerline is valid? [True, True] Translation: X:-96.12, Y:10.01, Z:-4.83 [[ 9.59929603e-01 2.65786301e-01 -8.88414281e-02 -9.61165268e+01] [-2.64724847e-01 9.64031696e-01 2.37411944e-02 1.00140406e+01] [ 9.19560369e-02 7.28658133e-04 9.95762801e-01 -4.83378943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44534707000001 meters 0.013432107409712386 Centerline is valid? [True, True] Translation: X:-96.15, Y:10.02, Z:-4.84 [[ 9.59515853e-01 2.67084389e-01 -8.94161996e-02 -9.61451976e+01] [-2.66012817e-01 9.63672780e-01 2.39155756e-02 1.00197065e+01] [ 9.25554345e-02 8.38481173e-04 9.95707180e-01 -4.83846572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47534707000001 meters 0.013950346231706788 Centerline is valid? [True, True] Translation: X:-96.17, Y:10.03, Z:-4.84 [[ 9.58324188e-01 2.70965664e-01 -9.05116585e-02 -9.61737465e+01] [-2.69882759e-01 9.62588258e-01 2.42310366e-02 1.00253755e+01] [ 9.36912386e-02 1.20634759e-03 9.95600571e-01 -4.84099412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50534707000001 meters 0.013996239994177312 Centerline is valid? [True, True] Translation: X:-96.20, Y:10.03, Z:-4.84 [[ 9.58708534e-01 2.69705015e-01 -9.02061587e-02 -9.62017987e+01] [-2.68621744e-01 9.62942411e-01 2.41717264e-02 1.00299298e+01] [ 9.33825717e-02 1.05769527e-03 9.95629739e-01 -4.84456568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53534707000001 meters 0.015469269365969048 Centerline is valid? [True, True] Translation: X:-96.23, Y:10.04, Z:-4.85 [[ 9.57897382e-01 2.72379621e-01 -9.07851713e-02 -9.62294903e+01] [-2.71292462e-01 9.62188980e-01 2.43468162e-02 1.00374681e+01] [ 9.39840680e-02 1.30758115e-03 9.95572843e-01 -4.85336156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56534707000002 meters 0.015622583623453385 Centerline is valid? [True, True] Translation: X:-96.26, Y:10.04, Z:-4.85 [[ 9.57472562e-01 2.73657651e-01 -9.14209108e-02 -9.62575658e+01] [-2.72558860e-01 9.61826112e-01 2.45397303e-02 1.00407349e+01] [ 9.46465041e-02 1.42146075e-03 9.95509929e-01 -4.85247875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59534707000002 meters 0.014826246994391902 Centerline is valid? [True, True] Translation: X:-96.29, Y:10.04, Z:-4.85 [[ 9.57999333e-01 2.72217813e-01 -9.01927951e-02 -9.62861537e+01] [-2.71141032e-01 9.62234845e-01 2.42207533e-02 1.00422705e+01] [ 9.33799707e-02 1.25150198e-03 9.95629758e-01 -4.84817073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62534707000002 meters 0.015071578331135543 Centerline is valid? [True, True] Translation: X:-96.31, Y:10.05, Z:-4.86 [[ 9.57707862e-01 2.73150206e-01 -9.04688671e-02 -9.63138043e+01] [-2.72069034e-01 9.61970480e-01 2.43153414e-02 1.00496948e+01] [ 9.36701201e-02 1.32678366e-03 9.95602405e-01 -4.85659157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65534707000002 meters 0.014581256803657726 Centerline is valid? [True, True] Translation: X:-96.34, Y:10.05, Z:-4.85 [[ 9.57064610e-01 2.75081143e-01 -9.14204413e-02 -9.63418750e+01] [-2.73983607e-01 9.61419829e-01 2.45946189e-02 1.00529819e+01] [ 9.46589409e-02 1.50906295e-03 9.95508618e-01 -4.85334524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68534707 meters 0.014346990686513008 Centerline is valid? [True, True] Translation: X:-96.37, Y:10.06, Z:-4.86 [[ 9.57059589e-01 2.75344939e-01 -9.06758436e-02 -9.63695178e+01] [-2.74265348e-01 9.61344309e-01 2.44057127e-02 1.00575897e+01] [ 9.38906956e-02 1.51152049e-03 9.95581364e-01 -4.85528300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71534707 meters 0.015491293417690892 Centerline is valid? [True, True] Translation: X:-96.40, Y:10.06, Z:-4.86 [[ 9.56767826e-01 2.76028688e-01 -9.16705566e-02 -9.63970386e+01] [-2.74926317e-01 9.61148106e-01 2.46949106e-02 1.00641337e+01] [ 9.49254857e-02 1.57535260e-03 9.95483134e-01 -4.86179634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74534707000001 meters 0.016152870271530964 Centerline is valid? [True, True] Translation: X:-96.42, Y:10.07, Z:-4.87 [[ 9.56436511e-01 2.77280717e-01 -9.13488056e-02 -9.64243612e+01] [-2.76188551e-01 9.60787513e-01 2.46422100e-02 1.00710946e+01] [ 9.45996015e-02 1.66078495e-03 9.95514017e-01 -4.86519896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77534707000001 meters 0.016594259800270836 Centerline is valid? [True, True] Translation: X:-96.45, Y:10.08, Z:-4.87 [[ 9.56230758e-01 2.77937677e-01 -9.15062039e-02 -9.64521762e+01] [-2.76841439e-01 9.60597613e-01 2.47193074e-02 1.00760555e+01] [ 9.47710679e-02 1.69534708e-03 9.95497650e-01 -4.87176022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80534707000001 meters 0.015522521619319008 Centerline is valid? [True, True] Translation: X:-96.48, Y:10.08, Z:-4.87 [[ 9.55814669e-01 2.79131738e-01 -9.22160070e-02 -9.64811130e+01] [-2.78020756e-01 9.60251138e-01 2.49441674e-02 1.00781999e+01] [ 9.55132345e-02 1.79596293e-03 9.95426540e-01 -4.86771034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83534707000001 meters 0.01611422418389193 Centerline is valid? [True, True] Translation: X:-96.51, Y:10.08, Z:-4.87 [[ 9.55773946e-01 2.79499961e-01 -9.15201437e-02 -9.65090036e+01] [-2.78404458e-01 9.60144037e-01 2.47868218e-02 1.00846858e+01] [ 9.48004359e-02 1.78901756e-03 9.95494689e-01 -4.87185069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86534707000001 meters 0.015261996335007607 Centerline is valid? [True, True] Translation: X:-96.54, Y:10.09, Z:-4.87 [[ 9.56175018e-01 2.78306294e-01 -9.09667094e-02 -9.65371360e+01] [-2.77216518e-01 9.60490979e-01 2.46593111e-02 1.00890549e+01] [ 9.42355453e-02 1.63885723e-03 9.95548581e-01 -4.87061992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89534707000001 meters 0.015764769751134264 Centerline is valid? [True, True] Translation: X:-96.56, Y:10.09, Z:-4.87 [[ 9.55380028e-01 2.80892880e-01 -9.13684468e-02 -9.65647528e+01] [-2.79804147e-01 9.59737262e-01 2.47795622e-02 1.00938066e+01] [ 9.46501055e-02 1.89137147e-03 9.95508805e-01 -4.87239168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92534707000002 meters 0.016981661329170967 Centerline is valid? [True, True] Translation: X:-96.59, Y:10.10, Z:-4.88 [[ 9.55250615e-01 2.81471597e-01 -9.09395585e-02 -9.65918144e+01] [-2.80393754e-01 9.59567640e-01 2.46837567e-02 1.01031405e+01] [ 9.42104339e-02 1.91971043e-03 9.95550455e-01 -4.88069628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95534707000002 meters 0.016447415354786703 Centerline is valid? [True, True] Translation: X:-96.62, Y:10.11, Z:-4.88 [[ 9.54524488e-01 2.83653205e-01 -9.17815936e-02 -9.66200014e+01] [-2.82562890e-01 9.58924565e-01 2.49377676e-02 1.01080994e+01] [ 9.50853024e-02 2.13036254e-03 9.95466849e-01 -4.87952487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98534707000002 meters 0.01825119138039284 Centerline is valid? [True, True] Translation: X:-96.65, Y:10.12, Z:-4.89 [[ 9.54198439e-01 2.84860019e-01 -9.14336272e-02 -9.66458916e+01] [-2.83781174e-01 9.58566559e-01 2.48675980e-02 1.01176902e+01] [ 9.47290018e-02 2.21851889e-03 9.95500625e-01 -4.88628432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01534707000002 meters 0.018597334146298612 Centerline is valid? [True, True] Translation: X:-96.67, Y:10.12, Z:-4.89 [[ 9.53771508e-01 2.86355376e-01 -9.12168279e-02 -9.66730738e+01] [-2.85286138e-01 9.58120626e-01 2.48331586e-02 1.01241005e+01] [ 9.45078327e-02 2.33773750e-03 9.95521373e-01 -4.88985513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04534707 meters 0.017298353806900316 Centerline is valid? [True, True] Translation: X:-96.70, Y:10.13, Z:-4.88 [[ 9.53459889e-01 2.87091526e-01 -9.21558248e-02 -9.67012067e+01] [-2.86002263e-01 9.57900092e-01 2.51021869e-02 1.01269297e+01] [ 9.54826982e-02 2.42284612e-03 9.95428141e-01 -4.88455849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07534707 meters 0.017601706081189522 Centerline is valid? [True, True] Translation: X:-96.73, Y:10.13, Z:-4.89 [[ 9.53640707e-01 2.86347199e-01 -9.25995907e-02 -9.67275866e+01] [-2.85242290e-01 9.58123055e-01 2.52397884e-02 1.01338329e+01] [ 9.59491455e-02 2.34362964e-03 9.95383478e-01 -4.89139123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10534707000001 meters 0.019039838622807257 Centerline is valid? [True, True] Translation: X:-96.75, Y:10.14, Z:-4.90 [[ 9.52981738e-01 2.88383219e-01 -9.30641014e-02 -9.67548780e+01] [-2.87274613e-01 9.57511708e-01 2.53894776e-02 1.01414746e+01] [ 9.64318660e-02 2.53924518e-03 9.95336349e-01 -4.89834122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13534707000001 meters 0.019197521931014074 Centerline is valid? [True, True] Translation: X:-96.78, Y:10.15, Z:-4.90 [[ 9.52778360e-01 2.88938134e-01 -9.34245712e-02 -9.67835297e+01] [-2.87820555e-01 9.57344306e-01 2.55187807e-02 1.01472418e+01] [ 9.68128301e-02 2.57576984e-03 9.95299272e-01 -4.90152537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16534707000001 meters 0.01772245976269643 Centerline is valid? [True, True] Translation: X:-96.81, Y:10.15, Z:-4.90 [[ 9.53098780e-01 2.87842764e-01 -9.35374677e-02 -9.68116146e+01] [-2.86714842e-01 9.57674564e-01 2.55740025e-02 1.01502600e+01] [ 9.69397452e-02 2.44402965e-03 9.95287251e-01 -4.89956505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19534707000001 meters 0.017369563826634207 Centerline is valid? [True, True] Translation: X:-96.84, Y:10.16, Z:-4.90 [[ 9.53558689e-01 2.86519227e-01 -9.29115727e-02 -9.68397568e+01] [-2.85397827e-01 9.58071800e-01 2.54264724e-02 1.01558166e+01] [ 9.63011310e-02 2.27112735e-03 9.95349654e-01 -4.90405508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22534707000001 meters 0.019498046993818605 Centerline is valid? [True, True] Translation: X:-96.87, Y:10.17, Z:-4.91 [[ 9.53195706e-01 2.87598239e-01 -9.33016545e-02 -9.68670959e+01] [-2.86469542e-01 9.57748235e-01 2.55640442e-02 1.01654843e+01] [ 9.67116689e-02 2.36054513e-03 9.95309641e-01 -4.91458655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25534707000001 meters 0.018383824868697263 Centerline is valid? [True, True] Translation: X:-96.90, Y:10.17, Z:-4.91 [[ 9.53482425e-01 2.86714395e-01 -9.30920048e-02 -9.68950560e+01] [-2.85584561e-01 9.58013472e-01 2.55273610e-02 1.01707328e+01] [ 9.65024566e-02 2.24574925e-03 9.95330213e-01 -4.91212406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28534707000001 meters 0.017813569532437595 Centerline is valid? [True, True] Translation: X:-96.92, Y:10.18, Z:-4.91 [[ 9.53106906e-01 2.87667657e-01 -9.39922597e-02 -9.69229736e+01] [-2.86519376e-01 9.57727401e-01 2.57851200e-02 1.01753610e+01] [ 9.74365077e-02 2.35462759e-03 9.95238958e-01 -4.91064470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31534707000002 meters 0.018559603216625753 Centerline is valid? [True, True] Translation: X:-96.95, Y:10.18, Z:-4.92 [[ 9.53283693e-01 2.87296549e-01 -9.33321652e-02 -9.69504687e+01] [-2.86160622e-01 9.57838969e-01 2.56243549e-02 1.01846553e+01] [ 9.67589736e-02 2.28071072e-03 9.95305229e-01 -4.91577076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34534707000002 meters 0.018253782953107943 Centerline is valid? [True, True] Translation: X:-96.98, Y:10.19, Z:-4.92 [[ 9.54033336e-01 2.84992001e-01 -9.27359275e-02 -9.69779623e+01] [-2.83857574e-01 9.58527782e-01 2.54827073e-02 1.01910290e+01] [ 9.61523307e-02 2.01244315e-03 9.95364596e-01 -4.91973074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37534707000002 meters 0.017895263377228892 Centerline is valid? [True, True] Translation: X:-97.01, Y:10.20, Z:-4.92 [[ 9.53948363e-01 2.85210459e-01 -9.29382290e-02 -9.70058773e+01] [-2.84070840e-01 9.58462773e-01 2.55513193e-02 1.01962640e+01] [ 9.63653362e-02 2.02640166e-03 9.95343969e-01 -4.92056742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40534707000002 meters 0.017658175260006893 Centerline is valid? [True, True] Translation: X:-97.03, Y:10.20, Z:-4.92 [[ 9.53749340e-01 2.85569739e-01 -9.38728958e-02 -9.70324688e+01] [-2.84407417e-01 9.58355695e-01 2.58221429e-02 1.02029432e+01] [ 9.73376469e-02 2.07029610e-03 9.95249263e-01 -4.92279756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43534707 meters 0.017173651497070275 Centerline is valid? [True, True] Translation: X:-97.06, Y:10.21, Z:-4.93 [[ 9.54161606e-01 2.84343541e-01 -9.34043954e-02 -9.70604835e+01] [-2.83185142e-01 9.58720540e-01 2.57118894e-02 1.02094187e+01] [ 9.68597220e-02 1.91743934e-03 9.95296196e-01 -4.92547421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46534707 meters 0.017795857435075266 Centerline is valid? [True, True] Translation: X:-97.09, Y:10.22, Z:-4.93 [[ 9.54209462e-01 2.83917332e-01 -9.42085491e-02 -9.70885514e+01] [-2.82733896e-01 9.58846954e-01 2.59627239e-02 1.02169960e+01] [ 9.77028477e-02 1.86207327e-03 9.95213890e-01 -4.93178646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49534707000001 meters 0.01821150768338458 Centerline is valid? [True, True] Translation: X:-97.12, Y:10.22, Z:-4.93 [[ 9.54077669e-01 2.84321776e-01 -9.43235318e-02 -9.71155447e+01] [-2.83134258e-01 9.58727079e-01 2.60265188e-02 1.02246791e+01] [ 9.78304302e-02 1.87490276e-03 9.95201332e-01 -4.93398508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52534707000001 meters 0.017896167893810256 Centerline is valid? [True, True] Translation: X:-97.14, Y:10.23, Z:-4.94 [[ 9.53879515e-01 2.84981325e-01 -9.43372462e-02 -9.71425331e+01] [-2.83794222e-01 9.58531148e-01 2.60552723e-02 1.02305802e+01] [ 9.78504549e-02 1.91877484e-03 9.95199280e-01 -4.93596435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55534707000001 meters 0.01675495971778313 Centerline is valid? [True, True] Translation: X:-97.17, Y:10.24, Z:-4.93 [[ 9.53670091e-01 2.85430054e-01 -9.50949077e-02 -9.71702270e+01] [-2.84224696e-01 9.58397522e-01 2.62775940e-02 1.02354131e+01] [ 9.86391390e-02 1.96816574e-03 9.95121323e-01 -4.93257160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58534707000001 meters 0.0163653053047834 Centerline is valid? [True, True] Translation: X:-97.20, Y:10.24, Z:-4.93 [[ 9.54120396e-01 2.83967859e-01 -9.49553862e-02 -9.71986800e+01] [-2.82756725e-01 9.58832121e-01 2.62601881e-02 1.02425420e+01] [ 9.85033238e-02 1.79389301e-03 9.95135105e-01 -4.93286575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61534707000001 meters 0.01808006454636565 Centerline is valid? [True, True] Translation: X:-97.22, Y:10.25, Z:-4.94 [[ 9.53578804e-01 2.85696365e-01 -9.52105630e-02 -9.72247103e+01] [-2.84484054e-01 9.58318214e-01 2.63633197e-02 1.02537230e+01] [ 9.87739213e-02 1.94638407e-03 9.95107996e-01 -4.94306139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64534707000001 meters 0.018896088043975197 Centerline is valid? [True, True] Translation: X:-97.25, Y:10.26, Z:-4.95 [[ 9.53279261e-01 2.86756380e-01 -9.50233070e-02 -9.72517624e+01] [-2.85550813e-01 9.58001408e-01 2.63445603e-02 1.02619454e+01] [ 9.85869326e-02 2.02025963e-03 9.95126392e-01 -4.94835008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67534707000002 meters 0.01715606349456593 Centerline is valid? [True, True] Translation: X:-97.28, Y:10.27, Z:-4.95 [[ 9.53163295e-01 2.87279173e-01 -9.46066020e-02 -9.72791234e+01] [-2.86084425e-01 9.57844719e-01 2.62525508e-02 1.02674662e+01] [ 9.81602451e-02 2.04250756e-03 9.95168526e-01 -4.94503223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70534707000002 meters 0.01759343718151241 Centerline is valid? [True, True] Translation: X:-97.31, Y:10.28, Z:-4.94 [[ 9.52624228e-01 2.88877296e-01 -9.51682053e-02 -9.73065011e+01] [-2.87674145e-01 9.57363603e-01 2.64295057e-02 1.02757824e+01] [ 9.87454600e-02 2.20004454e-03 9.95110292e-01 -4.94440800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73534707000002 meters 0.01894360382963829 Centerline is valid? [True, True] Translation: X:-97.33, Y:10.29, Z:-4.95 [[ 9.52470704e-01 2.89417449e-01 -9.50636539e-02 -9.73325854e+01] [-2.88216191e-01 9.57200403e-01 2.64351346e-02 1.02866173e+01] [ 9.86457570e-02 2.22019298e-03 9.95120136e-01 -4.95440877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76534707000002 meters 0.020502871190132766 Centerline is valid? [True, True] Translation: X:-97.36, Y:10.30, Z:-4.96 [[ 9.51701623e-01 2.91779837e-01 -9.55434327e-02 -9.73599321e+01] [-2.90574830e-01 9.56482384e-01 2.66029494e-02 1.02965030e+01] [ 9.91478145e-02 2.44444660e-03 9.95069714e-01 -4.96210037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79534707 meters 0.018955526149577025 Centerline is valid? [True, True] Translation: X:-97.39, Y:10.30, Z:-4.96 [[ 9.51786439e-01 2.91343203e-01 -9.60297479e-02 -9.73875380e+01] [-2.90121297e-01 9.56615614e-01 2.67619204e-02 1.03012661e+01] [ 9.96604599e-02 2.38864208e-03 9.95018637e-01 -4.95607223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82534707 meters 0.019160973140034242 Centerline is valid? [True, True] Translation: X:-97.41, Y:10.31, Z:-4.96 [[ 9.51562284e-01 2.92196381e-01 -9.56582153e-02 -9.74134409e+01] [-2.90986682e-01 9.56355193e-01 2.66738751e-02 1.03087129e+01] [ 9.92772407e-02 2.45341317e-03 9.95056787e-01 -4.95683369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85534707000001 meters 0.0190910390444716 Centerline is valid? [True, True] Translation: X:-97.44, Y:10.32, Z:-4.96 [[ 9.51606704e-01 2.92224131e-01 -9.51301075e-02 -9.74408605e+01] [-2.91026564e-01 9.56346775e-01 2.65402406e-02 1.03155737e+01] [ 9.87330703e-02 2.42951742e-03 9.95110988e-01 -4.96035946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88534707000001 meters 0.020055903309125118 Centerline is valid? [True, True] Translation: X:-97.47, Y:10.32, Z:-4.97 [[ 9.51003965e-01 2.93791662e-01 -9.63219467e-02 -9.74683904e+01] [-2.92569744e-01 9.55865929e-01 2.68936957e-02 1.03221652e+01] [ 9.99720106e-02 2.60487607e-03 9.94986840e-01 -4.96830484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91534707000001 meters 0.01887255130517063 Centerline is valid? [True, True] Translation: X:-97.50, Y:10.33, Z:-4.97 [[ 9.51512120e-01 2.92328263e-01 -9.57542285e-02 -9.74958290e+01] [-2.91111144e-01 9.56314986e-01 2.67572204e-02 1.03277320e+01] [ 9.93930955e-02 2.41530349e-03 9.95045315e-01 -4.96511915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94534707000001 meters 0.019706540199032892 Centerline is valid? [True, True] Translation: X:-97.52, Y:10.34, Z:-4.97 [[ 9.51034861e-01 2.93644718e-01 -9.64648747e-02 -9.75235821e+01] [-2.92414051e-01 9.55911224e-01 2.69769206e-02 1.03358604e+01] [ 1.00133487e-01 2.55169280e-03 9.94970740e-01 -4.97307659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97534707000001 meters 0.021601243064243412 Centerline is valid? [True, True] Translation: X:-97.55, Y:10.35, Z:-4.98 [[ 9.50027144e-01 2.96750559e-01 -9.68892754e-02 -9.75505200e+01] [-2.95521854e-01 9.54950743e-01 2.71277083e-02 1.03451705e+01] [ 1.00574648e-01 2.86083906e-03 9.94925402e-01 -4.98124943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00534707000001 meters 0.023084674944107857 Centerline is valid? [True, True] Translation: X:-97.58, Y:10.35, Z:-4.99 [[ 9.49166345e-01 2.99115827e-01 -9.80457655e-02 -9.75781759e+01] [-2.97866877e-01 9.54211715e-01 2.74831956e-02 1.03536951e+01] [ 1.01777077e-01 3.11846173e-03 9.94802343e-01 -4.98638436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03534707000001 meters 0.023084674944107857 Centerline is valid? [True, True] Translation: X:-97.60, Y:10.36, Z:-4.99 [[ 9.49069091e-01 2.99427033e-01 -9.80372984e-02 -9.76049078e+01] [-2.98176623e-01 9.54114100e-01 2.75133744e-02 1.03609496e+01] [ 1.01777017e-01 3.12033735e-03 9.94802343e-01 -4.98785605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06534707000002 meters 0.023049670733319646 Centerline is valid? [True, True] Translation: X:-97.63, Y:10.37, Z:-4.99 [[ 9.48037584e-01 3.02607923e-01 -9.82506184e-02 -9.76325189e+01] [-3.01366640e-01 9.53108895e-01 2.75967891e-02 1.03670878e+01] [ 1.01994545e-01 3.44666547e-03 9.94778987e-01 -4.98663883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09534707000002 meters 0.02202459370794932 Centerline is valid? [True, True] Translation: X:-97.66, Y:10.37, Z:-4.98 [[ 9.47753570e-01 3.03270433e-01 -9.89455205e-02 -9.76596351e+01] [-3.02013881e-01 9.52897985e-01 2.78036890e-02 1.03729787e+01] [ 1.02717024e-01 3.53187515e-03 9.94704347e-01 -4.98445872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12534707000002 meters 0.021984079517588333 Centerline is valid? [True, True] Translation: X:-97.69, Y:10.38, Z:-4.99 [[ 9.47639042e-01 3.03763339e-01 -9.85295848e-02 -9.76874988e+01] [-3.02517722e-01 9.52740909e-01 2.77089927e-02 1.03795617e+01] [ 1.02290142e-01 3.54882224e-03 9.94748276e-01 -4.98647602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15534707000002 meters 0.022724055572462924 Centerline is valid? [True, True] Translation: X:-97.72, Y:10.39, Z:-4.99 [[ 9.47216776e-01 3.05055432e-01 -9.85979843e-02 -9.77161195e+01] [-3.03811603e-01 9.52327568e-01 2.77617203e-02 1.03854459e+01] [ 1.02366442e-01 3.65884446e-03 9.94740029e-01 -4.99190353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18534707 meters 0.025026041917352984 Centerline is valid? [True, True] Translation: X:-97.74, Y:10.39, Z:-5.00 [[ 9.47002760e-01 3.05789870e-01 -9.83784988e-02 -9.77427353e+01] [-3.04551902e-01 9.52091852e-01 2.77352456e-02 1.03942698e+01] [ 1.02146524e-01 3.69600481e-03 9.94762498e-01 -5.00098144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21534707 meters 0.022317845690332655 Centerline is valid? [True, True] Translation: X:-97.77, Y:10.39, Z:-5.00 [[ 9.47843998e-01 3.02985462e-01 -9.89523377e-02 -9.77717486e+01] [-3.01715141e-01 9.52989151e-01 2.79222623e-02 1.03946427e+01] [ 1.02760544e-01 3.38946974e-03 9.94700348e-01 -4.99585296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24534707000001 meters 0.022046412157364092 Centerline is valid? [True, True] Translation: X:-97.80, Y:10.40, Z:-5.00 [[ 9.48657941e-01 3.00375172e-01 -9.91103772e-02 -9.77999099e+01] [-2.99084334e-01 9.53816126e-01 2.79885390e-02 1.04015896e+01] [ 1.02940138e-01 3.09081140e-03 9.94682751e-01 -5.00207276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27534707000001 meters 0.019925486449282048 Centerline is valid? [True, True] Translation: X:-97.83, Y:10.40, Z:-5.00 [[ 9.48871262e-01 2.99553011e-01 -9.95556218e-02 -9.78276545e+01] [-2.98243394e-01 9.54074969e-01 2.81394884e-02 1.04017615e+01] [ 1.03412795e-01 2.99105471e-03 9.94634027e-01 -5.00084588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30534707000001 meters 0.020049768212424986 Centerline is valid? [True, True] Translation: X:-97.86, Y:10.41, Z:-5.00 [[ 9.48985885e-01 2.99053909e-01 -9.99627445e-02 -9.78553679e+01] [-2.97727831e-01 9.54231745e-01 2.82827780e-02 1.04083326e+01] [ 1.03845699e-01 2.92173399e-03 9.94589128e-01 -5.00163071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33534707000001 meters 0.022043006292276134 Centerline is valid? [True, True] Translation: X:-97.88, Y:10.42, Z:-5.01 [[ 9.48864287e-01 2.99680898e-01 -9.92367121e-02 -9.78822161e+01] [-2.98373668e-01 9.54034987e-01 2.81140344e-02 1.04192621e+01] [ 1.03100534e-01 2.93321852e-03 9.94666616e-01 -5.01349500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36534707000001 meters 0.020577059479700854 Centerline is valid? [True, True] Translation: X:-97.91, Y:10.43, Z:-5.01 [[ 9.49378017e-01 2.98063353e-01 -9.91948499e-02 -9.79092102e+01] [-2.96746041e-01 9.54542174e-01 2.81251803e-02 1.04251105e+01] [ 1.03068753e-01 2.73425107e-03 9.94670476e-01 -5.01290687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39534707000001 meters 0.02109639202293293 Centerline is valid? [True, True] Translation: X:-97.94, Y:10.43, Z:-5.02 [[ 9.48834734e-01 2.99758124e-01 -9.92860255e-02 -9.79372151e+01] [-2.98445409e-01 9.54010825e-01 2.81723885e-02 1.04338001e+01] [ 1.03164845e-01 2.90051772e-03 9.94660043e-01 -5.01539335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42534707000002 meters 0.022792355841734224 Centerline is valid? [True, True] Translation: X:-97.96, Y:10.44, Z:-5.02 [[ 9.48465892e-01 3.00841182e-01 -9.95340860e-02 -9.79642555e+01] [-2.99524480e-01 9.53669551e-01 2.82749493e-02 1.04441585e+01] [ 1.03428896e-01 2.99507038e-03 9.94632341e-01 -5.02492577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45534707000002 meters 0.023257419412571027 Centerline is valid? [True, True] Translation: X:-97.99, Y:10.45, Z:-5.03 [[ 9.47858521e-01 3.02397799e-01 -1.00597194e-01 -9.79919376e+01] [-3.01058247e-01 9.53176545e-01 2.86078002e-02 1.04541083e+01] [ 1.04537822e-01 3.16946783e-03 9.94515861e-01 -5.03040118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48534707000002 meters 0.023148516429768565 Centerline is valid? [True, True] Translation: X:-98.02, Y:10.46, Z:-5.03 [[ 9.47681055e-01 3.02628786e-01 -1.01569855e-01 -9.80190693e+01] [-3.01262304e-01 9.53103109e-01 2.89048139e-02 1.04616617e+01] [ 1.05553973e-01 3.20662407e-03 9.94408405e-01 -5.03274076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51534707000002 meters 0.02299769252460156 Centerline is valid? [True, True] Translation: X:-98.05, Y:10.47, Z:-5.03 [[ 9.47587483e-01 3.02678074e-01 -1.02293424e-01 -9.80465003e+01] [-3.01289967e-01 9.53087431e-01 2.91325382e-02 1.04706600e+01] [ 1.06312357e-01 3.21435374e-03 9.94327587e-01 -5.03464728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54534707 meters 0.023578810523765176 Centerline is valid? [True, True] Translation: X:-98.07, Y:10.48, Z:-5.04 [[ 9.47119412e-01 3.04023080e-01 -1.02639108e-01 -9.80735375e+01] [-3.02629937e-01 9.52658791e-01 2.92634268e-02 1.04795659e+01] [ 1.06676806e-01 3.34570731e-03 9.94288120e-01 -5.03975914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57534707 meters 0.023032784539006788 Centerline is valid? [True, True] Translation: X:-98.10, Y:10.49, Z:-5.04 [[ 9.47552335e-01 3.02884919e-01 -1.02006366e-01 -9.81007644e+01] [-3.01500034e-01 9.53021844e-01 2.91048837e-02 1.04881124e+01] [ 1.06029726e-01 3.17652240e-03 9.94357887e-01 -5.03978218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60534707000001 meters 0.02334805518796358 Centerline is valid? [True, True] Translation: X:-98.13, Y:10.50, Z:-5.04 [[ 9.47306803e-01 3.03963046e-01 -1.01075656e-01 -9.81279753e+01] [-3.02607206e-01 9.52678293e-01 2.88608645e-02 1.04965949e+01] [ 1.05065220e-01 3.24612868e-03 9.94460036e-01 -5.04363395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63534707000001 meters 0.021921365119373086 Centerline is valid? [True, True] Translation: X:-98.16, Y:10.50, Z:-5.04 [[ 9.48179832e-01 3.01272748e-01 -1.00944232e-01 -9.81561335e+01] [-2.99901862e-01 9.53533557e-01 2.88553236e-02 1.05046173e+01] [ 1.04947035e-01 2.91332725e-03 9.94473545e-01 -5.04246390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66534707000001 meters 0.02288219399403296 Centerline is valid? [True, True] Translation: X:-98.18, Y:10.51, Z:-5.05 [[ 9.47330676e-01 3.03653605e-01 -1.01779558e-01 -9.81840488e+01] [-3.02270238e-01 9.52777213e-01 2.91253589e-02 1.05138437e+01] [ 1.05817264e-01 3.17358533e-03 9.94380528e-01 -5.04634933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69534707000001 meters 0.022015292052290487 Centerline is valid? [True, True] Translation: X:-98.21, Y:10.52, Z:-5.05 [[ 9.47526232e-01 3.02891504e-01 -1.02229040e-01 -9.82107297e+01] [-3.01488946e-01 9.53020069e-01 2.92773642e-02 1.05200518e+01] [ 1.06294192e-01 3.07985496e-03 9.94329955e-01 -5.05090320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72534707000001 meters 0.02167989114238456 Centerline is valid? [True, True] Translation: X:-98.24, Y:10.53, Z:-5.05 [[ 9.47537903e-01 3.02528827e-01 -1.03190265e-01 -9.82390035e+01] [-3.01094853e-01 9.53135375e-01 2.95778007e-02 1.05270499e+01] [ 1.07302430e-01 3.04397054e-03 9.94221767e-01 -5.05339062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75534707000001 meters 0.020794748770301665 Centerline is valid? [True, True] Translation: X:-98.27, Y:10.53, Z:-5.05 [[ 9.47731300e-01 3.01760665e-01 -1.03662362e-01 -9.82653345e+01] [-3.00306165e-01 9.53379159e-01 2.97386287e-02 1.05327451e+01] [ 1.07803484e-01 2.94621709e-03 9.94167857e-01 -5.05384634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78534707000001 meters 0.022551522382654655 Centerline is valid? [True, True] Translation: X:-98.29, Y:10.54, Z:-5.06 [[ 9.47444078e-01 3.02696364e-01 -1.03559788e-01 -9.82909371e+01] [-3.01247186e-01 9.53082252e-01 2.97380823e-02 1.05431006e+01] [ 1.07702605e-01 3.02192475e-03 9.94178564e-01 -5.06233404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81534707000002 meters 0.018686510321666464 Centerline is valid? [True, True] Translation: X:-98.32, Y:10.55, Z:-5.05 [[ 9.48725870e-01 2.98873831e-01 -1.02925494e-01 -9.83194504e+01] [-2.97417027e-01 9.54289240e-01 2.95830813e-02 1.05459339e+01] [ 1.07062300e-01 2.54555982e-03 9.94249055e-01 -5.05321191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84534707000002 meters 0.021496524180452024 Centerline is valid? [True, True] Translation: X:-98.34, Y:10.56, Z:-5.07 [[ 9.48050527e-01 3.01397716e-01 -1.01782198e-01 -9.83440972e+01] [-2.99984702e-01 9.53494485e-01 2.92821872e-02 1.05591395e+01] [ 1.05874348e-01 2.77210920e-03 9.94375652e-01 -5.06660201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87534707000002 meters 0.020811097191187605 Centerline is valid? [True, True] Translation: X:-98.37, Y:10.57, Z:-5.07 [[ 9.48175880e-01 3.01165239e-01 -1.01301526e-01 -9.83710798e+01] [-2.99761455e-01 9.53568124e-01 2.91702490e-02 1.05672889e+01] [ 1.05382971e-01 2.70776615e-03 9.94428025e-01 -5.06670961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90534707000002 meters 0.022093839747002113 Centerline is valid? [True, True] Translation: X:-98.40, Y:10.58, Z:-5.07 [[ 9.47722351e-01 3.02321606e-01 -1.02097954e-01 -9.83978176e+01] [-3.00899909e-01 9.53201760e-01 2.94219112e-02 1.05775581e+01] [ 1.06214829e-01 2.83746237e-03 9.94339157e-01 -5.07331603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93534707 meters 0.02166576934023559 Centerline is valid? [True, True] Translation: X:-98.43, Y:10.59, Z:-5.08 [[ 9.47771083e-01 3.01932762e-01 -1.02793875e-01 -9.84253858e+01] [-3.00485736e-01 9.53325165e-01 2.96555441e-02 1.05859434e+01] [ 1.06949968e-01 2.78142593e-03 9.94260513e-01 -5.07889023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96534707 meters 0.020879537596839307 Centerline is valid? [True, True] Translation: X:-98.45, Y:10.59, Z:-5.08 [[ 9.48060173e-01 3.00697476e-01 -1.03744573e-01 -9.84513483e+01] [-2.99213685e-01 9.53715907e-01 2.99522922e-02 1.05949444e+01] [ 1.07949428e-01 2.64522060e-03 9.94152867e-01 -5.08116440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99534707000001 meters 0.022382944936787844 Centerline is valid? [True, True] Translation: X:-98.48, Y:10.61, Z:-5.09 [[ 9.47284177e-01 3.02953277e-01 -1.04268880e-01 -9.84788292e+01] [-3.01465646e-01 9.53001009e-01 3.01254140e-02 1.06054405e+01] [ 1.08494941e-01 2.89615731e-03 9.94092782e-01 -5.08602577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02534707000001 meters 0.021490683715212806 Centerline is valid? [True, True] Translation: X:-98.51, Y:10.61, Z:-5.09 [[ 9.47222123e-01 3.03058150e-01 -1.04527541e-01 -9.85054000e+01] [-3.01561381e-01 9.52967669e-01 3.02217722e-02 1.06128128e+01] [ 1.08770322e-01 2.89473838e-03 9.94062693e-01 -5.08684413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05534707000001 meters 0.02367652017093692 Centerline is valid? [True, True] Translation: X:-98.53, Y:10.63, Z:-5.09 [[ 9.46560282e-01 3.05322603e-01 -1.03931424e-01 -9.85318765e+01] [-3.03853945e-01 9.52243881e-01 3.00727617e-02 1.06253012e+01] [ 1.08149957e-01 3.11429149e-03 9.94129714e-01 -5.09480146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08534707000001 meters 0.023134673196173326 Centerline is valid? [True, True] Translation: X:-98.56, Y:10.63, Z:-5.10 [[ 9.46776795e-01 3.04724911e-01 -1.03713208e-01 -9.85595960e+01] [-3.03255268e-01 9.52435657e-01 3.00426548e-02 1.06336134e+01] [ 1.07934902e-01 3.00788818e-03 9.94153413e-01 -5.09531720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11534707000001 meters 0.02222010510095309 Centerline is valid? [True, True] Translation: X:-98.59, Y:10.64, Z:-5.10 [[ 9.46162818e-01 3.06885999e-01 -1.02941271e-01 -9.85869302e+01] [-3.05448588e-01 9.51740871e-01 2.98408159e-02 1.06405194e+01] [ 1.07131143e-01 3.20899528e-03 9.94239720e-01 -5.09517557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14534707000001 meters 0.023091035549501135 Centerline is valid? [True, True] Translation: X:-98.61, Y:10.65, Z:-5.10 [[ 9.46288830e-01 3.07047035e-01 -1.01289526e-01 -9.86134150e+01] [-3.05654026e-01 9.51689116e-01 2.93843863e-02 1.06532019e+01] [ 1.05418528e-01 3.15343494e-03 9.94422943e-01 -5.09977757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17534707000002 meters 0.021569029597469386 Centerline is valid? [True, True] Translation: X:-98.64, Y:10.66, Z:-5.10 [[ 9.46158016e-01 3.07087840e-01 -1.02381969e-01 -9.86408897e+01] [-3.05662316e-01 9.51675894e-01 2.97244195e-02 1.06588947e+01] [ 1.06562460e-01 3.17031204e-03 9.94300956e-01 -5.09969235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20534707000002 meters 0.02196479276552401 Centerline is valid? [True, True] Translation: X:-98.67, Y:10.67, Z:-5.10 [[ 9.45485841e-01 3.08756823e-01 -1.03565191e-01 -9.86664813e+01] [-3.07306296e-01 9.51134999e-01 3.00841302e-02 1.06691646e+01] [ 1.07793158e-01 3.38211605e-03 9.94167590e-01 -5.10371600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23534707000002 meters 0.02395740682731714 Centerline is valid? [True, True] Translation: X:-98.69, Y:10.68, Z:-5.11 [[ 9.45214003e-01 3.09972936e-01 -1.02407363e-01 -9.86923587e+01] [-3.08558930e-01 9.50739103e-01 2.97749029e-02 1.06818810e+01] [ 1.06592098e-01 3.45505121e-03 9.94296831e-01 -5.11258814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26534707000002 meters 0.02179689949732768 Centerline is valid? [True, True] Translation: X:-98.72, Y:10.69, Z:-5.11 [[ 9.45358332e-01 3.09186511e-01 -1.03447213e-01 -9.87202546e+01] [-3.07736308e-01 9.50995420e-01 3.01010912e-02 1.06872283e+01] [ 1.07684677e-01 3.37814605e-03 9.94179359e-01 -5.11154697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29534707 meters 0.02316972099226731 Centerline is valid? [True, True] Translation: X:-98.75, Y:10.70, Z:-5.12 [[ 9.45049947e-01 3.10034492e-01 -1.03726622e-01 -9.87470697e+01] [-3.08578905e-01 9.50719009e-01 3.02063909e-02 1.06978764e+01] [ 1.07979894e-01 3.46129943e-03 9.94147052e-01 -5.11744231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32534707 meters 0.02127861838454311 Centerline is valid? [True, True] Translation: X:-98.77, Y:10.70, Z:-5.12 [[ 9.45328192e-01 3.09509740e-01 -1.02753733e-01 -9.87745783e+01] [-3.08075771e-01 9.50890383e-01 2.99465874e-02 1.07037190e+01] [ 1.06976297e-01 3.34658199e-03 9.94255939e-01 -5.11892124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35534707000001 meters 0.022512450926168805 Centerline is valid? [True, True] Translation: X:-98.80, Y:10.71, Z:-5.13 [[ 9.45802377e-01 3.08295810e-01 -1.02037044e-01 -9.88010047e+01] [-3.06872232e-01 9.51285280e-01 2.97615409e-02 1.07145950e+01] [ 1.06241696e-01 3.16379923e-03 9.94335302e-01 -5.12740355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38534707000001 meters 0.019462532266302953 Centerline is valid? [True, True] Translation: X:-98.83, Y:10.72, Z:-5.12 [[ 9.45957267e-01 3.07681109e-01 -1.02455771e-01 -9.88289609e+01] [-3.06239295e-01 9.51484545e-01 2.99107904e-02 1.07173012e+01] [ 1.06688068e-01 3.08165371e-03 9.94287765e-01 -5.12198202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41534707000001 meters 0.022492335936940586 Centerline is valid? [True, True] Translation: X:-98.86, Y:10.73, Z:-5.13 [[ 9.46055894e-01 3.08051587e-01 -1.00411479e-01 -9.88553930e+01] [-3.06666101e-01 9.51364815e-01 2.93409518e-02 1.07297733e+01] [ 1.04566475e-01 3.03461648e-03 9.94513270e-01 -5.13248389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44534707000001 meters 0.021578078752776265 Centerline is valid? [True, True] Translation: X:-98.88, Y:10.74, Z:-5.13 [[ 9.46494165e-01 3.06692276e-01 -1.00442242e-01 -9.88831408e+01] [-3.05294684e-01 9.51804451e-01 2.93844178e-02 1.07368649e+01] [ 1.04613347e-01 2.85230241e-03 9.94508880e-01 -5.13499490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47534707000001 meters 0.021586538471737717 Centerline is valid? [True, True] Translation: X:-98.91, Y:10.74, Z:-5.14 [[ 9.46620276e-01 3.06435581e-01 -1.00036427e-01 -9.89106833e+01] [-3.05044481e-01 9.51887334e-01 2.92979045e-02 1.07440708e+01] [ 1.04201328e-01 2.78156955e-03 9.94552335e-01 -5.13946087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50534707000001 meters 0.021791623831586462 Centerline is valid? [True, True] Translation: X:-98.94, Y:10.75, Z:-5.14 [[ 9.47011448e-01 3.05565769e-01 -9.89892821e-02 -9.89382596e+01] [-3.04195678e-01 9.52167348e-01 2.90229220e-02 1.07528005e+01] [ 1.03122774e-01 2.62707238e-03 9.94665166e-01 -5.14300996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53534707000001 meters 0.02056240576748735 Centerline is valid? [True, True] Translation: X:-98.97, Y:10.76, Z:-5.14 [[ 9.47151517e-01 3.04535897e-01 -1.00806204e-01 -9.89652568e+01] [-3.03106755e-01 9.52497473e-01 2.95780274e-02 1.07586141e+01] [ 1.05025225e-01 2.54016777e-03 9.94466314e-01 -5.14397325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56534707000002 meters 0.021868035520228462 Centerline is valid? [True, True] Translation: X:-98.99, Y:10.77, Z:-5.15 [[ 9.47299303e-01 3.04901633e-01 -9.82803402e-02 -9.89928034e+01] [-3.03543262e-01 9.52380577e-01 2.88569640e-02 1.07692454e+01] [ 1.02398823e-01 2.49615320e-03 9.94740293e-01 -5.14850890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59534707000002 meters 0.02196662329882727 Centerline is valid? [True, True] Translation: X:-99.02, Y:10.78, Z:-5.15 [[ 9.47105679e-01 3.05155870e-01 -9.93515336e-02 -9.90202749e+01] [-3.03765866e-01 9.52299078e-01 2.92021331e-02 1.07771622e+01] [ 1.03523576e-01 2.52209859e-03 9.94623802e-01 -5.15348332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62534707000002 meters 0.02167304764740419 Centerline is valid? [True, True] Translation: X:-99.05, Y:10.78, Z:-5.16 [[ 9.46655862e-01 3.05989406e-01 -1.01060187e-01 -9.90478098e+01] [-3.04552737e-01 9.52031282e-01 2.97333036e-02 1.07849823e+01] [ 1.05310535e-01 2.63095026e-03 9.94435905e-01 -5.15883929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65534707000002 meters 0.02141553893600276 Centerline is valid? [True, True] Translation: X:-99.08, Y:10.79, Z:-5.16 [[ 9.47391320e-01 3.04607862e-01 -9.83043094e-02 -9.90761206e+01] [-3.03238535e-01 9.52474864e-01 2.89486419e-02 1.07935317e+01] [ 1.02450368e-01 2.38396262e-03 9.94735261e-01 -5.15653870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68534707 meters 0.020864263654928838 Centerline is valid? [True, True] Translation: X:-99.10, Y:10.80, Z:-5.16 [[ 9.45821895e-01 3.08328414e-01 -1.01757219e-01 -9.91031526e+01] [-3.06880160e-01 9.51275658e-01 2.99864786e-02 1.07991398e+01] [ 1.06044849e-01 2.86540375e-03 9.94357219e-01 -5.16171716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71534707 meters 0.02121473335942898 Centerline is valid? [True, True] Translation: X:-99.13, Y:10.81, Z:-5.16 [[ 9.45902404e-01 3.08616659e-01 -1.00121924e-01 -9.91303260e+01] [-3.07213934e-01 9.51182293e-01 2.95270172e-02 1.08092864e+01] [ 1.04346731e-01 2.82917371e-03 9.94536955e-01 -5.16175953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74534707000001 meters 0.021200780051588656 Centerline is valid? [True, True] Translation: X:-99.16, Y:10.82, Z:-5.16 [[ 9.45122107e-01 3.10480484e-01 -1.01715640e-01 -9.91572308e+01] [-3.09040878e-01 9.50574825e-01 3.00206131e-02 1.08170458e+01] [ 1.06009141e-01 3.06114548e-03 9.94360443e-01 -5.16445695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77534707000001 meters 0.021025000043425893 Centerline is valid? [True, True] Translation: X:-99.18, Y:10.82, Z:-5.17 [[ 9.44662987e-01 3.11556830e-01 -1.02684872e-01 -9.91839649e+01] [-3.10094574e-01 9.50222131e-01 3.03192509e-02 1.08248907e+01] [ 1.07019607e-01 3.20054753e-03 9.94251759e-01 -5.16511071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80534707000001 meters 0.023678378695562476 Centerline is valid? [True, True] Translation: X:-99.21, Y:10.84, Z:-5.17 [[ 9.43871161e-01 3.14691858e-01 -1.00380605e-01 -9.92100874e+01] [-3.13309842e-01 9.49187605e-01 2.96619687e-02 1.08395328e+01] [ 1.04614406e-01 3.45315477e-03 9.94506864e-01 -5.16960206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83534707000001 meters 0.020636749173689788 Centerline is valid? [True, True] Translation: X:-99.24, Y:10.84, Z:-5.17 [[ 9.43340905e-01 3.15565026e-01 -1.02599467e-01 -9.92384399e+01] [-3.14123573e-01 9.48897104e-01 3.03424950e-02 1.08420815e+01] [ 1.06931367e-01 3.60559428e-03 9.94259867e-01 -5.16642557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86534707000001 meters 0.02564669627721522 Centerline is valid? [True, True] Translation: X:-99.26, Y:10.86, Z:-5.17 [[ 9.42465399e-01 3.19287635e-01 -9.90675394e-02 -9.92628527e+01] [-3.17961843e-01 9.47649973e-01 2.93222556e-02 1.08620126e+01] [ 1.03243585e-01 3.86448602e-03 9.94648595e-01 -5.17156461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89534707000001 meters 0.027249613890053738 Centerline is valid? [True, True] Translation: X:-99.29, Y:10.87, Z:-5.17 [[ 9.41341532e-01 3.22859483e-01 -9.81726726e-02 -9.92894314e+01] [-3.21573454e-01 9.46437656e-01 2.90908299e-02 1.08746683e+01] [ 1.02306564e-01 4.18531909e-03 9.94744113e-01 -5.17373432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92534707000002 meters 0.026907741387470666 Centerline is valid? [True, True] Translation: X:-99.32, Y:10.88, Z:-5.18 [[ 9.40194773e-01 3.25688712e-01 -9.98030644e-02 -9.93168471e+01] [-3.24372611e-01 9.45466140e-01 2.96004533e-02 1.08813424e+01] [ 1.04000952e-01 4.54318918e-03 9.94566821e-01 -5.17702008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95534707000002 meters 0.026907741387470666 Centerline is valid? [True, True] Translation: X:-99.34, Y:10.89, Z:-5.18 [[ 9.40081164e-01 3.26018942e-01 -9.97950639e-02 -9.93434807e+01] [-3.24701838e-01 9.45352280e-01 2.96274076e-02 1.08890196e+01] [ 1.04000587e-01 4.55147279e-03 9.94566821e-01 -5.17849650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98534707000002 meters 0.025253197704964942 Centerline is valid? [True, True] Translation: X:-99.37, Y:10.89, Z:-5.18 [[ 9.38722427e-01 3.29342223e-01 -1.01655818e-01 -9.93708428e+01] [-3.27991984e-01 9.44197454e-01 3.02064054e-02 1.08941854e+01] [ 1.05931409e-01 4.98686334e-03 9.94360934e-01 -5.17827654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01534707000002 meters 0.029592883397146597 Centerline is valid? [True, True] Translation: X:-99.40, Y:10.91, Z:-5.18 [[ 9.38076461e-01 3.31937123e-01 -9.91478662e-02 -9.93958615e+01] [-3.30664727e-01 9.43287589e-01 2.94849598e-02 1.09114386e+01] [ 1.03312104e-01 5.12555536e-03 9.94635781e-01 -5.18455179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04534707 meters 0.030041066787191515 Centerline is valid? [True, True] Translation: X:-99.42, Y:10.92, Z:-5.19 [[ 9.37623944e-01 3.33178637e-01 -9.92639656e-02 -9.94226894e+01] [-3.31906637e-01 9.42849180e-01 2.95534695e-02 1.09215910e+01] [ 1.03437533e-01 5.23632842e-03 9.94622168e-01 -5.18587282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07534707 meters 0.029842469267054708 Centerline is valid? [True, True] Translation: X:-99.45, Y:10.93, Z:-5.18 [[ 9.37458724e-01 3.34621497e-01 -9.59145138e-02 -9.94493859e+01] [-3.33439372e-01 9.42338317e-01 2.85776390e-02 1.09318557e+01] [ 9.99466139e-02 5.19131820e-03 9.94979258e-01 -5.17741828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10534707000001 meters 0.028671430250088125 Centerline is valid? [True, True] Translation: X:-99.48, Y:10.94, Z:-5.18 [[ 9.36176225e-01 3.37386729e-01 -9.87130714e-02 -9.94772711e+01] [-3.36148582e-01 9.41349254e-01 2.94230017e-02 1.09374237e+01] [ 1.02850406e-01 5.63714431e-03 9.94680862e-01 -5.18121014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13534707000001 meters 0.03173893255998879 Centerline is valid? [True, True] Translation: X:-99.50, Y:10.95, Z:-5.19 [[ 9.36310993e-01 3.37327381e-01 -9.76317723e-02 -9.95030621e+01] [-3.36113671e-01 9.41371056e-01 2.91227766e-02 1.09515824e+01] [ 1.01731635e-01 5.54739751e-03 9.94796412e-01 -5.18600657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16534707000001 meters 0.03159857723049192 Centerline is valid? [True, True] Translation: X:-99.53, Y:10.96, Z:-5.19 [[ 9.35809167e-01 3.38846639e-01 -9.71810579e-02 -9.95305818e+01] [-3.37648896e-01 9.40824628e-01 2.90214118e-02 1.09623979e+01] [ 1.01264141e-01 5.65457367e-03 9.94843505e-01 -5.18533748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19534707000001 meters 0.032362648635222625 Centerline is valid? [True, True] Translation: X:-99.56, Y:10.97, Z:-5.19 [[ 9.35316868e-01 3.40172018e-01 -9.72900497e-02 -9.95572521e+01] [-3.38975443e-01 9.40345498e-01 2.90859811e-02 1.09734015e+01] [ 1.01380497e-01 5.77432894e-03 9.94830967e-01 -5.18773320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22534707000001 meters 0.0319539419123121 Centerline is valid? [True, True] Translation: X:-99.58, Y:10.98, Z:-5.19 [[ 9.35845608e-01 3.39282227e-01 -9.52920174e-02 -9.95848102e+01] [-3.38127726e-01 9.40668311e-01 2.85091259e-02 1.09824682e+01] [ 9.93108208e-02 5.54073291e-03 9.95041035e-01 -5.18543836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25534707000001 meters 0.031016800637205556 Centerline is valid? [True, True] Translation: X:-99.61, Y:10.99, Z:-5.18 [[ 9.36028211e-01 3.38886300e-01 -9.49066042e-02 -9.96118401e+01] [-3.37738135e-01 9.40811452e-01 2.84036041e-02 1.09902546e+01] [ 9.89148124e-02 5.46700472e-03 9.95080887e-01 -5.18425970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28534707000001 meters 0.031199234781756218 Centerline is valid? [True, True] Translation: X:-99.64, Y:11.00, Z:-5.18 [[ 9.37119199e-01 3.36366479e-01 -9.30870454e-02 -9.96388633e+01] [-3.35248427e-01 9.41717418e-01 2.78710640e-02 1.10016899e+01] [ 9.70365837e-02 5.08877642e-03 9.95267806e-01 -5.18388260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31534707000002 meters 0.030608419467634033 Centerline is valid? [True, True] Translation: X:-99.67, Y:11.01, Z:-5.18 [[ 9.37621872e-01 3.35633715e-01 -9.06379340e-02 -9.96671956e+01] [-3.34569182e-01 9.41979997e-01 2.71504742e-02 1.10087691e+01] [ 9.44917353e-02 4.86778103e-03 9.95513745e-01 -5.18190755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34534707000002 meters 0.02487759509204269 Centerline is valid? [True, True] Translation: X:-99.70, Y:11.00, Z:-5.18 [[ 9.37240182e-01 3.35329404e-01 -9.55773672e-02 -9.96984678e+01] [-3.34141734e-01 9.42087235e-01 2.86520891e-02 1.10040164e+01] [ 9.96501056e-02 5.08249808e-03 9.95009560e-01 -5.18165248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37534707000002 meters 0.029634070748027534 Centerline is valid? [True, True] Translation: X:-99.72, Y:11.02, Z:-5.18 [[ 9.38811569e-01 3.33019356e-01 -8.79257965e-02 -9.97228813e+01] [-3.32001713e-01 9.42909636e-01 2.63871469e-02 1.10248778e+01] [ 9.16935114e-02 4.41895622e-03 9.95777472e-01 -5.18350809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40534707000002 meters 0.027202884287339857 Centerline is valid? [True, True] Translation: X:-99.75, Y:11.03, Z:-5.19 [[ 9.38966396e-01 3.31814547e-01 -9.07811244e-02 -9.97509278e+01] [-3.30721764e-01 9.43334285e-01 2.72679523e-02 1.10272523e+01] [ 9.46848503e-02 4.41960275e-03 9.95497487e-01 -5.18715213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43534707 meters 0.027095073915713478 Centerline is valid? [True, True] Translation: X:-99.78, Y:11.04, Z:-5.18 [[ 9.40204006e-01 3.29476377e-01 -8.63813906e-02 -9.97791155e+01] [-3.28476255e-01 9.44155477e-01 2.59573825e-02 1.10365927e+01] [ 9.01098073e-02 3.96900067e-03 9.95923928e-01 -5.18412926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46534707 meters 0.026487525786218886 Centerline is valid? [True, True] Translation: X:-99.81, Y:11.04, Z:-5.19 [[ 9.40418890e-01 3.28526061e-01 -8.76523714e-02 -9.98069813e+01] [-3.27490178e-01 9.44486791e-01 2.63606767e-02 1.10423914e+01] [ 9.14466762e-02 3.91521233e-03 9.95802278e-01 -5.18884428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49534707000001 meters 0.025720582292844997 Centerline is valid? [True, True] Translation: X:-99.84, Y:11.05, Z:-5.19 [[ 9.41433100e-01 3.26379277e-01 -8.47365623e-02 -9.98353261e+01] [-3.25399969e-01 9.45232212e-01 2.55132456e-02 1.10502747e+01] [ 8.84227229e-02 3.55426079e-03 9.96076699e-01 -5.18828464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52534707000001 meters 0.024946883648323356 Centerline is valid? [True, True] Translation: X:-99.86, Y:11.06, Z:-5.19 [[ 9.41899189e-01 3.25073792e-01 -8.45750973e-02 -9.98628303e+01] [-3.24091155e-01 9.45682522e-01 2.54851238e-02 1.10571196e+01] [ 8.82657372e-02 3.40562351e-03 9.96091141e-01 -5.19032674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55534707000001 meters 0.022328432311292126 Centerline is valid? [True, True] Translation: X:-99.89, Y:11.06, Z:-5.19 [[ 9.41648207e-01 3.25226430e-01 -8.67549646e-02 -9.98914556e+01] [-3.24192079e-01 9.45629700e-01 2.61527606e-02 1.10592768e+01] [ 9.05436402e-02 3.49857221e-03 9.95886344e-01 -5.18845338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58534707000001 meters 0.024650748071834972 Centerline is valid? [True, True] Translation: X:-99.92, Y:11.07, Z:-5.19 [[ 9.42426628e-01 3.24130386e-01 -8.22893851e-02 -9.99172880e+01] [-3.23194319e-01 9.46007000e-01 2.48231465e-02 1.10735743e+01] [ 8.58922704e-02 3.20146758e-03 9.96299287e-01 -5.19253555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61534707000001 meters 0.020543100397534965 Centerline is valid? [True, True] Translation: X:-99.95, Y:11.07, Z:-5.19 [[ 9.42706847e-01 3.22535468e-01 -8.52916957e-02 -9.99466594e+01] [-3.21521271e-01 9.46552146e-01 2.57508736e-02 1.10736024e+01] [ 8.90386077e-02 3.14756959e-03 9.96023202e-01 -5.19218403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64534707000001 meters 0.024357331830783747 Centerline is valid? [True, True] Translation: X:-99.97, Y:11.09, Z:-5.20 [[ 9.42879712e-01 3.22847804e-01 -8.21410062e-02 -9.99712566e+01] [-3.21906842e-01 9.46446008e-01 2.48181114e-02 1.10904667e+01] [ 8.57545002e-02 3.04125823e-03 9.96311656e-01 -5.19840482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67534707000002 meters 0.022565729517125818 Centerline is valid? [True, True] Translation: X:-100.00, Y:11.10, Z:-5.20 [[ 9.43431260e-01 3.21448640e-01 -8.12910218e-02 -9.99985176e+01] [-3.20519711e-01 9.46922698e-01 2.45869607e-02 1.10959884e+01] [ 8.48797588e-02 2.85926752e-03 9.96387099e-01 -5.19652084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70534707000002 meters 0.024109687474456257 Centerline is valid? [True, True] Translation: X:-100.03, Y:11.11, Z:-5.20 [[ 9.44189190e-01 3.20132610e-01 -7.76008117e-02 -1.00025134e+02] [-3.19280257e-01 9.47369180e-01 2.34894623e-02 1.11098677e+01] [ 8.10363602e-02 2.59791066e-03 9.96707760e-01 -5.19866036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73534707000002 meters 0.022503974843493074 Centerline is valid? [True, True] Translation: X:-100.05, Y:11.11, Z:-5.20 [[ 9.44199864e-01 3.19707537e-01 -7.92067389e-02 -1.00052651e+02] [-3.18816378e-01 9.47512718e-01 2.39951364e-02 1.11146748e+01] [ 8.27208184e-02 2.59620116e-03 9.96569378e-01 -5.19909551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76534707000002 meters 0.022077319741707242 Centerline is valid? [True, True] Translation: X:-100.08, Y:11.12, Z:-5.20 [[ 9.44243822e-01 3.19786081e-01 -7.83611262e-02 -1.00080520e+02] [-3.18912899e-01 9.47486309e-01 2.37541161e-02 1.11230580e+01] [ 8.18423299e-02 2.56069656e-03 9.96642000e-01 -5.19980991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79534707 meters 0.019407749304342584 Centerline is valid? [True, True] Translation: X:-100.11, Y:11.12, Z:-5.20 [[ 9.44735853e-01 3.17981436e-01 -7.97619845e-02 -1.00108907e+02] [-3.17068509e-01 9.48093832e-01 2.42001221e-02 1.11249564e+01] [ 8.33170351e-02 2.42729055e-03 9.96520135e-01 -5.19930226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82534707 meters 0.022177642361994418 Centerline is valid? [True, True] Translation: X:-100.13, Y:11.14, Z:-5.20 [[ 9.44859206e-01 3.18497399e-01 -7.61609357e-02 -1.00134021e+02] [-3.17665517e-01 9.47920834e-01 2.31238219e-02 1.11425719e+01] [ 7.95594148e-02 2.34494699e-03 9.96827368e-01 -5.20298145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85534707000001 meters 0.021187886653532828 Centerline is valid? [True, True] Translation: X:-100.16, Y:11.15, Z:-5.20 [[ 9.45275133e-01 3.17598782e-01 -7.47391269e-02 -1.00160097e+02] [-3.16793003e-01 9.48222631e-01 2.27164141e-02 1.11513953e+01] [ 7.80840370e-02 2.20357107e-03 9.96944345e-01 -5.20185732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88534707000001 meters 0.021309821189693566 Centerline is valid? [True, True] Translation: X:-100.19, Y:11.16, Z:-5.21 [[ 9.45421701e-01 3.17148844e-01 -7.47958471e-02 -1.00186814e+02] [-3.16338957e-01 9.48373338e-01 2.27525096e-02 1.11614492e+01] [ 7.81503193e-02 2.15012394e-03 9.96939268e-01 -5.20502406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91534707000001 meters 0.02021574031537726 Centerline is valid? [True, True] Translation: X:-100.21, Y:11.17, Z:-5.20 [[ 9.45538982e-01 3.16810432e-01 -7.47474614e-02 -1.00214668e+02] [-3.15998959e-01 9.48486549e-01 2.27579569e-02 1.11673275e+01] [ 7.81069198e-02 2.10158457e-03 9.96942773e-01 -5.20373433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94534707000001 meters 0.021093886189931795 Centerline is valid? [True, True] Translation: X:-100.24, Y:11.18, Z:-5.21 [[ 9.45246974e-01 3.17838820e-01 -7.40718787e-02 -1.00240570e+02] [-3.17043897e-01 9.48142318e-01 2.25679681e-02 1.11798108e+01] [ 7.74036591e-02 2.15173355e-03 9.96997514e-01 -5.20738074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97534707000001 meters 0.02039412859907807 Centerline is valid? [True, True] Translation: X:-100.27, Y:11.19, Z:-5.21 [[ 9.45374357e-01 3.17445797e-01 -7.41315841e-02 -1.00267670e+02] [-3.16646432e-01 9.48274099e-01 2.26112839e-02 1.11874656e+01] [ 7.74749182e-02 2.09737361e-03 9.96992095e-01 -5.20723917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00534707000001 meters 0.021379711392482726 Centerline is valid? [True, True] Translation: X:-100.29, Y:11.20, Z:-5.21 [[ 9.45078900e-01 3.18756506e-01 -7.22506984e-02 -1.00294579e+02] [-3.17999785e-01 9.47834237e-01 2.20543664e-02 1.11997704e+01] [ 7.55116584e-02 2.13259020e-03 9.97142638e-01 -5.20998930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03534707000001 meters 0.020377179209334694 Centerline is valid? [True, True] Translation: X:-100.32, Y:11.21, Z:-5.21 [[ 9.45908368e-01 3.16640658e-01 -7.06827656e-02 -1.00322773e+02] [-3.15908783e-01 9.48543669e-01 2.15997603e-02 1.12075869e+01] [ 7.38850521e-02 1.89791248e-03 9.97264958e-01 -5.20991470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06534707000002 meters 0.020107152122961946 Centerline is valid? [True, True] Translation: X:-100.35, Y:11.22, Z:-5.21 [[ 9.46382732e-01 3.15285375e-01 -7.03907399e-02 -1.00350475e+02] [-3.14554062e-01 9.48995272e-01 2.15340456e-02 1.12157086e+01] [ 7.35898490e-02 1.76224422e-03 9.97287034e-01 -5.20995171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09534707000002 meters 0.01959556346541425 Centerline is valid? [True, True] Translation: X:-100.38, Y:11.22, Z:-5.21 [[ 9.47066237e-01 3.13364390e-01 -6.97732112e-02 -1.00378885e+02] [-3.12638949e-01 9.49631652e-01 2.13685146e-02 1.12231006e+01] [ 7.29549814e-02 1.57642475e-03 9.97333989e-01 -5.21065363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12534707000002 meters 0.019471302723585358 Centerline is valid? [True, True] Translation: X:-100.41, Y:11.23, Z:-5.21 [[ 9.47370016e-01 3.12389739e-01 -7.00193090e-02 -1.00406790e+02] [-3.11654781e-01 9.49952866e-01 2.14674009e-02 1.12307027e+01] [ 7.32212391e-02 1.48428047e-03 9.97314618e-01 -5.21372652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15534707000002 meters 0.019183105688980743 Centerline is valid? [True, True] Translation: X:-100.43, Y:11.24, Z:-5.21 [[ 9.47844354e-01 3.10902725e-01 -7.02180628e-02 -1.00433797e+02] [-3.10158078e-01 9.50440772e-01 2.15477676e-02 1.12387907e+01] [ 7.34373695e-02 1.35476960e-03 9.97298911e-01 -5.21300744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18534707 meters 0.018365791106289657 Centerline is valid? [True, True] Translation: X:-100.46, Y:11.25, Z:-5.21 [[ 9.48648630e-01 3.08593144e-01 -6.95417031e-02 -1.00461339e+02] [-3.07855691e-01 9.51193431e-01 2.13525313e-02 1.12475832e+01] [ 7.27368559e-02 1.15275952e-03 9.97350501e-01 -5.21438637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21534707 meters 0.017779795492746723 Centerline is valid? [True, True] Translation: X:-100.49, Y:11.25, Z:-5.21 [[ 9.48732709e-01 3.08276664e-01 -6.97978834e-02 -1.00487855e+02] [-3.07531382e-01 9.51296095e-01 2.14520128e-02 1.12541543e+01] [ 7.30116088e-02 1.11281337e-03 9.97330470e-01 -5.21277763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24534707000001 meters 0.018455868382847105 Centerline is valid? [True, True] Translation: X:-100.51, Y:11.27, Z:-5.22 [[ 9.48453741e-01 3.09229670e-01 -6.93722716e-02 -1.00513112e+02] [-3.08494749e-01 9.50986677e-01 2.13384643e-02 1.12659711e+01] [ 7.25705923e-02 1.16243517e-03 9.97362601e-01 -5.21747251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27534707000001 meters 0.01824232386045754 Centerline is valid? [True, True] Translation: X:-100.54, Y:11.27, Z:-5.22 [[ 9.48044349e-01 3.10204442e-01 -7.06053642e-02 -1.00540052e+02] [-3.09443996e-01 9.50669068e-01 2.17424935e-02 1.12745247e+01] [ 7.38669539e-02 1.23555797e-03 9.97267340e-01 -5.21589967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30534707000001 meters 0.01988796074780144 Centerline is valid? [True, True] Translation: X:-100.57, Y:11.29, Z:-5.22 [[ 9.47227603e-01 3.12986857e-01 -6.92755074e-02 -1.00565623e+02] [-3.12261285e-01 9.49756407e-01 2.13461241e-02 1.12893711e+01] [ 7.24759133e-02 1.41242099e-03 9.97369163e-01 -5.21982834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33534707000001 meters 0.020615158879936275 Centerline is valid? [True, True] Translation: X:-100.59, Y:11.30, Z:-5.22 [[ 9.47447391e-01 3.12190723e-01 -6.98598185e-02 -1.00591541e+02] [-3.11448801e-01 9.50018506e-01 2.15518670e-02 1.12999504e+01] [ 7.30964133e-02 1.33849658e-03 9.97323981e-01 -5.21960458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36534707000001 meters 0.019633755628714344 Centerline is valid? [True, True] Translation: X:-100.62, Y:11.31, Z:-5.22 [[ 9.47296834e-01 3.12574163e-01 -7.01861947e-02 -1.00619060e+02] [-3.11824772e-01 9.49892393e-01 2.16737843e-02 1.13062177e+01] [ 7.34439974e-02 1.35428691e-03 9.97298423e-01 -5.22130531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39534707000001 meters 0.019264608462544915 Centerline is valid? [True, True] Translation: X:-100.64, Y:11.31, Z:-5.22 [[ 9.47300326e-01 3.12439304e-01 -7.07373545e-02 -1.00644493e+02] [-3.11676989e-01 9.49936773e-01 2.18536698e-02 1.13143119e+01] [ 7.40239596e-02 1.34521713e-03 9.97255556e-01 -5.22175796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42534707000002 meters 0.020383529749230318 Centerline is valid? [True, True] Translation: X:-100.67, Y:11.33, Z:-5.22 [[ 9.47570225e-01 3.11885464e-01 -6.95566380e-02 -1.00670504e+02] [-3.11145791e-01 9.50118864e-01 2.15044255e-02 1.13276160e+01] [ 7.27939916e-02 1.26530185e-03 9.97346196e-01 -5.22453423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45534707000002 meters 0.020348429633885452 Centerline is valid? [True, True] Translation: X:-100.70, Y:11.34, Z:-5.23 [[ 9.47228402e-01 3.12876227e-01 -6.97626081e-02 -1.00696925e+02] [-3.12133348e-01 9.49792982e-01 2.15885418e-02 1.13366514e+01] [ 7.30145771e-02 1.32595643e-03 9.97329992e-01 -5.22596514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48534707000002 meters 0.019631997239951467 Centerline is valid? [True, True] Translation: X:-100.72, Y:11.34, Z:-5.23 [[ 9.47796412e-01 3.11183664e-01 -6.96181672e-02 -1.00724602e+02] [-3.10438640e-01 9.50349054e-01 2.15528696e-02 1.13421417e+01] [ 7.28684602e-02 1.18443666e-03 9.97340857e-01 -5.22549644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51534707000002 meters 0.019364456548937724 Centerline is valid? [True, True] Translation: X:-100.75, Y:11.35, Z:-5.22 [[ 9.48147425e-01 3.09861224e-01 -7.07282250e-02 -1.00749667e+02] [-3.09087596e-01 9.50781173e-01 2.19093518e-02 1.13514601e+01] [ 7.40359233e-02 1.08792157e-03 9.97254982e-01 -5.22446216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54534707 meters 0.019377950144503504 Centerline is valid? [True, True] Translation: X:-100.78, Y:11.36, Z:-5.22 [[ 9.48516307e-01 3.08723574e-01 -7.07571197e-02 -1.00777428e+02] [-3.07944991e-01 9.51151295e-01 2.19339221e-02 1.13606270e+01] [ 7.40722448e-02 9.84617772e-04 9.97252392e-01 -5.22421481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57534707 meters 0.01945513316998562 Centerline is valid? [True, True] Translation: X:-100.81, Y:11.37, Z:-5.22 [[ 9.48864143e-01 3.07767585e-01 -7.02563310e-02 -1.00805366e+02] [-3.06995594e-01 9.51461160e-01 2.18029057e-02 1.13699369e+01] [ 7.35563978e-02 8.80388622e-04 9.97290670e-01 -5.22405828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60534707000001 meters 0.019573276634215857 Centerline is valid? [True, True] Translation: X:-100.83, Y:11.38, Z:-5.23 [[ 9.48807762e-01 3.07963660e-01 -7.01584945e-02 -1.00831825e+02] [-3.07192501e-01 9.51397723e-01 2.17977194e-02 1.13779221e+01] [ 7.34615373e-02 8.70318046e-04 9.97297671e-01 -5.22689225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63534707000001 meters 0.019618782832137412 Centerline is valid? [True, True] Translation: X:-100.86, Y:11.39, Z:-5.23 [[ 9.49030755e-01 3.07081491e-01 -7.10041089e-02 -1.00859630e+02] [-3.06287124e-01 9.51682899e-01 2.20874999e-02 1.13851603e+01] [ 7.43560586e-02 7.85927558e-04 9.97231447e-01 -5.22695606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66534707000001 meters 0.019072729879343914 Centerline is valid? [True, True] Translation: X:-100.89, Y:11.39, Z:-5.23 [[ 9.49841969e-01 3.04594221e-01 -7.08702707e-02 -1.00886862e+02] [-3.03794422e-01 9.52482039e-01 2.20661276e-02 1.13909061e+01] [ 7.42238749e-02 5.70658868e-04 9.97241441e-01 -5.22590714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69534707000001 meters 0.019064222677899516 Centerline is valid? [True, True] Translation: X:-100.92, Y:11.40, Z:-5.23 [[ 9.50438710e-01 3.02824262e-01 -7.04537028e-02 -1.00915089e+02] [-3.02028049e-01 9.53046322e-01 2.19491628e-02 1.13976361e+01] [ 7.37923814e-02 4.17660430e-04 9.97273538e-01 -5.22709434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72534707000001 meters 0.01881221558408885 Centerline is valid? [True, True] Translation: X:-100.94, Y:11.40, Z:-5.23 [[ 9.51145781e-01 3.00072833e-01 -7.26498324e-02 -1.00943528e+02] [-2.99216113e-01 9.53916275e-01 2.26595988e-02 1.14027069e+01] [ 7.61013876e-02 1.85418619e-04 9.97100067e-01 -5.22557692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75534707000001 meters 0.019664748102795948 Centerline is valid? [True, True] Translation: X:-100.97, Y:11.41, Z:-5.23 [[ 9.51940425e-01 2.97866639e-01 -7.13084303e-02 -1.00971880e+02] [-2.97033088e-01 9.54607493e-01 2.22683585e-02 1.14098729e+01] [ 7.47045629e-02 -1.71874323e-05 9.97205710e-01 -5.22671873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78534707000001 meters 0.019650355224618034 Centerline is valid? [True, True] Translation: X:-101.00, Y:11.41, Z:-5.23 [[ 9.53309581e-01 2.93422736e-01 -7.14418692e-02 -1.00999527e+02] [-2.92571895e-01 9.55982713e-01 2.23324628e-02 1.14148670e+01] [ 7.48500443e-02 -3.87867732e-04 9.97194725e-01 -5.22700759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81534707000002 meters 0.019750414818300782 Centerline is valid? [True, True] Translation: X:-101.03, Y:11.42, Z:-5.23 [[ 9.53946514e-01 2.91499301e-01 -7.08110523e-02 -1.01027150e+02] [-2.90657092e-01 9.56570885e-01 2.21494335e-02 1.14195494e+01] [ 7.41923354e-02 -5.47640354e-04 9.97243800e-01 -5.22673477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84534707000002 meters 0.019750414818300782 Centerline is valid? [True, True] Translation: X:-101.05, Y:11.43, Z:-5.23 [[ 9.53842334e-01 2.91841963e-01 -7.08030426e-02 -1.01053610e+02] [-2.90998798e-01 9.56466397e-01 2.21750125e-02 1.14276069e+01] [ 7.41923302e-02 -5.47865447e-04 9.97243801e-01 -5.22820307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87534707000002 meters 0.020154114734483294 Centerline is valid? [True, True] Translation: X:-101.08, Y:11.43, Z:-5.23 [[ 9.55257625e-01 2.87770309e-01 -6.83455860e-02 -1.01081253e+02] [-2.86972431e-01 9.57699071e-01 2.14316020e-02 1.14331577e+01] [ 7.16218830e-02 -8.59402280e-04 9.97431485e-01 -5.22612302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90534707000002 meters 0.02224518520354701 Centerline is valid? [True, True] Translation: X:-101.11, Y:11.44, Z:-5.21 [[ 9.56605417e-01 2.83335451e-01 -6.80227772e-02 -1.01108616e+02] [-2.82532304e-01 9.59020107e-01 2.13525794e-02 1.14414549e+01] [ 7.12851537e-02 -1.20736117e-03 9.97455247e-01 -5.21325199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93534707 meters 0.021134887462036293 Centerline is valid? [True, True] Translation: X:-101.14, Y:11.45, Z:-5.23 [[ 9.56621804e-01 2.83394001e-01 -6.75467559e-02 -1.01136675e+02] [-2.82601315e-01 9.59002807e-01 2.12158620e-02 1.14453187e+01] [ 7.07899766e-02 -1.20675413e-03 9.97490513e-01 -5.22706569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96534707 meters 0.021201110984595907 Centerline is valid? [True, True] Translation: X:-101.16, Y:11.45, Z:-5.23 [[ 9.57419328e-01 2.80055957e-01 -7.01205527e-02 -1.01163099e+02] [-2.79190952e-01 9.59982455e-01 2.20476269e-02 1.14536891e+01] [ 7.34890696e-02 -1.53180027e-03 9.97294846e-01 -5.23014651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99534707000001 meters 0.022385314865037278 Centerline is valid? [True, True] Translation: X:-101.19, Y:11.46, Z:-5.24 [[ 9.57503481e-01 2.79894251e-01 -6.96153226e-02 -1.01190965e+02] [-2.79040178e-01 9.60029590e-01 2.19035290e-02 1.14592204e+01] [ 7.29634415e-02 -1.54723328e-03 9.97333416e-01 -5.23664346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02534707000001 meters 0.022310911394270945 Centerline is valid? [True, True] Translation: X:-101.22, Y:11.47, Z:-5.23 [[ 9.57227430e-01 2.80979206e-01 -6.90386372e-02 -1.01216880e+02] [-2.80140322e-01 9.59712722e-01 2.17460559e-02 1.14710783e+01] [ 7.23674480e-02 -1.47541514e-03 9.97376948e-01 -5.22970551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05534707000001 meters 0.021298885264054063 Centerline is valid? [True, True] Translation: X:-101.24, Y:11.48, Z:-5.23 [[ 9.56825243e-01 2.82669855e-01 -6.76993922e-02 -1.01243810e+02] [-2.81866619e-01 9.59216335e-01 2.13361739e-02 1.14828024e+01] [ 7.09694561e-02 -1.33279098e-03 9.97477599e-01 -5.22974813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08534707000001 meters 0.02034715162855129 Centerline is valid? [True, True] Translation: X:-101.27, Y:11.50, Z:-5.23 [[ 9.56039716e-01 2.84685281e-01 -7.03018602e-02 -1.01268878e+02] [-2.83822893e-01 9.58620222e-01 2.21773531e-02 1.14955233e+01] [ 7.37063508e-02 -1.24915299e-03 9.97279205e-01 -5.22955123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11534707000001 meters 0.020483367721403082 Centerline is valid? [True, True] Translation: X:-101.30, Y:11.51, Z:-5.24 [[ 9.54380632e-01 2.90193797e-01 -7.03218927e-02 -1.01295624e+02] [-2.89344750e-01 9.56967532e-01 2.21981549e-02 1.15057672e+01] [ 7.37375350e-02 -8.38218585e-04 9.97277330e-01 -5.23742761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14534707000001 meters 0.02018866691704737 Centerline is valid? [True, True] Translation: X:-101.32, Y:11.52, Z:-5.24 [[ 9.53121991e-01 2.93898722e-01 -7.19861889e-02 -1.01320526e+02] [-2.93017681e-01 9.55836385e-01 2.27473737e-02 1.15164642e+01] [ 7.54924427e-02 -5.87796002e-04 9.97146201e-01 -5.23927907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17534707000002 meters 0.02023648416972493 Centerline is valid? [True, True] Translation: X:-101.35, Y:11.53, Z:-5.24 [[ 9.52358111e-01 2.95897037e-01 -7.38848617e-02 -1.01347323e+02] [-2.94973516e-01 9.55219731e-01 2.33643010e-02 1.15265217e+01] [ 7.74897052e-02 -4.57104160e-04 9.96993047e-01 -5.24167149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20534707000002 meters 0.020780405445323655 Centerline is valid? [True, True] Translation: X:-101.37, Y:11.54, Z:-5.24 [[ 9.51616934e-01 2.98692491e-01 -7.21665162e-02 -1.01374048e+02] [-2.97817691e-01 9.54349378e-01 2.28448725e-02 1.15372673e+01] [ 7.56956617e-02 -2.47102336e-04 9.97130937e-01 -5.24113274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23534707000002 meters 0.020057642299094163 Centerline is valid? [True, True] Translation: X:-101.40, Y:11.55, Z:-5.24 [[ 9.50890724e-01 3.00848883e-01 -7.27789876e-02 -1.01399488e+02] [-2.99963615e-01 9.53671820e-01 2.30627353e-02 1.15465021e+01] [ 7.63456677e-02 -9.90928594e-05 9.97081406e-01 -5.24327483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26534707000002 meters 0.019625800089589182 Centerline is valid? [True, True] Translation: X:-101.43, Y:11.56, Z:-5.24 [[ 9.50238496e-01 3.02855849e-01 -7.29735216e-02 -1.01425559e+02] [-3.01970364e-01 9.53036375e-01 2.31423035e-02 1.15550655e+01] [ 7.65552025e-02 4.51332366e-05 9.97065343e-01 -5.23528488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29534707 meters 0.019507646916039973 Centerline is valid? [True, True] Translation: X:-101.45, Y:11.57, Z:-5.24 [[ 9.49492294e-01 3.06362476e-01 -6.78705930e-02 -1.01452199e+02] [-3.05604464e-01 9.51914886e-01 2.15397797e-02 1.15669958e+01] [ 7.12060080e-02 2.89701387e-04 9.97461588e-01 -5.23851634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32534707 meters 0.019747814360636905 Centerline is valid? [True, True] Translation: X:-101.48, Y:11.58, Z:-5.24 [[ 9.48673595e-01 3.09097728e-01 -6.69104253e-02 -1.01477682e+02] [-3.08366259e-01 9.51030166e-01 2.12573233e-02 1.15776977e+01] [ 7.02044232e-02 4.66656225e-04 9.97532516e-01 -5.23712836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35534707000001 meters 0.019374564155816232 Centerline is valid? [True, True] Translation: X:-101.50, Y:11.59, Z:-5.24 [[ 9.48239201e-01 3.10025199e-01 -6.87516802e-02 -1.01504624e+02] [-3.09254463e-01 9.50728187e-01 2.18538674e-02 1.15868869e+01] [ 7.21394098e-02 5.39070135e-04 9.97394413e-01 -5.23530133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38534707000001 meters 0.020330539711109964 Centerline is valid? [True, True] Translation: X:-101.53, Y:11.60, Z:-5.24 [[ 9.46282933e-01 3.15961930e-01 -6.86780124e-02 -1.01530431e+02] [-3.15207434e-01 9.48771365e-01 2.18442188e-02 1.16012114e+01] [ 7.20616731e-02 9.77008622e-04 9.97399700e-01 -5.24104086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41534707000001 meters 0.021963558061549947 Centerline is valid? [True, True] Translation: X:-101.56, Y:11.62, Z:-5.24 [[ 9.45036809e-01 3.19148872e-01 -7.10593214e-02 -1.01557039e+02] [-3.18348129e-01 9.47703786e-01 2.26274903e-02 1.16150461e+01] [ 7.45647259e-02 1.23779076e-03 9.97215408e-01 -5.23936748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44534707000001 meters 0.02206065577389642 Centerline is valid? [True, True] Translation: X:-101.58, Y:11.63, Z:-5.25 [[ 9.43180881e-01 3.23690467e-01 -7.50620239e-02 -1.01583820e+02] [-3.22809212e-01 9.46161569e-01 2.39269268e-02 1.16261007e+01] [ 7.87657204e-02 1.66329289e-03 9.96891767e-01 -5.25202293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47534707000001 meters 0.022176899622102463 Centerline is valid? [True, True] Translation: X:-101.61, Y:11.64, Z:-5.25 [[ 9.42750061e-01 3.25011986e-01 -7.47631612e-02 -1.01609934e+02] [-3.24139895e-01 9.45708291e-01 2.38570011e-02 1.16358819e+01] [ 7.84579528e-02 1.74253390e-03 9.96915901e-01 -5.25243257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50534707000001 meters 0.021551645312116334 Centerline is valid? [True, True] Translation: X:-101.64, Y:11.64, Z:-5.25 [[ 9.43671611e-01 3.22562150e-01 -7.37397449e-02 -1.01637441e+02] [-3.21704593e-01 9.46547104e-01 2.35527900e-02 1.16421902e+01] [ 7.73953806e-02 1.49631534e-03 9.96999356e-01 -5.24936421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53534707000001 meters 0.02078067180692374 Centerline is valid? [True, True] Translation: X:-101.67, Y:11.65, Z:-5.25 [[ 9.44872895e-01 3.19058852e-01 -7.35979742e-02 -1.01665351e+02] [-3.18193090e-01 9.47734150e-01 2.35189031e-02 1.16454954e+01] [ 7.72552278e-02 1.19599281e-03 9.97010632e-01 -5.24851399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56534707000002 meters 0.0200441012031506 Centerline is valid? [True, True] Translation: X:-101.69, Y:11.65, Z:-5.25 [[ 9.46085570e-01 3.16139769e-01 -7.05531014e-02 -1.01694129e+02] [-3.15334796e-01 9.48712199e-01 2.25639190e-02 1.16514297e+01] [ 7.40679401e-02 9.00449629e-04 9.97252791e-01 -5.24756122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59534707000002 meters 0.019652330621968857 Centerline is valid? [True, True] Translation: X:-101.72, Y:11.65, Z:-5.25 [[ 9.48687850e-01 3.08336307e-01 -7.01433195e-02 -1.01724295e+02] [-3.07517507e-01 9.51277379e-01 2.24573188e-02 1.16530497e+01] [ 7.36501598e-02 2.65313264e-04 9.97284104e-01 -5.24621478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62534707000002 meters 0.019514387250038137 Centerline is valid? [True, True] Translation: X:-101.75, Y:11.66, Z:-5.25 [[ 9.48966635e-01 3.07543015e-01 -6.98542716e-02 -1.01751345e+02] [-3.06726937e-01 9.51534162e-01 2.23902609e-02 1.16589410e+01] [ 7.33546942e-02 1.78576222e-04 9.97305899e-01 -5.25043908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65534707000002 meters 0.019797221195510376 Centerline is valid? [True, True] Translation: X:-101.78, Y:11.67, Z:-5.25 [[ 9.49767013e-01 3.04871924e-01 -7.06804915e-02 -1.01779489e+02] [-3.04026958e-01 9.52393357e-01 2.26826321e-02 1.16651884e+01] [ 7.42309282e-02 -5.44409050e-05 9.97241077e-01 -5.25490957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68534707 meters 0.01999270753505683 Centerline is valid? [True, True] Translation: X:-101.81, Y:11.67, Z:-5.26 [[ 9.50262857e-01 3.02525088e-01 -7.40207722e-02 -1.01807188e+02] [-3.01589477e-01 9.53141384e-01 2.37758033e-02 1.16706499e+01] [ 7.77450383e-02 -2.69376818e-04 9.96973238e-01 -5.25929380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71534707 meters 0.020362436792397916 Centerline is valid? [True, True] Translation: X:-101.84, Y:11.68, Z:-5.27 [[ 9.50090943e-01 3.02204745e-01 -7.74563909e-02 -1.01835063e+02] [-3.01177751e-01 9.53242984e-01 2.48952964e-02 1.16766482e+01] [ 8.13582379e-02 -3.24654059e-04 9.96684871e-01 -5.26638033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74534707000001 meters 0.020974517015632212 Centerline is valid? [True, True] Translation: X:-101.86, Y:11.68, Z:-5.26 [[ 9.50636442e-01 3.00108211e-01 -7.89013124e-02 -1.01862781e+02] [-2.99033474e-01 9.53905014e-01 2.53811954e-02 1.16833614e+01] [ 8.28814626e-02 -5.34155730e-04 9.96559270e-01 -5.26334388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77534707000001 meters 0.020763980181316765 Centerline is valid? [True, True] Translation: X:-101.89, Y:11.69, Z:-5.27 [[ 9.50721717e-01 2.99387861e-01 -8.05923406e-02 -1.01890944e+02] [-2.98262438e-01 9.54131289e-01 2.59422776e-02 1.16908822e+01] [ 8.46624768e-02 -6.26218788e-04 9.96409491e-01 -5.26596898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80534707000001 meters 0.019683849974650697 Centerline is valid? [True, True] Translation: X:-101.92, Y:11.70, Z:-5.27 [[ 9.49106901e-01 3.05090083e-01 -7.82057018e-02 -1.01917363e+02] [-3.04047848e-01 9.52323486e-01 2.51968942e-02 1.17014543e+01] [ 8.21644492e-02 -1.36270811e-04 9.96618776e-01 -5.26641475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83534707000001 meters 0.019784103436137436 Centerline is valid? [True, True] Translation: X:-101.94, Y:11.71, Z:-5.27 [[ 9.48298823e-01 3.08074052e-01 -7.62870986e-02 -1.01943861e+02] [-3.07090874e-01 9.51362374e-01 2.45932571e-02 1.17119387e+01] [ 8.01532196e-02 1.05315016e-04 9.96782549e-01 -5.26566119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86534707000001 meters 0.019676077398657135 Centerline is valid? [True, True] Translation: X:-101.97, Y:11.72, Z:-5.26 [[ 9.46678283e-01 3.13617043e-01 -7.37873939e-02 -1.01970742e+02] [-3.12712723e-01 9.49549399e-01 2.38053010e-02 1.17245056e+01] [ 7.75305236e-02 5.38295415e-04 9.96989834e-01 -5.26355462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89534707000001 meters 0.019719754275380676 Centerline is valid? [True, True] Translation: X:-102.00, Y:11.73, Z:-5.26 [[ 9.46831736e-01 3.13341114e-01 -7.29863678e-02 -1.01997830e+02] [-3.12453918e-01 9.49640514e-01 2.35678480e-02 1.17330669e+01] [ 7.66955876e-02 4.90090172e-04 9.97054435e-01 -5.26449108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92534707000002 meters 0.021209338771169876 Centerline is valid? [True, True] Translation: X:-102.03, Y:11.74, Z:-5.27 [[ 9.46164591e-01 3.14307972e-01 -7.73502794e-02 -1.02025744e+02] [-3.13313412e-01 9.49320890e-01 2.49910802e-02 1.17399459e+01] [ 8.12851318e-02 5.89204789e-04 9.96690714e-01 -5.26656619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95534707000002 meters 0.01965720262805216 Centerline is valid? [True, True] Translation: X:-102.05, Y:11.74, Z:-5.27 [[ 9.47016981e-01 3.10996813e-01 -8.02484941e-02 -1.02053748e+02] [-3.09912767e-01 9.50410907e-01 2.59457853e-02 1.17425436e+01] [ 8.43381006e-02 2.98933589e-04 9.96437151e-01 -5.27052437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98534707000002 meters 0.01928029451532381 Centerline is valid? [True, True] Translation: X:-102.08, Y:11.75, Z:-5.27 [[ 9.47639208e-01 3.09571087e-01 -7.83943533e-02 -1.02082501e+02] [-3.08530449e-01 9.50876290e-01 2.53622399e-02 1.17469300e+01] [ 8.23947480e-02 1.52792035e-04 9.96599760e-01 -5.27121594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01534707000002 meters 0.020430134021208617 Centerline is valid? [True, True] Translation: X:-102.11, Y:11.75, Z:-5.27 [[ 9.48499486e-01 3.07553089e-01 -7.58934965e-02 -1.02111440e+02] [-3.06569342e-01 9.51530922e-01 2.45793271e-02 1.17536622e+01] [ 7.97744566e-02 -4.68598702e-05 9.96812938e-01 -5.26728481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04534707000002 meters 0.019132186188311112 Centerline is valid? [True, True] Translation: X:-102.14, Y:11.76, Z:-5.26 [[ 9.49285498e-01 3.05718305e-01 -7.34395094e-02 -1.02139750e+02] [-3.04790196e-01 9.52121984e-01 2.38047153e-02 1.17584557e+01] [ 7.72009085e-02 -2.13828541e-04 9.97015533e-01 -5.26493519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07534707 meters 0.018650311568181373 Centerline is valid? [True, True] Translation: X:-102.17, Y:11.77, Z:-5.27 [[ 9.48625219e-01 3.08011433e-01 -7.23819848e-02 -1.02168297e+02] [-3.07115487e-01 9.51382654e-01 2.34759905e-02 1.17657025e+01] [ 7.60938384e-02 -4.02880916e-05 9.97100660e-01 -5.26660615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10534707000001 meters 0.018829050144802528 Centerline is valid? [True, True] Translation: X:-102.20, Y:11.77, Z:-5.27 [[ 9.48979168e-01 3.06718295e-01 -7.32285856e-02 -1.02196029e+02] [-3.05795376e-01 9.51800325e-01 2.37766668e-02 1.17725662e+01] [ 7.69917303e-02 -1.70598654e-04 9.97031717e-01 -5.26819988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13534707000001 meters 0.01878334740165504 Centerline is valid? [True, True] Translation: X:-102.22, Y:11.78, Z:-5.27 [[ 9.48392277e-01 3.08734797e-01 -7.23526989e-02 -1.02223536e+02] [-3.07837821e-01 9.51148161e-01 2.35170597e-02 1.17801641e+01] [ 7.60786712e-02 -3.05006409e-05 9.97101818e-01 -5.27058338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16534707000001 meters 0.018671399187722496 Centerline is valid? [True, True] Translation: X:-102.25, Y:11.79, Z:-5.27 [[ 9.48915878e-01 3.06815167e-01 -7.36417667e-02 -1.02250950e+02] [-3.05878509e-01 9.51769095e-01 2.39567951e-02 1.17874745e+01] [ 7.74402657e-02 -2.07549470e-04 9.96996972e-01 -5.27111354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19534707000001 meters 0.018812804073198238 Centerline is valid? [True, True] Translation: X:-102.28, Y:11.79, Z:-5.27 [[ 9.49057478e-01 3.05844421e-01 -7.58227806e-02 -1.02277993e+02] [-3.04847458e-01 9.52081455e-01 2.46765174e-02 1.17945802e+01] [ 7.97366385e-02 -3.05051475e-04 9.96815919e-01 -5.27357934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22534707000001 meters 0.018929914127416268 Centerline is valid? [True, True] Translation: X:-102.30, Y:11.80, Z:-5.28 [[ 9.48133858e-01 3.08480368e-01 -7.66945237e-02 -1.02304951e+02] [-3.07467547e-01 9.51230704e-01 2.49770946e-02 1.18036626e+01] [ 8.06591291e-02 -1.00551999e-04 9.96741739e-01 -5.27969995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25534707000001 meters 0.018994354987176214 Centerline is valid? [True, True] Translation: X:-102.33, Y:11.81, Z:-5.28 [[ 9.47518975e-01 3.10193239e-01 -7.73818188e-02 -1.02332587e+02] [-3.09165484e-01 9.50673527e-01 2.52299248e-02 1.18122841e+01] [ 8.13909987e-02 1.79550193e-05 9.96682249e-01 -5.28281698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28534707000001 meters 0.0187496312942189 Centerline is valid? [True, True] Translation: X:-102.36, Y:11.82, Z:-5.28 [[ 9.47006857e-01 3.12365072e-01 -7.48737296e-02 -1.02359525e+02] [-3.11407721e-01 9.49962121e-01 2.44376677e-02 1.18227778e+01] [ 7.87606809e-02 1.73618608e-04 9.96893537e-01 -5.28371095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31534707000002 meters 0.018208920487370425 Centerline is valid? [True, True] Translation: X:-102.39, Y:11.83, Z:-5.28 [[ 9.46787877e-01 3.12653342e-01 -7.64238386e-02 -1.02386806e+02] [-3.11655146e-01 9.49867283e-01 2.49642827e-02 1.18292580e+01] [ 8.03976703e-02 1.82002370e-04 9.96762851e-01 -5.28403934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34534707000002 meters 0.01817861719263111 Centerline is valid? [True, True] Translation: X:-102.41, Y:11.84, Z:-5.28 [[ 9.47060810e-01 3.12105057e-01 -7.52745321e-02 -1.02413259e+02] [-3.11134114e-01 9.50047587e-01 2.45996876e-02 1.18376654e+01] [ 7.91920745e-02 1.23074761e-04 9.96859368e-01 -5.28344436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37534707000002 meters 0.01813933077088601 Centerline is valid? [True, True] Translation: X:-102.44, Y:11.85, Z:-5.29 [[ 9.46446693e-01 3.13539841e-01 -7.70157541e-02 -1.02440926e+02] [-3.12526562e-01 9.49575018e-01 2.51879503e-02 1.18455881e+01] [ 8.10296620e-02 2.30416657e-04 9.96711664e-01 -5.28784125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40534707000002 meters 0.01811352239417159 Centerline is valid? [True, True] Translation: X:-102.47, Y:11.85, Z:-5.29 [[ 9.46340642e-01 3.13855788e-01 -7.70320354e-02 -1.02467837e+02] [-3.12840779e-01 9.49470637e-01 2.52221275e-02 1.18543191e+01] [ 8.10557665e-02 2.30037632e-04 9.96709541e-01 -5.29154267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43534707 meters 0.01795381047740773 Centerline is valid? [True, True] Translation: X:-102.49, Y:11.86, Z:-5.29 [[ 9.45694870e-01 3.15939049e-01 -7.64442961e-02 -1.02493545e+02] [-3.14944258e-01 9.48779411e-01 2.50547992e-02 1.18640529e+01] [ 8.04445637e-02 3.81497029e-04 9.96759011e-01 -5.28882282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46534707 meters 0.018113236352449585 Centerline is valid? [True, True] Translation: X:-102.52, Y:11.87, Z:-5.29 [[ 9.44805498e-01 3.17940120e-01 -7.90989975e-02 -1.02520844e+02] [-3.16880723e-01 9.48110632e-01 2.59391233e-02 1.18744807e+01] [ 8.32416885e-02 5.57521156e-04 9.96529232e-01 -5.29139812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49534707000001 meters 0.018399759939118982 Centerline is valid? [True, True] Translation: X:-102.55, Y:11.89, Z:-5.29 [[ 9.43774154e-01 3.21607682e-01 -7.65430968e-02 -1.02547077e+02] [-3.20626281e-01 9.46872643e-01 2.51194311e-02 1.18858737e+01] [ 8.05551664e-02 8.34658639e-04 9.96749802e-01 -5.29488291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52534707000001 meters 0.018186636342319176 Centerline is valid? [True, True] Translation: X:-102.57, Y:11.90, Z:-5.29 [[ 9.43566611e-01 3.22568028e-01 -7.50461021e-02 -1.02573686e+02] [-3.21625626e-01 9.46545881e-01 2.46546505e-02 1.18976218e+01] [ 7.89873808e-02 8.73444510e-04 9.96875233e-01 -5.29466719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55534707000001 meters 0.018170548716496412 Centerline is valid? [True, True] Translation: X:-102.60, Y:11.91, Z:-5.29 [[ 9.43152556e-01 3.24377648e-01 -7.24044044e-02 -1.02600257e+02] [-3.23504351e-01 9.45927164e-01 2.38061970e-02 1.19083281e+01] [ 7.62114911e-02 9.70264253e-04 9.97091203e-01 -5.29304073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58534707000001 meters 0.017481361710848343 Centerline is valid? [True, True] Translation: X:-102.63, Y:11.91, Z:-5.29 [[ 9.43439148e-01 3.23011170e-01 -7.47419386e-02 -1.02628756e+02] [-3.22075325e-01 9.46394746e-01 2.45859821e-02 1.19126907e+01] [ 7.86769248e-02 8.77156120e-04 9.96899780e-01 -5.28969931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61534707000001 meters 0.018417895267490172 Centerline is valid? [True, True] Translation: X:-102.65, Y:11.93, Z:-5.29 [[ 9.42669982e-01 3.26208453e-01 -7.04368588e-02 -1.02654478e+02] [-3.25385027e-01 9.45297265e-01 2.31875857e-02 1.19276337e+01] [ 7.41477565e-02 1.06085826e-03 9.97246702e-01 -5.29425485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64534707000001 meters 0.017736640292312218 Centerline is valid? [True, True] Translation: X:-102.68, Y:11.93, Z:-5.29 [[ 9.43060684e-01 3.25379134e-01 -6.90287249e-02 -1.02682384e+02] [-3.24584537e-01 9.45583157e-01 2.27458041e-02 1.19332493e+01] [ 7.26734097e-02 9.54983117e-04 9.97355335e-01 -5.28986991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67534707000002 meters 0.017357143902659838 Centerline is valid? [True, True] Translation: X:-102.71, Y:11.94, Z:-5.29 [[ 9.42926353e-01 3.25260551e-01 -7.13825410e-02 -1.02709052e+02] [-3.24409651e-01 9.45623940e-01 2.35317247e-02 1.19416603e+01] [ 7.51549814e-02 9.68501841e-04 9.97171395e-01 -5.29110248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70534707000002 meters 0.017623629781854777 Centerline is valid? [True, True] Translation: X:-102.74, Y:11.95, Z:-5.29 [[ 9.42709184e-01 3.26054038e-01 -7.06269006e-02 -1.02735216e+02] [-3.25221991e-01 9.45350600e-01 2.33002227e-02 1.19512533e+01] [ 7.43643146e-02 1.00408731e-03 9.97230636e-01 -5.29187908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73534707000002 meters 0.01682497467854023 Centerline is valid? [True, True] Translation: X:-102.76, Y:11.96, Z:-5.29 [[ 9.43379429e-01 3.23975972e-01 -7.12377853e-02 -1.02762887e+02] [-3.23121752e-01 9.46064950e-01 2.35254021e-02 1.19577988e+01] [ 7.50172368e-02 8.25097562e-04 9.97181896e-01 -5.29151584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76534707000002 meters 0.01682497467854023 Centerline is valid? [True, True] Translation: X:-102.79, Y:11.97, Z:-5.29 [[ 9.43255754e-01 3.24336879e-01 -7.12332115e-02 -1.02789232e+02] [-3.23482642e-01 9.45941269e-01 2.35392432e-02 1.19662846e+01] [ 7.50170792e-02 8.39180869e-04 9.97181896e-01 -5.29299270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79534707000002 meters 0.01737621006831096 Centerline is valid? [True, True] Translation: X:-102.82, Y:11.98, Z:-5.30 [[ 9.42841944e-01 3.26043415e-01 -6.88822241e-02 -1.02815554e+02] [-3.25247245e-01 9.45354352e-01 2.27898763e-02 1.19780070e+01] [ 7.25485994e-02 9.16502320e-04 9.97364457e-01 -5.29531904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82534707 meters 0.017475456004785474 Centerline is valid? [True, True] Translation: X:-102.84, Y:11.99, Z:-5.30 [[ 9.42278674e-01 3.27711335e-01 -6.86744599e-02 -1.02842275e+02] [-3.26922536e-01 9.44777352e-01 2.27466493e-02 1.19868363e+01] [ 7.23364092e-02 1.01754606e-03 9.97379771e-01 -5.29813048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85534707000001 meters 0.01746306485879108 Centerline is valid? [True, True] Translation: X:-102.87, Y:12.00, Z:-5.30 [[ 9.42289293e-01 3.27844419e-01 -6.78890715e-02 -1.02869624e+02] [-3.27072159e-01 9.44731206e-01 2.25111350e-02 1.19972882e+01] [ 7.15170743e-02 9.92623689e-04 9.97438882e-01 -5.29939867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88534707000001 meters 0.01684073651936805 Centerline is valid? [True, True] Translation: X:-102.90, Y:12.00, Z:-5.30 [[ 9.42524932e-01 3.27191273e-01 -6.77688985e-02 -1.02896660e+02] [-3.26418714e-01 9.44957680e-01 2.24901151e-02 1.20049837e+01] [ 7.13973106e-02 9.23542484e-04 9.97447528e-01 -5.29840006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91534707000001 meters 0.016119662142746967 Centerline is valid? [True, True] Translation: X:-102.92, Y:12.01, Z:-5.30 [[ 9.42920593e-01 3.25355829e-01 -7.10235206e-02 -1.02924239e+02] [-3.24501280e-01 9.45591309e-01 2.35795819e-02 1.20108633e+01] [ 7.48309782e-02 8.13549961e-04 9.97195900e-01 -5.29868009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94534707000001 meters 0.016719032789764075 Centerline is valid? [True, True] Translation: X:-102.95, Y:12.02, Z:-5.31 [[ 9.42203788e-01 3.27639321e-01 -7.00321231e-02 -1.02948982e+02] [-3.26813601e-01 9.44802383e-01 2.32664327e-02 1.20234014e+01] [ 7.37895150e-02 9.65729355e-04 9.97273370e-01 -5.30502349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97534707000001 meters 0.016782766399926232 Centerline is valid? [True, True] Translation: X:-102.98, Y:12.03, Z:-5.31 [[ 9.41878840e-01 3.28326118e-01 -7.11773239e-02 -1.02976505e+02] [-3.27472800e-01 9.44563892e-01 2.36774116e-02 1.20333088e+01] [ 7.50054426e-02 1.00738460e-03 9.97182616e-01 -5.30716133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00534707000001 meters 0.01665330030196731 Centerline is valid? [True, True] Translation: X:-103.00, Y:12.04, Z:-5.31 [[ 9.41770731e-01 3.28431338e-01 -7.21161994e-02 -1.03003950e+02] [-3.27553753e-01 9.44527313e-01 2.40144605e-02 1.20430532e+01] [ 7.60028214e-02 1.00581573e-03 9.97107095e-01 -5.31040365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03534707000001 meters 0.016742230102540737 Centerline is valid? [True, True] Translation: X:-103.03, Y:12.05, Z:-5.31 [[ 9.41731000e-01 3.28440923e-01 -7.25898290e-02 -1.03030230e+02] [-3.27549789e-01 9.44523998e-01 2.41982037e-02 1.20518246e+01] [ 7.65105159e-02 9.88584630e-04 9.97068284e-01 -5.31327243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06534707000002 meters 0.0162649701932457 Centerline is valid? [True, True] Translation: X:-103.06, Y:12.06, Z:-5.32 [[ 9.41974329e-01 3.27982337e-01 -7.14979051e-02 -1.03057752e+02] [-3.27114500e-01 9.44683416e-01 2.38610186e-02 1.20606963e+01] [ 7.53688778e-02 9.11534477e-04 9.97155305e-01 -5.31501049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09534707000002 meters 0.017410401154374606 Centerline is valid? [True, True] Translation: X:-103.08, Y:12.07, Z:-5.32 [[ 9.41872879e-01 3.28487487e-01 -7.05085103e-02 -1.03084680e+02] [-3.27643172e-01 9.44507878e-01 2.35546153e-02 1.20726873e+01] [ 7.43332398e-02 9.16178662e-04 9.97233037e-01 -5.31517306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12534707000002 meters 0.016590543894241274 Centerline is valid? [True, True] Translation: X:-103.11, Y:12.08, Z:-5.32 [[ 9.41161750e-01 3.30423478e-01 -7.09569239e-02 -1.03111378e+02] [-3.29572382e-01 9.43832192e-01 2.37241968e-02 1.20817739e+01] [ 7.48104607e-02 1.05713581e-03 9.97197211e-01 -5.31595015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15534707000002 meters 0.01671164760396122 Centerline is valid? [True, True] Translation: X:-103.14, Y:12.09, Z:-5.32 [[ 9.40337350e-01 3.32775714e-01 -7.08942344e-02 -1.03138076e+02] [-3.31931804e-01 9.43005201e-01 2.37164101e-02 1.20943034e+01] [ 7.47458771e-02 1.23062489e-03 9.97201855e-01 -5.31846390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18534707 meters 0.017688803775065494 Centerline is valid? [True, True] Translation: X:-103.16, Y:12.11, Z:-5.32 [[ 9.38668153e-01 3.37146077e-01 -7.23506809e-02 -1.03163375e+02] [-3.36278370e-01 9.41451004e-01 2.42252851e-02 1.21067844e+01] [ 7.62820811e-02 1.59046539e-03 9.97085009e-01 -5.32347961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21534707 meters 0.018393478756887526 Centerline is valid? [True, True] Translation: X:-103.19, Y:12.12, Z:-5.33 [[ 9.37454193e-01 3.40094500e-01 -7.42655135e-02 -1.03189551e+02] [-3.39188144e-01 9.40389418e-01 2.48826266e-02 1.21189315e+01] [ 7.83009475e-02 1.86365907e-03 9.96928026e-01 -5.32529559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24534707000001 meters 0.02000080692568396 Centerline is valid? [True, True] Translation: X:-103.22, Y:12.13, Z:-5.33 [[ 9.36299588e-01 3.43183577e-01 -7.46197957e-02 -1.03215490e+02] [-3.42276499e-01 9.39265979e-01 2.50243763e-02 1.21336895e+01] [ 7.86757905e-02 2.11028917e-03 9.96898022e-01 -5.33018073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27534707000001 meters 0.019652595659752078 Centerline is valid? [True, True] Translation: X:-103.24, Y:12.14, Z:-5.33 [[ 9.35350472e-01 3.45651164e-01 -7.51316709e-02 -1.03241850e+02] [-3.44737964e-01 9.38360225e-01 2.52155467e-02 1.21430922e+01] [ 7.92163547e-02 2.31536583e-03 9.96854758e-01 -5.33204742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30534707000001 meters 0.02185334758965578 Centerline is valid? [True, True] Translation: X:-103.27, Y:12.16, Z:-5.33 [[ 9.35037089e-01 3.46526076e-01 -7.50021415e-02 -1.03266979e+02] [-3.45617547e-01 9.38037346e-01 2.51882852e-02 1.21559036e+01] [ 7.90832074e-02 2.37007529e-03 9.96865201e-01 -5.33020959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33534707000001 meters 0.020283075871397056 Centerline is valid? [True, True] Translation: X:-103.29, Y:12.16, Z:-5.33 [[ 9.35216457e-01 3.46197634e-01 -7.42790396e-02 -1.03293000e+02] [-3.45303712e-01 9.38158791e-01 2.49685491e-02 1.21648557e+01] [ 7.83295867e-02 2.29783009e-03 9.96924870e-01 -5.33269207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36534707000001 meters 0.0202854956804554 Centerline is valid? [True, True] Translation: X:-103.32, Y:12.17, Z:-5.33 [[ 9.35032100e-01 3.46909550e-01 -7.32716565e-02 -1.03320047e+02] [-3.46040862e-01 9.37895739e-01 2.46435617e-02 1.21747730e+01] [ 7.72702613e-02 2.31246590e-03 9.97007502e-01 -5.33317967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39534707000001 meters 0.019227875800077055 Centerline is valid? [True, True] Translation: X:-103.35, Y:12.18, Z:-5.34 [[ 9.35431036e-01 3.45716908e-01 -7.38146035e-02 -1.03346389e+02] [-3.44829962e-01 9.38336257e-01 2.48468622e-02 1.21822471e+01] [ 7.78528991e-02 2.21096082e-03 9.96962405e-01 -5.33512671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42534707000002 meters 0.019156309448810773 Centerline is valid? [True, True] Translation: X:-103.37, Y:12.19, Z:-5.34 [[ 9.36222893e-01 3.43524007e-01 -7.40131840e-02 -1.03373231e+02] [-3.42624215e-01 9.39141724e-01 2.49292720e-02 1.21922205e+01] [ 7.80726727e-02 2.01935397e-03 9.96945625e-01 -5.33756415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45534707000002 meters 0.017021104192884388 Centerline is valid? [True, True] Translation: X:-103.40, Y:12.20, Z:-5.34 [[ 9.36664205e-01 3.41861272e-01 -7.60988654e-02 -1.03400947e+02] [-3.40902659e-01 9.39748484e-01 2.56546951e-02 1.21961614e+01] [ 8.02841401e-02 1.91247103e-03 9.96770184e-01 -5.33573067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48534707000002 meters 0.016923397734232 Centerline is valid? [True, True] Translation: X:-103.43, Y:12.20, Z:-5.34 [[ 9.36585200e-01 3.42061192e-01 -7.61728550e-02 -1.03426991e+02] [-3.41100181e-01 9.39675723e-01 2.56944046e-02 1.22042351e+01] [ 8.03668412e-02 1.91757554e-03 9.96763509e-01 -5.33681362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51534707000002 meters 0.019258018049219783 Centerline is valid? [True, True] Translation: X:-103.45, Y:12.22, Z:-5.34 [[ 9.36891346e-01 3.41501518e-01 -7.49087371e-02 -1.03451767e+02] [-3.40568869e-01 9.39879460e-01 2.52872531e-02 1.22215096e+01] [ 7.90408187e-02 1.82017530e-03 9.96869719e-01 -5.34278477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54534707000002 meters 0.017500922389263752 Centerline is valid? [True, True] Translation: X:-103.48, Y:12.23, Z:-5.34 [[ 9.36843056e-01 3.41478406e-01 -7.56147265e-02 -1.03479832e+02] [-3.40526000e-01 9.39887874e-01 2.55504934e-02 1.22270850e+01] [ 7.97943062e-02 1.81197809e-03 9.96809704e-01 -5.33690297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57534707 meters 0.018364495162416908 Centerline is valid? [True, True] Translation: X:-103.51, Y:12.24, Z:-5.34 [[ 9.36362239e-01 3.42820548e-01 -7.54972137e-02 -1.03505845e+02] [-3.41873931e-01 9.39398979e-01 2.55298569e-02 1.22398122e+01] [ 7.96741650e-02 1.90533532e-03 9.96819140e-01 -5.33902353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60534707000001 meters 0.019546774131931694 Centerline is valid? [True, True] Translation: X:-103.53, Y:12.25, Z:-5.34 [[ 9.35807683e-01 3.44442052e-01 -7.49910224e-02 -1.03532427e+02] [-3.43511217e-01 9.38805440e-01 2.53848506e-02 1.22527297e+01] [ 7.91455898e-02 2.00491916e-03 9.96861051e-01 -5.34292834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63534707000001 meters 0.019718610235622526 Centerline is valid? [True, True] Translation: X:-103.56, Y:12.26, Z:-5.34 [[ 9.35548558e-01 3.45215834e-01 -7.46654073e-02 -1.03558245e+02] [-3.44293558e-01 9.38521111e-01 2.52996166e-02 1.22633854e+01] [ 7.88088892e-02 2.03779895e-03 9.96887660e-01 -5.34205977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66534707000001 meters 0.020160463922773337 Centerline is valid? [True, True] Translation: X:-103.58, Y:12.28, Z:-5.34 [[ 9.34906846e-01 3.47049467e-01 -7.42014619e-02 -1.03583575e+02] [-3.46142713e-01 9.37844341e-01 2.51637528e-02 1.22767446e+01] [ 7.83224881e-02 2.15853055e-03 9.96925739e-01 -5.34145885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69534707000001 meters 0.021203644856333404 Centerline is valid? [True, True] Translation: X:-103.61, Y:12.29, Z:-5.34 [[ 9.34022844e-01 3.49652217e-01 -7.31071396e-02 -1.03609787e+02] [-3.48778963e-01 9.36876674e-01 2.48058886e-02 1.22903572e+01] [ 7.71658078e-02 2.32896570e-03 9.97015554e-01 -5.33970996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72534707000001 meters 0.021180055672912555 Centerline is valid? [True, True] Translation: X:-103.64, Y:12.30, Z:-5.34 [[ 9.32844195e-01 3.52631819e-01 -7.38411017e-02 -1.03635885e+02] [-3.51748376e-01 9.35758595e-01 2.50785115e-02 1.23020867e+01] [ 7.79409267e-02 2.57914368e-03 9.96954643e-01 -5.34187459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75534707000001 meters 0.022123091465293485 Centerline is valid? [True, True] Translation: X:-103.66, Y:12.31, Z:-5.34 [[ 9.31702116e-01 3.55297800e-01 -7.54628403e-02 -1.03662260e+02] [-3.54382062e-01 9.34748836e-01 2.56508789e-02 1.23145986e+01] [ 7.96525030e-02 2.84369875e-03 9.96818636e-01 -5.34484974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78534707000001 meters 0.02083630254495871 Centerline is valid? [True, True] Translation: X:-103.69, Y:12.32, Z:-5.34 [[ 9.30998218e-01 3.57063975e-01 -7.58131632e-02 -1.03690461e+02] [-3.56144185e-01 9.34075136e-01 2.57868143e-02 1.23195327e+01] [ 8.00227332e-02 2.99293902e-03 9.96788546e-01 -5.33907768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81534707000002 meters 0.022479956920238457 Centerline is valid? [True, True] Translation: X:-103.72, Y:12.33, Z:-5.35 [[ 9.29822213e-01 3.59979655e-01 -7.64545678e-02 -1.03715552e+02] [-3.59052625e-01 9.32954475e-01 2.60223059e-02 1.23340184e+01] [ 8.06961318e-02 3.25509521e-03 9.96733434e-01 -5.34674580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84534707000002 meters 0.022875925120845773 Centerline is valid? [True, True] Translation: X:-103.74, Y:12.34, Z:-5.35 [[ 9.29846470e-01 3.59859074e-01 -7.67267181e-02 -1.03742016e+02] [-3.58922520e-01 9.33001088e-01 2.61456411e-02 1.23432632e+01] [ 8.09948576e-02 3.22751488e-03 9.96709294e-01 -5.34984125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87534707000002 meters 0.023127634546916086 Centerline is valid? [True, True] Translation: X:-103.77, Y:12.35, Z:-5.35 [[ 9.29776039e-01 3.60153239e-01 -7.61981772e-02 -1.03769408e+02] [-3.59228159e-01 9.32887660e-01 2.59950802e-02 1.23525702e+01] [ 8.04465515e-02 3.20292813e-03 9.96753778e-01 -5.34971443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90534707000002 meters 0.023037095521108192 Centerline is valid? [True, True] Translation: X:-103.80, Y:12.36, Z:-5.35 [[ 9.30547604e-01 3.58181656e-01 -7.60727138e-02 -1.03796476e+02] [-3.57251228e-01 9.33647077e-01 2.59749019e-02 1.23615014e+01] [ 8.03288002e-02 3.00618773e-03 9.96763887e-01 -5.35070697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93534707 meters 0.02110857817246157 Centerline is valid? [True, True] Translation: X:-103.82, Y:12.36, Z:-5.35 [[ 9.31434479e-01 3.55842836e-01 -7.61950558e-02 -1.03824995e+02] [-3.54900557e-01 9.34541628e-01 2.60296077e-02 1.23642784e+01] [ 8.04699009e-02 2.79679365e-03 9.96753115e-01 -5.34963568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96534707 meters 0.023231562515693922 Centerline is valid? [True, True] Translation: X:-103.85, Y:12.38, Z:-5.36 [[ 9.31436333e-01 3.55748818e-01 -7.66102853e-02 -1.03850091e+02] [-3.54794522e-01 9.34577448e-01 2.61885661e-02 1.23754562e+01] [ 8.09147963e-02 2.78792759e-03 9.96717123e-01 -5.35694197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99534707000001 meters 0.021780734961854394 Centerline is valid? [True, True] Translation: X:-103.88, Y:12.38, Z:-5.36 [[ 9.32191786e-01 3.53616821e-01 -7.72891862e-02 -1.03878917e+02] [-3.52636231e-01 9.35386747e-01 2.64447095e-02 1.23788250e+01] [ 8.16465746e-02 2.60342631e-03 9.96657945e-01 -5.35665539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02534707000001 meters 0.022328841519092726 Centerline is valid? [True, True] Translation: X:-103.91, Y:12.39, Z:-5.36 [[ 9.32496996e-01 3.52665620e-01 -7.79507032e-02 -1.03907366e+02] [-3.51663566e-01 9.35745998e-01 2.66863953e-02 1.23853177e+01] [ 8.23534326e-02 2.52743885e-03 9.96599982e-01 -5.35786118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05534707000001 meters 0.022445630906946377 Centerline is valid? [True, True] Translation: X:-103.93, Y:12.39, Z:-5.36 [[ 9.32039949e-01 3.53579349e-01 -7.92664909e-02 -1.03934390e+02] [-3.52544167e-01 9.35400845e-01 2.71637472e-02 1.23938940e+01] [ 8.37504827e-02 2.62724147e-03 9.96483294e-01 -5.36315124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08534707000001 meters 0.02135905895003832 Centerline is valid? [True, True] Translation: X:-103.96, Y:12.40, Z:-5.36 [[ 9.32292101e-01 3.52778884e-01 -7.98654956e-02 -1.03961467e+02] [-3.51723154e-01 9.35703231e-01 2.73913533e-02 1.24002207e+01] [ 8.43934934e-02 2.55380169e-03 9.96429233e-01 -5.36246254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11534707000001 meters 0.022183834575979767 Centerline is valid? [True, True] Translation: X:-103.99, Y:12.41, Z:-5.36 [[ 9.31666388e-01 3.54464349e-01 -7.97042512e-02 -1.03989060e+02] [-3.53417461e-01 9.35065679e-01 2.73545973e-02 1.24107452e+01] [ 8.42249393e-02 2.68351530e-03 9.96443154e-01 -5.36285619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14534707000001 meters 0.020074888258125746 Centerline is valid? [True, True] Translation: X:-104.02, Y:12.41, Z:-5.36 [[ 9.31445327e-01 3.55067533e-01 -7.96030748e-02 -1.04017855e+02] [-3.54023722e-01 9.34836712e-01 2.73409386e-02 1.24122206e+01] [ 8.41237563e-02 2.71478733e-03 9.96451616e-01 -5.36025427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17534707000002 meters 0.02210800823530785 Centerline is valid? [True, True] Translation: X:-104.04, Y:12.42, Z:-5.37 [[ 9.30931679e-01 3.56607576e-01 -7.87225860e-02 -1.04043213e+02] [-3.55590528e-01 9.34250063e-01 2.70591065e-02 1.24236701e+01] [ 8.31960634e-02 2.80282648e-03 9.96529257e-01 -5.36556525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20534707000002 meters 0.023179478320445143 Centerline is valid? [True, True] Translation: X:-104.07, Y:12.43, Z:-5.37 [[ 9.30630253e-01 3.57463809e-01 -7.84025384e-02 -1.04069685e+02] [-3.56455386e-01 9.33922681e-01 2.69811711e-02 1.24324296e+01] [ 8.28667010e-02 2.83751300e-03 9.96556601e-01 -5.36785428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23534707000002 meters 0.02337272654673312 Centerline is valid? [True, True] Translation: X:-104.10, Y:12.44, Z:-5.37 [[ 9.30300772e-01 3.58195875e-01 -7.89695474e-02 -1.04096804e+02] [-3.57173478e-01 9.33641951e-01 2.71995157e-02 1.24385463e+01] [ 8.34720366e-02 2.90209744e-03 9.96505894e-01 -5.37112830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26534707000002 meters 0.01959881992367486 Centerline is valid? [True, True] Translation: X:-104.13, Y:12.44, Z:-5.36 [[ 9.32036640e-01 3.53462193e-01 -7.98259353e-02 -1.04127637e+02] [-3.52399323e-01 9.35445481e-01 2.75039754e-02 1.24372309e+01] [ 8.43944260e-02 2.49589271e-03 9.96429301e-01 -5.36326187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29534707000002 meters 0.022131924386978055 Centerline is valid? [True, True] Translation: X:-104.15, Y:12.45, Z:-5.37 [[ 9.32294688e-01 3.53022487e-01 -7.87511243e-02 -1.04153985e+02] [-3.51985714e-01 9.35611724e-01 2.71433103e-02 1.24475831e+01] [ 8.32626740e-02 2.41370675e-03 9.96524712e-01 -5.36615817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32534707 meters 0.020445802368221848 Centerline is valid? [True, True] Translation: X:-104.18, Y:12.45, Z:-5.37 [[ 9.32746247e-01 3.51886945e-01 -7.84857733e-02 -1.04182695e+02] [-3.50851781e-01 9.36039710e-01 2.70682334e-02 1.24542825e+01] [ 8.29907584e-02 2.28908023e-03 9.96547688e-01 -5.36854026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35534707000001 meters 0.02098404971244647 Centerline is valid? [True, True] Translation: X:-104.21, Y:12.46, Z:-5.37 [[ 9.31982555e-01 3.53697867e-01 -7.94124458e-02 -1.04209835e+02] [-3.52642859e-01 9.35356493e-01 2.74088465e-02 1.24599160e+01] [ 8.39733973e-02 2.45966517e-03 9.96464961e-01 -5.37101930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38534707000001 meters 0.020824854479230045 Centerline is valid? [True, True] Translation: X:-104.24, Y:12.47, Z:-5.37 [[ 9.33035316e-01 3.50897640e-01 -7.94729192e-02 -1.04237274e+02] [-3.49829494e-01 9.36411253e-01 2.74461542e-02 1.24688628e+01] [ 8.40501265e-02 2.19373988e-03 9.96459113e-01 -5.37273459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41534707000001 meters 0.02147036028528238 Centerline is valid? [True, True] Translation: X:-104.26, Y:12.47, Z:-5.38 [[ 9.31489996e-01 3.54614699e-01 -8.10851552e-02 -1.04264645e+02] [-3.53514726e-01 9.35009021e-01 2.80262342e-02 1.24743492e+01] [ 8.57538662e-02 2.55863957e-03 9.96313067e-01 -5.37854103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44534707000001 meters 0.021741634841213386 Centerline is valid? [True, True] Translation: X:-104.29, Y:12.48, Z:-5.38 [[ 9.31752458e-01 3.53669153e-01 -8.21917699e-02 -1.04291184e+02] [-3.52533386e-01 9.35367281e-01 2.84299253e-02 1.24817213e+01] [ 8.69342800e-02 2.48569015e-03 9.96210948e-01 -5.38394669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47534707000001 meters 0.023310706400474366 Centerline is valid? [True, True] Translation: X:-104.32, Y:12.49, Z:-5.39 [[ 9.30302623e-01 3.57172604e-01 -8.34551373e-02 -1.04318844e+02] [-3.56013345e-01 9.34034105e-01 2.88927053e-02 1.24908297e+01] [ 8.82696273e-02 2.83218308e-03 9.96092592e-01 -5.38788172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50534707000001 meters 0.02269304224200845 Centerline is valid? [True, True] Translation: X:-104.35, Y:12.50, Z:-5.39 [[ 9.30726611e-01 3.55870544e-01 -8.42860061e-02 -1.04346787e+02] [-3.54681597e-01 9.34531292e-01 2.91929673e-02 1.24959650e+01] [ 8.91568274e-02 2.72402369e-03 9.96013875e-01 -5.38814985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53534707000001 meters 0.021237321889565532 Centerline is valid? [True, True] Translation: X:-104.37, Y:12.50, Z:-5.39 [[ 9.32221709e-01 3.52120811e-01 -8.35082065e-02 -1.04374983e+02] [-3.50937664e-01 9.35951653e-01 2.89354343e-02 1.25001010e+01] [ 8.83484125e-02 2.33193490e-03 9.96086904e-01 -5.38625795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56534707000002 meters 0.02139038951226768 Centerline is valid? [True, True] Translation: X:-104.40, Y:12.51, Z:-5.39 [[ 9.31988974e-01 3.52796453e-01 -8.32539213e-02 -1.04402533e+02] [-3.51621263e-01 9.35697096e-01 2.88692234e-02 1.25065549e+01] [ 8.80854119e-02 2.36805110e-03 9.96110111e-01 -5.38794439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59534707000002 meters 0.020221143819036655 Centerline is valid? [True, True] Translation: X:-104.43, Y:12.51, Z:-5.39 [[ 9.32522257e-01 3.51287683e-01 -8.36612496e-02 -1.04430950e+02] [-3.50092716e-01 9.36264954e-01 2.90349085e-02 1.25095796e+01] [ 8.85287017e-02 2.21349569e-03 9.96071167e-01 -5.38656947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62534707000002 meters 0.0231450625866151 Centerline is valid? [True, True] Translation: X:-104.46, Y:12.52, Z:-5.40 [[ 9.30052652e-01 3.57623724e-01 -8.43050230e-02 -1.04457329e+02] [-3.56434509e-01 9.33861509e-01 2.92766687e-02 1.25225582e+01] [ 8.91992472e-02 2.82037613e-03 9.96009809e-01 -5.39645781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65534707000002 meters 0.0231450625866151 Centerline is valid? [True, True] Translation: X:-104.48, Y:12.53, Z:-5.40 [[ 9.29927567e-01 3.57951099e-01 -8.42955001e-02 -1.04483547e+02] [-3.56760744e-01 9.33736067e-01 2.93040679e-02 1.25314417e+01] [ 8.91991720e-02 2.82266475e-03 9.96009809e-01 -5.39792888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68534707 meters 0.023746492581234353 Centerline is valid? [True, True] Translation: X:-104.51, Y:12.54, Z:-5.40 [[ 9.29931628e-01 3.57909016e-01 -8.44292865e-02 -1.04509891e+02] [-3.56711719e-01 9.33752291e-01 2.93838115e-02 1.25419649e+01] [ 8.93527707e-02 2.79198024e-03 9.95996128e-01 -5.40172290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71534707 meters 0.02166333021993391 Centerline is valid? [True, True] Translation: X:-104.54, Y:12.55, Z:-5.39 [[ 9.30096513e-01 3.57427192e-01 -8.46538746e-02 -1.04538005e+02] [-3.56219337e-01 9.33937015e-01 2.94861997e-02 1.25467195e+01] [ 8.96005565e-02 2.73033558e-03 9.95974039e-01 -5.39409714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74534707000001 meters 0.02430716336204579 Centerline is valid? [True, True] Translation: X:-104.56, Y:12.56, Z:-5.40 [[ 9.28841941e-01 3.60756263e-01 -8.43063877e-02 -1.04563511e+02] [-3.59570319e-01 9.32655236e-01 2.93835973e-02 1.25605717e+01] [ 8.92291108e-02 3.02135716e-03 9.96006545e-01 -5.40220054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77534707000001 meters 0.02334715152526362 Centerline is valid? [True, True] Translation: X:-104.59, Y:12.57, Z:-5.40 [[ 9.29088459e-01 3.59989097e-01 -8.48674603e-02 -1.04590535e+02] [-3.58781905e-01 9.32951863e-01 2.96034769e-02 1.25668316e+01] [ 8.98341842e-02 2.94466029e-03 9.95952383e-01 -5.40269575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80534707000001 meters 0.024067734441103 Centerline is valid? [True, True] Translation: X:-104.62, Y:12.58, Z:-5.40 [[ 9.27780385e-01 3.63544453e-01 -8.40177850e-02 -1.04617257e+02] [-3.62374505e-01 9.31571213e-01 2.93222361e-02 1.25758823e+01] [ 8.89284862e-02 3.24130774e-03 9.96032740e-01 -5.40031053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83534707000001 meters 0.020810077931586835 Centerline is valid? [True, True] Translation: X:-104.65, Y:12.58, Z:-5.40 [[ 9.29014985e-01 3.60131339e-01 -8.50680681e-02 -1.04646782e+02] [-3.58916364e-01 9.32896986e-01 2.97028072e-02 1.25775920e+01] [ 9.00566561e-02 2.93796872e-03 9.95932310e-01 -5.39579071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86534707000001 meters 0.025759077585101552 Centerline is valid? [True, True] Translation: X:-104.67, Y:12.59, Z:-5.41 [[ 9.26192115e-01 3.67345394e-01 -8.50031063e-02 -1.04671006e+02] [-3.66160709e-01 9.30077565e-01 2.96994843e-02 1.25946149e+01] [ 8.99694508e-02 3.61736943e-03 9.95937956e-01 -5.40736025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89534707000001 meters 0.024435234707218374 Centerline is valid? [True, True] Translation: X:-104.70, Y:12.60, Z:-5.41 [[ 9.27182815e-01 3.64469637e-01 -8.65673760e-02 -1.04699277e+02] [-3.63225565e-01 9.31209169e-01 3.02766038e-02 1.26011899e+01] [ 9.16472371e-02 3.37153730e-03 9.95785829e-01 -5.41061829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92534707000002 meters 0.025624342566497333 Centerline is valid? [True, True] Translation: X:-104.73, Y:12.61, Z:-5.41 [[ 9.25607940e-01 3.68515896e-01 -8.62900663e-02 -1.04725388e+02] [-3.67295096e-01 9.29613934e-01 3.02034103e-02 1.26101887e+01] [ 9.13468848e-02 3.73740180e-03 9.95812120e-01 -5.41182710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95534707000002 meters 0.026594316169529543 Centerline is valid? [True, True] Translation: X:-104.75, Y:12.62, Z:-5.41 [[ 9.25197677e-01 3.69518751e-01 -8.64011020e-02 -1.04752374e+02] [-3.68297202e-01 9.29215416e-01 3.02635453e-02 1.26218829e+01] [ 9.14681834e-02 3.82152232e-03 9.95800667e-01 -5.41492898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98534707000002 meters 0.02822446749331973 Centerline is valid? [True, True] Translation: X:-104.78, Y:12.63, Z:-5.42 [[ 9.23236501e-01 3.74278458e-01 -8.68907333e-02 -1.04779798e+02] [-3.73061385e-01 9.27306433e-01 3.04627861e-02 1.26318356e+01] [ 9.19759006e-02 4.29122132e-03 9.95751987e-01 -5.41633784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01534707000002 meters 0.029467980149094557 Centerline is valid? [True, True] Translation: X:-104.81, Y:12.64, Z:-5.42 [[ 9.21802517e-01 3.77699168e-01 -8.73124193e-02 -1.04806462e+02] [-3.76482986e-01 9.25916790e-01 3.06375337e-02 1.26426234e+01] [ 9.24158061e-02 4.62988466e-03 9.95709738e-01 -5.42007116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04534707000002 meters 0.029117061906362228 Centerline is valid? [True, True] Translation: X:-104.83, Y:12.65, Z:-5.42 [[ 9.21586426e-01 3.77691945e-01 -8.95949433e-02 -1.04834626e+02] [-3.76408515e-01 9.25919257e-01 3.14668077e-02 1.26501963e+01] [ 9.48424431e-02 4.72491672e-03 9.95481083e-01 -5.42413577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07534707 meters 0.027489019363529807 Centerline is valid? [True, True] Translation: X:-104.86, Y:12.65, Z:-5.42 [[ 9.21588658e-01 3.77332052e-01 -9.10761667e-02 -1.04862436e+02] [-3.76001853e-01 9.26065875e-01 3.20094006e-02 1.26544344e+01] [ 9.64207028e-02 4.74530688e-03 9.95329358e-01 -5.42280998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10534707000001 meters 0.02890235011248864 Centerline is valid? [True, True] Translation: X:-104.89, Y:12.67, Z:-5.43 [[ 9.20673657e-01 3.80038233e-01 -8.90559292e-02 -1.04888814e+02] [-3.78777170e-01 9.24957813e-01 3.13193174e-02 1.26655545e+01] [ 9.42755156e-02 4.89748230e-03 9.95534099e-01 -5.42533819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13534707000001 meters 0.028799070841830844 Centerline is valid? [True, True] Translation: X:-104.92, Y:12.67, Z:-5.42 [[ 9.19736956e-01 3.82486621e-01 -8.82491736e-02 -1.04916141e+02] [-3.81256622e-01 9.23947106e-01 3.10666017e-02 1.26745372e+01] [ 9.34201281e-02 5.07248009e-03 9.95613856e-01 -5.42145217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16534707000001 meters 0.02779819665767862 Centerline is valid? [True, True] Translation: X:-104.94, Y:12.68, Z:-5.42 [[ 9.20519121e-01 3.80421750e-01 -8.90159544e-02 -1.04944116e+02] [-3.79157646e-01 9.24800257e-01 3.13681885e-02 1.26816777e+01] [ 9.42551186e-02 4.87606248e-03 9.95536135e-01 -5.42313399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19534707000001 meters 0.026248175815306793 Centerline is valid? [True, True] Translation: X:-104.97, Y:12.69, Z:-5.42 [[ 9.20829764e-01 3.79533557e-01 -8.95925541e-02 -1.04972175e+02] [-3.78246340e-01 9.25165560e-01 3.15973509e-02 1.26876263e+01] [ 9.48802005e-02 4.79227452e-03 9.95477163e-01 -5.42237481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22534707000001 meters 0.03139572136374993 Centerline is valid? [True, True] Translation: X:-105.00, Y:12.71, Z:-5.43 [[ 9.20397144e-01 3.81060543e-01 -8.75326157e-02 -1.04995819e+02] [-3.79836586e-01 9.24537559e-01 3.08944909e-02 1.27073983e+01] [ 9.26998624e-02 4.81288867e-03 9.95682465e-01 -5.43233890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25534707000001 meters 0.03134154229698759 Centerline is valid? [True, True] Translation: X:-105.02, Y:12.72, Z:-5.43 [[ 9.20344525e-01 3.81640744e-01 -8.55353584e-02 -1.05022825e+02] [-3.80471886e-01 9.24298627e-01 3.02190659e-02 1.27177151e+01] [ 9.05930411e-02 4.73184720e-03 9.95876755e-01 -5.43150108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28534707000001 meters 0.02909634178253415 Centerline is valid? [True, True] Translation: X:-105.05, Y:12.72, Z:-5.43 [[ 9.19490065e-01 3.83289708e-01 -8.73328057e-02 -1.05051210e+02] [-3.82075707e-01 9.23614801e-01 3.08845146e-02 1.27222353e+01] [ 9.24995885e-02 4.96973913e-03 9.95700320e-01 -5.42952413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31534707000002 meters 0.029236245474158852 Centerline is valid? [True, True] Translation: X:-105.08, Y:12.73, Z:-5.43 [[ 9.19518042e-01 3.83512240e-01 -8.60519202e-02 -1.05078084e+02] [-3.82331767e-01 9.23522850e-01 3.04625249e-02 1.27346769e+01] [ 9.11536658e-02 4.88954149e-03 9.95824835e-01 -5.42729510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34534707000002 meters 0.030730198484406977 Centerline is valid? [True, True] Translation: X:-105.10, Y:12.75, Z:-5.43 [[ 9.19685096e-01 3.83453284e-01 -8.45156984e-02 -1.05103519e+02] [-3.82311786e-01 9.23547961e-01 2.99476611e-02 1.27494782e+01] [ 8.95378299e-02 4.76892996e-03 9.95972005e-01 -5.42965778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37534707000002 meters 0.02916197813011762 Centerline is valid? [True, True] Translation: X:-105.13, Y:12.75, Z:-5.43 [[ 9.18975608e-01 3.84718010e-01 -8.64631991e-02 -1.05131080e+02] [-3.83526737e-01 9.23020694e-01 3.06600716e-02 1.27549585e+01] [ 9.16028037e-02 4.98509072e-03 9.95783147e-01 -5.43186748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40534707000002 meters 0.02744807864148789 Centerline is valid? [True, True] Translation: X:-105.16, Y:12.76, Z:-5.43 [[ 9.19014909e-01 3.84236545e-01 -8.81695832e-02 -1.05158516e+02] [-3.82994127e-01 9.23221025e-01 3.12799979e-02 1.27607959e+01] [ 9.34189313e-02 5.02164816e-03 9.95614226e-01 -5.42899524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43534707 meters 0.030432801389984807 Centerline is valid? [True, True] Translation: X:-105.18, Y:12.78, Z:-5.44 [[ 9.18873494e-01 3.85122968e-01 -8.57426454e-02 -1.05183674e+02] [-3.83949752e-01 9.22852003e-01 3.04428682e-02 1.27766511e+01] [ 9.08520198e-02 4.94772275e-03 9.95852113e-01 -5.43545361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46534707 meters 0.029325560417713357 Centerline is valid? [True, True] Translation: X:-105.21, Y:12.78, Z:-5.44 [[ 9.19600226e-01 3.83370096e-01 -8.58067275e-02 -1.05210675e+02] [-3.82185221e-01 9.23582570e-01 3.04908749e-02 1.27836587e+01] [ 9.09388876e-02 4.75464773e-03 9.95845125e-01 -5.44026525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49534707000001 meters 0.027559405466027 Centerline is valid? [True, True] Translation: X:-105.24, Y:12.79, Z:-5.44 [[ 9.19773669e-01 3.82867272e-01 -8.61919349e-02 -1.05238101e+02] [-3.81667804e-01 9.23791361e-01 3.06465107e-02 1.27885267e+01] [ 9.13569108e-02 4.70883293e-03 9.95807081e-01 -5.44134923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52534707000001 meters 0.029291316321528926 Centerline is valid? [True, True] Translation: X:-105.26, Y:12.80, Z:-5.45 [[ 9.22032713e-01 3.78106805e-01 -8.30115665e-02 -1.05263429e+02] [-3.76972898e-01 9.25753096e-01 2.95404810e-02 1.28021843e+01] [ 8.80176716e-02 4.05582090e-03 9.96110656e-01 -5.44554718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55534707000001 meters 0.0265038873036024 Centerline is valid? [True, True] Translation: X:-105.29, Y:12.80, Z:-5.45 [[ 9.21536715e-01 3.77863166e-01 -8.93840629e-02 -1.05293011e+02] [-3.76543782e-01 9.25851406e-01 3.18426386e-02 1.28012682e+01] [ 9.47885206e-02 4.31285254e-03 9.95488089e-01 -5.45150308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58534707000001 meters 0.027582707531176975 Centerline is valid? [True, True] Translation: X:-105.32, Y:12.81, Z:-5.45 [[ 9.24367861e-01 3.72054751e-01 -8.43760616e-02 -1.05318718e+02] [-3.70852478e-01 9.28204267e-01 3.00878603e-02 1.28142520e+01] [ 8.95125517e-02 3.47882040e-03 9.95979619e-01 -5.45381799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61534707000001 meters 0.026123700926296792 Centerline is valid? [True, True] Translation: X:-105.35, Y:12.82, Z:-5.45 [[ 9.25577042e-01 3.69329274e-01 -8.30844519e-02 -1.05347791e+02] [-3.68150676e-01 9.29293278e-01 2.96493343e-02 1.28179489e+01] [ 8.81601899e-02 3.14485395e-03 9.96101346e-01 -5.45166699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64534707000001 meters 0.024065286845118355 Centerline is valid? [True, True] Translation: X:-105.38, Y:12.82, Z:-5.45 [[ 9.26483321e-01 3.67383213e-01 -8.15979833e-02 -1.05375618e+02] [-3.66237567e-01 9.30065167e-01 2.91346907e-02 1.28236602e+01] [ 8.65950382e-02 2.89144184e-03 9.96239398e-01 -5.44751430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67534707000002 meters 0.024857492072605836 Centerline is valid? [True, True] Translation: X:-105.40, Y:12.84, Z:-5.45 [[ 9.26122359e-01 3.68693094e-01 -7.97670320e-02 -1.05401051e+02] [-3.67601083e-01 9.29546589e-01 2.85058300e-02 1.28379094e+01] [ 8.46570751e-02 2.92256079e-03 9.96405860e-01 -5.44928524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70534707000002 meters 0.025956853562651858 Centerline is valid? [True, True] Translation: X:-105.43, Y:12.85, Z:-5.45 [[ 9.24914189e-01 3.71707889e-01 -7.97934066e-02 -1.05425385e+02] [-3.70624527e-01 9.28344297e-01 2.85363820e-02 1.28531146e+01] [ 8.46829523e-02 3.17968900e-03 9.96402874e-01 -5.45086987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73534707000002 meters 0.027826737370454813 Centerline is valid? [True, True] Translation: X:-105.45, Y:12.87, Z:-5.46 [[ 9.22078216e-01 3.78335542e-01 -8.14492525e-02 -1.05448943e+02] [-3.77231512e-01 9.25660488e-01 2.91384209e-02 1.28697197e+01] [ 8.64184551e-02 3.85732151e-03 9.96251460e-01 -5.45615221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76534707000002 meters 0.02855645447250276 Centerline is valid? [True, True] Translation: X:-105.47, Y:12.89, Z:-5.46 [[ 9.19372848e-01 3.84528386e-01 -8.30149769e-02 -1.05473243e+02] [-3.83405595e-01 9.23102126e-01 2.97088216e-02 1.28854009e+01] [ 8.80551869e-02 4.51492271e-03 9.96105366e-01 -5.45845260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79534707000002 meters 0.029057048775718297 Centerline is valid? [True, True] Translation: X:-105.50, Y:12.90, Z:-5.46 [[ 9.17614721e-01 3.89093980e-01 -8.11732554e-02 -1.05497796e+02] [-3.88037348e-01 9.21185391e-01 2.90601603e-02 1.29001366e+01] [ 8.60827504e-02 4.83222378e-03 9.96276272e-01 -5.45822105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82534707 meters 0.03469483738486547 Centerline is valid? [True, True] Translation: X:-105.52, Y:12.93, Z:-5.46 [[ 9.16461339e-01 3.92159102e-01 -7.94345832e-02 -1.05519400e+02] [-3.91157261e-01 9.19883854e-01 2.84550989e-02 1.29253109e+01] [ 8.42295165e-02 4.99341594e-03 9.96433869e-01 -5.46477848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85534707000001 meters 0.028090125113252783 Centerline is valid? [True, True] Translation: X:-105.55, Y:12.92, Z:-5.46 [[ 9.16653282e-01 3.91541384e-01 -8.02627278e-02 -1.05550507e+02] [-3.90514036e-01 9.20147102e-01 2.87766987e-02 1.29217848e+01] [ 8.51207848e-02 4.96546652e-03 9.96358267e-01 -5.45972528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88534707000001 meters 0.029960429816267127 Centerline is valid? [True, True] Translation: X:-105.58, Y:12.94, Z:-5.46 [[ 9.19434744e-01 3.85634836e-01 -7.69774289e-02 -1.05575072e+02] [-3.84667649e-01 9.22641854e-01 2.76189878e-02 1.29388630e+01] [ 8.16734416e-02 4.21686960e-03 9.96650223e-01 -5.46433700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91534707000001 meters 0.03052082023411994 Centerline is valid? [True, True] Translation: X:-105.60, Y:12.95, Z:-5.47 [[ 9.21035298e-01 3.81964222e-01 -7.61400911e-02 -1.05602382e+02] [-3.81003239e-01 9.24169205e-01 2.73461724e-02 1.29490989e+01] [ 8.08115869e-02 3.82283125e-03 9.96722064e-01 -5.46985328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94534707000001 meters 0.026800692760858773 Centerline is valid? [True, True] Translation: X:-105.63, Y:12.95, Z:-5.47 [[ 9.22629426e-01 3.77949926e-01 -7.68686897e-02 -1.05631300e+02] [-3.76954974e-01 9.25819473e-01 2.76269904e-02 1.29520699e+01] [ 8.16081488e-02 3.48656066e-03 9.96658394e-01 -5.47047405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97534707000001 meters 0.02459334842810599 Centerline is valid? [True, True] Translation: X:-105.66, Y:12.96, Z:-5.47 [[ 9.24041469e-01 3.74532433e-01 -7.66343267e-02 -1.05659594e+02] [-3.73531114e-01 9.27208406e-01 2.75513691e-02 1.29576666e+01] [ 8.13748732e-02 3.16669789e-03 9.96678535e-01 -5.46950715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00534707000001 meters 0.02433218254354117 Centerline is valid? [True, True] Translation: X:-105.69, Y:12.97, Z:-5.47 [[ 9.25744452e-01 3.70911313e-01 -7.36342833e-02 -1.05686442e+02] [-3.69974449e-01 9.28664300e-01 2.64863284e-02 1.29692512e+01] [ 7.82056090e-02 2.72323183e-03 9.96933532e-01 -5.47334168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03534707000001 meters 0.02426200270902586 Centerline is valid? [True, True] Translation: X:-105.71, Y:12.98, Z:-5.47 [[ 9.25809494e-01 3.70753099e-01 -7.36133231e-02 -1.05713531e+02] [-3.69814192e-01 9.28727589e-01 2.65052741e-02 1.29802806e+01] [ 7.81936366e-02 2.68441723e-03 9.96934576e-01 -5.47447725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06534707000002 meters 0.023381991659826233 Centerline is valid? [True, True] Translation: X:-105.74, Y:12.99, Z:-5.48 [[ 9.26332677e-01 3.69489949e-01 -7.33822088e-02 -1.05740041e+02] [-3.68551382e-01 9.29231227e-01 2.64425156e-02 1.29897245e+01] [ 7.79592836e-02 2.55054816e-03 9.96953281e-01 -5.47761734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09534707000002 meters 0.02340091477179264 Centerline is valid? [True, True] Translation: X:-105.77, Y:13.00, Z:-5.48 [[ 9.27116661e-01 3.67752895e-01 -7.21976848e-02 -1.05766045e+02] [-3.66838095e-01 9.29920574e-01 2.60295497e-02 1.30023580e+01] [ 7.67105548e-02 2.35243199e-03 9.97050629e-01 -5.47938263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12534707000002 meters 0.022644015361357305 Centerline is valid? [True, True] Translation: X:-105.79, Y:13.01, Z:-5.48 [[ 9.28145523e-01 3.65403486e-01 -7.08955527e-02 -1.05792802e+02] [-3.64513018e-01 9.30846864e-01 2.55807772e-02 1.30120183e+01] [ 7.53402080e-02 2.09966800e-03 9.97155677e-01 -5.48170494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15534707000002 meters 0.020696976442725296 Centerline is valid? [True, True] Translation: X:-105.82, Y:13.02, Z:-5.48 [[ 9.28905878e-01 3.63128610e-01 -7.26049751e-02 -1.05820637e+02] [-3.62186812e-01 9.31736984e-01 2.62088999e-02 1.30174874e+01] [ 7.71659419e-02 1.95096334e-03 9.97016355e-01 -5.48320728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18534707 meters 0.02081903381264407 Centerline is valid? [True, True] Translation: X:-105.85, Y:13.03, Z:-5.48 [[ 9.29601336e-01 3.61724871e-01 -7.06857405e-02 -1.05846797e+02] [-3.60827533e-01 9.32283197e-01 2.55251209e-02 1.30291680e+01] [ 7.51321992e-02 1.77717491e-03 9.97171998e-01 -5.48168846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21534707 meters 0.019874608477432523 Centerline is valid? [True, True] Translation: X:-105.87, Y:13.04, Z:-5.48 [[ 9.30314562e-01 3.60128678e-01 -6.94417023e-02 -1.05872793e+02] [-3.59257582e-01 9.32901249e-01 2.50848338e-02 1.30387883e+01] [ 7.38160188e-02 1.61067191e-03 9.97270576e-01 -5.48200231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24534707000001 meters 0.020050802365175483 Centerline is valid? [True, True] Translation: X:-105.90, Y:13.05, Z:-5.48 [[ 9.30277673e-01 3.60427454e-01 -6.83776403e-02 -1.05898840e+02] [-3.59582730e-01 9.32785881e-01 2.47135592e-02 1.30520985e+01] [ 7.26891427e-02 1.59694621e-03 9.97353367e-01 -5.48263570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27534707000001 meters 0.019935115145079257 Centerline is valid? [True, True] Translation: X:-105.92, Y:13.06, Z:-5.48 [[ 9.29884629e-01 3.61647528e-01 -6.72728893e-02 -1.05924256e+02] [-3.60831298e-01 9.32313451e-01 2.43393260e-02 1.30644845e+01] [ 7.15216767e-02 1.64139884e-03 9.97437695e-01 -5.48435691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30534707000001 meters 0.019846477240447545 Centerline is valid? [True, True] Translation: X:-105.95, Y:13.08, Z:-5.48 [[ 9.29486560e-01 3.62468124e-01 -6.83490599e-02 -1.05950037e+02] [-3.61625997e-01 9.31994602e-01 2.47528050e-02 1.30752787e+01] [ 7.26730576e-02 1.70939732e-03 9.97354353e-01 -5.48445169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33534707000001 meters 0.020398408278220252 Centerline is valid? [True, True] Translation: X:-105.98, Y:13.09, Z:-5.49 [[ 9.28652184e-01 3.64572281e-01 -6.84994393e-02 -1.05975332e+02] [-3.63730937e-01 9.31173229e-01 2.48238419e-02 1.30907762e+01] [ 7.28349287e-02 1.86265026e-03 9.97342270e-01 -5.48583616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36534707000001 meters 0.021920832889346972 Centerline is valid? [True, True] Translation: X:-106.00, Y:13.11, Z:-5.49 [[ 9.27710911e-01 3.66930691e-01 -6.86610081e-02 -1.06000477e+02] [-3.66089977e-01 9.30246070e-01 2.49074129e-02 1.31060383e+01] [ 7.30109271e-02 2.02922809e-03 9.97329076e-01 -5.49011647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39534707000001 meters 0.021141580666043554 Centerline is valid? [True, True] Translation: X:-106.03, Y:13.12, Z:-5.49 [[ 9.27159264e-01 3.68363660e-01 -6.84391247e-02 -1.06026239e+02] [-3.67530722e-01 9.29679374e-01 2.48481173e-02 1.31158662e+01] [ 7.27795860e-02 2.11531878e-03 9.97345806e-01 -5.48990943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42534707000002 meters 0.02229698914440537 Centerline is valid? [True, True] Translation: X:-106.05, Y:13.13, Z:-5.49 [[ 9.26584860e-01 3.69920130e-01 -6.78203202e-02 -1.06051467e+02] [-3.69105211e-01 9.29060949e-01 2.46393147e-02 1.31320604e+01] [ 7.21237895e-02 2.20241771e-03 9.97393257e-01 -5.49342769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45534707000002 meters 0.021565958389278883 Centerline is valid? [True, True] Translation: X:-106.08, Y:13.14, Z:-5.49 [[ 9.26284049e-01 3.70894368e-01 -6.65975103e-02 -1.06076873e+02] [-3.70109650e-01 9.28672412e-01 2.42156529e-02 1.31422084e+01] [ 7.08287198e-02 2.21780819e-03 9.97486027e-01 -5.49095034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48534707000002 meters 0.023502872408502195 Centerline is valid? [True, True] Translation: X:-106.10, Y:13.16, Z:-5.50 [[ 9.25071198e-01 3.73981797e-01 -6.61883178e-02 -1.06100908e+02] [-3.73213568e-01 9.27432872e-01 2.40811357e-02 1.31596803e+01] [ 7.03911281e-02 2.42561319e-03 9.97516519e-01 -5.49591557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51534707000002 meters 0.022727126445772506 Centerline is valid? [True, True] Translation: X:-106.13, Y:13.17, Z:-5.49 [[ 9.24672982e-01 3.74896111e-01 -6.65791487e-02 -1.06127506e+02] [-3.74119673e-01 9.27063483e-01 2.42439444e-02 1.31690539e+01] [ 7.08120579e-02 2.49084895e-03 9.97486565e-01 -5.49365531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54534707000002 meters 0.01965597609150713 Centerline is valid? [True, True] Translation: X:-106.16, Y:13.17, Z:-5.49 [[ 9.24459081e-01 3.75171685e-01 -6.79824590e-02 -1.06156264e+02] [-3.74361931e-01 9.26951827e-01 2.47680336e-02 1.31733848e+01] [ 7.23087294e-02 2.55301109e-03 9.97379030e-01 -5.49097770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57534707 meters 0.01965597609150713 Centerline is valid? [True, True] Translation: X:-106.18, Y:13.18, Z:-5.49 [[ 9.24306577e-01 3.75548353e-01 -6.79763573e-02 -1.06182337e+02] [-3.74738386e-01 9.26799254e-01 2.47847695e-02 1.31826959e+01] [ 7.23083166e-02 2.56462500e-03 9.97379030e-01 -5.49245324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60534707000001 meters 0.021888255094349763 Centerline is valid? [True, True] Translation: X:-106.21, Y:13.20, Z:-5.50 [[ 9.24318449e-01 3.75746162e-01 -6.67100162e-02 -1.06205864e+02] [-3.74964548e-01 9.26719239e-01 2.43523877e-02 1.32016816e+01] [ 7.09717717e-02 2.50452984e-03 9.97475180e-01 -5.49524879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63534707000001 meters 0.023212262408217964 Centerline is valid? [True, True] Translation: X:-106.23, Y:13.22, Z:-5.50 [[ 9.23592268e-01 3.77286749e-01 -6.80590303e-02 -1.06231863e+02] [-3.76475615e-01 9.26092687e-01 2.48685819e-02 1.32157683e+01] [ 7.24115566e-02 2.65413538e-03 9.97371306e-01 -5.49818796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66534707000001 meters 0.02411837454888086 Centerline is valid? [True, True] Translation: X:-106.26, Y:13.23, Z:-5.50 [[ 9.23296260e-01 3.78104578e-01 -6.75347609e-02 -1.06257055e+02] [-3.77306958e-01 9.25759003e-01 2.46926837e-02 1.32293284e+01] [ 7.18573296e-02 2.68267267e-03 9.97411313e-01 -5.49726610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69534707000001 meters 0.02392326040628257 Centerline is valid? [True, True] Translation: X:-106.28, Y:13.24, Z:-5.50 [[ 9.23477140e-01 3.77670443e-01 -6.74908031e-02 -1.06283516e+02] [-3.76870903e-01 9.25936365e-01 2.47016363e-02 1.32404089e+01] [ 7.18212668e-02 2.62392348e-03 9.97414067e-01 -5.49963103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72534707000001 meters 0.02012595130439496 Centerline is valid? [True, True] Translation: X:-106.31, Y:13.24, Z:-5.50 [[ 9.23325761e-01 3.77957233e-01 -6.79549064e-02 -1.06312822e+02] [-3.77146039e-01 9.25819272e-01 2.48905762e-02 1.32415825e+01] [ 7.23215353e-02 2.64681359e-03 9.97377857e-01 -5.49546663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75534707000001 meters 0.02354453530983941 Centerline is valid? [True, True] Translation: X:-106.34, Y:13.26, Z:-5.50 [[ 9.23088821e-01 3.78703837e-01 -6.70106887e-02 -1.06335281e+02] [-3.77915972e-01 9.25514106e-01 2.45592825e-02 1.32604799e+01] [ 7.13200322e-02 2.65401037e-03 9.97449953e-01 -5.49843119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78534707000001 meters 0.02198923125085512 Centerline is valid? [True, True] Translation: X:-106.36, Y:13.27, Z:-5.50 [[ 9.23018709e-01 3.78698500e-01 -6.79993281e-02 -1.06363167e+02] [-3.77885345e-01 9.25516245e-01 2.49468734e-02 1.32667211e+01] [ 7.23818263e-02 2.66951864e-03 9.97373423e-01 -5.49689852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81534707000002 meters 0.02120898052798471 Centerline is valid? [True, True] Translation: X:-106.39, Y:13.28, Z:-5.50 [[ 9.23059142e-01 3.78428254e-01 -6.89483646e-02 -1.06389081e+02] [-3.77590717e-01 9.25626758e-01 2.53052337e-02 1.32759398e+01] [ 7.33966666e-02 2.67603511e-03 9.97299237e-01 -5.49800491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84534707000002 meters 0.02176390182621529 Centerline is valid? [True, True] Translation: X:-106.41, Y:13.29, Z:-5.50 [[ 9.22984617e-01 3.78589899e-01 -6.90585620e-02 -1.06414374e+02] [-3.77748815e-01 9.25560654e-01 2.53635393e-02 1.32886592e+01] [ 7.35202676e-02 2.67663330e-03 9.97290131e-01 -5.50143233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87534707000002 meters 0.021285944675531764 Centerline is valid? [True, True] Translation: X:-106.44, Y:13.30, Z:-5.50 [[ 9.22632697e-01 3.78842227e-01 -7.23012679e-02 -1.06441743e+02] [-3.77918543e-01 9.25457053e-01 2.65860597e-02 1.32967217e+01] [ 7.69836404e-02 2.79482184e-03 9.97028439e-01 -5.50158739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90534707000002 meters 0.02455924177366577 Centerline is valid? [True, True] Translation: X:-106.46, Y:13.32, Z:-5.51 [[ 9.22464441e-01 3.79328624e-01 -7.18967970e-02 -1.06464546e+02] [-3.78414501e-01 9.25257800e-01 2.64663659e-02 1.33158200e+01] [ 7.65625224e-02 2.79250911e-03 9.97060872e-01 -5.50827226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93534707 meters 0.02364998248667595 Centerline is valid? [True, True] Translation: X:-106.49, Y:13.33, Z:-5.51 [[ 9.23258880e-01 3.77489230e-01 -7.13787183e-02 -1.06491259e+02] [-3.76580872e-01 9.26010331e-01 2.63004533e-02 1.33256779e+01] [ 7.60255684e-02 2.59773287e-03 9.97102485e-01 -5.50829131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96534707 meters 0.021400917668924924 Centerline is valid? [True, True] Translation: X:-106.52, Y:13.33, Z:-5.50 [[ 9.23850347e-01 3.76144616e-01 -7.08220628e-02 -1.06518441e+02] [-3.75245789e-01 9.26557704e-01 2.61039961e-02 1.33327429e+01] [ 7.54396054e-02 2.45949499e-03 9.97147340e-01 -5.50213854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99534707000001 meters 0.019606733793342598 Centerline is valid? [True, True] Translation: X:-106.55, Y:13.34, Z:-5.50 [[ 9.23959366e-01 3.75609245e-01 -7.22273170e-02 -1.06545891e+02] [-3.74671425e-01 9.26774892e-01 2.66387357e-02 1.33393866e+01] [ 7.69442193e-02 2.44840247e-03 9.97032393e-01 -5.49988233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02534707000001 meters 0.022274142556537962 Centerline is valid? [True, True] Translation: X:-106.57, Y:13.36, Z:-5.50 [[ 9.23493138e-01 3.76736330e-01 -7.23198538e-02 -1.06570303e+02] [-3.75797069e-01 9.26317121e-01 2.67049452e-02 1.33574577e+01] [ 7.70518418e-02 2.51575548e-03 9.97023914e-01 -5.50478801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05534707000001 meters 0.022797481499186822 Centerline is valid? [True, True] Translation: X:-106.60, Y:13.37, Z:-5.50 [[ 9.22794104e-01 3.78542542e-01 -7.18093730e-02 -1.06596275e+02] [-3.77619819e-01 9.25580180e-01 2.65443387e-02 1.33693602e+01] [ 7.65134939e-02 2.62168322e-03 9.97065099e-01 -5.50476057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08534707000001 meters 0.021814691952620615 Centerline is valid? [True, True] Translation: X:-106.62, Y:13.38, Z:-5.51 [[ 9.23017786e-01 3.77958437e-01 -7.20110167e-02 -1.06622711e+02] [-3.77026773e-01 9.25819034e-01 2.66444935e-02 1.33811156e+01] [ 7.67396810e-02 2.55673991e-03 9.97047885e-01 -5.50524031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11534707000001 meters 0.022729514626741058 Centerline is valid? [True, True] Translation: X:-106.65, Y:13.39, Z:-5.51 [[ 9.22428131e-01 3.79316313e-01 -7.24256752e-02 -1.06648632e+02] [-3.78376027e-01 9.25263235e-01 2.68240121e-02 1.33941112e+01] [ 7.71875999e-02 2.66091598e-03 9.97013036e-01 -5.50546461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14534707000001 meters 0.02389536568453232 Centerline is valid? [True, True] Translation: X:-106.67, Y:13.41, Z:-5.51 [[ 9.21260936e-01 3.82003912e-01 -7.31525686e-02 -1.06673462e+02] [-3.81051424e-01 9.24156170e-01 2.71143115e-02 1.34077436e+01] [ 7.79621708e-02 2.89553439e-03 9.96952113e-01 -5.50503404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17534707000002 meters 0.023063807637656353 Centerline is valid? [True, True] Translation: X:-106.70, Y:13.42, Z:-5.51 [[ 9.21045176e-01 3.82360219e-01 -7.40030142e-02 -1.06700175e+02] [-3.81385823e-01 9.24008633e-01 2.74390183e-02 1.34162901e+01] [ 7.88710130e-02 2.95112507e-03 9.96880461e-01 -5.50658180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20534707000002 meters 0.02384699695804309 Centerline is valid? [True, True] Translation: X:-106.73, Y:13.43, Z:-5.51 [[ 9.20427293e-01 3.84051078e-01 -7.29271429e-02 -1.06726029e+02] [-3.83108972e-01 9.23306854e-01 2.70549239e-02 1.34299934e+01] [ 7.77246035e-02 3.03695245e-03 9.96970242e-01 -5.50651210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23534707000002 meters 0.022678252921986473 Centerline is valid? [True, True] Translation: X:-106.75, Y:13.44, Z:-5.50 [[ 9.20393664e-01 3.83981620e-01 -7.37130881e-02 -1.06752637e+02] [-3.83017138e-01 9.23335719e-01 2.73682591e-02 1.34389583e+01] [ 7.85708357e-02 3.04380374e-03 9.96903887e-01 -5.50459861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26534707000002 meters 0.0222137933158423 Centerline is valid? [True, True] Translation: X:-106.78, Y:13.45, Z:-5.50 [[ 9.19275870e-01 3.86168960e-01 -7.61932319e-02 -1.06779183e+02] [-3.85145010e-01 9.22422053e-01 2.82997614e-02 1.34472386e+01] [ 8.12108068e-02 3.33015530e-03 9.96691384e-01 -5.50304460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29534707000002 meters 0.02566345872952045 Centerline is valid? [True, True] Translation: X:-106.80, Y:13.47, Z:-5.51 [[ 9.18625186e-01 3.88063650e-01 -7.43933573e-02 -1.06801609e+02] [-3.87092302e-01 9.21626312e-01 2.76494159e-02 1.34668826e+01] [ 7.92926088e-02 3.39764617e-03 9.96845594e-01 -5.50858187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32534707 meters 0.025342116222991345 Centerline is valid? [True, True] Translation: X:-106.83, Y:13.48, Z:-5.51 [[ 9.18327718e-01 3.88638821e-01 -7.50604331e-02 -1.06826723e+02] [-3.87649616e-01 9.21383713e-01 2.79254076e-02 1.34780259e+01] [ 8.00123580e-02 3.45247220e-03 9.96787893e-01 -5.51019236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35534707000001 meters 0.025612827372634754 Centerline is valid? [True, True] Translation: X:-106.85, Y:13.49, Z:-5.51 [[ 9.17251873e-01 3.91432643e-01 -7.36850562e-02 -1.06852877e+02] [-3.90486952e-01 9.20199677e-01 2.74316570e-02 1.34900841e+01] [ 7.85426109e-02 3.61131419e-03 9.96904216e-01 -5.50766982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38534707000001 meters 0.02641892742737576 Centerline is valid? [True, True] Translation: X:-106.88, Y:13.50, Z:-5.50 [[ 9.16646968e-01 3.93015172e-01 -7.27833134e-02 -1.06879357e+02] [-3.92095441e-01 9.19524637e-01 2.71220990e-02 1.35019208e+01] [ 7.75854462e-02 3.67661555e-03 9.96978927e-01 -5.50462612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41534707000001 meters 0.02591228253379325 Centerline is valid? [True, True] Translation: X:-106.91, Y:13.51, Z:-5.51 [[ 9.16182757e-01 3.94101801e-01 -7.27524991e-02 -1.06906269e+02] [-3.93184193e-01 9.19059173e-01 2.71371861e-02 1.35124041e+01] [ 7.75586656e-02 3.74251062e-03 9.96980766e-01 -5.50903676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44534707000001 meters 0.02400415847499847 Centerline is valid? [True, True] Translation: X:-106.93, Y:13.52, Z:-5.51 [[ 9.16993185e-01 3.92010629e-01 -7.38320090e-02 -1.06933044e+02] [-3.91057074e-01 9.19953649e-01 2.75617137e-02 1.35198076e+01] [ 7.87265108e-02 3.59862574e-03 9.96889756e-01 -5.50821499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47534707000001 meters 0.02554983144013274 Centerline is valid? [True, True] Translation: X:-106.96, Y:13.53, Z:-5.51 [[ 9.16776794e-01 3.92115871e-01 -7.59305822e-02 -1.06959805e+02] [-3.91106301e-01 9.19908411e-01 2.83615285e-02 1.35317766e+01] [ 8.09701867e-02 3.69573789e-03 9.96709672e-01 -5.51375637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50534707000001 meters 0.025586124277361042 Centerline is valid? [True, True] Translation: X:-106.99, Y:13.54, Z:-5.51 [[ 9.17414848e-01 3.90355986e-01 -7.72800128e-02 -1.06987502e+02] [-3.89301590e-01 9.20657051e-01 2.88940448e-02 1.35413939e+01] [ 8.24273520e-02 3.57740610e-03 9.96590655e-01 -5.51377309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53534707000001 meters 0.02733322777524656 Centerline is valid? [True, True] Translation: X:-107.01, Y:13.55, Z:-5.52 [[ 9.17798054e-01 3.89717137e-01 -7.59426388e-02 -1.07013800e+02] [-3.88694528e-01 9.20928210e-01 2.84217689e-02 1.35527990e+01] [ 8.10141688e-02 3.43304388e-03 9.96707038e-01 -5.51501808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56534707000002 meters 0.024047679383620107 Centerline is valid? [True, True] Translation: X:-107.04, Y:13.56, Z:-5.51 [[ 9.17945378e-01 3.89089902e-01 -7.73649283e-02 -1.07041830e+02] [-3.88024508e-01 9.21193436e-01 2.89764419e-02 1.35588257e+01] [ 8.25425050e-02 3.42069731e-03 9.96581674e-01 -5.51366839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59534707000002 meters 0.022895303859968043 Centerline is valid? [True, True] Translation: X:-107.07, Y:13.57, Z:-5.51 [[ 9.17420439e-01 3.90502957e-01 -7.64668420e-02 -1.07069048e+02] [-3.89465674e-01 9.20595056e-01 2.86571473e-02 1.35676264e+01] [ 8.15856974e-02 3.49055748e-03 9.96660218e-01 -5.51239185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62534707000002 meters 0.023090969038049105 Centerline is valid? [True, True] Translation: X:-107.10, Y:13.58, Z:-5.51 [[ 9.17838864e-01 3.89800468e-01 -7.50160998e-02 -1.07095460e+02] [-3.88797528e-01 9.20893300e-01 2.81427190e-02 1.35806107e+01] [ 8.00518686e-02 3.33559297e-03 9.96785118e-01 -5.51194365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65534707000002 meters 0.025799818873216484 Centerline is valid? [True, True] Translation: X:-107.12, Y:13.60, Z:-5.52 [[ 9.17153463e-01 3.91443358e-01 -7.48439870e-02 -1.07120292e+02] [-3.90448114e-01 9.20195760e-01 2.81075184e-02 1.35966626e+01] [ 7.98736209e-02 3.44378568e-03 9.96799049e-01 -5.51528604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68534707 meters 0.025481654737153 Centerline is valid? [True, True] Translation: X:-107.15, Y:13.61, Z:-5.52 [[ 9.16477302e-01 3.92550717e-01 -7.72870623e-02 -1.07146795e+02] [-3.91491208e-01 9.19723182e-01 2.90500002e-02 1.36058530e+01] [ 8.24863013e-02 3.63353954e-03 9.96585575e-01 -5.51584124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71534707 meters 0.02476830568975305 Centerline is valid? [True, True] Translation: X:-107.17, Y:13.62, Z:-5.52 [[ 9.16994099e-01 3.91074590e-01 -7.86287942e-02 -1.07172950e+02] [-3.89970825e-01 9.20352166e-01 2.95744124e-02 1.36183225e+01] [ 8.39319823e-02 3.54337414e-03 9.96465186e-01 -5.52217619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74534707000001 meters 0.0255111936092147 Centerline is valid? [True, True] Translation: X:-107.20, Y:13.63, Z:-5.53 [[ 9.16819115e-01 3.91641721e-01 -7.78426214e-02 -1.07199193e+02] [-3.90559595e-01 9.20111017e-01 2.93073306e-02 1.36293727e+01] [ 8.31018269e-02 3.53266183e-03 9.96534800e-01 -5.52578541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77534707000001 meters 0.025723371661983737 Centerline is valid? [True, True] Translation: X:-107.23, Y:13.64, Z:-5.53 [[ 9.16629380e-01 3.91784621e-01 -7.93434989e-02 -1.07225449e+02] [-3.90658328e-01 9.20049968e-01 2.99019783e-02 1.36413610e+01] [ 8.47151189e-02 3.58716677e-03 9.96398756e-01 -5.52606466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80534707000001 meters 0.02594553946327013 Centerline is valid? [True, True] Translation: X:-107.25, Y:13.65, Z:-5.52 [[ 9.16677983e-01 3.92022356e-01 -7.75883178e-02 -1.07252143e+02] [-3.90944455e-01 9.19948999e-01 2.92621324e-02 1.36497973e+01] [ 8.28487054e-02 3.50877012e-03 9.96555960e-01 -5.52096508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83534707000001 meters 0.024072251105655758 Centerline is valid? [True, True] Translation: X:-107.28, Y:13.66, Z:-5.52 [[ 9.16925452e-01 3.91686843e-01 -7.63487607e-02 -1.07278017e+02] [-3.90641168e-01 9.20092260e-01 2.88046936e-02 1.36589890e+01] [ 8.15303233e-02 3.41321238e-03 9.96665017e-01 -5.52260914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86534707000001 meters 0.02357104624910752 Centerline is valid? [True, True] Translation: X:-107.30, Y:13.67, Z:-5.52 [[ 9.17115617e-01 3.91344857e-01 -7.58165438e-02 -1.07303717e+02] [-3.90311738e-01 9.20238003e-01 2.86140702e-02 1.36698120e+01] [ 8.09672341e-02 3.34967638e-03 9.96711135e-01 -5.52034906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89534707000001 meters 0.02392245330427726 Centerline is valid? [True, True] Translation: X:-107.33, Y:13.68, Z:-5.52 [[ 9.16567631e-01 3.92902562e-01 -7.43730763e-02 -1.07329337e+02] [-3.91912174e-01 9.19573807e-01 2.80866712e-02 1.36818008e+01] [ 7.94268580e-02 3.40438035e-03 9.96834883e-01 -5.51993540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92534707000002 meters 0.024105272213071554 Centerline is valid? [True, True] Translation: X:-107.35, Y:13.69, Z:-5.52 [[ 9.15976778e-01 3.94167839e-01 -7.49550265e-02 -1.07354743e+02] [-3.93163903e-01 9.19031745e-01 2.83336853e-02 1.36937294e+01] [ 8.00542763e-02 3.51661293e-03 9.96784303e-01 -5.52229158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95534707000002 meters 0.026461408695527204 Centerline is valid? [True, True] Translation: X:-107.38, Y:13.71, Z:-5.53 [[ 9.15579837e-01 3.94526347e-01 -7.78622104e-02 -1.07379228e+02] [-3.93442473e-01 9.18877311e-01 2.94534847e-02 1.37107544e+01] [ 8.31659942e-02 3.66728386e-03 9.96528960e-01 -5.53404127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98534707000002 meters 0.023649449910642044 Centerline is valid? [True, True] Translation: X:-107.41, Y:13.71, Z:-5.53 [[ 9.15417221e-01 3.94570940e-01 -7.95303989e-02 -1.07407638e+02] [-3.93438286e-01 9.18857913e-01 3.01073231e-02 1.37147623e+01] [ 8.49566111e-02 3.72954185e-03 9.96377672e-01 -5.53121825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01534707000002 meters 0.026063378145717034 Centerline is valid? [True, True] Translation: X:-107.43, Y:13.73, Z:-5.54 [[ 9.15447175e-01 3.94715658e-01 -7.84603064e-02 -1.07431788e+02] [-3.93612284e-01 9.18795975e-01 2.97208137e-02 1.37311047e+01] [ 8.38202842e-02 3.67510550e-03 9.96474111e-01 -5.53714918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04534707000002 meters 0.02445063248995338 Centerline is valid? [True, True] Translation: X:-107.46, Y:13.74, Z:-5.53 [[ 9.16165881e-01 3.93215047e-01 -7.76015852e-02 -1.07458642e+02] [-3.92128142e-01 9.19439969e-01 2.94221626e-02 1.37387990e+01] [ 8.29192362e-02 3.47418386e-03 9.96550215e-01 -5.53285502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07534707 meters 0.026264419172568092 Centerline is valid? [True, True] Translation: X:-107.48, Y:13.75, Z:-5.53 [[ 9.16525123e-01 3.92962705e-01 -7.45788995e-02 -1.07484403e+02] [-3.91956415e-01 9.19548500e-01 2.82970782e-02 1.37530547e+01] [ 7.96986115e-02 3.29669500e-03 9.96813555e-01 -5.52682132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10534707000001 meters 0.0279439358929545 Centerline is valid? [True, True] Translation: X:-107.51, Y:13.77, Z:-5.53 [[ 9.15870943e-01 3.94609205e-01 -7.39188178e-02 -1.07507756e+02] [-3.93623823e-01 9.18842818e-01 2.80742107e-02 1.37716350e+01] [ 7.89981169e-02 3.38385376e-03 9.96869022e-01 -5.53289045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13534707000001 meters 0.023956763099299998 Centerline is valid? [True, True] Translation: X:-107.54, Y:13.78, Z:-5.53 [[ 9.16491620e-01 3.93202520e-01 -7.37216981e-02 -1.07536483e+02] [-3.92216174e-01 9.19446202e-01 2.80206068e-02 1.37751500e+01] [ 7.88009085e-02 3.23419102e-03 9.96885127e-01 -5.52971477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16534707000001 meters 0.023353905166506504 Centerline is valid? [True, True] Translation: X:-107.56, Y:13.79, Z:-5.53 [[ 9.16083154e-01 3.94197015e-01 -7.34871986e-02 -1.07562622e+02] [-3.93219338e-01 9.19020035e-01 2.79415103e-02 1.37857444e+01] [ 7.85506678e-02 3.29984072e-03 9.96904661e-01 -5.52996504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19534707000001 meters 0.026075803780870998 Centerline is valid? [True, True] Translation: X:-107.59, Y:13.80, Z:-5.54 [[ 9.15211890e-01 3.95836337e-01 -7.55035788e-02 -1.07587991e+02] [-3.94808534e-01 9.18314321e-01 2.87233097e-02 1.38011417e+01] [ 8.07057475e-02 3.52154277e-03 9.96731750e-01 -5.53802331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22534707000001 meters 0.023153202857051386 Centerline is valid? [True, True] Translation: X:-107.62, Y:13.81, Z:-5.54 [[ 9.16501395e-01 3.92651243e-01 -7.64865673e-02 -1.07615561e+02] [-3.91583698e-01 9.19681655e-01 2.91180474e-02 1.38066408e+01] [ 8.17765303e-02 3.26416180e-03 9.96645345e-01 -5.53898507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25534707000001 meters 0.023217007037057025 Centerline is valid? [True, True] Translation: X:-107.64, Y:13.82, Z:-5.54 [[ 9.17045104e-01 3.91452400e-01 -7.61137114e-02 -1.07642337e+02] [-3.90389500e-01 9.20193058e-01 2.89961037e-02 1.38188703e+01] [ 8.13899032e-02 3.12325878e-03 9.96677445e-01 -5.53873134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28534707000001 meters 0.02391276607236485 Centerline is valid? [True, True] Translation: X:-107.67, Y:13.83, Z:-5.54 [[ 9.18158481e-01 3.89138667e-01 -7.45392645e-02 -1.07667824e+02] [-3.88109907e-01 9.21174823e-01 2.84191073e-02 1.38335740e+01] [ 7.97226673e-02 2.83618263e-03 9.96813048e-01 -5.54296388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31534707000002 meters 0.02216806258320702 Centerline is valid? [True, True] Translation: X:-107.70, Y:13.84, Z:-5.54 [[ 9.18228348e-01 3.88918975e-01 -7.48246757e-02 -1.07695815e+02] [-3.87880760e-01 9.21267652e-01 2.85381946e-02 1.38393396e+01] [ 8.00325987e-02 2.81847287e-03 9.96788262e-01 -5.54083130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34534707000002 meters 0.022225963850092005 Centerline is valid? [True, True] Translation: X:-107.72, Y:13.85, Z:-5.54 [[ 9.18340560e-01 3.88723691e-01 -7.44614455e-02 -1.07722582e+02] [-3.87693587e-01 9.21350208e-01 2.84161515e-02 1.38513905e+01] [ 7.96510996e-02 2.77252036e-03 9.96818948e-01 -5.54108441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37534707000002 meters 0.022179690235885244 Centerline is valid? [True, True] Translation: X:-107.75, Y:13.87, Z:-5.54 [[ 9.19162631e-01 3.87136693e-01 -7.25619672e-02 -1.07747976e+02] [-3.86151432e-01 9.22018829e-01 2.77191214e-02 1.38664382e+01] [ 7.76345890e-02 2.54152700e-03 9.96978641e-01 -5.54233488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40534707000002 meters 0.022101914447762855 Centerline is valid? [True, True] Translation: X:-107.77, Y:13.88, Z:-5.54 [[ 9.19029250e-01 3.87542875e-01 -7.20816004e-02 -1.07772939e+02] [-3.86569872e-01 9.21848195e-01 2.75615414e-02 1.38785087e+01] [ 7.71295723e-02 2.53471234e-03 9.97017856e-01 -5.54253767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43534707 meters 0.022811701857878352 Centerline is valid? [True, True] Translation: X:-107.80, Y:13.89, Z:-5.54 [[ 9.18316952e-01 3.89188381e-01 -7.22937058e-02 -1.07799581e+02] [-3.88212923e-01 9.21154348e-01 2.76657678e-02 1.38910455e+01] [ 7.73608568e-02 2.65940725e-03 9.96999612e-01 -5.54298693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46534707 meters 0.022811701857878352 Centerline is valid? [True, True] Translation: X:-107.83, Y:13.90, Z:-5.54 [[ 9.18170386e-01 3.89535791e-01 -7.22842304e-02 -1.07825460e+02] [-3.88559462e-01 9.21007481e-01 2.76905067e-02 1.39007296e+01] [ 7.73607604e-02 2.66211850e-03 9.96999612e-01 -5.54445743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49534707000001 meters 0.021762496514150662 Centerline is valid? [True, True] Translation: X:-107.85, Y:13.91, Z:-5.55 [[ 9.18831049e-01 3.87857077e-01 -7.29135936e-02 -1.07850573e+02] [-3.86856426e-01 9.21716084e-01 2.79565216e-02 1.39140787e+01] [ 7.80487667e-02 2.51977215e-03 9.96946358e-01 -5.54636041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52534707000001 meters 0.02174982101384302 Centerline is valid? [True, True] Translation: X:-107.88, Y:13.93, Z:-5.54 [[ 9.18789197e-01 3.88193365e-01 -7.16402299e-02 -1.07876484e+02] [-3.87227260e-01 9.21574584e-01 2.74833863e-02 1.39272624e+01] [ 7.66906832e-02 2.48961143e-03 9.97051825e-01 -5.54444922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55534707000001 meters 0.022688096416616208 Centerline is valid? [True, True] Translation: X:-107.90, Y:13.94, Z:-5.55 [[ 9.18369851e-01 3.89431894e-01 -7.02824059e-02 -1.07901192e+02] [-3.88503622e-01 9.21051823e-01 2.69902799e-02 1.39417349e+01] [ 7.52446138e-02 2.51790995e-03 9.97161927e-01 -5.54730773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58534707000001 meters 0.02177329906861122 Centerline is valid? [True, True] Translation: X:-107.93, Y:13.95, Z:-5.54 [[ 9.18626325e-01 3.88786513e-01 -7.05033464e-02 -1.07927743e+02] [-3.87848627e-01 9.21324614e-01 2.70997850e-02 1.39503253e+01] [ 7.54924993e-02 2.45005017e-03 9.97143360e-01 -5.54457529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61534707000001 meters 0.0204376077813289 Centerline is valid? [True, True] Translation: X:-107.95, Y:13.96, Z:-5.54 [[ 9.18072979e-01 3.89926490e-01 -7.14096505e-02 -1.07954756e+02] [-3.88966567e-01 9.20842422e-01 2.74634960e-02 1.39589670e+01] [ 7.64657802e-02 2.56247305e-03 9.97068913e-01 -5.54333041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64534707000001 meters 0.021238267542639574 Centerline is valid? [True, True] Translation: X:-107.98, Y:13.97, Z:-5.55 [[ 9.17541863e-01 3.91260743e-01 -7.09363093e-02 -1.07981095e+02] [-3.90315399e-01 9.20276106e-01 2.73089229e-02 1.39717463e+01] [ 7.59659000e-02 2.63045391e-03 9.97106947e-01 -5.54985935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67534707000002 meters 0.02229423912750427 Centerline is valid? [True, True] Translation: X:-108.01, Y:13.99, Z:-5.55 [[ 9.16988372e-01 3.92270498e-01 -7.24995258e-02 -1.08006345e+02] [-3.91283929e-01 9.19845804e-01 2.79389263e-02 1.39856368e+01] [ 7.76480011e-02 2.74822872e-03 9.96977048e-01 -5.55259290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70534707000002 meters 0.02199462431478732 Centerline is valid? [True, True] Translation: X:-108.03, Y:14.00, Z:-5.55 [[ 9.17883182e-01 3.90585408e-01 -7.02388968e-02 -1.08033072e+02] [-3.89652968e-01 9.20563287e-01 2.70887135e-02 1.39981631e+01] [ 7.52398059e-02 2.50452002e-03 9.97162323e-01 -5.55225434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73534707000002 meters 0.021826245592863988 Centerline is valid? [True, True] Translation: X:-108.06, Y:14.01, Z:-5.55 [[ 9.18055860e-01 3.90187257e-01 -7.01950275e-02 -1.08059841e+02] [-3.89253928e-01 9.20732239e-01 2.70836513e-02 1.40102193e+01] [ 7.51985204e-02 2.45938540e-03 9.97165550e-01 -5.55334002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76534707000002 meters 0.0212074430204332 Centerline is valid? [True, True] Translation: X:-108.09, Y:14.02, Z:-5.56 [[ 9.18272729e-01 3.89701922e-01 -7.00543168e-02 -1.08086081e+02] [-3.88769287e-01 9.20937934e-01 2.70511360e-02 1.40191958e+01] [ 7.50575575e-02 2.39464633e-03 9.97176328e-01 -5.55595601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79534707000002 meters 0.021209518105889027 Centerline is valid? [True, True] Translation: X:-108.11, Y:14.03, Z:-5.56 [[ 9.18158215e-01 3.89867728e-01 -7.06303595e-02 -1.08112905e+02] [-3.88918994e-01 9.20867704e-01 2.72889814e-02 1.40292821e+01] [ 7.56803101e-02 2.41388593e-03 9.97129211e-01 -5.55612923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82534707 meters 0.020708375095358056 Centerline is valid? [True, True] Translation: X:-108.14, Y:14.04, Z:-5.56 [[ 9.17831483e-01 3.90701267e-01 -7.02701209e-02 -1.08139389e+02] [-3.89762868e-01 9.20514273e-01 2.71731586e-02 1.40385438e+01] [ 7.53012367e-02 2.44830344e-03 9.97157826e-01 -5.55607113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85534707000001 meters 0.0224127513915019 Centerline is valid? [True, True] Translation: X:-108.16, Y:14.05, Z:-5.56 [[ 9.17355590e-01 3.91841488e-01 -7.01353732e-02 -1.08164132e+02] [-3.90908856e-01 9.20029284e-01 2.71363684e-02 1.40537078e+01] [ 7.51597522e-02 2.52283929e-03 9.97168314e-01 -5.56087161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88534707000001 meters 0.022697462653365 Centerline is valid? [True, True] Translation: X:-108.19, Y:14.06, Z:-5.56 [[ 9.16485929e-01 3.93745638e-01 -7.08372353e-02 -1.08189984e+02] [-3.92798131e-01 9.19215516e-01 2.74310579e-02 1.40645105e+01] [ 7.59155452e-02 2.68455501e-03 9.97110637e-01 -5.56314384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91534707000001 meters 0.02233541035166911 Centerline is valid? [True, True] Translation: X:-108.21, Y:14.07, Z:-5.56 [[ 9.16276166e-01 3.94407978e-01 -6.98593911e-02 -1.08214850e+02] [-3.93487449e-01 9.18931506e-01 2.70650168e-02 1.40743675e+01] [ 7.48706540e-02 2.68976377e-03 9.97189626e-01 -5.56273519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94534707000001 meters 0.022231826891652005 Centerline is valid? [True, True] Translation: X:-108.24, Y:14.08, Z:-5.56 [[ 9.16129574e-01 3.94571968e-01 -7.08488882e-02 -1.08241245e+02] [-3.93623775e-01 9.18861017e-01 2.74728116e-02 1.40849002e+01] [ 7.59402828e-02 2.71915165e-03 9.97108660e-01 -5.56361841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97534707000001 meters 0.022509189894159475 Centerline is valid? [True, True] Translation: X:-108.27, Y:14.10, Z:-5.56 [[ 9.16004488e-01 3.95046144e-01 -6.98163459e-02 -1.08267254e+02] [-3.94124589e-01 9.18657337e-01 2.71017722e-02 1.40969374e+01] [ 7.48437490e-02 2.69099364e-03 9.97191642e-01 -5.56395935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00534707000001 meters 0.022408175118432603 Centerline is valid? [True, True] Translation: X:-108.29, Y:14.11, Z:-5.56 [[ 9.15437209e-01 3.96280630e-01 -7.02593583e-02 -1.08293548e+02] [-3.95349274e-01 9.18125200e-01 2.72959567e-02 1.41054970e+01] [ 7.53237462e-02 2.78925191e-03 9.97155230e-01 -5.56472415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03534707000001 meters 0.022044694066167162 Centerline is valid? [True, True] Translation: X:-108.32, Y:14.12, Z:-5.57 [[ 9.15161619e-01 3.96814659e-01 -7.08331654e-02 -1.08319446e+02] [-3.95868729e-01 9.17894344e-01 2.75303791e-02 1.41162720e+01] [ 7.59418199e-02 2.84588890e-03 9.97108189e-01 -5.56889795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06534707000002 meters 0.02363027018779964 Centerline is valid? [True, True] Translation: X:-108.35, Y:14.13, Z:-5.57 [[ 9.14185543e-01 3.98928025e-01 -7.15627232e-02 -1.08345274e+02] [-3.97967439e-01 9.16977219e-01 2.78333711e-02 1.41294878e+01] [ 7.67248987e-02 3.03476820e-03 9.97047682e-01 -5.57123440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09534707000002 meters 0.02349258234653141 Centerline is valid? [True, True] Translation: X:-108.37, Y:14.14, Z:-5.57 [[ 9.13452593e-01 4.00660538e-01 -7.12424979e-02 -1.08371645e+02] [-3.99711639e-01 9.16221192e-01 2.77368527e-02 1.41402726e+01] [ 7.63869486e-02 3.14015559e-03 9.97073304e-01 -5.57135653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12534707000002 meters 0.024089758089252185 Centerline is valid? [True, True] Translation: X:-108.40, Y:14.16, Z:-5.57 [[ 9.13353295e-01 4.01085147e-01 -7.01175040e-02 -1.08396587e+02] [-4.00165243e-01 9.16035529e-01 2.73255810e-02 1.41554110e+01] [ 7.51900095e-02 3.10067854e-03 9.97164404e-01 -5.57240783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15534707000002 meters 0.024638996870055985 Centerline is valid? [True, True] Translation: X:-108.42, Y:14.17, Z:-5.57 [[ 9.13007494e-01 4.01996790e-01 -6.93966587e-02 -1.08422247e+02] [-4.01096293e-01 9.15635769e-01 2.70721739e-02 1.41682139e+01] [ 7.44249899e-02 3.11764485e-03 9.97221741e-01 -5.57383554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18534707000002 meters 0.024079513630885143 Centerline is valid? [True, True] Translation: X:-108.45, Y:14.18, Z:-5.57 [[ 9.12865831e-01 4.02289391e-01 -6.95645141e-02 -1.08448152e+02] [-4.01383579e-01 9.15507219e-01 2.71616496e-02 1.41781487e+01] [ 7.46136583e-02 3.12711182e-03 9.97207613e-01 -5.57232819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21534707 meters 0.02839896229943634 Centerline is valid? [True, True] Translation: X:-108.47, Y:14.20, Z:-5.58 [[ 9.12094063e-01 4.04069151e-01 -6.93724886e-02 -1.08470802e+02] [-4.03172423e-01 9.14722665e-01 2.71006118e-02 1.41975569e+01] [ 7.44071088e-02 3.25076722e-03 9.97222651e-01 -5.58133727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24534707000001 meters 0.022411799794872445 Centerline is valid? [True, True] Translation: X:-108.50, Y:14.19, Z:-5.57 [[ 9.12342513e-01 4.03265015e-01 -7.07705244e-02 -1.08502351e+02] [-4.02327643e-01 9.15077537e-01 2.76689193e-02 1.41947424e+01] [ 7.59184243e-02 3.22940690e-03 9.97108802e-01 -5.57430242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27534707000001 meters 0.023700490891668105 Centerline is valid? [True, True] Translation: X:-108.53, Y:14.21, Z:-5.58 [[ 9.11950272e-01 4.04221040e-01 -7.03708179e-02 -1.08528091e+02] [-4.03295919e-01 9.14655464e-01 2.75278840e-02 1.42091303e+01] [ 7.54924030e-02 3.27620242e-03 9.97140995e-01 -5.57898332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30534707000001 meters 0.023919523090564183 Centerline is valid? [True, True] Translation: X:-108.55, Y:14.22, Z:-5.58 [[ 9.11187262e-01 4.05781265e-01 -7.12694866e-02 -1.08554890e+02] [-4.04834951e-01 9.13963809e-01 2.79073141e-02 1.42197921e+01] [ 7.64619966e-02 3.42359003e-03 9.97066619e-01 -5.57909805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33534707000001 meters 0.02726696238720124 Centerline is valid? [True, True] Translation: X:-108.58, Y:14.24, Z:-5.59 [[ 9.11442899e-01 4.05302728e-01 -7.07215749e-02 -1.08578093e+02] [-4.04367381e-01 9.14176458e-01 2.77204700e-02 1.42391644e+01] [ 7.58871810e-02 3.33187246e-03 9.97110844e-01 -5.58548218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36534707000001 meters 0.027765199437439988 Centerline is valid? [True, True] Translation: X:-108.60, Y:14.25, Z:-5.58 [[ 9.11405344e-01 4.05539371e-01 -6.98435183e-02 -1.08603706e+02] [-4.04626075e-01 9.14071663e-01 2.73995363e-02 1.42493802e+01] [ 7.49535716e-02 3.28842487e-03 9.97181603e-01 -5.58371111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39534707000001 meters 0.025970202863878664 Centerline is valid? [True, True] Translation: X:-108.63, Y:14.26, Z:-5.59 [[ 9.11706668e-01 4.04769043e-01 -7.03773624e-02 -1.08630088e+02] [-4.03838522e-01 9.14413217e-01 2.76209528e-02 1.42588415e+01] [ 7.55340970e-02 3.23888322e-03 9.97137959e-01 -5.58757596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42534707000002 meters 0.024266575078091733 Centerline is valid? [True, True] Translation: X:-108.66, Y:14.27, Z:-5.59 [[ 9.11341906e-01 4.05484796e-01 -7.09789436e-02 -1.08657340e+02] [-4.04539637e-01 9.14095771e-01 2.78676129e-02 1.42659922e+01] [ 7.61814456e-02 3.31687258e-03 9.97088454e-01 -5.58676640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45534707000002 meters 0.025954620632663166 Centerline is valid? [True, True] Translation: X:-108.68, Y:14.28, Z:-5.59 [[ 9.11343146e-01 4.05403222e-01 -7.14275679e-02 -1.08680723e+02] [-4.04444305e-01 9.14131966e-01 2.80633756e-02 1.42820039e+01] [ 7.66712059e-02 3.31310805e-03 9.97050926e-01 -5.59101422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48534707000002 meters 0.028234820715265313 Centerline is valid? [True, True] Translation: X:-108.71, Y:14.30, Z:-5.59 [[ 9.11194237e-01 4.06025574e-01 -6.97731737e-02 -1.08705453e+02] [-4.05110300e-01 9.13855896e-01 2.74416908e-02 1.42990337e+01] [ 7.49046544e-02 3.26112085e-03 9.97185368e-01 -5.59472214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51534707000002 meters 0.026904100213445675 Centerline is valid? [True, True] Translation: X:-108.73, Y:14.31, Z:-5.59 [[ 9.12026043e-01 4.04245551e-01 -6.92389412e-02 -1.08732197e+02] [-4.03337735e-01 9.14645334e-01 2.72504006e-02 1.43090494e+01] [ 7.43449277e-02 3.07360270e-03 9.97227850e-01 -5.59314787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54534707000002 meters 0.027325447550153818 Centerline is valid? [True, True] Translation: X:-108.76, Y:14.32, Z:-5.60 [[ 9.11311368e-01 4.05638116e-01 -7.04933287e-02 -1.08758417e+02] [-4.04700410e-01 9.14028036e-01 2.77547746e-02 1.43218173e+01] [ 7.56912732e-02 3.23543743e-03 9.97126052e-01 -5.59626006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57534707 meters 0.027139155892429434 Centerline is valid? [True, True] Translation: X:-108.78, Y:14.33, Z:-5.59 [[ 9.11612481e-01 4.05170719e-01 -6.92775090e-02 -1.08783627e+02] [-4.04262320e-01 9.14235710e-01 2.72954844e-02 1.43329584e+01] [ 7.43953037e-02 3.12338230e-03 9.97223938e-01 -5.59342589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60534707000001 meters 0.0239941057463185 Centerline is valid? [True, True] Translation: X:-108.81, Y:14.34, Z:-5.60 [[ 9.10996782e-01 4.06248366e-01 -7.10431439e-02 -1.08811549e+02] [-4.05295101e-01 9.13756811e-01 2.80066335e-02 1.43394026e+01] [ 7.62938058e-02 3.27948517e-03 9.97079987e-01 -5.59659655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63534707000001 meters 0.026654580979764583 Centerline is valid? [True, True] Translation: X:-108.84, Y:14.36, Z:-5.60 [[ 9.10504467e-01 4.07130884e-01 -7.22914783e-02 -1.08836087e+02] [-4.06144452e-01 9.13363545e-01 2.85257584e-02 1.43566435e+01] [ 7.76421182e-02 3.38795242e-03 9.96975538e-01 -5.60293082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66534707000001 meters 0.026620323094788192 Centerline is valid? [True, True] Translation: X:-108.86, Y:14.37, Z:-5.61 [[ 9.09977251e-01 4.08208379e-01 -7.28513689e-02 -1.08862964e+02] [-4.07208053e-01 9.12882129e-01 2.87718592e-02 1.43679265e+01] [ 7.82496268e-02 3.48392668e-03 9.96927710e-01 -5.60564100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69534707000001 meters 0.026573952714527074 Centerline is valid? [True, True] Translation: X:-108.89, Y:14.38, Z:-5.61 [[ 9.09841734e-01 4.08583981e-01 -7.24372064e-02 -1.08888721e+02] [-4.07594239e-01 9.12714122e-01 2.86333458e-02 1.43798796e+01] [ 7.78135876e-02 3.47317501e-03 9.96961876e-01 -5.60690701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72534707000001 meters 0.026227260820515644 Centerline is valid? [True, True] Translation: X:-108.91, Y:14.39, Z:-5.60 [[ 9.09541452e-01 4.09452739e-01 -7.12937654e-02 -1.08913885e+02] [-4.08494880e-01 9.12324732e-01 2.82048991e-02 1.43913987e+01] [ 7.65916386e-02 3.46961329e-03 9.97056509e-01 -5.60465069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75534707000001 meters 0.025561662168407922 Centerline is valid? [True, True] Translation: X:-108.94, Y:14.40, Z:-5.60 [[ 9.09911348e-01 4.08847681e-01 -7.00350841e-02 -1.08940879e+02] [-4.07920384e-01 9.12596513e-01 2.77229909e-02 1.44029327e+01] [ 7.52482541e-02 3.34327440e-03 9.97159226e-01 -5.60373440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78534707000001 meters 0.025326012087591294 Centerline is valid? [True, True] Translation: X:-108.97, Y:14.42, Z:-5.60 [[ 9.10347759e-01 4.08274558e-01 -6.76671509e-02 -1.08966967e+02] [-4.07405650e-01 9.12853705e-01 2.68095042e-02 1.44164843e+01] [ 7.27158479e-02 3.16200749e-03 9.97347686e-01 -5.60179361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81534707000002 meters 0.02448758460544382 Centerline is valid? [True, True] Translation: X:-108.99, Y:14.43, Z:-5.60 [[ 9.10053592e-01 4.08744761e-01 -6.87763090e-02 -1.08992813e+02] [-4.07846899e-01 9.12643011e-01 2.72697820e-02 1.44272893e+01] [ 7.39145983e-02 3.23324127e-03 9.97259334e-01 -5.60439497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84534707000002 meters 0.025175628595352297 Centerline is valid? [True, True] Translation: X:-109.02, Y:14.44, Z:-5.61 [[ 9.09071928e-01 4.10457093e-01 -7.15066725e-02 -1.09017642e+02] [-4.09490874e-01 9.11873207e-01 2.83633230e-02 1.44396753e+01] [ 7.68469459e-02 3.49702915e-03 9.97036768e-01 -5.60923412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87534707000002 meters 0.024680406070767665 Centerline is valid? [True, True] Translation: X:-109.04, Y:14.45, Z:-5.61 [[ 9.09658644e-01 4.09320210e-01 -7.05557732e-02 -1.09043385e+02] [-4.08374824e-01 9.12384684e-01 2.80034114e-02 1.44520938e+01] [ 7.58363691e-02 3.33965613e-03 9.97114683e-01 -5.61329034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90534707000002 meters 0.02348051338581769 Centerline is valid? [True, True] Translation: X:-109.07, Y:14.46, Z:-5.61 [[ 9.10308193e-01 4.07760589e-01 -7.12060061e-02 -1.09068933e+02] [-4.06791238e-01 9.13083204e-01 2.82834090e-02 1.44626955e+01] [ 7.65498677e-02 3.21936038e-03 9.97060557e-01 -5.61234680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93534707000002 meters 0.023831971934712037 Centerline is valid? [True, True] Translation: X:-109.10, Y:14.48, Z:-5.61 [[ 9.11854054e-01 4.04782588e-01 -6.83611105e-02 -1.09095112e+02] [-4.03880194e-01 9.14408543e-01 2.71625774e-02 1.44774591e+01] [ 7.35049218e-02 2.84139223e-03 9.97290807e-01 -5.61290273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96534707 meters 0.021272538493793677 Centerline is valid? [True, True] Translation: X:-109.12, Y:14.48, Z:-5.61 [[ 9.12190892e-01 4.04148600e-01 -6.76142410e-02 -1.09122396e+02] [-4.03263266e-01 9.14689210e-01 2.68772497e-02 1.44834164e+01] [ 7.27084195e-02 2.74915728e-03 9.97349451e-01 -5.61111307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99534707000001 meters 0.021314809558327 Centerline is valid? [True, True] Translation: X:-109.15, Y:14.49, Z:-5.61 [[ 9.12346934e-01 4.03852378e-01 -6.72779928e-02 -1.09149068e+02] [-4.02973641e-01 9.14820200e-01 2.67627823e-02 1.44940564e+01] [ 7.23554801e-02 2.69431539e-03 9.97375268e-01 -5.61247554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02534707000001 meters 0.02070793836464611 Centerline is valid? [True, True] Translation: X:-109.18, Y:14.50, Z:-5.61 [[ 9.12253716e-01 4.03972376e-01 -6.78194423e-02 -1.09175557e+02] [-4.03078124e-01 9.14767184e-01 2.70004620e-02 1.45032872e+01] [ 7.29464410e-02 2.70526179e-03 9.97332191e-01 -5.61398590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05534707000001 meters 0.02052697083685783 Centerline is valid? [True, True] Translation: X:-109.20, Y:14.51, Z:-5.62 [[ 9.12091533e-01 4.04409211e-01 -6.73960416e-02 -1.09201035e+02] [-4.03526191e-01 9.14574136e-01 2.68470198e-02 1.45148828e+01] [ 7.24958587e-02 2.70912847e-03 9.97365034e-01 -5.61532656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08534707000001 meters 0.021540326704469086 Centerline is valid? [True, True] Translation: X:-109.23, Y:14.53, Z:-5.62 [[ 9.11879013e-01 4.04902412e-01 -6.73104886e-02 -1.09225613e+02] [-4.04020959e-01 9.14355862e-01 2.68406967e-02 1.45300853e+01] [ 7.24136027e-02 2.71938019e-03 9.97370982e-01 -5.61827257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11534707000001 meters 0.020695911961667673 Centerline is valid? [True, True] Translation: X:-109.25, Y:14.54, Z:-5.62 [[ 9.12368215e-01 4.03901544e-01 -6.66917032e-02 -1.09251261e+02] [-4.03032382e-01 9.14798765e-01 2.66104837e-02 1.45406630e+01] [ 7.17575032e-02 2.60035644e-03 9.97418718e-01 -5.61702899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14534707000001 meters 0.019271939475969647 Centerline is valid? [True, True] Translation: X:-109.28, Y:14.55, Z:-5.62 [[ 9.11951742e-01 4.04774294e-01 -6.70953911e-02 -1.09278326e+02] [-4.03895906e-01 9.14412724e-01 2.67855981e-02 1.45492720e+01] [ 7.21950008e-02 2.67238090e-03 9.97386956e-01 -5.61727156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17534707000002 meters 0.021023623917621845 Centerline is valid? [True, True] Translation: X:-109.30, Y:14.57, Z:-5.62 [[ 9.12106492e-01 4.04632742e-01 -6.58338216e-02 -1.09302332e+02] [-4.03784861e-01 9.14475617e-01 2.63084190e-02 1.45660343e+01] [ 7.08486723e-02 2.58662074e-03 9.97483722e-01 -5.61862151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20534707000002 meters 0.020985412449445528 Centerline is valid? [True, True] Translation: X:-109.33, Y:14.58, Z:-5.62 [[ 9.12195359e-01 4.04561139e-01 -6.50377708e-02 -1.09328533e+02] [-4.03731621e-01 9.14507467e-01 2.60167579e-02 1.45793747e+01] [ 7.00028963e-02 2.52543876e-03 9.97543591e-01 -5.62108189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23534707000002 meters 0.01983929256047149 Centerline is valid? [True, True] Translation: X:-109.36, Y:14.59, Z:-5.62 [[ 9.11814406e-01 4.05206935e-01 -6.63462850e-02 -1.09355048e+02] [-4.04343770e-01 9.14221278e-01 2.65625696e-02 1.45875843e+01] [ 7.14185229e-02 2.60657343e-03 9.97443031e-01 -5.62260258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26534707000002 meters 0.020923994799559514 Centerline is valid? [True, True] Translation: X:-109.38, Y:14.60, Z:-5.62 [[ 9.11819827e-01 4.05443000e-01 -6.48118515e-02 -1.09381855e+02] [-4.04618992e-01 9.14116766e-01 2.59616850e-02 1.45998895e+01] [ 6.97715836e-02 2.55172686e-03 9.97559730e-01 -5.62219099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29534707000002 meters 0.019674719744979467 Centerline is valid? [True, True] Translation: X:-109.41, Y:14.61, Z:-5.62 [[ 9.11762090e-01 4.05456642e-01 -6.55347428e-02 -1.09407361e+02] [-4.04612530e-01 9.14110692e-01 2.62743959e-02 1.46100048e+01] [ 7.05591374e-02 2.56017998e-03 9.97504313e-01 -5.62186371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32534707 meters 0.020718342020607978 Centerline is valid? [True, True] Translation: X:-109.43, Y:14.62, Z:-5.62 [[ 9.10534500e-01 4.08437106e-01 -6.40785039e-02 -1.09433990e+02] [-4.07636607e-01 9.12782421e-01 2.57031011e-02 1.46223603e+01] [ 6.89878321e-02 2.71718355e-03 9.97613801e-01 -5.62367969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35534707000001 meters 0.02293363592210683 Centerline is valid? [True, True] Translation: X:-109.46, Y:14.64, Z:-5.63 [[ 9.09277339e-01 4.11203158e-01 -6.42392716e-02 -1.09460243e+02] [-4.10403802e-01 9.11539074e-01 2.57921553e-02 1.46359983e+01] [ 6.91624219e-02 2.91181896e-03 9.97601163e-01 -5.62627795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38534707000001 meters 0.02293363592210683 Centerline is valid? [True, True] Translation: X:-109.49, Y:14.65, Z:-5.63 [[ 9.09115105e-01 4.11563091e-01 -6.42304247e-02 -1.09485934e+02] [-4.10763078e-01 9.11376609e-01 2.58141704e-02 1.46460979e+01] [ 6.91622664e-02 2.91543472e-03 9.97601163e-01 -5.62774869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41534707000001 meters 0.021245431704819524 Centerline is valid? [True, True] Translation: X:-109.51, Y:14.65, Z:-5.63 [[ 9.08246381e-01 4.13205455e-01 -6.59527427e-02 -1.09513895e+02] [-4.12364061e-01 9.10632569e-01 2.65368609e-02 1.46528105e+01] [ 7.10238912e-02 3.09453299e-03 9.97469814e-01 -5.62808345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44534707000001 meters 0.02370410386106939 Centerline is valid? [True, True] Translation: X:-109.54, Y:14.67, Z:-5.63 [[ 9.07296225e-01 4.15462141e-01 -6.48441892e-02 -1.09537857e+02] [-4.14652600e-01 9.09604876e-01 2.61187678e-02 1.46708336e+01] [ 6.98339499e-02 3.19035221e-03 9.97553528e-01 -5.63471403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47534707000001 meters 0.0231120271564106 Centerline is valid? [True, True] Translation: X:-109.57, Y:14.68, Z:-5.63 [[ 9.07740621e-01 4.14669427e-01 -6.36885531e-02 -1.09565793e+02] [-4.13884868e-01 9.09967010e-01 2.56779415e-02 1.46777872e+01] [ 6.86023395e-02 3.05081789e-03 9.97639420e-01 -5.62994346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50534707000001 meters 0.022594467869845234 Centerline is valid? [True, True] Translation: X:-109.59, Y:14.69, Z:-5.63 [[ 9.07590045e-01 4.15088678e-01 -6.31007085e-02 -1.09590769e+02] [-4.14318361e-01 9.09775885e-01 2.54584973e-02 1.46904329e+01] [ 6.79750369e-02 3.03790338e-03 9.97682397e-01 -5.63468612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53534707000001 meters 0.020863979629961546 Centerline is valid? [True, True] Translation: X:-109.62, Y:14.70, Z:-5.63 [[ 9.08156961e-01 4.13883153e-01 -6.28623103e-02 -1.09619175e+02] [-4.13114022e-01 9.10325354e-01 2.53880704e-02 1.46959468e+01] [ 6.77328495e-02 2.91294898e-03 9.97699241e-01 -5.63113102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56534707000002 meters 0.021037340251007865 Centerline is valid? [True, True] Translation: X:-109.65, Y:14.71, Z:-5.63 [[ 9.09185087e-01 4.11998612e-01 -6.03292744e-02 -1.09646999e+02] [-4.11285400e-01 9.11180619e-01 2.43761999e-02 1.47073681e+01] [ 6.50138261e-02 2.65007230e-03 9.97880844e-01 -5.63245120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59534707000002 meters 0.01970914643999922 Centerline is valid? [True, True] Translation: X:-109.67, Y:14.72, Z:-5.63 [[ 9.10288091e-01 4.09641489e-01 -5.97448102e-02 -1.09674579e+02] [-4.08935575e-01 9.12243338e-01 2.41616798e-02 1.47164161e+01] [ 6.43994316e-02 2.43768894e-03 9.97921225e-01 -5.63298252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62534707000002 meters 0.020600261832860765 Centerline is valid? [True, True] Translation: X:-109.70, Y:14.73, Z:-5.63 [[ 9.11083750e-01 4.08039150e-01 -5.85700570e-02 -1.09701664e+02] [-4.07355893e-01 9.12961643e-01 2.37110590e-02 1.47270158e+01] [ 6.31472558e-02 2.25609735e-03 9.98001670e-01 -5.63349747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65534707000002 meters 0.019421241427145006 Centerline is valid? [True, True] Translation: X:-109.73, Y:14.74, Z:-5.64 [[ 9.12174924e-01 4.05586838e-01 -5.86193244e-02 -1.09728663e+02] [-4.04895782e-01 9.14054185e-01 2.37561292e-02 1.47375897e+01] [ 6.32164121e-02 2.06497185e-03 9.97997706e-01 -5.63758986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68534707000002 meters 0.019121428107890408 Centerline is valid? [True, True] Translation: X:-109.76, Y:14.75, Z:-5.64 [[ 9.13631626e-01 4.02633224e-01 -5.62471212e-02 -1.09755615e+02] [-4.01990182e-01 9.15359693e-01 2.28150341e-02 1.47484566e+01] [ 6.06724384e-02 1.76625381e-03 9.98156168e-01 -5.63840298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71534707 meters 0.018057861252885044 Centerline is valid? [True, True] Translation: X:-109.78, Y:14.76, Z:-5.64 [[ 9.13714231e-01 4.02366604e-01 -5.68103819e-02 -1.09782554e+02] [-4.01709758e-01 9.15476933e-01 2.30489858e-02 1.47562730e+01] [ 6.12827363e-02 1.76109840e-03 9.98118893e-01 -5.63711625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74534707000001 meters 0.01964296867017124 Centerline is valid? [True, True] Translation: X:-109.81, Y:14.77, Z:-5.64 [[ 9.14468737e-01 4.01220355e-01 -5.26227680e-02 -1.09807482e+02] [-4.00654483e-01 9.15980249e-01 2.13580912e-02 1.47714630e+01] [ 5.67707171e-02 1.55224123e-03 9.98386036e-01 -5.63744362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77534707000001 meters 0.017369389277275153 Centerline is valid? [True, True] Translation: X:-109.84, Y:14.78, Z:-5.64 [[ 9.15666994e-01 3.98526306e-01 -5.22564742e-02 -1.09835237e+02] [-3.97962708e-01 9.17155900e-01 2.12305979e-02 1.47776801e+01] [ 5.63882854e-02 1.35597025e-03 9.98407994e-01 -5.63927073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80534707000001 meters 0.018676729896376837 Centerline is valid? [True, True] Translation: X:-109.86, Y:14.79, Z:-5.64 [[ 9.15436970e-01 3.99063424e-01 -5.21875246e-02 -1.09860845e+02] [-3.98501498e-01 9.16922292e-01 2.12147636e-02 1.47897853e+01] [ 5.63179409e-02 1.37602783e-03 9.98411937e-01 -5.63910327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83534707000001 meters 0.016965284827079128 Centerline is valid? [True, True] Translation: X:-109.89, Y:14.80, Z:-5.64 [[ 9.16159241e-01 3.97703716e-01 -4.98397460e-02 -1.09886810e+02] [-3.97188029e-01 9.17513096e-01 2.02827028e-02 1.47989274e+01] [ 5.37951260e-02 1.21356485e-03 9.98551256e-01 -5.63870365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86534707000001 meters 0.017665776051819793 Centerline is valid? [True, True] Translation: X:-109.91, Y:14.81, Z:-5.64 [[ 9.16321017e-01 3.97615583e-01 -4.75146508e-02 -1.09912475e+02] [-3.97146479e-01 9.17551380e-01 1.93426973e-02 1.48117380e+01] [ 5.12880913e-02 1.14615622e-03 9.98683242e-01 -5.63894994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89534707000001 meters 0.01875435196950978 Centerline is valid? [True, True] Translation: X:-109.94, Y:14.83, Z:-5.64 [[ 9.16635185e-01 3.97060814e-01 -4.60721977e-02 -1.09938014e+02] [-3.96617965e-01 9.17791689e-01 1.87777669e-02 1.48256852e+01] [ 4.97405956e-02 1.06069951e-03 9.98761607e-01 -5.64033543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92534707000002 meters 0.01736169495229975 Centerline is valid? [True, True] Translation: X:-109.96, Y:14.84, Z:-5.64 [[ 9.16734485e-01 3.96978337e-01 -4.47893358e-02 -1.09962101e+02] [-3.96558800e-01 9.17827425e-01 1.82739387e-02 1.48373405e+01] [ 4.83632385e-02 1.00925542e-03 9.98829304e-01 -5.63927715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95534707000002 meters 0.01767180353980423 Centerline is valid? [True, True] Translation: X:-109.99, Y:14.85, Z:-5.64 [[ 9.16724537e-01 3.97119249e-01 -4.37312918e-02 -1.09987679e+02] [-3.96719139e-01 9.17766489e-01 1.78492375e-02 1.48489865e+01] [ 4.72233900e-02 9.86206480e-04 9.98883867e-01 -5.63697813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98534707000002 meters 0.018018065215745675 Centerline is valid? [True, True] Translation: X:-110.01, Y:14.86, Z:-5.64 [[ 9.16484488e-01 3.97953876e-01 -4.10961747e-02 -1.10013389e+02] [-3.97600587e-01 9.17404932e-01 1.67917900e-02 1.48625860e+01] [ 4.43841913e-02 9.50448131e-04 9.99014084e-01 -5.63873099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01534707000002 meters 0.016801674518302452 Centerline is valid? [True, True] Translation: X:-110.04, Y:14.87, Z:-5.64 [[ 9.18195335e-01 3.94157942e-01 -3.94568590e-02 -1.10040137e+02] [-3.93828020e-01 9.19042436e-01 1.61397502e-02 1.48704782e+01] [ 4.26241385e-02 7.19773357e-04 9.99090919e-01 -5.63759560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04534707000002 meters 0.0176865427823781 Centerline is valid? [True, True] Translation: X:-110.07, Y:14.88, Z:-5.64 [[ 9.18107647e-01 3.94593731e-01 -3.70693496e-02 -1.10066097e+02] [-3.94302829e-01 9.18855433e-01 1.51648509e-02 1.48828770e+01] [ 4.00453284e-02 6.93583852e-04 9.99197623e-01 -5.63658864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07534707 meters 0.01703639447976706 Centerline is valid? [True, True] Translation: X:-110.09, Y:14.89, Z:-5.64 [[ 9.18603213e-01 3.93511190e-01 -3.62915979e-02 -1.10092337e+02] [-3.93230808e-01 9.19319620e-01 1.48649939e-02 1.48934841e+01] [ 3.92131195e-02 6.15943189e-04 9.99230680e-01 -5.63557672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10534707000001 meters 0.01681961785778871 Centerline is valid? [True, True] Translation: X:-110.12, Y:14.90, Z:-5.64 [[ 9.18480347e-01 3.93864343e-01 -3.55630751e-02 -1.10118456e+02] [-3.93595352e-01 9.19168373e-01 1.45671233e-02 1.49035134e+01] [ 3.84259243e-02 6.17844631e-04 9.99261260e-01 -5.63700193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13534707000001 meters 0.01626780631161778 Centerline is valid? [True, True] Translation: X:-110.14, Y:14.91, Z:-5.64 [[ 9.19506495e-01 3.91658204e-01 -3.33415182e-02 -1.10143738e+02] [-3.91419692e-01 9.20110659e-01 1.36748276e-02 1.49136251e+01] [ 3.60337447e-02 4.76433948e-04 9.99350460e-01 -5.63627500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16534707000001 meters 0.016878006727997698 Centerline is valid? [True, True] Translation: X:-110.17, Y:14.93, Z:-5.63 [[ 9.19119119e-01 3.92714927e-01 -3.15441208e-02 -1.10170180e+02] [-3.92501867e-01 9.19660128e-01 1.29434570e-02 1.49270212e+01] [ 3.40929589e-02 4.84547557e-04 9.99418549e-01 -5.63454487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19534707000001 meters 0.01613291339572933 Centerline is valid? [True, True] Translation: X:-110.20, Y:14.94, Z:-5.64 [[ 9.20055087e-01 3.90534522e-01 -3.13276884e-02 -1.10196837e+02] [-3.90322830e-01 9.20588199e-01 1.28629794e-02 1.49356475e+01] [ 3.38633378e-02 3.93262362e-04 9.99426395e-01 -5.63818654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22534707000001 meters 0.01608853866821757 Centerline is valid? [True, True] Translation: X:-110.22, Y:14.95, Z:-5.64 [[ 9.21264803e-01 3.87789643e-01 -2.98388372e-02 -1.10222602e+02] [-3.87596239e-01 9.21747858e-01 1.22491450e-02 1.49454384e+01] [ 3.22539758e-02 2.80714950e-04 9.99479666e-01 -5.64137376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25534707000001 meters 0.016457577948819427 Centerline is valid? [True, True] Translation: X:-110.25, Y:14.96, Z:-5.64 [[ 9.19779799e-01 3.91236567e-01 -3.06442580e-02 -1.10248096e+02] [-3.91033937e-01 9.20290058e-01 1.25964128e-02 1.49566075e+01] [ 3.31297832e-02 3.97018850e-04 9.99450979e-01 -5.63897903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28534707000001 meters 0.01644639563410504 Centerline is valid? [True, True] Translation: X:-110.27, Y:14.97, Z:-5.64 [[ 9.21264162e-01 3.87910150e-01 -2.82499370e-02 -1.10274001e+02] [-3.87735793e-01 9.21697163e-01 1.16316395e-02 1.49662874e+01] [ 3.05499178e-02 2.37699115e-04 9.99533214e-01 -5.64180816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31534707000002 meters 0.016733552544964524 Centerline is valid? [True, True] Translation: X:-110.30, Y:14.98, Z:-5.64 [[ 9.19860084e-01 3.91266093e-01 -2.77176933e-02 -1.10300623e+02] [-3.91099826e-01 9.20277527e-01 1.14105507e-02 1.49781102e+01] [ 2.99725318e-02 3.44274901e-04 9.99550663e-01 -5.64212720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34534707000002 meters 0.017461406939428433 Centerline is valid? [True, True] Translation: X:-110.33, Y:14.99, Z:-5.64 [[ 9.19313710e-01 3.92540431e-01 -2.78264791e-02 -1.10326315e+02] [-3.92373102e-01 9.19734673e-01 1.14665096e-02 1.49896111e+01] [ 3.00940463e-02 3.77042491e-04 9.99547001e-01 -5.64078511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37534707000002 meters 0.017182073151870113 Centerline is valid? [True, True] Translation: X:-110.35, Y:15.00, Z:-5.64 [[ 9.20553241e-01 3.89764150e-01 -2.57999469e-02 -1.10352958e+02] [-3.89618695e-01 9.20914679e-01 1.06502007e-02 1.49983548e+01] [ 2.79106162e-02 2.48064910e-04 9.99610392e-01 -5.64185244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40534707000002 meters 0.01751658529471201 Centerline is valid? [True, True] Translation: X:-110.38, Y:15.01, Z:-5.64 [[ 9.19970225e-01 3.91101936e-01 -2.63450358e-02 -1.10379235e+02] [-3.90950925e-01 9.20347319e-01 1.08713929e-02 1.50077792e+01] [ 2.84984059e-02 2.98258363e-04 9.99593793e-01 -5.64436135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43534707000002 meters 0.01788769104186182 Centerline is valid? [True, True] Translation: X:-110.41, Y:15.02, Z:-5.64 [[ 9.18939229e-01 3.93517589e-01 -2.63552652e-02 -1.10405424e+02] [-3.93367027e-01 9.19317017e-01 1.08905497e-02 1.50199107e+01] [ 2.85144667e-02 3.59539024e-04 9.99593315e-01 -5.64307368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46534707 meters 0.01825570750540167 Centerline is valid? [True, True] Translation: X:-110.43, Y:15.03, Z:-5.64 [[ 9.18250193e-01 3.95151484e-01 -2.59208131e-02 -1.10431852e+02] [-3.95006167e-01 9.18615889e-01 1.07227654e-02 1.50297678e+01] [ 2.80483874e-02 3.92699593e-04 9.99606489e-01 -5.64497993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49534707000001 meters 0.019082861658779527 Centerline is valid? [True, True] Translation: X:-110.46, Y:15.04, Z:-5.64 [[ 9.16380121e-01 3.99369896e-01 -2.74072953e-02 -1.10458095e+02] [-3.99208949e-01 9.16789722e-01 1.13499613e-02 1.50431461e+01] [ 2.96595595e-02 5.40358647e-04 9.99559912e-01 -5.64455191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52534707000001 meters 0.01979572904143186 Centerline is valid? [True, True] Translation: X:-110.48, Y:15.06, Z:-5.64 [[ 9.15094957e-01 4.02297595e-01 -2.75293481e-02 -1.10483201e+02] [-4.02136183e-01 9.15508739e-01 1.14122070e-02 1.50583328e+01] [ 2.97944622e-02 6.27293919e-04 9.99555850e-01 -5.64216499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55534707000001 meters 0.01920920961849429 Centerline is valid? [True, True] Translation: X:-110.51, Y:15.07, Z:-5.65 [[ 9.14247215e-01 4.04259385e-01 -2.69514271e-02 -1.10510409e+02] [-4.04105224e-01 9.14644141e-01 1.11831531e-02 1.50679009e+01] [ 2.91718595e-02 6.67045872e-04 9.99574188e-01 -5.64689303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58534707000001 meters 0.01944880027873709 Centerline is valid? [True, True] Translation: X:-110.54, Y:15.08, Z:-5.65 [[ 9.13050915e-01 4.06885707e-01 -2.79651266e-02 -1.10536007e+02] [-4.06720449e-01 9.13478756e-01 1.16206010e-02 1.50795592e+01] [ 3.02738055e-02 7.63788422e-04 9.99541351e-01 -5.64840015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61534707000001 meters 0.0196771836115643 Centerline is valid? [True, True] Translation: X:-110.56, Y:15.09, Z:-5.65 [[ 9.11062168e-01 4.11262251e-01 -2.87938741e-02 -1.10562548e+02] [-4.11089001e-01 9.11516592e-01 1.19722922e-02 1.50918978e+01] [ 3.11698458e-02 9.29342447e-04 9.99513670e-01 -5.65011998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64534707000001 meters 0.020609751739222328 Centerline is valid? [True, True] Translation: X:-110.59, Y:15.11, Z:-5.65 [[ 9.09659043e-01 4.14319470e-01 -2.93223818e-02 -1.10588426e+02] [-4.14141317e-01 9.10130909e-01 1.21941692e-02 1.51051470e+01] [ 3.17394877e-02 1.05107354e-03 9.99495623e-01 -5.65040663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67534707000002 meters 0.021073437877652236 Centerline is valid? [True, True] Translation: X:-110.61, Y:15.12, Z:-5.65 [[ 9.07772619e-01 4.18328557e-01 -3.08235428e-02 -1.10613810e+02] [-4.18133319e-01 9.08294939e-01 1.28386621e-02 1.51189627e+01] [ 3.33676469e-02 1.23376429e-03 9.99442384e-01 -5.65095086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70534707000002 meters 0.022120975808404848 Centerline is valid? [True, True] Translation: X:-110.64, Y:15.13, Z:-5.65 [[ 9.06181745e-01 4.21686278e-01 -3.18642030e-02 -1.10639533e+02] [-4.21479742e-01 9.06740708e-01 1.32708767e-02 1.51334889e+01] [ 3.44887166e-02 1.40428983e-03 9.99404101e-01 -5.65006997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73534707000002 meters 0.02401979975242418 Centerline is valid? [True, True] Translation: X:-110.66, Y:15.15, Z:-5.65 [[ 9.05406679e-01 4.23297699e-01 -3.25238950e-02 -1.10664067e+02] [-4.23083036e-01 9.05989437e-01 1.35604086e-02 1.51505764e+01] [ 3.52063951e-02 1.48262369e-03 9.99378963e-01 -5.64684621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76534707000002 meters 0.022304916427671552 Centerline is valid? [True, True] Translation: X:-110.69, Y:15.16, Z:-5.65 [[ 9.05370130e-01 4.23426838e-01 -3.18534331e-02 -1.10691001e+02] [-4.23220390e-01 9.05929157e-01 1.32990134e-02 1.51575023e+01] [ 3.44881130e-02 1.44049290e-03 9.99404070e-01 -5.64842223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79534707000002 meters 0.022538173000059048 Centerline is valid? [True, True] Translation: X:-110.72, Y:15.17, Z:-5.65 [[ 9.05407653e-01 4.23376636e-01 -3.14516414e-02 -1.10716021e+02] [-4.23175383e-01 9.05952649e-01 1.31298345e-02 1.51697771e+01] [ 3.40525630e-02 1.42170776e-03 9.99419032e-01 -5.64674871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82534707 meters 0.02342181999436725 Centerline is valid? [True, True] Translation: X:-110.74, Y:15.18, Z:-5.65 [[ 9.04478296e-01 4.25203359e-01 -3.34830681e-02 -1.10741975e+02] [-4.24975803e-01 9.05096482e-01 1.39973664e-02 1.51828095e+01] [ 3.62571343e-02 1.56917967e-03 9.99341262e-01 -5.64599934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85534707000001 meters 0.02148676541409192 Centerline is valid? [True, True] Translation: X:-110.77, Y:15.19, Z:-5.64 [[ 9.06248280e-01 4.21499521e-01 -3.24377557e-02 -1.10769622e+02] [-4.21282932e-01 9.06827605e-01 1.35788925e-02 1.51911475e+01] [ 3.51389490e-02 1.35962482e-03 9.99381512e-01 -5.64314001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88534707000001 meters 0.02112210533452886 Centerline is valid? [True, True] Translation: X:-110.80, Y:15.20, Z:-5.64 [[ 9.06075975e-01 4.21887338e-01 -3.22087063e-02 -1.10795202e+02] [-4.21674159e-01 9.06647231e-01 1.34796533e-02 1.52029637e+01] [ 3.48888295e-02 1.36798917e-03 9.99390263e-01 -5.64351631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91534707000001 meters 0.02027930197247357 Centerline is valid? [True, True] Translation: X:-110.82, Y:15.21, Z:-5.64 [[ 9.07357423e-01 4.19116055e-01 -3.23146970e-02 -1.10821168e+02] [-4.18899005e-01 9.07931813e-01 1.35442452e-02 1.52131365e+01] [ 3.50161520e-02 1.24712302e-03 9.99385968e-01 -5.63910388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94534707000001 meters 0.020212109726096498 Centerline is valid? [True, True] Translation: X:-110.85, Y:15.23, Z:-5.64 [[ 9.08226633e-01 4.17156585e-01 -3.32380346e-02 -1.10847376e+02] [-4.16925610e-01 9.08833831e-01 1.39320739e-02 1.52258945e+01] [ 3.60197067e-02 1.20430726e-03 9.99350354e-01 -5.63689667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97534707000001 meters 0.019436454240784943 Centerline is valid? [True, True] Translation: X:-110.88, Y:15.24, Z:-5.63 [[ 9.10391080e-01 4.12327254e-01 -3.42683007e-02 -1.10875030e+02] [-4.12077519e-01 9.11035227e-01 1.43851903e-02 1.52365803e+01] [ 3.71510352e-02 1.02504735e-03 9.99309136e-01 -5.62824634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00534707000001 meters 0.01807693693127053 Centerline is valid? [True, True] Translation: X:-110.90, Y:15.24, Z:-5.63 [[ 9.11988402e-01 4.08738464e-01 -3.47853841e-02 -1.10902435e+02] [-4.08478432e-01 9.12651125e-01 1.46046081e-02 1.52444494e+01] [ 3.77163850e-02 8.89845985e-04 9.99288088e-01 -5.62731874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03534707000001 meters 0.017487700947783142 Centerline is valid? [True, True] Translation: X:-110.93, Y:15.26, Z:-5.62 [[ 9.13673213e-01 4.04842916e-01 -3.61036333e-02 -1.10929522e+02] [-4.04559671e-01 9.14385938e-01 1.51601108e-02 1.52559763e+01] [ 3.91501181e-02 7.54686854e-04 9.99233055e-01 -5.62323010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06534707000002 meters 0.017355705322233815 Centerline is valid? [True, True] Translation: X:-110.96, Y:15.27, Z:-5.62 [[ 9.13988699e-01 4.03863756e-01 -3.89708253e-02 -1.10956719e+02] [-4.03532063e-01 9.14818834e-01 1.63821407e-02 1.52667611e+01] [ 4.22673979e-02 7.52886070e-04 9.99106051e-01 -5.62052355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09534707000002 meters 0.016978997467645966 Centerline is valid? [True, True] Translation: X:-110.98, Y:15.28, Z:-5.61 [[ 9.14642775e-01 4.02165329e-01 -4.11295719e-02 -1.10983521e+02] [-4.01793328e-01 9.15566800e-01 1.73077004e-02 1.52792393e+01] [ 4.46174276e-02 6.95224508e-04 9.99003905e-01 -5.61422815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12534707000002 meters 0.015042459604896209 Centerline is valid? [True, True] Translation: X:-111.01, Y:15.29, Z:-5.61 [[ 9.16246679e-01 3.98529109e-01 -4.08236819e-02 -1.11010209e+02] [-3.98158310e-01 9.17155548e-01 1.71947916e-02 1.52881890e+01] [ 4.42942913e-02 4.99617481e-04 9.99018401e-01 -5.61107163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15534707000002 meters 0.015143614807838993 Centerline is valid? [True, True] Translation: X:-111.04, Y:15.30, Z:-5.61 [[ 9.14714855e-01 4.01909061e-01 -4.20219133e-02 -1.11035944e+02] [-4.01518838e-01 9.15679346e-01 1.77188669e-02 1.53026878e+01] [ 4.55999712e-02 6.64879017e-04 9.98959559e-01 -5.60691447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18534707000002 meters 0.014907734014101242 Centerline is valid? [True, True] Translation: X:-111.06, Y:15.32, Z:-5.60 [[ 9.14331376e-01 4.02725195e-01 -4.25505907e-02 -1.11061503e+02] [-4.02325068e-01 9.15320672e-01 1.79612731e-02 1.53161772e+01] [ 4.61808925e-02 6.96613809e-04 9.98932851e-01 -5.60396750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21534707 meters 0.014874354529459738 Centerline is valid? [True, True] Translation: X:-111.09, Y:15.33, Z:-5.60 [[ 9.13465048e-01 4.04455881e-01 -4.46883352e-02 -1.11086298e+02] [-4.04015460e-01 9.14557159e-01 1.88868102e-02 1.53297073e+01] [ 4.85089183e-02 8.02337278e-04 9.98822427e-01 -5.60243753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24534707000001 meters 0.014473339546425202 Centerline is valid? [True, True] Translation: X:-111.11, Y:15.34, Z:-5.60 [[ 9.13653281e-01 4.03889889e-01 -4.59416990e-02 -1.11111916e+02] [-4.03422571e-01 9.14807280e-01 1.94388669e-02 1.53412911e+01] [ 4.98789625e-02 7.73533783e-04 9.98754970e-01 -5.59963708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27534707000001 meters 0.014473339546425202 Centerline is valid? [True, True] Translation: X:-111.14, Y:15.35, Z:-5.60 [[ 9.13471450e-01 4.04301224e-01 -4.59394224e-02 -1.11137399e+02] [-4.03834155e-01 9.14625550e-01 1.94442460e-02 1.53518537e+01] [ 4.98787019e-02 7.90144295e-04 9.98754970e-01 -5.60111045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30534707000001 meters 0.014854202800716443 Centerline is valid? [True, True] Translation: X:-111.16, Y:15.37, Z:-5.60 [[ 9.13198283e-01 4.04752136e-01 -4.73772434e-02 -1.11161000e+02] [-4.04254622e-01 9.14426072e-01 2.00788175e-02 1.53686413e+01] [ 5.14499308e-02 8.16527932e-04 9.98675241e-01 -5.59565955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33534707000001 meters 0.015050508963258423 Centerline is valid? [True, True] Translation: X:-111.19, Y:15.38, Z:-5.59 [[ 9.13312605e-01 4.04520631e-01 -4.71502398e-02 -1.11185419e+02] [-4.04026267e-01 9.14528543e-01 2.00079765e-02 1.53825782e+01] [ 5.12138794e-02 7.76398304e-04 9.98687406e-01 -5.59371397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36534707000001 meters 0.014329999119311194 Centerline is valid? [True, True] Translation: X:-111.21, Y:15.39, Z:-5.59 [[ 9.14547327e-01 4.01614744e-01 -4.80498016e-02 -1.11211091e+02] [-4.01096543e-01 9.15808508e-01 2.04044030e-02 1.53932394e+01] [ 5.21991262e-02 6.11817096e-04 9.98636509e-01 -5.58895422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39534707000001 meters 0.014569548792059473 Centerline is valid? [True, True] Translation: X:-111.24, Y:15.41, Z:-5.59 [[ 9.13874273e-01 4.03269823e-01 -4.69815121e-02 -1.11236121e+02] [-4.02776258e-01 9.15080861e-01 1.99575691e-02 1.54069322e+01] [ 5.10401679e-02 6.84328687e-04 9.98696367e-01 -5.58790747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42534707000002 meters 0.014567731629730633 Centerline is valid? [True, True] Translation: X:-111.26, Y:15.42, Z:-5.59 [[ 9.14030669e-01 4.02701546e-01 -4.87791094e-02 -1.11261983e+02] [-4.02167198e-01 9.15331109e-01 2.07486342e-02 1.54190946e+01] [ 5.30045434e-02 6.52469741e-04 9.98594058e-01 -5.58753332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45534707000002 meters 0.014306847701709542 Centerline is valid? [True, True] Translation: X:-111.29, Y:15.43, Z:-5.59 [[ 9.14597930e-01 4.01484027e-01 -4.81788567e-02 -1.11287844e+02] [-4.00959949e-01 9.15865857e-01 2.05146480e-02 1.54298095e+01] [ 5.23616733e-02 5.55137315e-04 9.98628032e-01 -5.58798337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48534707000002 meters 0.014060813737192653 Centerline is valid? [True, True] Translation: X:-111.31, Y:15.44, Z:-5.59 [[ 9.14787487e-01 4.01119159e-01 -4.76159069e-02 -1.11313493e+02] [-4.00606403e-01 9.16025736e-01 2.02820578e-02 1.54417339e+01] [ 5.17529181e-02 5.21464454e-04 9.98659784e-01 -5.58675184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51534707000002 meters 0.014043175147684231 Centerline is valid? [True, True] Translation: X:-111.34, Y:15.45, Z:-5.59 [[ 9.15585991e-01 3.99299148e-01 -4.75655727e-02 -1.11339917e+02] [-3.98783818e-01 9.16820611e-01 2.02838217e-02 1.54539918e+01] [ 5.17084102e-02 3.96797698e-04 9.98662147e-01 -5.58737129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54534707000002 meters 0.014086615684375425 Centerline is valid? [True, True] Translation: X:-111.37, Y:15.47, Z:-5.59 [[ 9.15664680e-01 3.98937387e-01 -4.90627599e-02 -1.11365510e+02] [-3.98387459e-01 9.16978094e-01 2.09429679e-02 1.54659851e+01] [ 5.33444090e-02 3.69252195e-04 9.98576105e-01 -5.58684467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57534707 meters 0.014144515192722014 Centerline is valid? [True, True] Translation: X:-111.39, Y:15.48, Z:-5.59 [[ 9.15640439e-01 3.98940101e-01 -4.94912435e-02 -1.11390190e+02] [-3.98380107e-01 9.16976915e-01 2.11335821e-02 1.54766467e+01] [ 5.38133611e-02 3.65564474e-04 9.98550944e-01 -5.58670933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60534707000001 meters 0.014321089921607468 Centerline is valid? [True, True] Translation: X:-111.42, Y:15.49, Z:-5.59 [[ 9.15529188e-01 3.99060077e-01 -5.05703503e-02 -1.11415023e+02] [-3.98474864e-01 9.16924707e-01 2.16070496e-02 1.54892456e+01] [ 5.49917146e-02 3.69128848e-04 9.98486743e-01 -5.58539273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63534707000001 meters 0.014283027318094966 Centerline is valid? [True, True] Translation: X:-111.44, Y:15.50, Z:-5.59 [[ 9.14975794e-01 4.00336940e-01 -5.04938575e-02 -1.11440324e+02] [-3.99753927e-01 9.16367916e-01 2.16018560e-02 1.55019903e+01] [ 5.49189719e-02 4.19942508e-04 9.98490726e-01 -5.58699066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66534707000001 meters 0.014577826608389832 Centerline is valid? [True, True] Translation: X:-111.47, Y:15.51, Z:-5.59 [[ 9.14294576e-01 4.01891918e-01 -5.04808370e-02 -1.11465667e+02] [-4.01310132e-01 9.15686981e-01 2.16224628e-02 1.55138372e+01] [ 5.49145383e-02 4.89170894e-04 9.98490938e-01 -5.58669008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69534707000001 meters 0.014547613516328512 Centerline is valid? [True, True] Translation: X:-111.49, Y:15.53, Z:-5.59 [[ 9.13973252e-01 4.02600099e-01 -5.06562539e-02 -1.11489982e+02] [-4.02013944e-01 9.15375825e-01 2.17229936e-02 1.55252764e+01] [ 5.51151895e-02 5.10285334e-04 9.98479872e-01 -5.58681711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72534707000001 meters 0.015310103006314827 Centerline is valid? [True, True] Translation: X:-111.52, Y:15.54, Z:-5.59 [[ 9.12030388e-01 4.06754303e-01 -5.24548243e-02 -1.11515140e+02] [-4.06130998e-01 9.13537277e-01 2.25223508e-02 1.55408835e+01] [ 5.70805005e-02 7.62461888e-04 9.98369288e-01 -5.58822169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75534707000001 meters 0.014863884415310051 Centerline is valid? [True, True] Translation: X:-111.54, Y:15.55, Z:-5.59 [[ 9.11736887e-01 4.07556406e-01 -5.13188606e-02 -1.11540254e+02] [-4.06959781e-01 9.13179707e-01 2.20580862e-02 1.55509303e+01] [ 5.58532564e-02 7.73541402e-04 9.98438689e-01 -5.58977939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78534707000001 meters 0.015945625113202147 Centerline is valid? [True, True] Translation: X:-111.57, Y:15.57, Z:-5.59 [[ 9.10219328e-01 4.10899672e-01 -5.15968535e-02 -1.11565268e+02] [-4.10300409e-01 9.11680064e-01 2.22043936e-02 1.55667170e+01] [ 5.61636007e-02 9.59341903e-04 9.98421118e-01 -5.59108495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81534707000002 meters 0.015595360374566616 Centerline is valid? [True, True] Translation: X:-111.59, Y:15.58, Z:-5.59 [[ 9.10109604e-01 4.11105006e-01 -5.18958861e-02 -1.11589975e+02] [-4.10497765e-01 9.11587494e-01 2.23567583e-02 1.55773939e+01] [ 5.64986160e-02 9.56044817e-04 9.98402220e-01 -5.59021356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84534707000002 meters 0.016100109962743137 Centerline is valid? [True, True] Translation: X:-111.62, Y:15.59, Z:-5.59 [[ 9.08216949e-01 4.15353166e-01 -5.12222601e-02 -1.11615417e+02] [-4.14767662e-01 9.09659455e-01 2.20785674e-02 1.55920431e+01] [ 5.57652161e-02 1.19320793e-03 9.98443197e-01 -5.59299674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87534707000002 meters 0.017546172026967705 Centerline is valid? [True, True] Translation: X:-111.64, Y:15.61, Z:-5.59 [[ 9.06932317e-01 4.18140776e-01 -5.13036470e-02 -1.11639891e+02] [-4.17556545e-01 9.08381242e-01 2.21370866e-02 1.56076755e+01] [ 5.58596892e-02 1.34533432e-03 9.98437722e-01 -5.59304407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90534707000002 meters 0.01902185927409202 Centerline is valid? [True, True] Translation: X:-111.66, Y:15.62, Z:-5.59 [[ 9.05203158e-01 4.21797168e-01 -5.19075251e-02 -1.11663992e+02] [-4.21203749e-01 9.06688861e-01 2.24212340e-02 1.56243980e+01] [ 5.65211878e-02 1.56787227e-03 9.98400169e-01 -5.59401342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93534707000002 meters 0.019145742968343236 Centerline is valid? [True, True] Translation: X:-111.69, Y:15.64, Z:-5.60 [[ 9.02704067e-01 4.26952250e-01 -5.32648400e-02 -1.11689996e+02] [-4.26335069e-01 9.04272131e-01 2.30287147e-02 1.56358154e+01] [ 5.79980720e-02 1.92055479e-03 9.98314848e-01 -5.59544020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96534707 meters 0.02053274326803051 Centerline is valid? [True, True] Translation: X:-111.72, Y:15.65, Z:-5.60 [[ 8.99880733e-01 4.32746586e-01 -5.42683950e-02 -1.11715428e+02] [-4.32116068e-01 9.01512593e-01 2.34680319e-02 1.56529370e+01] [ 5.90793522e-02 2.33181576e-03 9.98250566e-01 -5.59787065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99534707000001 meters 0.02336601929270332 Centerline is valid? [True, True] Translation: X:-111.74, Y:15.67, Z:-5.60 [[ 8.95860518e-01 4.40863178e-01 -5.54399704e-02 -1.11739422e+02] [-4.40220071e-01 8.97569567e-01 2.39825258e-02 1.56722889e+01] [ 6.03342427e-02 2.92078974e-03 9.98173957e-01 -5.60116402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02534707000001 meters 0.025872954549614094 Centerline is valid? [True, True] Translation: X:-111.76, Y:15.69, Z:-5.60 [[ 8.91078097e-01 4.50307899e-01 -5.65917056e-02 -1.11763029e+02] [-4.49656302e-01 8.92865967e-01 2.44862033e-02 1.56912657e+01] [ 6.15551387e-02 3.62769759e-03 9.98097092e-01 -5.60242839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05534707000001 meters 0.031864303846385486 Centerline is valid? [True, True] Translation: X:-111.78, Y:15.72, Z:-5.60 [[ 8.88791689e-01 4.54908768e-01 -5.57435687e-02 -1.11784858e+02] [-4.54285374e-01 8.90529577e-01 2.41220241e-02 1.57161848e+01] [ 6.06146169e-02 3.88403339e-03 9.98153687e-01 -5.60428892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08534707000001 meters 0.03283406366601105 Centerline is valid? [True, True] Translation: X:-111.81, Y:15.73, Z:-5.60 [[ 8.87417072e-01 4.57721130e-01 -5.46104969e-02 -1.11811256e+02] [-4.57128020e-01 8.89086855e-01 2.36333841e-02 1.57309695e+01] [ 5.93709742e-02 3.99131984e-03 9.98228008e-01 -5.60218011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11534707000001 meters 0.027041988902948868 Centerline is valid? [True, True] Translation: X:-111.84, Y:15.73, Z:-5.60 [[ 8.87727385e-01 4.57069700e-01 -5.50216320e-02 -1.11840847e+02] [-4.56466191e-01 8.89421998e-01 2.38144071e-02 1.57316883e+01] [ 5.98222938e-02 3.97481345e-03 9.98201129e-01 -5.60302800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14534707000001 meters 0.029479374293848504 Centerline is valid? [True, True] Translation: X:-111.86, Y:15.75, Z:-5.60 [[ 8.87410088e-01 4.57731160e-01 -5.46399145e-02 -1.11864363e+02] [-4.57136245e-01 8.89081758e-01 2.36660119e-02 1.57483894e+01] [ 5.94120223e-02 3.97642761e-03 9.98225626e-01 -5.60423426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17534707000002 meters 0.025511035574873834 Centerline is valid? [True, True] Translation: X:-111.89, Y:15.75, Z:-5.60 [[ 8.88999309e-01 4.54612789e-01 -5.48401346e-02 -1.11893571e+02] [-4.54006028e-01 8.90681249e-01 2.37789633e-02 1.57520660e+01] [ 5.96553004e-02 3.75826980e-03 9.98211962e-01 -5.60437728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20534707000002 meters 0.02619383456907261 Centerline is valid? [True, True] Translation: X:-111.92, Y:15.76, Z:-5.60 [[ 8.89824211e-01 4.52844016e-01 -5.60818203e-02 -1.11919100e+02] [-4.52205441e-01 8.91582019e-01 2.43257441e-02 1.57642957e+01] [ 6.10173102e-02 3.71486821e-03 9.98129795e-01 -5.60443067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23534707000002 meters 0.028953562785234793 Centerline is valid? [True, True] Translation: X:-111.94, Y:15.78, Z:-5.61 [[ 8.90111124e-01 4.52123125e-01 -5.73312036e-02 -1.11943121e+02] [-4.51453353e-01 8.91947720e-01 2.48824185e-02 1.57800261e+01] [ 6.23863531e-02 3.73424652e-03 9.98045088e-01 -5.60729919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26534707000002 meters 0.0250979234470751 Centerline is valid? [True, True] Translation: X:-111.97, Y:15.78, Z:-5.61 [[ 8.90929811e-01 4.50508074e-01 -5.73284096e-02 -1.11972358e+02] [-4.49834153e-01 8.92765062e-01 2.48953715e-02 1.57819506e+01] [ 6.23963670e-02 3.60824797e-03 9.98044926e-01 -5.60732478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29534707000002 meters 0.02476951485131254 Centerline is valid? [True, True] Translation: X:-112.00, Y:15.79, Z:-5.61 [[ 8.91524725e-01 4.49259558e-01 -5.78749916e-02 -1.11999335e+02] [-4.48568959e-01 8.93394274e-01 2.51507398e-02 1.57925820e+01] [ 6.30043963e-02 3.53841841e-03 9.98006977e-01 -5.60684243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32534707 meters 0.024884916586679535 Centerline is valid? [True, True] Translation: X:-112.03, Y:15.80, Z:-5.61 [[ 8.91520450e-01 4.49352884e-01 -5.72125184e-02 -1.12026535e+02] [-4.48676626e-01 8.93347561e-01 2.48881821e-02 1.58033319e+01] [ 6.22942401e-02 3.48159640e-03 9.98051755e-01 -5.60726438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35534707000001 meters 0.025029978195964815 Centerline is valid? [True, True] Translation: X:-112.05, Y:15.81, Z:-5.61 [[ 8.91286343e-01 4.49820182e-01 -5.71879289e-02 -1.12052585e+02] [-4.49143854e-01 8.93112326e-01 2.49032614e-02 1.58146549e+01] [ 6.22772338e-02 3.48967003e-03 9.98052788e-01 -5.60744394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38534707000001 meters 0.02420423631239384 Centerline is valid? [True, True] Translation: X:-112.08, Y:15.82, Z:-5.61 [[ 8.89539412e-01 4.53030099e-01 -5.90200247e-02 -1.12080881e+02] [-4.52315057e-01 8.91487078e-01 2.57270093e-02 1.58223348e+01] [ 6.42706989e-02 3.81045709e-03 9.97925226e-01 -5.60614583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41534707000001 meters 0.02406225299980714 Centerline is valid? [True, True] Translation: X:-112.11, Y:15.84, Z:-5.61 [[ 8.90036307e-01 4.52114228e-01 -5.85499445e-02 -1.12105924e+02] [-4.51408323e-01 8.91952327e-01 2.55259255e-02 1.58353739e+01] [ 6.37643933e-02 3.71093176e-03 9.97958081e-01 -5.60924774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44534707000001 meters 0.027459873087278697 Centerline is valid? [True, True] Translation: X:-112.13, Y:15.85, Z:-5.61 [[ 8.88428944e-01 4.55133413e-01 -5.95616396e-02 -1.12130427e+02] [-4.54408801e-01 8.90414343e-01 2.59796030e-02 1.58527110e+01] [ 6.48587236e-02 3.98430202e-03 9.97886502e-01 -5.61181922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47534707000001 meters 0.027445583410818156 Centerline is valid? [True, True] Translation: X:-112.16, Y:15.86, Z:-5.61 [[ 8.87466120e-01 4.57023644e-01 -5.94413588e-02 -1.12155951e+02] [-4.56305869e-01 8.89445051e-01 2.59317554e-02 1.58643809e+01] [ 6.47212477e-02 4.10988651e-03 9.97894919e-01 -5.60959370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50534707000001 meters 0.03248201933037625 Centerline is valid? [True, True] Translation: X:-112.18, Y:15.89, Z:-5.61 [[ 8.86238045e-01 4.59411196e-01 -5.93589089e-02 -1.12178178e+02] [-4.58700123e-01 8.88213444e-01 2.59051372e-02 1.58857682e+01] [ 6.46244910e-02 4.26982063e-03 9.97900518e-01 -5.61453659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53534707000001 meters 0.029810968947169152 Centerline is valid? [True, True] Translation: X:-112.21, Y:15.89, Z:-5.61 [[ 8.85367063e-01 4.61056306e-01 -5.96007248e-02 -1.12206547e+02] [-4.60342379e-01 8.87359985e-01 2.60221088e-02 1.58911476e+01] [ 6.48849557e-02 4.39762144e-03 9.97883061e-01 -5.61363056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56534707000002 meters 0.028668171475974353 Centerline is valid? [True, True] Translation: X:-112.23, Y:15.90, Z:-5.61 [[ 8.84718305e-01 4.62260705e-01 -5.99046006e-02 -1.12233887e+02] [-4.61541429e-01 8.86732658e-01 2.61668190e-02 1.58995140e+01] [ 6.52152579e-02 4.49819114e-03 9.97861081e-01 -5.61273828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59534707000002 meters 0.02961428687162309 Centerline is valid? [True, True] Translation: X:-112.26, Y:15.91, Z:-5.61 [[ 8.84039419e-01 4.63450811e-01 -6.07260341e-02 -1.12260484e+02] [-4.62712712e-01 8.86110573e-01 2.65518181e-02 1.59117362e+01] [ 6.61154425e-02 4.62585403e-03 9.97801258e-01 -5.61431426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62534707000002 meters 0.02966868576194851 Centerline is valid? [True, True] Translation: X:-112.29, Y:15.92, Z:-5.62 [[ 8.82772687e-01 4.65725516e-01 -6.17424253e-02 -1.12289082e+02] [-4.64966609e-01 8.84915894e-01 2.70168915e-02 1.59212556e+01] [ 6.72193092e-02 4.85839221e-03 9.97726396e-01 -5.61803534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65534707000002 meters 0.030740851320500036 Centerline is valid? [True, True] Translation: X:-112.32, Y:15.93, Z:-5.62 [[ 8.81664933e-01 4.67698234e-01 -6.26522767e-02 -1.12316156e+02] [-4.66921229e-01 8.83873628e-01 2.74221564e-02 1.59327167e+01] [ 6.82019892e-02 5.07652439e-03 9.97658618e-01 -5.61911747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68534707000002 meters 0.03314697869870612 Centerline is valid? [True, True] Translation: X:-112.34, Y:15.95, Z:-5.62 [[ 8.81206523e-01 4.68595836e-01 -6.23939547e-02 -1.12341136e+02] [-4.67825753e-01 8.83397933e-01 2.73341864e-02 1.59476827e+01] [ 6.79273765e-02 5.10243546e-03 9.97677221e-01 -5.62153680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71534707 meters 0.03425358077420204 Centerline is valid? [True, True] Translation: X:-112.37, Y:15.96, Z:-5.62 [[ 8.80684019e-01 4.69562384e-01 -6.25046106e-02 -1.12366549e+02] [-4.68790286e-01 8.82884193e-01 2.74074738e-02 1.59608514e+01] [ 6.80538514e-02 5.16423013e-03 9.97668284e-01 -5.62360331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74534707000001 meters 0.029039818346501094 Centerline is valid? [True, True] Translation: X:-112.40, Y:15.96, Z:-5.62 [[ 8.80882557e-01 4.69109249e-01 -6.31065232e-02 -1.12396913e+02] [-4.68319529e-01 8.83125072e-01 2.76934165e-02 1.59614733e+01] [ 6.87221907e-02 5.15936970e-03 9.97622494e-01 -5.62128403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77534707000001 meters 0.03021986192242763 Centerline is valid? [True, True] Translation: X:-112.42, Y:15.98, Z:-5.63 [[ 8.80552006e-01 4.69733331e-01 -6.30774370e-02 -1.12421803e+02] [-4.68944949e-01 8.82793084e-01 2.76948626e-02 1.59753935e+01] [ 6.86935252e-02 5.19307860e-03 9.97624294e-01 -5.62672973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80534707000001 meters 0.0275245806462078 Centerline is valid? [True, True] Translation: X:-112.45, Y:15.98, Z:-5.62 [[ 8.81348183e-01 4.68209915e-01 -6.32839315e-02 -1.12450528e+02] [-4.67410833e-01 8.83602721e-01 2.78090677e-02 1.59814173e+01] [ 6.89383353e-02 5.07012384e-03 9.97608039e-01 -5.62401953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83534707000001 meters 0.03211620088263348 Centerline is valid? [True, True] Translation: X:-112.47, Y:16.00, Z:-5.63 [[ 8.80624731e-01 4.69528237e-01 -6.35870931e-02 -1.12473627e+02] [-4.68724114e-01 8.82902212e-01 2.79533476e-02 1.60008983e+01] [ 6.92660711e-02 5.18839467e-03 9.97584729e-01 -5.62987384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86534707000001 meters 0.032010862385316585 Centerline is valid? [True, True] Translation: X:-112.50, Y:16.01, Z:-5.63 [[ 8.80389641e-01 4.69963356e-01 -6.36280057e-02 -1.12499641e+02] [-4.69157731e-01 8.82670575e-01 2.79942688e-02 1.60109973e+01] [ 6.93188489e-02 5.20570651e-03 9.97580973e-01 -5.62944062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89534707000001 meters 0.029703812185888995 Centerline is valid? [True, True] Translation: X:-112.53, Y:16.02, Z:-5.63 [[ 8.80163956e-01 4.70359949e-01 -6.38194966e-02 -1.12527347e+02] [-4.69549743e-01 8.82459080e-01 2.80893469e-02 1.60170800e+01] [ 6.95301981e-02 5.24319754e-03 9.97566068e-01 -5.63033900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92534707000002 meters 0.031862156609785454 Centerline is valid? [True, True] Translation: X:-112.55, Y:16.03, Z:-5.63 [[ 8.79639826e-01 4.71495635e-01 -6.26549484e-02 -1.12551647e+02] [-4.70716407e-01 8.81852947e-01 2.75942655e-02 1.60328764e+01] [ 6.82630266e-02 5.21969730e-03 9.97653704e-01 -5.63104229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95534707000002 meters 0.03180164871566169 Centerline is valid? [True, True] Translation: X:-112.58, Y:16.05, Z:-5.63 [[ 8.79774959e-01 4.71272494e-01 -6.24360269e-02 -1.12577582e+02] [-4.70496293e-01 8.81972568e-01 2.75250489e-02 1.60456204e+01] [ 6.80386614e-02 5.16007047e-03 9.97669341e-01 -5.63253236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98534707000002 meters 0.028998912880484316 Centerline is valid? [True, True] Translation: X:-112.61, Y:16.05, Z:-5.63 [[ 8.78909338e-01 4.72729543e-01 -6.36015284e-02 -1.12606416e+02] [-4.71926261e-01 8.81191319e-01 2.80617728e-02 1.60502724e+01] [ 6.93107438e-02 5.35147733e-03 9.97580765e-01 -5.63143324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01534707000002 meters 0.04091055434930843 Centerline is valid? [True, True] Translation: X:-112.62, Y:16.09, Z:-5.64 [[ 8.77594483e-01 4.75198912e-01 -6.33554840e-02 -1.12623011e+02] [-4.74407738e-01 8.79861090e-01 2.79599854e-02 1.60864751e+01] [ 6.90305798e-02 5.51880298e-03 9.97599279e-01 -5.64260993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04534707000002 meters 0.033014201713830967 Centerline is valid? [True, True] Translation: X:-112.65, Y:16.08, Z:-5.64 [[ 8.77708029e-01 4.74903781e-01 -6.39923013e-02 -1.12654952e+02] [-4.74095531e-01 8.80020242e-01 2.82453715e-02 1.60823601e+01] [ 6.97283542e-02 5.54727468e-03 9.97550592e-01 -5.63933590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07534707 meters 0.03628885025811807 Centerline is valid? [True, True] Translation: X:-112.68, Y:16.10, Z:-5.64 [[ 8.76991844e-01 4.76206971e-01 -6.41266465e-02 -1.12678197e+02] [-4.75398018e-01 8.79315052e-01 2.83154279e-02 1.61003748e+01] [ 6.98715297e-02 5.65328135e-03 9.97539979e-01 -5.64385272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10534707000001 meters 0.03048739842934093 Centerline is valid? [True, True] Translation: X:-112.71, Y:16.10, Z:-5.64 [[ 8.76383768e-01 4.77309750e-01 -6.42409007e-02 -1.12709067e+02] [-4.76500250e-01 8.78716342e-01 2.83743259e-02 1.61002725e+01] [ 6.99928717e-02 5.74400661e-03 9.97530954e-01 -5.64070671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13534707000001 meters 0.03185211320437002 Centerline is valid? [True, True] Translation: X:-112.73, Y:16.11, Z:-5.64 [[ 8.75571415e-01 4.78793799e-01 -6.42743749e-02 -1.12734452e+02] [-4.77986364e-01 8.77907880e-01 2.84040411e-02 1.61136190e+01] [ 7.00266589e-02 5.85250836e-03 9.97527952e-01 -5.64215694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16534707000001 meters 0.03664406276434768 Centerline is valid? [True, True] Translation: X:-112.76, Y:16.13, Z:-5.65 [[ 8.75826199e-01 4.78506289e-01 -6.29301183e-02 -1.12756132e+02] [-4.77729625e-01 8.78065740e-01 2.78381323e-02 1.61347821e+01] [ 6.85775022e-02 5.68221621e-03 9.97629610e-01 -5.64853350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19534707000001 meters 0.03664406276434768 Centerline is valid? [True, True] Translation: X:-112.78, Y:16.15, Z:-5.65 [[ 8.75642297e-01 4.78844120e-01 -6.29196057e-02 -1.12781481e+02] [-4.78066628e-01 8.77881550e-01 2.78618752e-02 1.61457686e+01] [ 6.85774561e-02 5.68272739e-03 9.97629610e-01 -5.65000681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22534707000001 meters 0.03185215734718196 Centerline is valid? [True, True] Translation: X:-112.81, Y:16.15, Z:-5.65 [[ 8.76087433e-01 4.78029806e-01 -6.29151363e-02 -1.12811444e+02] [-4.77248391e-01 8.78325803e-01 2.78882937e-02 1.61479730e+01] [ 6.85914233e-02 5.59356396e-03 9.97629154e-01 -5.64749584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25534707000001 meters 0.0360494801177439 Centerline is valid? [True, True] Translation: X:-112.84, Y:16.17, Z:-5.65 [[ 8.75054367e-01 4.79851298e-01 -6.34238626e-02 -1.12835383e+02] [-4.79060426e-01 8.77330901e-01 2.81353772e-02 1.61671224e+01] [ 6.91445118e-02 5.76387795e-03 9.97590003e-01 -5.65132675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28534707000001 meters 0.03495037712961728 Centerline is valid? [True, True] Translation: X:-112.86, Y:16.18, Z:-5.66 [[ 8.75121755e-01 4.79645029e-01 -6.40512333e-02 -1.12861604e+02] [-4.78837424e-01 8.77443455e-01 2.84201409e-02 1.61751481e+01] [ 6.98329148e-02 5.79904392e-03 9.97541846e-01 -5.65592262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31534707000002 meters 0.0367510609302954 Centerline is valid? [True, True] Translation: X:-112.89, Y:16.19, Z:-5.66 [[ 8.75529805e-01 4.78998348e-01 -6.33098977e-02 -1.12886708e+02] [-4.78206496e-01 8.77797518e-01 2.81081028e-02 1.61896090e+01] [ 6.90370058e-02 5.66572253e-03 9.97598011e-01 -5.66066226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34534707000002 meters 0.03311313561491216 Centerline is valid? [True, True] Translation: X:-112.92, Y:16.19, Z:-5.66 [[ 8.74805576e-01 4.80248629e-01 -6.38471571e-02 -1.12916524e+02] [-4.79445005e-01 8.77113269e-01 2.83690169e-02 1.61927584e+01] [ 6.96253701e-02 5.79382639e-03 9.97556384e-01 -5.65952664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37534707000002 meters 0.033242083262678704 Centerline is valid? [True, True] Translation: X:-112.94, Y:16.20, Z:-5.66 [[ 8.74645882e-01 4.80490170e-01 -6.42166430e-02 -1.12942746e+02] [-4.79676894e-01 8.76980702e-01 2.85469092e-02 1.62035157e+01] [ 7.00332659e-02 5.83480328e-03 9.97527592e-01 -5.65861914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40534707000002 meters 0.037367066200330874 Centerline is valid? [True, True] Translation: X:-112.97, Y:16.22, Z:-5.67 [[ 8.74880130e-01 4.80205251e-01 -6.31480471e-02 -1.12965226e+02] [-4.79416018e-01 8.77137709e-01 2.81019844e-02 1.62222769e+01] [ 6.88842538e-02 5.68831752e-03 9.97608442e-01 -5.66821188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43534707000002 meters 0.034933878761132 Centerline is valid? [True, True] Translation: X:-112.99, Y:16.23, Z:-5.67 [[ 8.74678342e-01 4.80488999e-01 -6.37818116e-02 -1.12992716e+02] [-4.79682946e-01 8.76981919e-01 2.84074892e-02 1.62282828e+01] [ 6.95849816e-02 5.74763172e-03 9.97559469e-01 -5.66705724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46534707 meters 0.0377230500808873 Centerline is valid? [True, True] Translation: X:-113.02, Y:16.25, Z:-5.67 [[ 8.75161575e-01 4.79697271e-01 -6.31089970e-02 -1.13015820e+02] [-4.78905386e-01 8.77416091e-01 2.81182173e-02 1.62456208e+01] [ 6.88610816e-02 5.61525520e-03 9.97610455e-01 -5.67331954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49534707000001 meters 0.034578191120277386 Centerline is valid? [True, True] Translation: X:-113.05, Y:16.25, Z:-5.67 [[ 8.74450101e-01 4.80886611e-01 -6.39146950e-02 -1.13045371e+02] [-4.80076281e-01 8.76763829e-01 2.84947755e-02 1.62491746e+01] [ 6.97408488e-02 5.76666974e-03 9.97548475e-01 -5.67202427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52534707000001 meters 0.032505262533666625 Centerline is valid? [True, True] Translation: X:-113.07, Y:16.26, Z:-5.67 [[ 8.74871310e-01 4.80074091e-01 -6.42577495e-02 -1.13072826e+02] [-4.79251261e-01 8.77209344e-01 2.86704650e-02 1.62564603e+01] [ 7.01314457e-02 5.71264025e-03 9.97521401e-01 -5.67350126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55534707000001 meters 0.03385692416251198 Centerline is valid? [True, True] Translation: X:-113.10, Y:16.27, Z:-5.68 [[ 8.74151092e-01 4.81379998e-01 -6.42896929e-02 -1.13098174e+02] [-4.80558840e-01 8.76492765e-01 2.86990143e-02 1.62695786e+01] [ 7.01645821e-02 5.80770555e-03 9.97518522e-01 -5.67628534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58534707000001 meters 0.036394759954858774 Centerline is valid? [True, True] Translation: X:-113.12, Y:16.29, Z:-5.68 [[ 8.73701794e-01 4.82239779e-01 -6.39528780e-02 -1.13122700e+02] [-4.81427558e-01 8.76019923e-01 2.85762446e-02 1.62859094e+01] [ 6.98045971e-02 5.82156167e-03 9.97543697e-01 -5.68065833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61534707000001 meters 0.032756897836189694 Centerline is valid? [True, True] Translation: X:-113.15, Y:16.29, Z:-5.68 [[ 8.73822050e-01 4.82008625e-01 -6.40524063e-02 -1.13150902e+02] [-4.81191635e-01 8.76147328e-01 2.86438536e-02 1.62897398e+01] [ 6.99259291e-02 5.79185119e-03 9.97535372e-01 -5.68311385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64534707000001 meters 0.0357003008491545 Centerline is valid? [True, True] Translation: X:-113.18, Y:16.31, Z:-5.69 [[ 8.72747490e-01 4.83844936e-01 -6.48528818e-02 -1.13175901e+02] [-4.83011786e-01 8.75133137e-01 2.90104695e-02 1.63067575e+01] [ 7.07914746e-02 6.00589175e-03 9.97473055e-01 -5.68529877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67534707000002 meters 0.03708218000038701 Centerline is valid? [True, True] Translation: X:-113.20, Y:16.32, Z:-5.69 [[ 8.73779202e-01 4.82111569e-01 -6.38618957e-02 -1.13200156e+02] [-4.81298765e-01 8.76090824e-01 2.85721425e-02 1.63233527e+01] [ 6.97237813e-02 5.77090763e-03 9.97549643e-01 -5.68823813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70534707000002 meters 0.03792661649347957 Centerline is valid? [True, True] Translation: X:-113.23, Y:16.34, Z:-5.69 [[ 8.73882399e-01 4.81914264e-01 -6.39389943e-02 -1.13226516e+02] [-4.81098099e-01 8.76199501e-01 2.86191051e-02 1.63361849e+01] [ 6.98152699e-02 5.75119643e-03 9.97543358e-01 -5.68916277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73534707000002 meters 0.0313669011655414 Centerline is valid? [True, True] Translation: X:-113.26, Y:16.33, Z:-5.69 [[ 8.73654946e-01 4.82235841e-01 -6.46191028e-02 -1.13257726e+02] [-4.81401505e-01 8.76022107e-01 2.89458048e-02 1.63345190e+01] [ 7.05664671e-02 5.81908774e-03 9.97490106e-01 -5.68725641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76534707000002 meters 0.03355260290840694 Centerline is valid? [True, True] Translation: X:-113.28, Y:16.35, Z:-5.69 [[ 8.73813847e-01 4.82045020e-01 -6.38902140e-02 -1.13281486e+02] [-4.81227909e-01 8.76127741e-01 2.86335566e-02 1.63516777e+01] [ 6.97786522e-02 5.72535591e-03 9.97546069e-01 -5.69375411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79534707000002 meters 0.04341661142501154 Centerline is valid? [True, True] Translation: X:-113.30, Y:16.38, Z:-5.70 [[ 8.73166943e-01 4.83353126e-01 -6.28430260e-02 -1.13298303e+02] [-4.82564089e-01 8.75406849e-01 2.81912923e-02 1.63831546e+01] [ 6.86395646e-02 5.71008304e-03 9.97625183e-01 -5.70036089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82534707 meters 0.0336818153123913 Centerline is valid? [True, True] Translation: X:-113.33, Y:16.38, Z:-5.70 [[ 8.72895398e-01 4.83715658e-01 -6.38183857e-02 -1.13332588e+02] [-4.82901263e-01 8.75205937e-01 2.86520151e-02 1.63762974e+01] [ 6.97136584e-02 5.80776701e-03 9.97550137e-01 -5.69614756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85534707000001 meters 0.03777805906262393 Centerline is valid? [True, True] Translation: X:-113.35, Y:16.40, Z:-5.70 [[ 8.71995975e-01 4.85336835e-01 -6.38057743e-02 -1.13354385e+02] [-4.84526401e-01 8.74307164e-01 2.86557192e-02 1.63981504e+01] [ 6.96935216e-02 5.92791038e-03 9.97550837e-01 -5.70147536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88534707000001 meters 0.037166274731478856 Centerline is valid? [True, True] Translation: X:-113.38, Y:16.41, Z:-5.70 [[ 8.71243514e-01 4.86497833e-01 -6.52272817e-02 -1.13380775e+02] [-4.85653500e-01 8.73660149e-01 2.93022604e-02 1.64086659e+01] [ 7.12419628e-02 6.14845332e-03 9.97440113e-01 -5.70429223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91534707000001 meters 0.037448787911307464 Centerline is valid? [True, True] Translation: X:-113.41, Y:16.42, Z:-5.71 [[ 8.72158697e-01 4.85005153e-01 -6.41031090e-02 -1.13406229e+02] [-4.84185207e-01 8.74491282e-01 2.88042066e-02 1.64232865e+01] [ 7.00277986e-02 5.91593778e-03 9.97527498e-01 -5.70753330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94534707000001 meters 0.03523922138792548 Centerline is valid? [True, True] Translation: X:-113.43, Y:16.43, Z:-5.71 [[ 8.70773297e-01 4.87380610e-01 -6.49153824e-02 -1.13434982e+02] [-4.86545919e-01 8.73167764e-01 2.91740394e-02 1.64306154e+01] [ 7.09008804e-02 6.18033993e-03 9.97464219e-01 -5.70727919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97534707000001 meters 0.03337967249040523 Centerline is valid? [True, True] Translation: X:-113.46, Y:16.44, Z:-5.71 [[ 8.71022443e-01 4.86945108e-01 -6.48410781e-02 -1.13461136e+02] [-4.86110757e-01 8.73411041e-01 2.91459303e-02 1.64393684e+01] [ 7.08253817e-02 6.13318618e-03 9.97469874e-01 -5.70940717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00534707000001 meters 0.036280388308964136 Centerline is valid? [True, True] Translation: X:-113.48, Y:16.46, Z:-5.71 [[ 8.70620774e-01 4.87590935e-01 -6.53800291e-02 -1.13484015e+02] [-4.86743074e-01 8.73050047e-01 2.94073958e-02 1.64575176e+01] [ 7.14188171e-02 6.22058663e-03 9.97427018e-01 -5.71383641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03534707000001 meters 0.03502243471924901 Centerline is valid? [True, True] Translation: X:-113.51, Y:16.47, Z:-5.71 [[ 8.72021025e-01 4.85139168e-01 -6.49562991e-02 -1.13511311e+02] [-4.84293940e-01 8.74416638e-01 2.92390750e-02 1.64690662e+01] [ 7.09838891e-02 5.96085389e-03 9.97459651e-01 -5.71458475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06534707000002 meters 0.03505450577933489 Centerline is valid? [True, True] Translation: X:-113.54, Y:16.48, Z:-5.72 [[ 8.71092910e-01 4.86886969e-01 -6.43290184e-02 -1.13537413e+02] [-4.86062502e-01 8.73444092e-01 2.89596765e-02 1.64818381e+01] [ 7.02878902e-02 6.04135473e-03 9.97508453e-01 -5.71770932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09534707000002 meters 0.037585845631881755 Centerline is valid? [True, True] Translation: X:-113.56, Y:16.50, Z:-5.72 [[ 8.73022536e-01 4.83648424e-01 -6.25767859e-02 -1.13560932e+02] [-4.82859805e-01 8.75244324e-01 2.81741434e-02 1.65022424e+01] [ 6.83963567e-02 5.61915248e-03 9.97642403e-01 -5.72367874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12534707000002 meters 0.0380919440057955 Centerline is valid? [True, True] Translation: X:-113.59, Y:16.52, Z:-5.72 [[ 8.71964334e-01 4.85398619e-01 -6.37681793e-02 -1.13588046e+02] [-4.84584161e-01 8.74273290e-01 2.87124684e-02 1.65151082e+01] [ 6.96878084e-02 5.86480123e-03 9.97551609e-01 -5.72291915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15534707000002 meters 0.03295048878873531 Centerline is valid? [True, True] Translation: X:-113.62, Y:16.52, Z:-5.72 [[ 8.72301801e-01 4.84897420e-01 -6.29607868e-02 -1.13617038e+02] [-4.84101679e-01 8.74552168e-01 2.83561224e-02 1.65179839e+01] [ 6.88123032e-02 5.74432602e-03 9.97613086e-01 -5.72367497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18534707000002 meters 0.03312062057454424 Centerline is valid? [True, True] Translation: X:-113.64, Y:16.53, Z:-5.73 [[ 8.72667361e-01 4.84205547e-01 -6.32191863e-02 -1.13641720e+02] [-4.83399918e-01 8.74935752e-01 2.84947362e-02 1.65311076e+01] [ 6.91100356e-02 5.69372319e-03 9.97592795e-01 -5.72654131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21534707 meters 0.035707550281527674 Centerline is valid? [True, True] Translation: X:-113.66, Y:16.55, Z:-5.73 [[ 8.72508526e-01 4.84418586e-01 -6.37769970e-02 -1.13664066e+02] [-4.83598173e-01 8.74817464e-01 2.87613018e-02 1.65495265e+01] [ 6.97257399e-02 5.74795821e-03 9.97549639e-01 -5.72991125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24534707000001 meters 0.03512948985154993 Centerline is valid? [True, True] Translation: X:-113.69, Y:16.56, Z:-5.73 [[ 8.72832032e-01 4.83728423e-01 -6.45837177e-02 -1.13689897e+02] [-4.82883021e-01 8.75199344e-01 2.91564289e-02 1.65619312e+01] [ 7.06274207e-02 5.73771563e-03 9.97486264e-01 -5.73329028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27534707000001 meters 0.03516425859854573 Centerline is valid? [True, True] Translation: X:-113.72, Y:16.58, Z:-5.74 [[ 8.73492973e-01 4.82634491e-01 -6.38276941e-02 -1.13715104e+02] [-4.81804384e-01 8.75804196e-01 2.88365209e-02 1.65772046e+01] [ 6.98180620e-02 5.56396448e-03 9.97544225e-01 -5.73566344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30534707000001 meters 0.032115657255827115 Centerline is valid? [True, True] Translation: X:-113.74, Y:16.58, Z:-5.73 [[ 8.73203305e-01 4.83189124e-01 -6.35944839e-02 -1.13742686e+02] [-4.82365706e-01 8.75498238e-01 2.87430185e-02 1.65845514e+01] [ 6.95651725e-02 5.57729935e-03 9.97561818e-01 -5.73429084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33534707000001 meters 0.03480402514717478 Centerline is valid? [True, True] Translation: X:-113.77, Y:16.60, Z:-5.74 [[ 8.72835092e-01 4.83962525e-01 -6.27628648e-02 -1.13765312e+02] [-4.83160408e-01 8.75071199e-01 2.83974900e-02 1.66038103e+01] [ 6.86652963e-02 5.53820558e-03 9.97624381e-01 -5.73725998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36534707000001 meters 0.033381810232434056 Centerline is valid? [True, True] Translation: X:-113.79, Y:16.62, Z:-5.74 [[ 8.71950261e-01 4.85511588e-01 -6.30970704e-02 -1.13791003e+02] [-4.84703287e-01 8.74211846e-01 2.85722259e-02 1.66156144e+01] [ 6.90323532e-02 5.66979761e-03 9.97598310e-01 -5.73767732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39534707000001 meters 0.0329911294837373 Centerline is valid? [True, True] Translation: X:-113.82, Y:16.63, Z:-5.74 [[ 8.71670087e-01 4.86092796e-01 -6.24904240e-02 -1.13815693e+02] [-4.85300887e-01 8.73888913e-01 2.83057530e-02 1.66272337e+01] [ 6.83689113e-02 5.65338000e-03 9.97644090e-01 -5.74065272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42534707000002 meters 0.03312058329004137 Centerline is valid? [True, True] Translation: X:-113.84, Y:16.64, Z:-5.75 [[ 8.71433347e-01 4.86571503e-01 -6.20652364e-02 -1.13838181e+02] [-4.85790547e-01 8.73622557e-01 2.81277992e-02 1.66439573e+01] [ 6.79077761e-02 5.63920296e-03 9.97675665e-01 -5.74522212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45534707000002 meters 0.04443151078728605 Centerline is valid? [True, True] Translation: X:-113.85, Y:16.68, Z:-5.75 [[ 8.70885350e-01 4.87465722e-01 -6.27365636e-02 -1.13853617e+02] [-4.86667881e-01 8.73123236e-01 2.84638015e-02 1.66795718e+01] [ 6.86518790e-02 5.74316269e-03 9.97624145e-01 -5.75149008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48534707000002 meters 0.033344221809791734 Centerline is valid? [True, True] Translation: X:-113.89, Y:16.67, Z:-5.75 [[ 8.71785287e-01 4.85828752e-01 -6.29351797e-02 -1.13888439e+02] [-4.85020005e-01 8.74036003e-01 2.85772763e-02 1.66736322e+01] [ 6.88912754e-02 5.61157212e-03 9.97608391e-01 -5.75133629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51534707000002 meters 0.03238324542310679 Centerline is valid? [True, True] Translation: X:-113.91, Y:16.69, Z:-5.75 [[ 8.71714851e-01 4.85726501e-01 -6.46759931e-02 -1.13913870e+02] [-4.84871565e-01 8.74091912e-01 2.93750716e-02 1.66852496e+01] [ 7.08010132e-02 5.75286386e-03 9.97473870e-01 -5.75287253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54534707000002 meters 0.03414306870314858 Centerline is valid? [True, True] Translation: X:-113.94, Y:16.70, Z:-5.76 [[ 8.72123001e-01 4.85120750e-01 -6.37128585e-02 -1.13937230e+02] [-4.84288479e-01 8.74429206e-01 2.89522421e-02 1.67028051e+01] [ 6.97577177e-02 5.60548706e-03 9.97548214e-01 -5.75723909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57534707 meters 0.039976539056949374 Centerline is valid? [True, True] Translation: X:-113.96, Y:16.73, Z:-5.76 [[ 8.73111100e-01 4.83414479e-01 -6.31462505e-02 -1.13958266e+02] [-4.82590939e-01 8.75374937e-01 2.87176798e-02 1.67284176e+01] [ 6.91591873e-02 5.40008327e-03 9.97591021e-01 -5.76116038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60534707000001 meters 0.0318985622569997 Centerline is valid? [True, True] Translation: X:-113.99, Y:16.73, Z:-5.76 [[ 8.73379196e-01 4.82979192e-01 -6.27684696e-02 -1.13991510e+02] [-4.82163721e-01 8.75615637e-01 2.85552533e-02 1.67262442e+01] [ 6.87526466e-02 5.32511471e-03 9.97619525e-01 -5.75726721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63534707000001 meters 0.03641034934359772 Centerline is valid? [True, True] Translation: X:-114.01, Y:16.75, Z:-5.76 [[ 8.74183848e-01 4.81619805e-01 -6.20077653e-02 -1.14013454e+02] [-4.80819075e-01 8.76365218e-01 2.82315624e-02 1.67496924e+01] [ 6.79383283e-02 5.13494052e-03 9.97676308e-01 -5.76325430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66534707000001 meters 0.034544165210032556 Centerline is valid? [True, True] Translation: X:-114.04, Y:16.76, Z:-5.77 [[ 8.75110667e-01 4.80072572e-01 -6.09232858e-02 -1.14040916e+02] [-4.79295550e-01 8.77214968e-01 2.77430364e-02 1.67605425e+01] [ 6.67614890e-02 4.92203268e-03 9.97756823e-01 -5.76661311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69534707000001 meters 0.036084247982827326 Centerline is valid? [True, True] Translation: X:-114.06, Y:16.78, Z:-5.77 [[ 8.74347366e-01 4.81364670e-01 -6.16825562e-02 -1.14064942e+02] [-4.80570660e-01 8.76505733e-01 2.80987471e-02 1.67763379e+01] [ 6.75908583e-02 5.07476128e-03 9.97700217e-01 -5.76873458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72534707000001 meters 0.03554751802791019 Centerline is valid? [True, True] Translation: X:-114.09, Y:16.79, Z:-5.77 [[ 8.73585118e-01 4.82638290e-01 -6.25245765e-02 -1.14090138e+02] [-4.81824893e-01 8.75804135e-01 2.84936657e-02 1.67891531e+01] [ 6.85114168e-02 5.23425508e-03 9.97636601e-01 -5.76946534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75534707000001 meters 0.03555001694866908 Centerline is valid? [True, True] Translation: X:-114.11, Y:16.80, Z:-5.77 [[ 8.73067184e-01 4.83478154e-01 -6.32658418e-02 -1.14114467e+02] [-4.82645981e-01 8.75340116e-01 2.88537403e-02 1.68018018e+01] [ 6.93292824e-02 5.34375046e-03 9.97579518e-01 -5.77215506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78534707000001 meters 0.034925739032582774 Centerline is valid? [True, True] Translation: X:-114.14, Y:16.81, Z:-5.77 [[ 8.73242085e-01 4.83168638e-01 -6.32165148e-02 -1.14139648e+02] [-4.82336301e-01 8.75511226e-01 2.88407072e-02 1.68145866e+01] [ 6.92816936e-02 5.30670061e-03 9.97583022e-01 -5.77458638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81534707000002 meters 0.03548863085624169 Centerline is valid? [True, True] Translation: X:-114.17, Y:16.83, Z:-5.78 [[ 8.73556645e-01 4.82704493e-01 -6.24112166e-02 -1.14165232e+02] [-4.81891169e-01 8.75767907e-01 2.84863893e-02 1.68287708e+01] [ 6.84082486e-02 5.19093939e-03 9.97643907e-01 -5.77637892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84534707000002 meters 0.03400560815901414 Centerline is valid? [True, True] Translation: X:-114.19, Y:16.84, Z:-5.78 [[ 8.73459304e-01 4.82826355e-01 -6.28295771e-02 -1.14190923e+02] [-4.82000753e-01 8.75700587e-01 2.87011409e-02 1.68382939e+01] [ 6.88775648e-02 5.21462489e-03 9.97611492e-01 -5.77737956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87534707000002 meters 0.03318705079461993 Centerline is valid? [True, True] Translation: X:-114.22, Y:16.85, Z:-5.78 [[ 8.74041303e-01 4.81854375e-01 -6.21945439e-02 -1.14217446e+02] [-4.81041836e-01 8.76236635e-01 2.84272966e-02 1.68499323e+01] [ 6.81949551e-02 5.07154627e-03 9.97659124e-01 -5.77980909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90534707000002 meters 0.030968625120090257 Centerline is valid? [True, True] Translation: X:-114.25, Y:16.86, Z:-5.78 [[ 8.75113861e-01 4.79952012e-01 -6.18206824e-02 -1.14245571e+02] [-4.79143050e-01 8.77281200e-01 2.82777964e-02 1.68593519e+01] [ 6.78061077e-02 4.87465879e-03 9.97686609e-01 -5.78448635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93534707000002 meters 0.028756552647305887 Centerline is valid? [True, True] Translation: X:-114.27, Y:16.87, Z:-5.78 [[ 8.75155189e-01 4.79835548e-01 -6.21388944e-02 -1.14274273e+02] [-4.79017437e-01 8.77344853e-01 2.84307096e-02 1.68669356e+01] [ 6.81593042e-02 4.88433088e-03 9.97662494e-01 -5.78395942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96534707 meters 0.031098042115596237 Centerline is valid? [True, True] Translation: X:-114.30, Y:16.89, Z:-5.79 [[ 8.76574923e-01 4.77381079e-01 -6.10222054e-02 -1.14297396e+02] [-4.76584760e-01 8.78684382e-01 2.79414444e-02 1.68855376e+01] [ 6.69579757e-02 4.58948365e-03 9.97745241e-01 -5.78824176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99534707000001 meters 0.02976369055802394 Centerline is valid? [True, True] Translation: X:-114.32, Y:16.89, Z:-5.79 [[ 8.75672814e-01 4.78763642e-01 -6.31070427e-02 -1.14324088e+02] [-4.77914995e-01 8.77930438e-01 2.89033535e-02 1.68941350e+01] [ 6.92414684e-02 4.84992113e-03 9.97588140e-01 -5.78981665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02534707000001 meters 0.029995771664018435 Centerline is valid? [True, True] Translation: X:-114.35, Y:16.91, Z:-5.79 [[ 8.74883219e-01 4.80158292e-01 -6.34615504e-02 -1.14350273e+02] [-4.79302684e-01 8.77167750e-01 2.90804989e-02 1.69064813e+01] [ 6.96296680e-02 4.97525100e-03 9.97560503e-01 -5.79127128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05534707000001 meters 0.031757238215732064 Centerline is valid? [True, True] Translation: X:-114.37, Y:16.92, Z:-5.80 [[ 8.76230702e-01 4.77792532e-01 -6.27220386e-02 -1.14374923e+02] [-4.76949155e-01 8.78460076e-01 2.87645504e-02 1.69236656e+01] [ 6.88422941e-02 4.71084116e-03 9.97616433e-01 -5.79804164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08534707000001 meters 0.031757238215732064 Centerline is valid? [True, True] Translation: X:-114.40, Y:16.93, Z:-5.80 [[ 8.76036272e-01 4.78149434e-01 -6.27181697e-02 -1.14400089e+02] [-4.77306365e-01 8.78265762e-01 2.87729827e-02 1.69349462e+01] [ 6.88410065e-02 4.72960513e-03 9.97616433e-01 -5.79951641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11534707000001 meters 0.030174725893922276 Centerline is valid? [True, True] Translation: X:-114.43, Y:16.94, Z:-5.80 [[ 8.75946398e-01 4.78197146e-01 -6.36034418e-02 -1.14427792e+02] [-4.77328349e-01 8.78239529e-01 2.92057879e-02 1.69421289e+01] [ 6.98251811e-02 4.77702115e-03 9.97547805e-01 -5.79950124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14534707000001 meters 0.029660730125560794 Centerline is valid? [True, True] Translation: X:-114.45, Y:16.95, Z:-5.80 [[ 8.75888410e-01 4.78304956e-01 -6.35913605e-02 -1.14453411e+02] [-4.77435991e-01 8.78180829e-01 2.92113860e-02 1.69509465e+01] [ 6.98166645e-02 4.77488978e-03 9.97548412e-01 -5.80139636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17534707000002 meters 0.02921777621165051 Centerline is valid? [True, True] Translation: X:-114.48, Y:16.96, Z:-5.81 [[ 8.77539516e-01 4.75327290e-01 -6.31535122e-02 -1.14479880e+02] [-4.74461718e-01 8.79797567e-01 2.90227241e-02 1.69626939e+01] [ 6.93575992e-02 4.49533667e-03 9.97581734e-01 -5.80533644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20534707000002 meters 0.02833326964957897 Centerline is valid? [True, True] Translation: X:-114.51, Y:16.97, Z:-5.81 [[ 8.79022912e-01 4.72573553e-01 -6.31898544e-02 -1.14508043e+02] [-4.71699499e-01 8.81280863e-01 2.90451861e-02 1.69728451e+01] [ 6.94139962e-02 4.27523860e-03 9.97578779e-01 -5.80719332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23534707000002 meters 0.02578959515703694 Centerline is valid? [True, True] Translation: X:-114.54, Y:16.98, Z:-5.81 [[ 8.80803414e-01 4.69124702e-01 -6.40886820e-02 -1.14536476e+02] [-4.68216154e-01 8.83122620e-01 2.94630546e-02 1.69800962e+01] [ 7.04200114e-02 4.05619713e-03 9.97509183e-01 -5.80896435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26534707000002 meters 0.025670617856631536 Centerline is valid? [True, True] Translation: X:-114.56, Y:16.99, Z:-5.81 [[ 8.81981176e-01 4.66911630e-01 -6.40526004e-02 -1.14563979e+02] [-4.65997879e-01 8.84295504e-01 2.94523218e-02 1.69912179e+01] [ 7.03930581e-02 3.87198254e-03 9.97511817e-01 -5.81271190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29534707000002 meters 0.02312323538187821 Centerline is valid? [True, True] Translation: X:-114.59, Y:17.00, Z:-5.81 [[ 8.84504362e-01 4.62164194e-01 -6.36890260e-02 -1.14593637e+02] [-4.61248255e-01 8.86787581e-01 2.92887925e-02 1.69969434e+01] [ 7.00148685e-02 3.47038736e-03 9.97539911e-01 -5.81321849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32534707000002 meters 0.023284370622755984 Centerline is valid? [True, True] Translation: X:-114.62, Y:17.01, Z:-5.82 [[ 8.86264128e-01 4.58913738e-01 -6.27222168e-02 -1.14620814e+02] [-4.58017144e-01 8.88475200e-01 2.88463977e-02 1.70088101e+01] [ 6.89651423e-02 3.16232310e-03 9.97614058e-01 -5.81636643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35534707000001 meters 0.023162448697670285 Centerline is valid? [True, True] Translation: X:-114.65, Y:17.02, Z:-5.82 [[ 8.86605437e-01 4.58170932e-01 -6.33261137e-02 -1.14647936e+02] [-4.57254397e-01 8.88858609e-01 2.91340067e-02 1.70183783e+01] [ 6.96363163e-02 3.12577521e-03 9.97567548e-01 -5.81794069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38534707000001 meters 0.021626958789585874 Centerline is valid? [True, True] Translation: X:-114.67, Y:17.03, Z:-5.82 [[ 8.87647498e-01 4.56254205e-01 -6.25621267e-02 -1.14674816e+02] [-4.55353298e-01 8.89844697e-01 2.88060750e-02 1.70278102e+01] [ 6.88134695e-02 2.91823028e-03 9.97625276e-01 -5.81753484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41534707000001 meters 0.022386209703786217 Centerline is valid? [True, True] Translation: X:-114.70, Y:17.04, Z:-5.82 [[ 8.87045924e-01 4.57352159e-01 -6.30756083e-02 -1.14700487e+02] [-4.56438131e-01 8.89280559e-01 2.90571812e-02 1.70411715e+01] [ 6.93812768e-02 3.01505861e-03 9.97585659e-01 -5.82004166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44534707000001 meters 0.02102050953554106 Centerline is valid? [True, True] Translation: X:-114.73, Y:17.05, Z:-5.82 [[ 8.87347358e-01 4.56946503e-01 -6.17621270e-02 -1.14726667e+02] [-4.56067562e-01 8.89489453e-01 2.84761772e-02 1.70512636e+01] [ 6.79488502e-02 2.89944204e-03 9.97684593e-01 -5.82030305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47534707000001 meters 0.02109450511920323 Centerline is valid? [True, True] Translation: X:-114.75, Y:17.07, Z:-5.82 [[ 8.86831534e-01 4.58126577e-01 -6.04141583e-02 -1.14751621e+02] [-4.57287405e-01 8.88882198e-01 2.78687579e-02 1.70657235e+01] [ 6.64684884e-02 2.91174033e-03 9.97784276e-01 -5.81829961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50534707000001 meters 0.02545057594178236 Centerline is valid? [True, True] Translation: X:-114.77, Y:17.09, Z:-5.82 [[ 8.84907645e-01 4.61723732e-01 -6.12344305e-02 -1.14772033e+02] [-4.60868076e-01 8.87018022e-01 2.82780181e-02 1.70905420e+01] [ 6.73726754e-02 3.19755978e-03 9.97722756e-01 -5.82365564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53534707000001 meters 0.027743047296342742 Centerline is valid? [True, True] Translation: X:-114.80, Y:17.11, Z:-5.83 [[ 8.82502319e-01 4.66107419e-01 -6.27178707e-02 -1.14796176e+02] [-4.65219201e-01 8.84720821e-01 2.89855984e-02 1.71093552e+01] [ 6.89982085e-02 3.59769984e-03 9.97610297e-01 -5.82750527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56534707000002 meters 0.026289926571536625 Centerline is valid? [True, True] Translation: X:-114.82, Y:17.12, Z:-5.83 [[ 8.80505867e-01 4.69816550e-01 -6.31017253e-02 -1.14823601e+02] [-4.68926739e-01 8.82755413e-01 2.91649429e-02 1.71210141e+01] [ 6.94055624e-02 3.91018300e-03 9.97580863e-01 -5.82969226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59534707000002 meters 0.027737590924312654 Centerline is valid? [True, True] Translation: X:-114.85, Y:17.14, Z:-5.83 [[ 8.80071211e-01 4.70595256e-01 -6.33622043e-02 -1.14846919e+02] [-4.69699498e-01 8.82340217e-01 2.92937221e-02 1.71401723e+01] [ 6.96925078e-02 3.98063407e-03 9.97560579e-01 -5.83124596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62534707000002 meters 0.028899782073236808 Centerline is valid? [True, True] Translation: X:-114.87, Y:17.16, Z:-5.84 [[ 8.77722623e-01 4.74939892e-01 -6.35224090e-02 -1.14871402e+02] [-4.74049251e-01 8.80007656e-01 2.93910280e-02 1.71556616e+01] [ 6.98591779e-02 4.31558028e-03 9.97547528e-01 -5.83573248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65534707000002 meters 0.03077023549981115 Centerline is valid? [True, True] Translation: X:-114.90, Y:17.17, Z:-5.84 [[ 8.75881660e-01 4.78309886e-01 -6.36472315e-02 -1.14896260e+02] [-4.77424258e-01 8.78179134e-01 2.94531290e-02 1.71736429e+01] [ 6.99813934e-02 4.58927669e-03 9.97537740e-01 -5.83568691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68534707000002 meters 0.03037977474471331 Centerline is valid? [True, True] Translation: X:-114.92, Y:17.18, Z:-5.84 [[ 8.74557878e-01 4.80706007e-01 -6.37985302e-02 -1.14923236e+02] [-4.79822131e-01 8.76868754e-01 2.95281444e-02 1.71848010e+01] [ 7.01372941e-02 4.78787541e-03 9.97525857e-01 -5.83644377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71534707 meters 0.03106398228786329 Centerline is valid? [True, True] Translation: X:-114.95, Y:17.20, Z:-5.84 [[ 8.76268238e-01 4.77721946e-01 -6.27352999e-02 -1.14948525e+02] [-4.76859450e-01 8.78499725e-01 2.90395983e-02 1.72009491e+01] [ 6.89857971e-02 4.46944297e-03 9.97607630e-01 -5.83968232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74534707000001 meters 0.030616976347452956 Centerline is valid? [True, True] Translation: X:-114.97, Y:17.21, Z:-5.84 [[ 8.75420159e-01 4.79106152e-01 -6.40065675e-02 -1.14974494e+02] [-4.78211702e-01 8.77744555e-01 2.96321469e-02 1.72116314e+01] [ 7.03783599e-02 4.66811088e-03 9.97509446e-01 -5.84228552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77534707000001 meters 0.030916721002900965 Centerline is valid? [True, True] Translation: X:-115.00, Y:17.23, Z:-5.85 [[ 8.75543343e-01 4.78910519e-01 -6.37853400e-02 -1.14999947e+02] [-4.78020704e-01 8.77851547e-01 2.95443345e-02 1.72253073e+01] [ 7.01431520e-02 4.62336771e-03 9.97526222e-01 -5.84526235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80534707000001 meters 0.030624596969975285 Centerline is valid? [True, True] Translation: X:-115.03, Y:17.24, Z:-5.85 [[ 8.77172993e-01 4.75885764e-01 -6.40334315e-02 -1.15025728e+02] [-4.74979324e-01 8.79496206e-01 2.96827536e-02 1.72384214e+01] [ 7.04427599e-02 4.37764622e-03 9.97506217e-01 -5.84798660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83534707000001 meters 0.02816537450569604 Centerline is valid? [True, True] Translation: X:-115.05, Y:17.24, Z:-5.85 [[ 8.76967176e-01 4.76111324e-01 -6.51657846e-02 -1.15053964e+02] [-4.75172488e-01 8.79373676e-01 3.02166207e-02 1.72448358e+01] [ 7.16915508e-02 4.46600347e-03 9.97416852e-01 -5.84720348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86534707000001 meters 0.027857935454365223 Centerline is valid? [True, True] Translation: X:-115.08, Y:17.26, Z:-5.85 [[ 8.79672260e-01 4.71323723e-01 -6.34875051e-02 -1.15081829e+02] [-4.70419360e-01 8.81951403e-01 2.94507805e-02 1.72569481e+01] [ 6.98737457e-02 3.95871691e-03 9.97547988e-01 -5.84837777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89534707000001 meters 0.028739489121282148 Centerline is valid? [True, True] Translation: X:-115.11, Y:17.27, Z:-5.85 [[ 8.80245992e-01 4.70228985e-01 -6.36529330e-02 -1.15107853e+02] [-4.69316452e-01 8.82535943e-01 2.95360312e-02 1.72689847e+01] [ 7.00646992e-02 3.87439557e-03 9.97534925e-01 -5.85279128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92534707000002 meters 0.02917047390935905 Centerline is valid? [True, True] Translation: X:-115.13, Y:17.28, Z:-5.85 [[ 8.81365787e-01 4.68063138e-01 -6.41190157e-02 -1.15134469e+02] [-4.67129803e-01 8.83687244e-01 2.97758443e-02 1.72812813e+01] [ 7.05981314e-02 3.70849277e-03 9.97497945e-01 -5.84920700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95534707000002 meters 0.02694164074273894 Centerline is valid? [True, True] Translation: X:-115.16, Y:17.29, Z:-5.85 [[ 8.82722085e-01 4.65433297e-01 -6.46031410e-02 -1.15160878e+02] [-4.64478315e-01 8.85075965e-01 3.00071765e-02 1.72906468e+01] [ 7.11450265e-02 3.51876074e-03 9.97459775e-01 -5.85389254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98534707000002 meters 0.02579786572090578 Centerline is valid? [True, True] Translation: X:-115.19, Y:17.30, Z:-5.85 [[ 8.84716575e-01 4.61879801e-01 -6.27983426e-02 -1.15188590e+02] [-4.60968055e-01 8.86936986e-01 2.91759276e-02 1.73002926e+01] [ 6.91739443e-02 3.13560319e-03 9.97599686e-01 -5.85467675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01534707000002 meters 0.023808811542858906 Centerline is valid? [True, True] Translation: X:-115.22, Y:17.31, Z:-5.85 [[ 8.84692552e-01 4.61721360e-01 -6.42843216e-02 -1.15216437e+02] [-4.60764990e-01 8.87019279e-01 2.98734397e-02 1.73078526e+01] [ 7.08146378e-02 3.19115516e-03 9.97484388e-01 -5.85306218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04534707000002 meters 0.02347359645628243 Centerline is valid? [True, True] Translation: X:-115.24, Y:17.32, Z:-5.85 [[ 8.85591635e-01 4.60047780e-01 -6.39022346e-02 -1.15242596e+02] [-4.59097397e-01 8.87889003e-01 2.97102379e-02 1.73198181e+01] [ 7.04062204e-02 3.02621142e-03 9.97513813e-01 -5.85371742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07534707000002 meters 0.02344318250423681 Centerline is valid? [True, True] Translation: X:-115.27, Y:17.33, Z:-5.86 [[ 8.85064353e-01 4.60919219e-01 -6.49196697e-02 -1.15268200e+02] [-4.59938950e-01 8.87436597e-01 3.02067727e-02 1.73315295e+01] [ 7.15349728e-02 3.12414705e-03 9.97433199e-01 -5.85603482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10534707000001 meters 0.023426605913733498 Centerline is valid? [True, True] Translation: X:-115.29, Y:17.34, Z:-5.86 [[ 8.85047526e-01 4.61032256e-01 -6.43438850e-02 -1.15294253e+02] [-4.60068516e-01 8.87377992e-01 2.99543004e-02 1.73439305e+01] [ 7.09072462e-02 3.09161625e-03 9.97478122e-01 -5.85503047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13534707000001 meters 0.02365156935676196 Centerline is valid? [True, True] Translation: X:-115.32, Y:17.36, Z:-5.86 [[ 8.85587834e-01 4.60019781e-01 -6.41559707e-02 -1.15319010e+02] [-4.59056889e-01 8.87903683e-01 2.98968582e-02 1.73588100e+01] [ 7.07174689e-02 2.97494636e-03 9.97491949e-01 -5.85507865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16534707000001 meters 0.023602169641755894 Centerline is valid? [True, True] Translation: X:-115.34, Y:17.37, Z:-5.86 [[ 8.84839133e-01 4.61473967e-01 -6.40428499e-02 -1.15343496e+02] [-4.60516479e-01 8.87148462e-01 2.98693440e-02 1.73709270e+01] [ 7.05994405e-02 3.06322328e-03 9.97500043e-01 -5.85962127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19534707000001 meters 0.02456897778729488 Centerline is valid? [True, True] Translation: X:-115.37, Y:17.39, Z:-5.86 [[ 8.85009443e-01 4.61212074e-01 -6.35744366e-02 -1.15367956e+02] [-4.60266831e-01 8.87284838e-01 2.96658241e-02 1.73880155e+01] [ 7.00908699e-02 3.00667001e-03 9.97536080e-01 -5.85888439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22534707000001 meters 0.025371519222924785 Centerline is valid? [True, True] Translation: X:-115.39, Y:17.40, Z:-5.86 [[ 8.83935225e-01 4.63045629e-01 -6.51710335e-02 -1.15393227e+02] [-4.62055411e-01 8.86328633e-01 3.04360093e-02 1.74016012e+01] [ 7.18562141e-02 3.20916798e-03 9.97409838e-01 -5.85983698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25534707000001 meters 0.023517572905377718 Centerline is valid? [True, True] Translation: X:-115.42, Y:17.41, Z:-5.86 [[ 8.83717110e-01 4.63451849e-01 -6.52414927e-02 -1.15419306e+02] [-4.62459680e-01 8.86116201e-01 3.04815185e-02 1.74096035e+01] [ 7.19382598e-02 3.23452036e-03 9.97403842e-01 -5.85811867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28534707000001 meters 0.02473817668098373 Centerline is valid? [True, True] Translation: X:-115.44, Y:17.43, Z:-5.86 [[ 8.83630684e-01 4.63863714e-01 -6.34607680e-02 -1.15443391e+02] [-4.62924304e-01 8.85900951e-01 2.96748138e-02 1.74266440e+01] [ 6.99850240e-02 3.15595582e-03 9.97543050e-01 -5.85965335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31534707000002 meters 0.024482859560920146 Centerline is valid? [True, True] Translation: X:-115.47, Y:17.44, Z:-5.86 [[ 8.84121430e-01 4.62898177e-01 -6.36755418e-02 -1.15468692e+02] [-4.61948062e-01 8.86406155e-01 2.98012768e-02 1.74397140e+01] [ 7.02373489e-02 3.06684571e-03 9.97525593e-01 -5.85763500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34534707000002 meters 0.02307392166343661 Centerline is valid? [True, True] Translation: X:-115.50, Y:17.45, Z:-5.86 [[ 8.83272741e-01 4.64265740e-01 -6.54720409e-02 -1.15495892e+02] [-4.63264128e-01 8.85689970e-01 3.06532857e-02 1.74485333e+01] [ 7.22192004e-02 3.25563630e-03 9.97383471e-01 -5.85527609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37534707000002 meters 0.0246228890815843 Centerline is valid? [True, True] Translation: X:-115.52, Y:17.47, Z:-5.85 [[ 8.83653505e-01 4.63603847e-01 -6.50227368e-02 -1.15519442e+02] [-4.62612939e-01 8.86036940e-01 3.04599582e-02 1.74660174e+01] [ 7.17339006e-02 3.16431055e-03 9.97418786e-01 -5.85496410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40534707000002 meters 0.024914293014051386 Centerline is valid? [True, True] Translation: X:-115.54, Y:17.48, Z:-5.86 [[ 8.83084927e-01 4.64553323e-01 -6.59637925e-02 -1.15544251e+02] [-4.63534103e-01 8.85539134e-01 3.09285985e-02 1.74777355e+01] [ 7.27815028e-02 3.26388822e-03 9.97342569e-01 -5.85586570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43534707000002 meters 0.025467220481960803 Centerline is valid? [True, True] Translation: X:-115.57, Y:17.49, Z:-5.85 [[ 8.83545318e-01 4.63781301e-01 -6.52271127e-02 -1.15570432e+02] [-4.62781507e-01 8.85944118e-01 3.05989576e-02 1.74911117e+01] [ 7.19788012e-02 3.15033579e-03 9.97401187e-01 -5.85362251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46534707 meters 0.02374892185632828 Centerline is valid? [True, True] Translation: X:-115.60, Y:17.50, Z:-5.85 [[ 8.83682768e-01 4.63389053e-01 -6.61464340e-02 -1.15595979e+02] [-4.62357857e-01 8.86149383e-01 3.10561267e-02 1.75011563e+01] [ 7.30066908e-02 3.13955948e-03 9.97326509e-01 -5.85370533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49534707000001 meters 0.02453652932165158 Centerline is valid? [True, True] Translation: X:-115.62, Y:17.52, Z:-5.85 [[ 8.82974573e-01 4.64744340e-01 -6.60953945e-02 -1.15621740e+02] [-4.63717346e-01 8.85439006e-01 3.10481675e-02 1.75158022e+01] [ 7.29529005e-02 3.23483853e-03 9.97330141e-01 -5.85129918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52534707000001 meters 0.024078205721993866 Centerline is valid? [True, True] Translation: X:-115.65, Y:17.53, Z:-5.85 [[ 8.82449497e-01 4.65623028e-01 -6.69184626e-02 -1.15647397e+02] [-4.64570838e-01 8.84976913e-01 3.14610777e-02 1.75274168e+01] [ 7.38702967e-02 3.32555405e-03 9.97262313e-01 -5.85020895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55534707000001 meters 0.024511870783062783 Centerline is valid? [True, True] Translation: X:-115.67, Y:17.54, Z:-5.85 [[ 8.82643865e-01 4.65270025e-01 -6.68102719e-02 -1.15672829e+02] [-4.64218664e-01 8.85162753e-01 3.14314019e-02 1.75419924e+01] [ 7.37620533e-02 3.27184113e-03 9.97270502e-01 -5.85204340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58534707000001 meters 0.02426280127117373 Centerline is valid? [True, True] Translation: X:-115.70, Y:17.55, Z:-5.85 [[ 8.81740168e-01 4.66903218e-01 -6.73473147e-02 -1.15698657e+02] [-4.65837174e-01 8.84301859e-01 3.17167105e-02 1.75543452e+01] [ 7.43639898e-02 3.40698510e-03 9.97225345e-01 -5.84935202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61534707000001 meters 0.025499554272010786 Centerline is valid? [True, True] Translation: X:-115.72, Y:17.57, Z:-5.85 [[ 8.81887618e-01 4.66641213e-01 -6.72324912e-02 -1.15723440e+02] [-4.65575640e-01 8.84440362e-01 3.16949572e-02 1.75696179e+01] [ 7.42533021e-02 3.35041981e-03 9.97233785e-01 -5.85042336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64534707000001 meters 0.02268773291365392 Centerline is valid? [True, True] Translation: X:-115.75, Y:17.58, Z:-5.85 [[ 8.81680862e-01 4.66982885e-01 -6.75710161e-02 -1.15750416e+02] [-4.65905190e-01 8.84259939e-01 3.18859767e-02 1.75759762e+01] [ 7.46405480e-02 3.36843164e-03 9.97204815e-01 -5.84724979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67534707000002 meters 0.02422245687164766 Centerline is valid? [True, True] Translation: X:-115.78, Y:17.59, Z:-5.85 [[ 8.81320484e-01 4.67543677e-01 -6.83894375e-02 -1.15775196e+02] [-4.66439068e-01 8.83963315e-01 3.23025519e-02 1.75915819e+01] [ 7.55566077e-02 3.43060473e-03 9.97135613e-01 -5.84603878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70534707000002 meters 0.02309907137255453 Centerline is valid? [True, True] Translation: X:-115.80, Y:17.60, Z:-5.84 [[ 8.80878331e-01 4.68365804e-01 -6.84604968e-02 -1.15800993e+02] [-4.67259176e-01 8.83527798e-01 3.23650050e-02 1.76019725e+01] [ 7.56454135e-02 3.47916375e-03 9.97128711e-01 -5.84473978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73534707000002 meters 0.023212384297426898 Centerline is valid? [True, True] Translation: X:-115.83, Y:17.62, Z:-5.85 [[ 8.81478627e-01 4.67178673e-01 -6.88441501e-02 -1.15825969e+02] [-4.66055011e-01 8.84156451e-01 3.25591445e-02 1.76154844e+01] [ 7.60799373e-02 3.38497107e-03 9.97095976e-01 -5.84532897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76534707000002 meters 0.023147665045368884 Centerline is valid? [True, True] Translation: X:-115.85, Y:17.63, Z:-5.85 [[ 8.80813449e-01 4.68477086e-01 -6.85338511e-02 -1.15851533e+02] [-4.67365976e-01 8.83468857e-01 3.24318325e-02 1.76289129e+01] [ 7.57410935e-02 3.46399595e-03 9.97121501e-01 -5.84530400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79534707000002 meters 0.022111097411325657 Centerline is valid? [True, True] Translation: X:-115.88, Y:17.64, Z:-5.84 [[ 8.81228772e-01 4.67694650e-01 -6.85387947e-02 -1.15878546e+02] [-4.66578335e-01 8.83883695e-01 3.24695393e-02 1.76385229e+01] [ 7.57661530e-02 3.36562441e-03 9.97119934e-01 -5.84278027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82534707000002 meters 0.023848298136651486 Centerline is valid? [True, True] Translation: X:-115.90, Y:17.66, Z:-5.85 [[ 8.81488591e-01 4.67319519e-01 -6.77519819e-02 -1.15901444e+02] [-4.66225027e-01 8.84082468e-01 3.21312006e-02 1.76583054e+01] [ 7.49138766e-02 3.26438283e-03 9.97184664e-01 -5.84594066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85534707000001 meters 0.02261167039081238 Centerline is valid? [True, True] Translation: X:-115.93, Y:17.67, Z:-5.84 [[ 8.82204794e-01 4.66070693e-01 -6.70284256e-02 -1.15928418e+02] [-4.64993428e-01 8.84742069e-01 3.18211037e-02 1.76681167e+01] [ 7.41337519e-02 3.09504712e-03 9.97243505e-01 -5.84381385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88534707000001 meters 0.023397062684980364 Centerline is valid? [True, True] Translation: X:-115.95, Y:17.68, Z:-5.85 [[ 8.81648501e-01 4.66834868e-01 -6.90009244e-02 -1.15951736e+02] [-4.65693439e-01 8.84338613e-01 3.27847362e-02 1.76840457e+01] [ 7.63252398e-02 3.22866422e-03 9.97077747e-01 -5.84522357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91534707000001 meters 0.022527387340738943 Centerline is valid? [True, True] Translation: X:-115.98, Y:17.70, Z:-5.85 [[ 8.81637991e-01 4.66937088e-01 -6.84412775e-02 -1.15977747e+02] [-4.65813108e-01 8.84284764e-01 3.25362071e-02 1.76959121e+01] [ 7.57139407e-02 3.19568786e-03 9.97124459e-01 -5.84568589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94534707000001 meters 0.021345877166131153 Centerline is valid? [True, True] Translation: X:-116.00, Y:17.71, Z:-5.84 [[ 8.81865981e-01 4.66685050e-01 -6.72120217e-02 -1.16003107e+02] [-4.65598553e-01 8.84418163e-01 3.19765808e-02 1.77079122e+01] [ 7.43665250e-02 3.09476123e-03 9.97226174e-01 -5.84477952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97534707000001 meters 0.02147678798602631 Centerline is valid? [True, True] Translation: X:-116.03, Y:17.72, Z:-5.84 [[ 8.81089319e-01 4.68097986e-01 -6.75713486e-02 -1.16028296e+02] [-4.67002550e-01 8.83670720e-01 3.21663783e-02 1.77229010e+01] [ 7.47678392e-02 3.21453976e-03 9.97195787e-01 -5.84354968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00534707000001 meters 0.02147678798602631 Centerline is valid? [True, True] Translation: X:-116.05, Y:17.73, Z:-5.85 [[ 8.80860791e-01 4.68529938e-01 -6.75571137e-02 -1.16053252e+02] [-4.67433482e-01 8.83441759e-01 3.21962521e-02 1.77345463e+01] [ 7.47676833e-02 3.21804078e-03 9.97195787e-01 -5.84501982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03534707000001 meters 0.021811148550851502 Centerline is valid? [True, True] Translation: X:-116.08, Y:17.75, Z:-5.85 [[ 8.80065252e-01 4.70104696e-01 -6.69830395e-02 -1.16076069e+02] [-4.69028491e-01 8.82604531e-01 3.19611913e-02 1.77536547e+01] [ 7.41446402e-02 3.28902003e-03 9.97242074e-01 -5.84511024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06534707000002 meters 0.022874645361620583 Centerline is valid? [True, True] Translation: X:-116.10, Y:17.77, Z:-5.85 [[ 8.80336823e-01 4.69691794e-01 -6.63075872e-02 -1.16099746e+02] [-4.68633510e-01 8.82824692e-01 3.16732695e-02 1.77705507e+01] [ 7.34146500e-02 3.19081187e-03 9.97296399e-01 -5.84758366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09534707000002 meters 0.023555906194374008 Centerline is valid? [True, True] Translation: X:-116.12, Y:17.79, Z:-5.85 [[ 8.79567488e-01 4.71077174e-01 -6.66883058e-02 -1.16123438e+02] [-4.70008443e-01 8.82085831e-01 3.18849573e-02 1.77889341e+01] [ 7.38450852e-02 3.29909494e-03 9.97264268e-01 -5.84847676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12534707000002 meters 0.0233118142010661 Centerline is valid? [True, True] Translation: X:-116.15, Y:17.80, Z:-5.85 [[ 8.79785792e-01 4.70911418e-01 -6.49568817e-02 -1.16147692e+02] [-4.69895624e-01 8.82174763e-01 3.10771577e-02 1.78047810e+01] [ 7.19379101e-02 3.18171256e-03 9.97404037e-01 -5.85143669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15534707000002 meters 0.023218189418951388 Centerline is valid? [True, True] Translation: X:-116.17, Y:17.82, Z:-5.85 [[ 8.78992097e-01 4.72362733e-01 -6.51639651e-02 -1.16172532e+02] [-4.71342141e-01 8.81398133e-01 3.12076382e-02 1.78186488e+01] [ 7.21767225e-02 3.28325551e-03 9.97386455e-01 -5.85019735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18534707000002 meters 0.022999496163164608 Centerline is valid? [True, True] Translation: X:-116.20, Y:17.83, Z:-5.85 [[ 8.78743884e-01 4.72955464e-01 -6.42052604e-02 -1.16195889e+02] [-4.71964024e-01 8.81080324e-01 3.07802403e-02 1.78340457e+01] [ 7.11276744e-02 3.25462514e-03 9.97461910e-01 -5.85062025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21534707 meters 0.023422439812249948 Centerline is valid? [True, True] Translation: X:-116.22, Y:17.85, Z:-5.85 [[ 8.78715655e-01 4.73153902e-01 -6.31203849e-02 -1.16219891e+02] [-4.72193960e-01 8.80974024e-01 3.02924569e-02 1.78510866e+01] [ 6.99404136e-02 3.18660844e-03 9.97546081e-01 -5.85216076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24534707000001 meters 0.026186303571794776 Centerline is valid? [True, True] Translation: X:-116.24, Y:17.88, Z:-5.85 [[ 8.79415890e-01 4.71920994e-01 -6.25960616e-02 -1.16240323e+02] [-4.70971929e-01 8.81635607e-01 3.00682483e-02 1.78751463e+01] [ 6.93767544e-02 3.03849249e-03 9.97585903e-01 -5.85482941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27534707000001 meters 0.026033174085279668 Centerline is valid? [True, True] Translation: X:-116.27, Y:17.89, Z:-5.86 [[ 8.79513300e-01 4.71700275e-01 -6.28904319e-02 -1.16267880e+02] [-4.70740907e-01 8.81753762e-01 3.02208673e-02 1.78928338e+01] [ 6.97090664e-02 3.02544422e-03 9.97562776e-01 -5.85506286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30534707000001 meters 0.02307186329655076 Centerline is valid? [True, True] Translation: X:-116.29, Y:17.90, Z:-5.85 [[ 8.79784896e-01 4.71210891e-01 -6.27601190e-02 -1.16293984e+02] [-4.70254551e-01 8.82015528e-01 3.01540439e-02 1.79020018e+01] [ 6.95643134e-02 2.98415916e-03 9.97573005e-01 -5.85325005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33534707000001 meters 0.023788919518039953 Centerline is valid? [True, True] Translation: X:-116.32, Y:17.92, Z:-5.86 [[ 8.80838000e-01 4.69347141e-01 -6.19489977e-02 -1.16317283e+02] [-4.68409650e-01 8.83009345e-01 2.97808246e-02 1.79206559e+01] [ 6.86790887e-02 2.78542634e-03 9.97634915e-01 -5.85543696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36534707000001 meters 0.02242592323033305 Centerline is valid? [True, True] Translation: X:-116.34, Y:17.93, Z:-5.85 [[ 8.80726857e-01 4.69502978e-01 -6.23470736e-02 -1.16344732e+02] [-4.68552144e-01 8.82926465e-01 2.99957622e-02 1.79331256e+01] [ 6.91309811e-02 2.79478164e-03 9.97603677e-01 -5.85330683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39534707000001 meters 0.02034762239215409 Centerline is valid? [True, True] Translation: X:-116.37, Y:17.95, Z:-5.85 [[ 8.82171542e-01 4.66796263e-01 -6.22464349e-02 -1.16369578e+02] [-4.65841289e-01 8.84361144e-01 2.99543083e-02 1.79456130e+01] [ 6.90308876e-02 2.57212114e-03 9.97611207e-01 -5.85474398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42534707000002 meters 0.020043159113982537 Centerline is valid? [True, True] Translation: X:-116.39, Y:17.96, Z:-5.86 [[ 8.83026491e-01 4.65136208e-01 -6.25501761e-02 -1.16393273e+02] [-4.64165880e-01 8.85235788e-01 3.01269969e-02 1.79606781e+01] [ 6.93848115e-02 2.43072115e-03 9.97587009e-01 -5.85546112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45534707000002 meters 0.020939325924450324 Centerline is valid? [True, True] Translation: X:-116.42, Y:17.98, Z:-5.86 [[ 8.82995776e-01 4.65216978e-01 -6.23828792e-02 -1.16416148e+02] [-4.64250879e-01 8.85193385e-01 3.00631490e-02 1.79775881e+01] [ 6.92067993e-02 2.41567296e-03 9.97599410e-01 -5.85640485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48534707000002 meters 0.01870092744069388 Centerline is valid? [True, True] Translation: X:-116.44, Y:17.99, Z:-5.85 [[ 8.84382362e-01 4.62532396e-01 -6.27026414e-02 -1.16441887e+02] [-4.61547559e-01 8.86599675e-01 3.02467547e-02 1.79883642e+01] [ 6.95822454e-02 2.19055473e-03 9.97573813e-01 -5.85441788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51534707000002 meters 0.01926696157305251 Centerline is valid? [True, True] Translation: X:-116.47, Y:18.01, Z:-5.86 [[ 8.85566317e-01 4.60407571e-01 -6.16211549e-02 -1.16465530e+02] [-4.59450197e-01 8.87705453e-01 2.97412944e-02 1.80062204e+01] [ 6.83945523e-02 1.97396326e-03 9.97656398e-01 -5.85711743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54534707000002 meters 0.01810103219195115 Centerline is valid? [True, True] Translation: X:-116.49, Y:18.02, Z:-5.86 [[ 8.85903498e-01 4.59880404e-01 -6.07042452e-02 -1.16490624e+02] [-4.58948128e-01 8.87978877e-01 2.93279785e-02 1.80185505e+01] [ 6.73914500e-02 1.87834096e-03 9.97724844e-01 -5.85828418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57534707000002 meters 0.018436189114676704 Centerline is valid? [True, True] Translation: X:-116.51, Y:18.03, Z:-5.86 [[ 8.86406649e-01 4.58892611e-01 -6.08343997e-02 -1.16514486e+02] [-4.57952588e-01 8.88489940e-01 2.94118087e-02 1.80344682e+01] [ 6.75476138e-02 1.78844801e-03 9.97714449e-01 -5.85969437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60534707000001 meters 0.01818109817894465 Centerline is valid? [True, True] Translation: X:-116.54, Y:18.05, Z:-5.86 [[ 8.87504285e-01 4.56685102e-01 -6.14398993e-02 -1.16541787e+02] [-4.55719243e-01 8.89626951e-01 2.97297694e-02 1.80508762e+01] [ 6.82357331e-02 1.61404666e-03 9.97667920e-01 -5.85959178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63534707000001 meters 0.01720770462963038 Centerline is valid? [True, True] Translation: X:-116.57, Y:18.06, Z:-5.86 [[ 8.87945511e-01 4.55766529e-01 -6.18840797e-02 -1.16566554e+02] [-4.54784366e-01 8.90098003e-01 2.99453600e-02 1.80633402e+01] [ 6.87309886e-02 1.55406400e-03 9.97634019e-01 -5.85694990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66534707000001 meters 0.01754309257295878 Centerline is valid? [True, True] Translation: X:-116.59, Y:18.08, Z:-5.86 [[ 8.88649475e-01 4.54528749e-01 -6.08746814e-02 -1.16590405e+02] [-4.53574055e-01 8.90730943e-01 2.94781976e-02 1.80800771e+01] [ 6.76216506e-02 1.41539122e-03 9.97710033e-01 -5.85823729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69534707000001 meters 0.017283465645423997 Centerline is valid? [True, True] Translation: X:-116.62, Y:18.10, Z:-5.86 [[ 8.89314833e-01 4.53440236e-01 -5.92543661e-02 -1.16617111e+02] [-4.52531643e-01 8.91285773e-01 2.87190500e-02 1.80951484e+01] [ 6.58349463e-02 1.27419846e-03 9.97829713e-01 -5.86329283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72534707000001 meters 0.017333268709198654 Centerline is valid? [True, True] Translation: X:-116.64, Y:18.11, Z:-5.86 [[ 8.90014179e-01 4.52199930e-01 -5.82235763e-02 -1.16643648e+02] [-4.51320147e-01 8.91915843e-01 2.82179865e-02 1.81139361e+01] [ 6.46907016e-02 1.16306497e-03 9.97904685e-01 -5.86166887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75534707000001 meters 0.017498037437336272 Centerline is valid? [True, True] Translation: X:-116.67, Y:18.13, Z:-5.86 [[ 8.90760396e-01 4.50692829e-01 -5.84969258e-02 -1.16671269e+02] [-4.49802062e-01 8.92678462e-01 2.83419885e-02 1.81304525e+01] [ 6.49924768e-02 1.06611694e-03 9.97885184e-01 -5.86044647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78534707000001 meters 0.01737868721710306 Centerline is valid? [True, True] Translation: X:-116.70, Y:18.15, Z:-5.86 [[ 8.91206365e-01 4.49897871e-01 -5.78197301e-02 -1.16698792e+02] [-4.49026485e-01 8.93079447e-01 2.80056767e-02 1.81478689e+01] [ 6.42373069e-02 1.00375283e-03 9.97934147e-01 -5.86216155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81534707000002 meters 0.016908788580170586 Centerline is valid? [True, True] Translation: X:-116.73, Y:18.16, Z:-5.86 [[ 8.91206326e-01 4.49922744e-01 -5.76264670e-02 -1.16726203e+02] [-4.49057730e-01 8.93066910e-01 2.79042793e-02 1.81625630e+01] [ 6.40190607e-02 1.00914026e-03 9.97948166e-01 -5.86183116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84534707000002 meters 0.01714776068885095 Centerline is valid? [True, True] Translation: X:-116.75, Y:18.18, Z:-5.86 [[ 8.91724882e-01 4.49108521e-01 -5.59309452e-02 -1.16752790e+02] [-4.48292519e-01 8.93476734e-01 2.70766271e-02 1.81813525e+01] [ 6.21333422e-02 9.28522121e-04 9.98067425e-01 -5.86475800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87534707000002 meters 0.017207461703208263 Centerline is valid? [True, True] Translation: X:-116.78, Y:18.20, Z:-5.87 [[ 8.91754093e-01 4.49132339e-01 -5.52700623e-02 -1.16780320e+02] [-4.48336096e-01 8.93464763e-01 2.67481138e-02 1.81987135e+01] [ 6.13952960e-02 9.26824056e-04 9.98113099e-01 -5.86519976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90534707000002 meters 0.01752792369873447 Centerline is valid? [True, True] Translation: X:-116.81, Y:18.22, Z:-5.86 [[ 8.92590333e-01 4.47469935e-01 -5.52553587e-02 -1.16807713e+02] [-4.46671462e-01 8.94298599e-01 2.67323791e-02 1.82156160e+01] [ 6.13767259e-02 8.19928680e-04 9.98114335e-01 -5.86451982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93534707000002 meters 0.01689354147820253 Centerline is valid? [True, True] Translation: X:-116.83, Y:18.23, Z:-5.87 [[ 8.93104649e-01 4.46442975e-01 -5.52517515e-02 -1.16834995e+02] [-4.45643159e-01 8.94811766e-01 2.67222252e-02 1.82321119e+01] [ 6.13698671e-02 7.56821539e-04 9.98114806e-01 -5.86638673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96534707 meters 0.02856564877886776 Centerline is valid? [True, True] Translation: X:-116.77, Y:18.44, Z:-5.91 [[ 8.68588110e-01 4.93277354e-01 -4.72456055e-02 -1.16765804e+02] [-4.92760108e-01 8.69865293e-01 2.28440042e-02 1.84402729e+01] [ 5.23657424e-02 3.43871926e-03 9.98622053e-01 -5.90576029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99534707000001 meters 0.027867902262066993 Centerline is valid? [True, True] Translation: X:-116.79, Y:18.46, Z:-5.91 [[ 8.69024928e-01 4.92448598e-01 -4.78545068e-02 -1.16793770e+02] [-4.91916877e-01 8.70334748e-01 2.31346727e-02 1.84551319e+01] [ 5.30420773e-02 3.43583227e-03 9.98586367e-01 -5.90832392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02534707000001 meters 0.02988631389874027 Centerline is valid? [True, True] Translation: X:-116.82, Y:18.47, Z:-5.91 [[ 8.70874781e-01 4.89106512e-01 -4.84967578e-02 -1.16819167e+02] [-4.88556609e-01 8.72217832e-01 2.34199383e-02 1.84744021e+01] [ 5.37545813e-02 3.29757796e-03 9.98548732e-01 -5.90756045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05534707000001 meters 0.026782286546160196 Centerline is valid? [True, True] Translation: X:-116.85, Y:18.48, Z:-5.91 [[ 8.71984234e-01 4.87281935e-01 -4.69021491e-02 -1.16849128e+02] [-4.86765174e-01 8.73239263e-01 2.26463119e-02 1.84829806e+01] [ 5.19919368e-02 3.08310579e-03 9.98642745e-01 -5.90856742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08534707000001 meters 0.026231530108830392 Centerline is valid? [True, True] Translation: X:-116.88, Y:18.50, Z:-5.91 [[ 8.73276673e-01 4.85085791e-01 -4.56029417e-02 -1.16878388e+02] [-4.84594404e-01 8.74461849e-01 2.20167533e-02 1.84951502e+01] [ 5.05580469e-02 2.87221329e-03 9.98716994e-01 -5.90701498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11534707000001 meters 0.027165229652318337 Centerline is valid? [True, True] Translation: X:-116.90, Y:18.51, Z:-5.91 [[ 8.76683571e-01 4.78610387e-01 -4.85593856e-02 -1.16903230e+02] [-4.78044670e-01 8.78023289e-01 2.34178890e-02 1.85144236e+01] [ 5.38443164e-02 2.68347693e-03 9.98545737e-01 -5.90881380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14534707000001 meters 0.024928509979887863 Centerline is valid? [True, True] Translation: X:-116.93, Y:18.52, Z:-5.91 [[ 8.78210100e-01 4.75922988e-01 -4.73743557e-02 -1.16932476e+02] [-4.75380752e-01 8.79483522e-01 2.28445837e-02 1.85245731e+01] [ 5.25372278e-02 2.45851273e-03 9.98615940e-01 -5.90914711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17534707000002 meters 0.02526718335691998 Centerline is valid? [True, True] Translation: X:-116.96, Y:18.54, Z:-5.91 [[ 8.79614888e-01 4.73299692e-01 -4.75925357e-02 -1.16960629e+02] [-4.72748777e-01 8.80898429e-01 2.29467209e-02 1.85399664e+01] [ 5.27848659e-02 2.31503568e-03 9.98603224e-01 -5.90913988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20534707000002 meters 0.024022746272541997 Centerline is valid? [True, True] Translation: X:-116.99, Y:18.55, Z:-5.91 [[ 8.79965141e-01 4.72734339e-01 -4.67289661e-02 -1.16990975e+02] [-4.72203603e-01 8.81202100e-01 2.25081401e-02 1.85507104e+01] [ 5.18180338e-02 2.25920746e-03 9.98653988e-01 -5.91065484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23534707000002 meters 0.02177770758542142 Centerline is valid? [True, True] Translation: X:-117.02, Y:18.56, Z:-5.91 [[ 8.81025381e-01 4.70891071e-01 -4.53417718e-02 -1.17020404e+02] [-4.70390162e-01 8.82188844e-01 2.18160355e-02 1.85620414e+01] [ 5.02729815e-02 2.10784239e-03 9.98733290e-01 -5.91481842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26534707000002 meters 0.020894795865741746 Centerline is valid? [True, True] Translation: X:-117.05, Y:18.58, Z:-5.92 [[ 8.82104064e-01 4.68911166e-01 -4.48858360e-02 -1.17048974e+02] [-4.68418837e-01 8.83243081e-01 2.15743613e-02 1.85750167e+01] [ 4.97615629e-02 1.99453935e-03 9.98759134e-01 -5.91550831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29534707000002 meters 0.02124716985396878 Centerline is valid? [True, True] Translation: X:-117.08, Y:18.59, Z:-5.92 [[ 8.83082715e-01 4.66986500e-01 -4.57004177e-02 -1.17077092e+02] [-4.66474185e-01 8.84262336e-01 2.19534796e-02 1.85906341e+01] [ 5.06631368e-02 1.93132675e-03 9.98713931e-01 -5.91611800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32534707000002 meters 0.020310575871690967 Centerline is valid? [True, True] Translation: X:-117.11, Y:18.60, Z:-5.92 [[ 8.83818471e-01 4.65674492e-01 -4.48573114e-02 -1.17105751e+02] [-4.65180423e-01 8.84954163e-01 2.15244864e-02 1.86035821e+01] [ 4.97200687e-02 1.84300446e-03 9.98761492e-01 -5.91591678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35534707000001 meters 0.021522485879906086 Centerline is valid? [True, True] Translation: X:-117.13, Y:18.62, Z:-5.91 [[ 8.85601852e-01 4.62011214e-01 -4.74868145e-02 -1.17132305e+02] [-4.61453512e-01 8.86872346e-01 2.27617758e-02 1.86219799e+01] [ 5.26309383e-02 1.75508653e-03 9.98612489e-01 -5.91429422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38534707000001 meters 0.020453138792907926 Centerline is valid? [True, True] Translation: X:-117.16, Y:18.63, Z:-5.91 [[ 8.85647857e-01 4.62000094e-01 -4.67309997e-02 -1.17160975e+02] [-4.61461169e-01 8.86878156e-01 2.23769195e-02 1.86335110e+01] [ 5.17828417e-02 1.74647101e-03 9.98656842e-01 -5.91455256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41534707000001 meters 0.020835733445912684 Centerline is valid? [True, True] Translation: X:-117.19, Y:18.65, Z:-5.92 [[ 8.85491560e-01 4.62356780e-01 -4.61617266e-02 -1.17188312e+02] [-4.61832487e-01 8.86692221e-01 2.20830116e-02 1.86506755e+01] [ 5.11414740e-02 1.76466461e-03 9.98689860e-01 -5.91517390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44534707000001 meters 0.021438493509005223 Centerline is valid? [True, True] Translation: X:-117.22, Y:18.67, Z:-5.91 [[ 8.86243177e-01 4.60906827e-01 -4.62377278e-02 -1.17215681e+02] [-4.60380052e-01 8.87446894e-01 2.20956348e-02 1.86681804e+01] [ 5.12175569e-02 1.70482193e-03 9.98686065e-01 -5.91329539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47534707000001 meters 0.02173086433557 Centerline is valid? [True, True] Translation: X:-117.24, Y:18.68, Z:-5.91 [[ 8.85448126e-01 4.62374175e-01 -4.68159995e-02 -1.17243683e+02] [-4.61837384e-01 8.86683012e-01 2.23487661e-02 1.86833817e+01] [ 5.18444437e-02 1.83270562e-03 9.98653491e-01 -5.91306747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50534707000001 meters 0.02373259083378675 Centerline is valid? [True, True] Translation: X:-117.27, Y:18.70, Z:-5.91 [[ 8.86606166e-01 4.60055903e-01 -4.77291650e-02 -1.17269394e+02] [-4.59495798e-01 8.87888226e-01 2.27620181e-02 1.87036261e+01] [ 5.28499644e-02 1.75040516e-03 9.98600930e-01 -5.91028963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53534707000001 meters 0.01947566684645756 Centerline is valid? [True, True] Translation: X:-117.30, Y:18.71, Z:-5.91 [[ 8.85860411e-01 4.61831832e-01 -4.43022812e-02 -1.17301139e+02] [-4.61352422e-01 8.86965803e-01 2.11094175e-02 1.87087311e+01] [ 4.90436094e-02 1.73896744e-03 9.98795124e-01 -5.91437911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56534707000002 meters 0.020593274192451903 Centerline is valid? [True, True] Translation: X:-117.33, Y:18.73, Z:-5.91 [[ 8.87833257e-01 4.57927084e-01 -4.53309328e-02 -1.17327956e+02] [-4.57420743e-01 8.88988368e-01 2.15857663e-02 1.87264922e+01] [ 5.01833790e-02 1.57074779e-03 9.98738785e-01 -5.91404240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59534707000002 meters 0.018338093407408 Centerline is valid? [True, True] Translation: X:-117.36, Y:18.74, Z:-5.92 [[ 8.89320689e-01 4.54969479e-01 -4.59509012e-02 -1.17357831e+02] [-4.54446496e-01 8.90505859e-01 2.18562738e-02 1.87352324e+01] [ 5.08634842e-02 1.44498951e-03 9.98704570e-01 -5.91620167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62534707000002 meters 0.017470109677398364 Centerline is valid? [True, True] Translation: X:-117.39, Y:18.75, Z:-5.91 [[ 8.93263196e-01 4.47014771e-01 -4.75253358e-02 -1.17387128e+02] [-4.46444199e-01 8.94525985e-01 2.26017498e-02 1.87480609e+01] [ 5.26159638e-02 1.02809921e-03 9.98614292e-01 -5.91458913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65534707000002 meters 0.016643895785514513 Centerline is valid? [True, True] Translation: X:-117.42, Y:18.76, Z:-5.91 [[ 8.95790661e-01 4.42041243e-01 -4.64610710e-02 -1.17415946e+02] [-4.41490406e-01 8.96994422e-01 2.20732403e-02 1.87594434e+01] [ 5.14326041e-02 7.39114629e-04 9.98676194e-01 -5.91483743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68534707000002 meters 0.015826278236959285 Centerline is valid? [True, True] Translation: X:-117.45, Y:18.77, Z:-5.91 [[ 8.99987675e-01 4.33375171e-01 -4.69909149e-02 -1.17446193e+02] [-4.32800985e-01 9.01213566e-01 2.23028334e-02 1.87687369e+01] [ 5.20143442e-02 2.65439096e-04 9.98646303e-01 -5.91419359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71534707 meters 0.01600360079046928 Centerline is valid? [True, True] Translation: X:-117.48, Y:18.78, Z:-5.91 [[ 9.03203370e-01 4.26591385e-01 -4.73652117e-02 -1.17476670e+02] [-4.25999871e-01 9.04444459e-01 2.24573104e-02 1.87814896e+01] [ 5.24192984e-02 -1.05944371e-04 9.98625158e-01 -5.91331154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74534707000001 meters 0.01557592538573107 Centerline is valid? [True, True] Translation: X:-117.51, Y:18.79, Z:-5.92 [[ 9.05835084e-01 4.20962921e-01 -4.74659858e-02 -1.17505352e+02] [-4.20362669e-01 9.07077755e-01 2.24760344e-02 1.87942009e+01] [ 5.25169169e-02 -4.06652016e-04 9.98619952e-01 -5.91912755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77534707000001 meters 0.015364615315630697 Centerline is valid? [True, True] Translation: X:-117.54, Y:18.81, Z:-5.92 [[ 9.07661572e-01 4.16856373e-01 -4.87978935e-02 -1.17535069e+02] [-4.16216775e-01 9.08972135e-01 2.30922794e-02 1.88077176e+01] [ 5.39820893e-02 -6.49472790e-04 9.98541693e-01 -5.91948637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80534707000001 meters 0.014395647679692744 Centerline is valid? [True, True] Translation: X:-117.56, Y:18.83, Z:-5.92 [[ 9.06572828e-01 4.19281206e-01 -4.82594763e-02 -1.17560894e+02] [-4.18660382e-01 9.07856289e-01 2.28132027e-02 1.88272005e+01] [ 5.33778162e-02 -4.77498954e-04 9.98574274e-01 -5.91657289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83534707000001 meters 0.015053780863388018 Centerline is valid? [True, True] Translation: X:-117.59, Y:18.84, Z:-5.92 [[ 9.07473686e-01 4.17280791e-01 -4.86646693e-02 -1.17588797e+02] [-4.16647355e-01 9.08777418e-01 2.29909900e-02 1.88424045e+01] [ 5.38190510e-02 -5.87712661e-04 9.98550532e-01 -5.92158803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86534707000001 meters 0.01502859065527878 Centerline is valid? [True, True] Translation: X:-117.61, Y:18.86, Z:-5.92 [[ 9.07708207e-01 4.16787763e-01 -4.85156786e-02 -1.17614131e+02] [-4.16158838e-01 9.09003636e-01 2.28956623e-02 1.88631067e+01] [ 5.36435601e-02 -5.92352177e-04 9.98559972e-01 -5.92051224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89534707000001 meters 0.01502859065527878 Centerline is valid? [True, True] Translation: X:-117.64, Y:18.88, Z:-5.92 [[ 9.07884048e-01 4.16403549e-01 -4.85246386e-02 -1.17643470e+02] [-4.15775092e-01 9.09179703e-01 2.28766571e-02 1.88772246e+01] [ 5.36435376e-02 -5.94015971e-04 9.98559972e-01 -5.92224965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92534707000002 meters 0.017226969490773323 Centerline is valid? [True, True] Translation: X:-117.67, Y:18.90, Z:-5.92 [[ 9.07210625e-01 4.17903679e-01 -4.82223684e-02 -1.17668939e+02] [-4.17286470e-01 9.08491214e-01 2.27093955e-02 1.88958631e+01] [ 5.32999379e-02 -4.79662971e-04 9.98578433e-01 -5.92090574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95534707000002 meters 0.015223388803798837 Centerline is valid? [True, True] Translation: X:-117.70, Y:18.91, Z:-5.92 [[ 9.08308963e-01 4.15462190e-01 -4.86415116e-02 -1.17697551e+02] [-4.14831858e-01 9.09610245e-01 2.28851685e-02 1.89099186e+01] [ 5.37527395e-02 -6.08754991e-04 9.98554091e-01 -5.92355507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98534707000002 meters 0.015017192243732713 Centerline is valid? [True, True] Translation: X:-117.73, Y:18.93, Z:-5.92 [[ 9.08648518e-01 4.14789131e-01 -4.80400659e-02 -1.17725359e+02] [-4.14174565e-01 9.09917355e-01 2.25795762e-02 1.89265714e+01] [ 5.30782525e-02 -6.19925071e-04 9.98590164e-01 -5.92280089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01534707000002 meters 0.0175737820923277 Centerline is valid? [True, True] Translation: X:-117.76, Y:18.94, Z:-5.92 [[ 9.10922647e-01 4.09737146e-01 -4.83260015e-02 -1.17755682e+02] [-4.09108957e-01 9.12203185e-01 2.26982423e-02 1.89393362e+01] [ 5.33834455e-02 -9.05742865e-04 9.98573676e-01 -5.92179181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04534707000002 meters 0.01714327903686745 Centerline is valid? [True, True] Translation: X:-117.78, Y:18.95, Z:-5.92 [[ 9.13664244e-01 4.03641689e-01 -4.78647758e-02 -1.17784529e+02] [-4.03017476e-01 9.14916303e-01 2.24738068e-02 1.89499947e+01] [ 5.28636291e-02 -1.24317254e-03 9.98600967e-01 -5.92309214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07534707000002 meters 0.018520065105419363 Centerline is valid? [True, True] Translation: X:-117.82, Y:18.96, Z:-5.92 [[ 9.15940867e-01 3.98517486e-01 -4.72878568e-02 -1.17815027e+02] [-3.97901562e-01 9.17159479e-01 2.21999493e-02 1.89603221e+01] [ 5.22175741e-02 -1.51792868e-03 9.98634578e-01 -5.92394445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10534707000001 meters 0.023159845410487125 Centerline is valid? [True, True] Translation: X:-117.85, Y:18.96, Z:-5.93 [[ 9.19446987e-01 3.90318803e-01 -4.76284536e-02 -1.17848185e+02] [-3.89683198e-01 9.20677606e-01 2.23551082e-02 1.89630460e+01] [ 5.25760697e-02 -1.99432874e-03 9.98614931e-01 -5.92514603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13534707000001 meters 0.023744599786693795 Centerline is valid? [True, True] Translation: X:-117.88, Y:18.97, Z:-5.93 [[ 9.22630298e-01 3.82651237e-01 -4.82842063e-02 -1.17875417e+02] [-3.81987574e-01 9.23889582e-01 2.26612953e-02 1.89749053e+01] [ 5.32806478e-02 -2.46403080e-03 9.98576537e-01 -5.92700136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16534707000001 meters 0.02576521564319134 Centerline is valid? [True, True] Translation: X:-117.90, Y:18.98, Z:-5.93 [[ 9.25718357e-01 3.75190622e-01 -4.77233688e-02 -1.17903394e+02] [-3.74532390e-01 9.26943264e-01 2.23980744e-02 1.89842710e+01] [ 5.26404027e-02 -2.86036132e-03 9.98609436e-01 -5.92941893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19534707000001 meters 0.030554129909776417 Centerline is valid? [True, True] Translation: X:-117.94, Y:18.99, Z:-5.93 [[ 9.26819699e-01 3.72425820e-01 -4.80026541e-02 -1.17936297e+02] [-3.71756147e-01 9.28057000e-01 2.25293526e-02 1.89890788e+01] [ 5.29397118e-02 -3.03536604e-03 9.98593097e-01 -5.93058504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22534707000001 meters 0.03032830190230525 Centerline is valid? [True, True] Translation: X:-117.96, Y:19.01, Z:-5.93 [[ 9.27856685e-01 3.69753960e-01 -4.86207900e-02 -1.17961541e+02] [-3.69063518e-01 9.29124110e-01 2.28146512e-02 1.90071961e+01] [ 5.36105559e-02 -3.22456684e-03 9.98556714e-01 -5.93357004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25534707000001 meters 0.026720311501662736 Centerline is valid? [True, True] Translation: X:-117.98, Y:19.03, Z:-5.93 [[ 9.26159447e-01 3.73999112e-01 -4.85112608e-02 -1.17983381e+02] [-3.73317717e-01 9.27424307e-01 2.27604302e-02 1.90303924e+01] [ 5.35029031e-02 -2.96967438e-03 9.98563278e-01 -5.93380016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28534707000001 meters 0.026537890472454508 Centerline is valid? [True, True] Translation: X:-118.01, Y:19.05, Z:-5.93 [[ 9.23561893e-01 3.80252651e-01 -4.94100228e-02 -1.18007875e+02] [-3.79554641e-01 9.24878838e-01 2.31820791e-02 1.90513100e+01] [ 5.45133315e-02 -2.65628143e-03 9.98509510e-01 -5.93321202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31534707000002 meters 0.020506891046637984 Centerline is valid? [True, True] Translation: X:-118.02, Y:19.09, Z:-5.94 [[ 9.18893033e-01 3.91250442e-01 -5.05834493e-02 -1.18024522e+02] [-3.90535467e-01 9.20281958e-01 2.37311336e-02 1.90868553e+01] [ 5.58358523e-02 -2.05174232e-03 9.98437854e-01 -5.93517701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34534707000002 meters 0.016740432826494938 Centerline is valid? [True, True] Translation: X:-118.04, Y:19.12, Z:-5.94 [[ 9.13544362e-01 4.03623663e-01 -5.02457645e-02 -1.18043737e+02] [-4.02936842e-01 9.14924194e-01 2.35716141e-02 1.91156244e+01] [ 5.54851268e-02 -1.28784547e-03 9.98458683e-01 -5.93778766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37534707000002 meters 0.014911393550632339 Centerline is valid? [True, True] Translation: X:-118.06, Y:19.15, Z:-5.94 [[ 9.08691372e-01 4.14234536e-01 -5.18627051e-02 -1.18063656e+02] [-4.13520234e-01 9.10169939e-01 2.43248704e-02 1.91460410e+01] [ 5.72800765e-02 -6.57521912e-04 9.98357932e-01 -5.93908474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40534707000002 meters 0.01409285516130855 Centerline is valid? [True, True] Translation: X:-118.09, Y:19.17, Z:-5.94 [[ 9.05572653e-01 4.20992499e-01 -5.19950489e-02 -1.18085701e+02] [-4.20285938e-01 9.07064090e-01 2.43816720e-02 1.91727075e+01] [ 5.74273427e-02 -2.26587470e-04 9.98349663e-01 -5.93783599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43534707000002 meters 0.013975773676262782 Centerline is valid? [True, True] Translation: X:-118.11, Y:19.20, Z:-5.94 [[ 9.03662235e-01 4.25038082e-01 -5.23182070e-02 -1.18112053e+02] [-4.24330674e-01 9.05175467e-01 2.45122990e-02 1.91953086e+01] [ 5.77758181e-02 4.93811342e-05 9.98329581e-01 -5.94083031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46534707 meters 0.013787174053528863 Centerline is valid? [True, True] Translation: X:-118.14, Y:19.21, Z:-5.94 [[ 9.04252087e-01 4.23740281e-01 -5.26529815e-02 -1.18139710e+02] [-4.23023076e-01 9.05783735e-01 2.46435189e-02 1.92121452e+01] [ 5.81346659e-02 -1.05271807e-05 9.98308750e-01 -5.94235976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49534707000001 meters 0.01349276616345591 Centerline is valid? [True, True] Translation: X:-118.17, Y:19.23, Z:-5.95 [[ 9.05181317e-01 4.21745012e-01 -5.27060574e-02 -1.18169179e+02] [-4.21024344e-01 9.06714470e-01 2.46448961e-02 1.92252605e+01] [ 5.81832069e-02 -1.17566249e-04 9.98305915e-01 -5.94774020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52534707000001 meters 0.013369149337598168 Centerline is valid? [True, True] Translation: X:-118.20, Y:19.23, Z:-5.95 [[ 9.07452950e-01 4.16915725e-01 -5.20617141e-02 -1.18200083e+02] [-4.16205568e-01 9.08945055e-01 2.43271977e-02 1.92346857e+01] [ 5.74636289e-02 -4.07412003e-04 9.98347517e-01 -5.94812019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55534707000001 meters 0.013743746249555815 Centerline is valid? [True, True] Translation: X:-118.23, Y:19.25, Z:-5.95 [[ 9.08351500e-01 4.14924072e-01 -5.23026455e-02 -1.18230447e+02] [-4.14205348e-01 9.09855895e-01 2.44168019e-02 1.92468236e+01] [ 5.77189892e-02 -5.15003138e-04 9.98332737e-01 -5.95079628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58534707000001 meters 0.014196941247402643 Centerline is valid? [True, True] Translation: X:-118.26, Y:19.26, Z:-5.95 [[ 9.10179249e-01 4.10851705e-01 -5.26745800e-02 -1.18259187e+02] [-4.10117232e-01 9.11701871e-01 2.45673343e-02 1.92597437e+01] [ 5.81170444e-02 -7.57924945e-04 9.98309488e-01 -5.95490564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61534707000001 meters 0.014081174199159786 Centerline is valid? [True, True] Translation: X:-118.29, Y:19.27, Z:-5.95 [[ 9.10343414e-01 4.10549067e-01 -5.21951401e-02 -1.18289269e+02] [-4.09828649e-01 9.11838199e-01 2.43223781e-02 1.92746821e+01] [ 5.75790522e-02 -7.50652949e-04 9.98340668e-01 -5.95309542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64534707000001 meters 0.014071818762390678 Centerline is valid? [True, True] Translation: X:-118.32, Y:19.29, Z:-5.96 [[ 9.10196630e-01 4.10774043e-01 -5.29790521e-02 -1.18318504e+02] [-4.10033765e-01 9.11736893e-01 2.46606634e-02 1.92907853e+01] [ 5.84329167e-02 -7.22852473e-04 9.98291076e-01 -5.95985463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67534707000002 meters 0.013381079363181054 Centerline is valid? [True, True] Translation: X:-118.35, Y:19.31, Z:-5.96 [[ 9.09784423e-01 4.11632704e-01 -5.33930798e-02 -1.18347005e+02] [-4.10883839e-01 9.11349602e-01 2.48268920e-02 1.93074131e+01] [ 5.88793227e-02 -6.48766037e-04 9.98264897e-01 -5.96379203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70534707000002 meters 0.013159716515536598 Centerline is valid? [True, True] Translation: X:-118.37, Y:19.33, Z:-5.97 [[ 9.09734961e-01 4.11599382e-01 -5.44816530e-02 -1.18374554e+02] [-4.10821206e-01 9.11364658e-01 2.53060567e-02 1.93255665e+01] [ 6.00686104e-02 -6.39586077e-04 9.98194046e-01 -5.96595956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73534707000002 meters 0.01294742863837334 Centerline is valid? [True, True] Translation: X:-118.40, Y:19.34, Z:-5.97 [[ 9.09402253e-01 4.12346057e-01 -5.43899948e-02 -1.18403070e+02] [-4.11573373e-01 9.11027118e-01 2.52378569e-02 1.93428666e+01] [ 5.99574910e-02 -5.65890354e-04 9.98200771e-01 -5.97045684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76534707000002 meters 0.012579535828423935 Centerline is valid? [True, True] Translation: X:-118.43, Y:19.36, Z:-5.97 [[ 9.08532520e-01 4.14196308e-01 -5.48641770e-02 -1.18430708e+02] [-4.13415015e-01 9.10187474e-01 2.54320057e-02 1.93597437e+01] [ 6.04705296e-02 -4.24129708e-04 9.98169893e-01 -5.97351115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79534707000002 meters 0.012139812829412726 Centerline is valid? [True, True] Translation: X:-118.46, Y:19.38, Z:-5.98 [[ 9.07053807e-01 4.17459438e-01 -5.45986113e-02 -1.18456503e+02] [-4.16692860e-01 9.08695539e-01 2.52878902e-02 1.93768795e+01] [ 6.01701830e-02 -1.86625583e-04 9.98188116e-01 -5.97664222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82534707000002 meters 0.012005842960686307 Centerline is valid? [True, True] Translation: X:-118.49, Y:19.39, Z:-5.98 [[ 9.07304424e-01 4.16837558e-01 -5.51827159e-02 -1.18486028e+02] [-4.16054148e-01 9.08980970e-01 2.55449119e-02 1.93928972e+01] [ 6.08081173e-02 -2.18013703e-04 9.98149450e-01 -5.97809897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85534707000001 meters 0.011926399278252819 Centerline is valid? [True, True] Translation: X:-118.51, Y:19.41, Z:-5.98 [[ 9.07464001e-01 4.16391453e-01 -5.59217790e-02 -1.18514940e+02] [-4.15587741e-01 9.09185408e-01 2.58596809e-02 1.94079676e+01] [ 6.16110156e-02 -2.26323717e-04 9.98100211e-01 -5.98214244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88534707000001 meters 0.014964987403030731 Centerline is valid? [True, True] Translation: X:-118.54, Y:19.43, Z:-5.98 [[ 9.04514533e-01 4.23357404e-01 -5.12051592e-02 -1.18542295e+02] [-4.22696018e-01 9.05962719e-01 2.36564586e-02 1.94258171e+01] [ 5.64051022e-02 2.46606323e-04 9.98407934e-01 -5.98342924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91534707000001 meters 0.015022133215230648 Centerline is valid? [True, True] Translation: X:-118.57, Y:19.44, Z:-5.98 [[ 9.04802815e-01 4.22637745e-01 -5.20500001e-02 -1.18571090e+02] [-4.21954365e-01 9.06298674e-01 2.40255693e-02 1.94399424e+01] [ 5.73269586e-02 2.24322004e-04 9.98355432e-01 -5.98477593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94534707000001 meters 0.016009196828320277 Centerline is valid? [True, True] Translation: X:-118.60, Y:19.46, Z:-5.98 [[ 9.03483395e-01 4.25695957e-01 -5.00070622e-02 -1.18598910e+02] [-4.25070915e-01 9.04866165e-01 2.30638391e-02 1.94572811e+01] [ 5.50678816e-02 4.18752026e-04 9.98482525e-01 -5.98448305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97534707000001 meters 0.016613265135630873 Centerline is valid? [True, True] Translation: X:-118.63, Y:19.47, Z:-5.99 [[ 9.03494502e-01 4.25592520e-01 -5.06822725e-02 -1.18628176e+02] [-4.24951370e-01 9.04914813e-01 2.33562706e-02 1.94724050e+01] [ 5.58033931e-02 4.35239068e-04 9.98441682e-01 -5.98741975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00534707000001 meters 0.01717723702299031 Centerline is valid? [True, True] Translation: X:-118.66, Y:19.49, Z:-5.99 [[ 9.03401633e-01 4.25656450e-01 -5.17887652e-02 -1.18656647e+02] [-4.24988360e-01 9.04884725e-01 2.38438155e-02 1.94895582e+01] [ 5.70121365e-02 4.69080510e-04 9.98373375e-01 -5.99015550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03534707000001 meters 0.016972957048760742 Centerline is valid? [True, True] Translation: X:-118.69, Y:19.51, Z:-5.99 [[ 9.03340788e-01 4.25812732e-01 -5.15648884e-02 -1.18685681e+02] [-4.25151898e-01 9.04811180e-01 2.37190410e-02 1.95061928e+01] [ 5.67563571e-02 4.96532991e-04 9.98387935e-01 -5.99417633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06534707000002 meters 0.016636727729652714 Centerline is valid? [True, True] Translation: X:-118.71, Y:19.52, Z:-6.00 [[ 9.03726950e-01 4.24755472e-01 -5.34825949e-02 -1.18714105e+02] [-4.24044061e-01 9.05307997e-01 2.45777088e-02 1.95229264e+01] [ 5.88577372e-02 4.67438911e-04 9.98266271e-01 -5.99825962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09534707000002 meters 0.01763774117215008 Centerline is valid? [True, True] Translation: X:-118.74, Y:19.54, Z:-6.00 [[ 9.02560340e-01 4.27393176e-01 -5.21527176e-02 -1.18740674e+02] [-4.26722323e-01 9.04065628e-01 2.39457430e-02 1.95401064e+01] [ 5.73837265e-02 6.42250853e-04 9.98351990e-01 -5.99908794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12534707000002 meters 0.01950515576189187 Centerline is valid? [True, True] Translation: X:-118.77, Y:19.56, Z:-6.00 [[ 9.01048978e-01 4.30714962e-01 -5.09446762e-02 -1.18768300e+02] [-4.30080763e-01 9.02487623e-01 2.33800688e-02 1.95565778e+01] [ 5.60470852e-02 8.43738107e-04 9.98427770e-01 -5.99889710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15534707000002 meters 0.01849961179882323 Centerline is valid? [True, True] Translation: X:-118.80, Y:19.57, Z:-6.00 [[ 9.01113659e-01 4.30470883e-01 -5.18554972e-02 -1.18797014e+02] [-4.29814540e-01 9.02604053e-01 2.37778384e-02 1.95732226e+01] [ 5.70406491e-02 8.61711689e-04 9.98371485e-01 -6.00372367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18534707000002 meters 0.01932978169086502 Centerline is valid? [True, True] Translation: X:-118.83, Y:19.59, Z:-6.00 [[ 8.99943977e-01 4.33105910e-01 -5.02006955e-02 -1.18825438e+02] [-4.32496075e-01 9.01342466e-01 2.29979158e-02 1.95893769e+01] [ 5.52085520e-02 1.01476795e-03 9.98474329e-01 -6.00359066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21534707 meters 0.01973810471529882 Centerline is valid? [True, True] Translation: X:-118.86, Y:19.60, Z:-6.00 [[ 9.00283115e-01 4.32305046e-01 -5.10162674e-02 -1.18855496e+02] [-4.31675064e-01 9.01726870e-01 2.33514688e-02 1.96035959e+01] [ 5.60976969e-02 9.99517393e-04 9.98424784e-01 -6.00484107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24534707000001 meters 0.019699498377079117 Centerline is valid? [True, True] Translation: X:-118.88, Y:19.62, Z:-6.01 [[ 9.00242116e-01 4.32434106e-01 -5.06446043e-02 -1.18884112e+02] [-4.31814721e-01 9.01664962e-01 2.31590973e-02 1.96170695e+01] [ 5.56792487e-02 1.02029093e-03 9.98448186e-01 -6.00644051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27534707000001 meters 0.02180815588406287 Centerline is valid? [True, True] Translation: X:-118.91, Y:19.63, Z:-6.01 [[ 9.01001062e-01 4.30705200e-01 -5.18663286e-02 -1.18913339e+02] [-4.30053956e-01 9.02492170e-01 2.36955182e-02 1.96307425e+01] [ 5.70147384e-02 9.55632717e-04 9.98372879e-01 -6.01270427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30534707000001 meters 0.02267112580792751 Centerline is valid? [True, True] Translation: X:-118.94, Y:19.65, Z:-6.02 [[ 8.99677651e-01 4.33592000e-01 -5.07750064e-02 -1.18941706e+02] [-4.32973550e-01 9.01108593e-01 2.31777434e-02 1.96471664e+01] [ 5.58034787e-02 1.13173705e-03 9.98441130e-01 -6.01518269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33534707000001 meters 0.021394809279133814 Centerline is valid? [True, True] Translation: X:-118.97, Y:19.66, Z:-6.02 [[ 9.00089334e-01 4.32620945e-01 -5.17523801e-02 -1.18971281e+02] [-4.31977268e-01 9.01575238e-01 2.36162990e-02 1.96569285e+01] [ 5.68755700e-02 1.09907298e-03 9.98380670e-01 -6.01854517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36534707000001 meters 0.022305794090287896 Centerline is valid? [True, True] Translation: X:-119.00, Y:19.67, Z:-6.02 [[ 8.99410164e-01 4.33929754e-01 -5.25958741e-02 -1.18999898e+02] [-4.33267865e-01 9.00945891e-01 2.39887232e-02 1.96723348e+01] [ 5.77954574e-02 1.21240059e-03 9.98327709e-01 -6.02289520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39534707000001 meters 0.02447631159347863 Centerline is valid? [True, True] Translation: X:-119.03, Y:19.69, Z:-6.03 [[ 8.98365442e-01 4.36173488e-01 -5.18866241e-02 -1.19027520e+02] [-4.35534260e-01 8.99861571e-01 2.36444855e-02 1.96895073e+01] [ 5.70038768e-02 1.35701380e-03 9.98373035e-01 -6.02688806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42534707000002 meters 0.02525643177599174 Centerline is valid? [True, True] Translation: X:-119.06, Y:19.71, Z:-6.03 [[ 8.97033345e-01 4.38879146e-01 -5.21178763e-02 -1.19055901e+02] [-4.38239953e-01 8.98544756e-01 2.37289849e-02 1.97057922e+01] [ 5.72444011e-02 1.55444497e-03 9.98358985e-01 -6.02809707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45534707000002 meters 0.02423067093492358 Centerline is valid? [True, True] Translation: X:-119.08, Y:19.72, Z:-6.03 [[ 8.97034120e-01 4.38743407e-01 -5.32354127e-02 -1.19084934e+02] [-4.38077440e-01 8.98610968e-01 2.42174632e-02 1.97178210e+01] [ 5.84631781e-02 1.59734249e-03 9.98288288e-01 -6.02843311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48534707000002 meters 0.026935728917389767 Centerline is valid? [True, True] Translation: X:-119.11, Y:19.73, Z:-6.03 [[ 8.95308129e-01 4.42324625e-01 -5.26524545e-02 -1.19112700e+02] [-4.41680351e-01 8.96853160e-01 2.39348478e-02 1.97331245e+01] [ 5.78084927e-02 1.82649077e-03 9.98326020e-01 -6.03121123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51534707000002 meters 0.027359499111799454 Centerline is valid? [True, True] Translation: X:-119.14, Y:19.75, Z:-6.04 [[ 8.95957903e-01 4.40708564e-01 -5.50944431e-02 -1.19141556e+02] [-4.40000451e-01 8.97648423e-01 2.50382209e-02 1.97459344e+01] [ 6.04899983e-02 1.80838794e-03 9.98167165e-01 -6.03981471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54534707000002 meters 0.02854868165803116 Centerline is valid? [True, True] Translation: X:-119.17, Y:19.76, Z:-6.04 [[ 8.95438758e-01 4.41850550e-01 -5.43831124e-02 -1.19169805e+02] [-4.41163950e-01 8.97086706e-01 2.46943457e-02 1.97611924e+01] [ 5.96975774e-02 1.87959447e-03 9.98214740e-01 -6.04219604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57534707000002 meters 0.02936961220641579 Centerline is valid? [True, True] Translation: X:-119.20, Y:19.77, Z:-6.05 [[ 8.95261162e-01 4.42195154e-01 -5.45059510e-02 -1.19199398e+02] [-4.41507304e-01 8.96916796e-01 2.47297612e-02 1.97723345e+01] [ 5.98226835e-02 1.92518073e-03 9.98207163e-01 -6.04536914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60534707000001 meters 0.02837589930576297 Centerline is valid? [True, True] Translation: X:-119.23, Y:19.78, Z:-6.05 [[ 8.96628383e-01 4.39065878e-01 -5.72599228e-02 -1.19229289e+02] [-4.38301599e-01 8.98453024e-01 2.59590269e-02 1.97814456e+01] [ 6.28430737e-02 1.82151545e-03 9.98021758e-01 -6.05196132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63534707000001 meters 0.02837312768057467 Centerline is valid? [True, True] Translation: X:-119.26, Y:19.80, Z:-6.05 [[ 8.95189444e-01 4.42131013e-01 -5.61785251e-02 -1.19258393e+02] [-4.41402542e-01 8.96948219e-01 2.54497338e-02 1.97951426e+01] [ 6.16413446e-02 2.01501075e-03 9.98096330e-01 -6.05065415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66534707000001 meters 0.028446805546187667 Centerline is valid? [True, True] Translation: X:-119.29, Y:19.80, Z:-6.06 [[ 8.94843483e-01 4.43026370e-01 -5.46148068e-02 -1.19288918e+02] [-4.42340721e-01 8.96506270e-01 2.47223655e-02 1.98024942e+01] [ 5.99151766e-02 2.03570539e-03 9.98201396e-01 -6.05548243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69534707000001 meters 0.027025328801292926 Centerline is valid? [True, True] Translation: X:-119.32, Y:19.81, Z:-6.06 [[ 8.96111108e-01 4.40134125e-01 -5.71562207e-02 -1.19318815e+02] [-4.39378019e-01 8.97929948e-01 2.58604989e-02 1.98109769e+01] [ 6.27043703e-02 1.93930670e-03 9.98030261e-01 -6.05756200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72534707000001 meters 0.027760650327522157 Centerline is valid? [True, True] Translation: X:-119.35, Y:19.83, Z:-6.06 [[ 8.97600675e-01 4.36865635e-01 -5.88340454e-02 -1.19347785e+02] [-4.36057895e-01 8.99525037e-01 2.66124173e-02 1.98252581e+01] [ 6.45487474e-02 1.76772625e-03 9.97912989e-01 -6.06279393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75534707000001 meters 0.028765612569755215 Centerline is valid? [True, True] Translation: X:-119.38, Y:19.84, Z:-6.07 [[ 8.98126006e-01 4.35582313e-01 -6.03135558e-02 -1.19378066e+02] [-4.34732232e-01 9.00147219e-01 2.72556429e-02 1.98378743e+01] [ 6.61631555e-02 1.74124505e-03 9.97807298e-01 -6.06936992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78534707000001 meters 0.02732084677892309 Centerline is valid? [True, True] Translation: X:-119.41, Y:19.85, Z:-6.07 [[ 8.97630923e-01 4.36762987e-01 -5.91339108e-02 -1.19407621e+02] [-4.35950022e-01 8.99574789e-01 2.66979066e-02 1.98478623e+01] [ 6.48560327e-02 1.81456314e-03 9.97892981e-01 -6.07063799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81534707000002 meters 0.02732084677892309 Centerline is valid? [True, True] Translation: X:-119.44, Y:19.86, Z:-6.07 [[ 8.97794050e-01 4.36426437e-01 -5.91422776e-02 -1.19437225e+02] [-4.35613963e-01 8.99738121e-01 2.66793604e-02 1.98615422e+01] [ 6.48561400e-02 1.81063087e-03 9.97892982e-01 -6.07237709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84534707000002 meters 0.02859589538447317 Centerline is valid? [True, True] Translation: X:-119.47, Y:19.87, Z:-6.08 [[ 8.97563854e-01 4.36771670e-01 -6.00802523e-02 -1.19466314e+02] [-4.35935716e-01 8.99570421e-01 2.70760008e-02 1.98728231e+01] [ 6.58724479e-02 1.88868822e-03 9.97826264e-01 -6.07622927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87534707000002 meters 0.02836190179758001 Centerline is valid? [True, True] Translation: X:-119.49, Y:19.88, Z:-6.08 [[ 8.97401238e-01 4.36919254e-01 -6.14213666e-02 -1.19494909e+02] [-4.36047436e-01 8.99498589e-01 2.76572210e-02 1.98849970e+01] [ 6.73324050e-02 1.96300503e-03 9.97728667e-01 -6.07865401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90534707000002 meters 0.028524400870010125 Centerline is valid? [True, True] Translation: X:-119.52, Y:19.90, Z:-6.08 [[ 8.96889479e-01 4.37923532e-01 -6.17433640e-02 -1.19523345e+02] [-4.37046523e-01 8.99009840e-01 2.77784761e-02 1.98998310e+01] [ 6.76727402e-02 2.07049959e-03 9.97705424e-01 -6.08123494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93534707000002 meters 0.02950475291387528 Centerline is valid? [True, True] Translation: X:-119.55, Y:19.91, Z:-6.08 [[ 8.95734695e-01 4.40374119e-01 -6.10736540e-02 -1.19552354e+02] [-4.39523390e-01 8.97811538e-01 2.74523556e-02 1.99143737e+01] [ 6.69219382e-02 2.25327203e-03 9.97755670e-01 -6.08128536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96534707 meters 0.030951632865975857 Centerline is valid? [True, True] Translation: X:-119.58, Y:19.93, Z:-6.09 [[ 8.96727657e-01 4.37886403e-01 -6.43040287e-02 -1.19579667e+02] [-4.36938748e-01 8.99027613e-01 2.88769981e-02 1.99324644e+01] [ 7.04559422e-02 2.20211897e-03 9.97512462e-01 -6.08911224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99534707000001 meters 0.03042695062857329 Centerline is valid? [True, True] Translation: X:-119.61, Y:19.94, Z:-6.09 [[ 8.94547631e-01 4.42550868e-01 -6.27157408e-02 -1.19608518e+02] [-4.41662284e-01 8.96739852e-01 2.81436586e-02 1.99424206e+01] [ 6.86947047e-02 2.52333414e-03 9.97634537e-01 -6.08604070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02534707000001 meters 0.031088641182395776 Centerline is valid? [True, True] Translation: X:-119.64, Y:19.96, Z:-6.09 [[ 8.95034743e-01 4.41438080e-01 -6.36021278e-02 -1.19637059e+02] [-4.40521989e-01 8.97288286e-01 2.85325851e-02 1.99588625e+01] [ 6.96648138e-02 2.48048086e-03 9.97567372e-01 -6.09085907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05534707000001 meters 0.032345723886725665 Centerline is valid? [True, True] Translation: X:-119.67, Y:19.97, Z:-6.09 [[ 8.94596590e-01 4.42278157e-01 -6.39294377e-02 -1.19665495e+02] [-4.41356870e-01 8.96874207e-01 2.86490859e-02 1.99734075e+01] [ 7.00075287e-02 2.58632198e-03 9.97543110e-01 -6.09316770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08534707000001 meters 0.030750720900450768 Centerline is valid? [True, True] Translation: X:-119.70, Y:19.98, Z:-6.10 [[ 8.96088888e-01 4.39057356e-01 -6.52176561e-02 -1.19696712e+02] [-4.38091899e-01 8.98455815e-01 2.91999330e-02 1.99809463e+01] [ 7.14156277e-02 2.40559136e-03 9.97443743e-01 -6.09598948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11534707000001 meters 0.030120947047974217 Centerline is valid? [True, True] Translation: X:-119.73, Y:19.99, Z:-6.10 [[ 8.97603261e-01 4.35776744e-01 -6.63853563e-02 -1.19725769e+02] [-4.34769313e-01 9.00052087e-01 2.96965384e-02 1.99940363e+01] [ 7.26913393e-02 2.20660603e-03 9.97352044e-01 -6.09903552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14534707000001 meters 0.030187025764318767 Centerline is valid? [True, True] Translation: X:-119.76, Y:20.00, Z:-6.10 [[ 8.98081558e-01 4.35008719e-01 -6.49378968e-02 -1.19757228e+02] [-4.34044643e-01 9.00423742e-01 2.90229511e-02 2.00004789e+01] [ 7.10968608e-02 2.12096917e-03 9.97467161e-01 -6.09873966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17534707000002 meters 0.031579066341276565 Centerline is valid? [True, True] Translation: X:-119.79, Y:20.01, Z:-6.11 [[ 9.00222978e-01 4.30298682e-01 -6.66455917e-02 -1.19786783e+02] [-4.29272252e-01 9.02684737e-01 2.97590250e-02 2.00127425e+01] [ 7.29652276e-02 1.81934516e-03 9.97332826e-01 -6.10578506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20534707000002 meters 0.02934430408145169 Centerline is valid? [True, True] Translation: X:-119.82, Y:20.02, Z:-6.11 [[ 9.01415467e-01 4.27824940e-01 -6.64528175e-02 -1.19818304e+02] [-4.26799755e-01 9.03860129e-01 2.96451655e-02 2.00179509e+01] [ 7.27469934e-02 1.63943552e-03 9.97349080e-01 -6.10734631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23534707000002 meters 0.028897560246970787 Centerline is valid? [True, True] Translation: X:-119.85, Y:20.03, Z:-6.11 [[ 9.02514859e-01 4.25501183e-01 -6.64505304e-02 -1.19848039e+02] [-4.24471777e-01 9.04956663e-01 2.96166984e-02 2.00294011e+01] [ 7.27367904e-02 1.47686430e-03 9.97350078e-01 -6.10979392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26534707000002 meters 0.03071619121397128 Centerline is valid? [True, True] Translation: X:-119.88, Y:20.04, Z:-6.12 [[ 9.02319383e-01 4.26088252e-01 -6.53340092e-02 -1.19878227e+02] [-4.25096583e-01 9.04680322e-01 2.90931309e-02 2.00411188e+01] [ 7.15026338e-02 1.52196819e-03 9.97439250e-01 -6.11523236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29534707000002 meters 0.03083654846039212 Centerline is valid? [True, True] Translation: X:-119.91, Y:20.05, Z:-6.12 [[ 9.03641672e-01 4.23110770e-01 -6.64003418e-02 -1.19908192e+02] [-4.22079980e-01 9.06076992e-01 2.95461591e-02 2.00518231e+01] [ 7.26651201e-02 1.32711436e-03 9.97355513e-01 -6.12005499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32534707000002 meters 0.03135596649035296 Centerline is valid? [True, True] Translation: X:-119.94, Y:20.06, Z:-6.12 [[ 9.03842939e-01 4.22596845e-01 -6.69316679e-02 -1.19938484e+02] [-4.21550147e-01 9.06316809e-01 2.97542390e-02 2.00638657e+01] [ 7.32353433e-02 1.32189566e-03 9.97313811e-01 -6.12057031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35534707000001 meters 0.03135534243998691 Centerline is valid? [True, True] Translation: X:-119.97, Y:20.08, Z:-6.13 [[ 9.03845148e-01 4.22591635e-01 -6.69347386e-02 -1.19967880e+02] [-4.21547119e-01 9.06319198e-01 2.97243797e-02 2.00785506e+01] [ 7.32255128e-02 1.34990980e-03 9.97314495e-01 -6.12545352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38534707000001 meters 0.03231264762933895 Centerline is valid? [True, True] Translation: X:-120.00, Y:20.09, Z:-6.13 [[ 9.04589064e-01 4.20715430e-01 -6.86815210e-02 -1.19997230e+02] [-4.19612805e-01 9.07191786e-01 3.04656677e-02 2.00945552e+01] [ 7.51246882e-02 1.26073580e-03 9.97173351e-01 -6.13060975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41534707000001 meters 0.03379537684528294 Centerline is valid? [True, True] Translation: X:-120.02, Y:20.11, Z:-6.13 [[ 9.02838224e-01 4.24550499e-01 -6.81176602e-02 -1.20024208e+02] [-4.23479160e-01 9.05402854e-01 3.01839731e-02 2.01118466e+01] [ 7.44885448e-02 1.59516491e-03 9.97220594e-01 -6.13396618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44534707000001 meters 0.03551686030611484 Centerline is valid? [True, True] Translation: X:-120.05, Y:20.13, Z:-6.14 [[ 9.02205710e-01 4.25735444e-01 -6.90955104e-02 -1.20051554e+02] [-4.24638737e-01 9.04846005e-01 3.05884222e-02 2.01278814e+01] [ 7.55433721e-02 1.74358106e-03 9.97140992e-01 -6.13606915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47534707000001 meters 0.036678727571695754 Centerline is valid? [True, True] Translation: X:-120.08, Y:20.15, Z:-6.14 [[ 9.00919896e-01 4.28332433e-01 -6.98188272e-02 -1.20078761e+02] [-4.27222592e-01 9.03618999e-01 3.08797940e-02 2.01464220e+01] [ 7.63164360e-02 2.00795957e-03 9.97081626e-01 -6.14131731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50534707000001 meters 0.036358531779071494 Centerline is valid? [True, True] Translation: X:-120.10, Y:20.17, Z:-6.15 [[ 9.00590647e-01 4.28651941e-01 -7.20694031e-02 -1.20104989e+02] [-4.27472868e-01 9.03467196e-01 3.18429329e-02 2.01659840e+01] [ 7.87618766e-02 2.13026689e-03 9.96891182e-01 -6.14824598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53534707000001 meters 0.039015776141441735 Centerline is valid? [True, True] Translation: X:-120.13, Y:20.19, Z:-6.15 [[ 8.99078711e-01 4.31916800e-01 -7.14517300e-02 -1.20131603e+02] [-4.30770586e-01 9.01910198e-01 3.15388277e-02 2.01859199e+01] [ 7.80651934e-02 2.42341505e-03 9.96945311e-01 -6.15236263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56534707000002 meters 0.03884040945636428 Centerline is valid? [True, True] Translation: X:-120.16, Y:20.21, Z:-6.16 [[ 8.98169020e-01 4.33465183e-01 -7.34870526e-02 -1.20156594e+02] [-4.32259743e-01 9.01166409e-01 3.24132336e-02 2.02072670e+01] [ 8.02740716e-02 2.65293222e-03 9.96769299e-01 -6.15961320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59534707000002 meters 0.03965494931320463 Centerline is valid? [True, True] Translation: X:-120.18, Y:20.22, Z:-6.16 [[ 8.97270011e-01 4.35442886e-01 -7.27737628e-02 -1.20184156e+02] [-4.34268295e-01 9.00211961e-01 3.20854124e-02 2.02218494e+01] [ 7.94831763e-02 2.81405957e-03 9.96832236e-01 -6.15946514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62534707000002 meters 0.04020403703543996 Centerline is valid? [True, True] Translation: X:-120.21, Y:20.24, Z:-6.17 [[ 8.96740453e-01 4.35989197e-01 -7.59603874e-02 -1.20209192e+02] [-4.34713064e-01 8.99946872e-01 3.34690892e-02 2.02429238e+01] [ 8.29524744e-02 3.00788649e-03 9.96548965e-01 -6.16732547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65534707000002 meters 0.038797449553818426 Centerline is valid? [True, True] Translation: X:-120.24, Y:20.25, Z:-6.17 [[ 8.98417944e-01 4.32484992e-01 -7.61704029e-02 -1.20239914e+02] [-4.31190432e-01 9.01637075e-01 3.35469134e-02 2.02513343e+01] [ 8.31865958e-02 2.70480000e-03 9.96530318e-01 -6.16641755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68534707000002 meters 0.04075914883766468 Centerline is valid? [True, True] Translation: X:-120.26, Y:20.27, Z:-6.18 [[ 8.96918091e-01 4.35327045e-01 -7.76421342e-02 -1.20264097e+02] [-4.33994269e-01 9.00267234e-01 3.41742760e-02 2.02725278e+01] [ 8.47756560e-02 3.04471485e-03 9.96395412e-01 -6.17591301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71534707 meters 0.04172559758285585 Centerline is valid? [True, True] Translation: X:-120.29, Y:20.28, Z:-6.18 [[ 8.98628627e-01 4.31537587e-01 -7.90057032e-02 -1.20293278e+02] [-4.30143663e-01 9.02090788e-01 3.47654941e-02 2.02843252e+01] [ 8.62729345e-02 2.74253433e-03 9.96267765e-01 -6.17682968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74534707000001 meters 0.0416426175333968 Centerline is valid? [True, True] Translation: X:-120.32, Y:20.30, Z:-6.19 [[ 8.99481348e-01 4.29536185e-01 -8.01995675e-02 -1.20322423e+02] [-4.28093920e-01 9.03045872e-01 3.52668169e-02 2.02988228e+01] [ 8.75722624e-02 2.61110319e-03 9.96154748e-01 -6.18513850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77534707000001 meters 0.04069631070588514 Centerline is valid? [True, True] Translation: X:-120.35, Y:20.31, Z:-6.18 [[ 9.00415726e-01 4.27568533e-01 -8.02288588e-02 -1.20352316e+02] [-4.26120475e-01 9.03979611e-01 3.52449098e-02 2.03085389e+01] [ 8.75948669e-02 2.45208833e-03 9.96153164e-01 -6.18357553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80534707000001 meters 0.04276395319095563 Centerline is valid? [True, True] Translation: X:-120.38, Y:20.33, Z:-6.20 [[ 9.01960748e-01 4.23696694e-01 -8.33541932e-02 -1.20378286e+02] [-4.22120151e-01 9.05801478e-01 3.65822591e-02 2.03272789e+01] [ 9.10021336e-02 2.18972280e-03 9.95848290e-01 -6.19806503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83534707000001 meters 0.04182601872480736 Centerline is valid? [True, True] Translation: X:-120.41, Y:20.34, Z:-6.21 [[ 9.02996942e-01 4.21435202e-01 -8.35995966e-02 -1.20406698e+02] [-4.19842911e-01 9.06856313e-01 3.66545772e-02 2.03415562e+01] [ 9.12603511e-02 1.99972689e-03 9.95825060e-01 -6.20861840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86534707000001 meters 0.04146710053156242 Centerline is valid? [True, True] Translation: X:-120.44, Y:20.35, Z:-6.21 [[ 9.02717720e-01 4.21863950e-01 -8.44483600e-02 -1.20435549e+02] [-4.20244071e-01 9.06656727e-01 3.69932386e-02 2.03544409e+01] [ 9.21717874e-02 2.09447055e-03 9.95740918e-01 -6.20533262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89534707000001 meters 0.039154673139922894 Centerline is valid? [True, True] Translation: X:-120.46, Y:20.37, Z:-6.21 [[ 9.02962022e-01 4.21193146e-01 -8.51816924e-02 -1.20464318e+02] [-4.19545170e-01 9.06968593e-01 3.72803065e-02 2.03700559e+01] [ 9.29593293e-02 2.07486667e-03 9.95667745e-01 -6.20681108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92534707000002 meters 0.03755796262907176 Centerline is valid? [True, True] Translation: X:-120.49, Y:20.38, Z:-6.20 [[ 9.02827136e-01 4.21518746e-01 -8.50006462e-02 -1.20493533e+02] [-4.19882615e-01 9.06817170e-01 3.71646326e-02 2.03835658e+01] [ 9.27456348e-02 2.13705486e-03 9.95687541e-01 -6.20247491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95534707000002 meters 0.03584573134425248 Centerline is valid? [True, True] Translation: X:-120.52, Y:20.40, Z:-6.20 [[ 9.01957505e-01 4.23164734e-01 -8.60480476e-02 -1.20521534e+02] [-4.21498943e-01 9.06049665e-01 3.75851721e-02 2.04005076e+01] [ 9.38685241e-02 2.36893301e-03 9.95581784e-01 -6.20084888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98534707000002 meters 0.034261305951752204 Centerline is valid? [True, True] Translation: X:-120.55, Y:20.42, Z:-6.20 [[ 9.01107767e-01 4.24951949e-01 -8.61430923e-02 -1.20550761e+02] [-4.23293878e-01 9.05212205e-01 3.75919796e-02 2.04153928e+01] [ 9.39525635e-02 2.58941886e-03 9.95573308e-01 -6.19765395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01534707000002 meters 0.032927231944416935 Centerline is valid? [True, True] Translation: X:-120.58, Y:20.42, Z:-6.18 [[ 9.01324343e-01 4.24613900e-01 -8.55421833e-02 -1.20582675e+02] [-4.22979943e-01 9.05370906e-01 3.73026808e-02 2.04223027e+01] [ 9.32866409e-02 2.56081356e-03 9.95636000e-01 -6.18476580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04534707000002 meters 0.03205336579741072 Centerline is valid? [True, True] Translation: X:-120.61, Y:20.44, Z:-6.19 [[ 9.01807581e-01 4.23183210e-01 -8.75160373e-02 -1.20609880e+02] [-4.21468786e-01 9.06040699e-01 3.81354712e-02 2.04394730e+01] [ 9.54313827e-02 2.49442094e-03 9.95432885e-01 -6.19250449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07534707000002 meters 0.031571927920777815 Centerline is valid? [True, True] Translation: X:-120.64, Y:20.45, Z:-6.19 [[ 9.02175744e-01 4.22403672e-01 -8.74875164e-02 -1.20640284e+02] [-4.20690063e-01 9.06404529e-01 3.80880730e-02 2.04502640e+01] [ 9.53876230e-02 2.44299317e-03 9.95437207e-01 -6.18902647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10534707000001 meters 0.030583012831734875 Centerline is valid? [True, True] Translation: X:-120.67, Y:20.46, Z:-6.19 [[ 9.01773938e-01 4.22851147e-01 -8.94464799e-02 -1.20667932e+02] [-4.21064855e-01 9.06195501e-01 3.89114735e-02 2.04641162e+01] [ 9.75097589e-02 2.57341640e-03 9.95231242e-01 -6.19417159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13534707000001 meters 0.0309601336642011 Centerline is valid? [True, True] Translation: X:-120.69, Y:20.48, Z:-6.20 [[ 8.98943106e-01 4.27706683e-01 -9.47010365e-02 -1.20693187e+02] [-4.25732496e-01 9.03911559e-01 4.11792997e-02 2.04831292e+01] [ 1.03214023e-01 3.29946111e-03 9.94653698e-01 -6.20337677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16534707000001 meters 0.03209263876212759 Centerline is valid? [True, True] Translation: X:-120.72, Y:20.50, Z:-6.19 [[ 8.94861656e-01 4.37513240e-01 -8.83446771e-02 -1.20719313e+02] [-4.35844783e-01 8.99202418e-01 3.83970955e-02 2.05040013e+01] [ 9.62389849e-02 4.14447813e-03 9.95349628e-01 -6.18946988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19534707000001 meters 0.03398832237764345 Centerline is valid? [True, True] Translation: X:-120.74, Y:20.53, Z:-6.19 [[ 8.90622773e-01 4.46078476e-01 -8.83463064e-02 -1.20743742e+02] [-4.44454523e-01 8.94979353e-01 3.83684070e-02 2.05269112e+01] [ 9.61834406e-02 5.09413844e-03 9.95350589e-01 -6.18946708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22534707000001 meters 0.03582251111322077 Centerline is valid? [True, True] Translation: X:-120.77, Y:20.55, Z:-6.21 [[ 8.89459769e-01 4.46876933e-01 -9.57200410e-02 -1.20768460e+02] [-4.44977768e-01 8.94577636e-01 4.15408057e-02 2.05457126e+01] [ 1.04192636e-01 5.64441481e-03 9.94541118e-01 -6.20653572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25534707000001 meters 0.03574106800437488 Centerline is valid? [True, True] Translation: X:-120.80, Y:20.55, Z:-6.19 [[ 8.85109796e-01 4.56245856e-01 -9.17625666e-02 -1.20800420e+02] [-4.54552432e-01 8.89830168e-01 3.98039906e-02 2.05509775e+01] [ 9.98135058e-02 6.47999590e-03 9.94985062e-01 -6.19006111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28534707000001 meters 0.038848756088607175 Centerline is valid? [True, True] Translation: X:-120.82, Y:20.57, Z:-6.20 [[ 8.83900994e-01 4.58561059e-01 -9.18737608e-02 -1.20824937e+02] [-4.56877001e-01 8.88637198e-01 3.98413920e-02 2.05719657e+01] [ 9.99121522e-02 6.75916234e-03 9.94973304e-01 -6.20056231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31534707000002 meters 0.04040480510235592 Centerline is valid? [True, True] Translation: X:-120.85, Y:20.59, Z:-6.20 [[ 8.81593685e-01 4.62866130e-01 -9.24527969e-02 -1.20852094e+02] [-4.61185746e-01 8.86398082e-01 4.00767642e-02 2.05861099e+01] [ 1.00500159e-01 7.30648986e-03 9.94910214e-01 -6.19803308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34534707000002 meters 0.041847541594398525 Centerline is valid? [True, True] Translation: X:-120.88, Y:20.60, Z:-6.20 [[ 8.79551670e-01 4.66695652e-01 -9.26500264e-02 -1.20880471e+02] [-4.65031675e-01 8.84383737e-01 4.01366091e-02 2.06009346e+01] [ 1.00669758e-01 7.78297540e-03 9.94889454e-01 -6.20144728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37534707000002 meters 0.043948293028464785 Centerline is valid? [True, True] Translation: X:-120.91, Y:20.62, Z:-6.21 [[ 8.78369153e-01 4.69067128e-01 -9.18893954e-02 -1.20905738e+02] [-4.67445250e-01 8.83126230e-01 3.97869251e-02 2.06222314e+01] [ 9.98126741e-02 8.00565367e-03 9.94974040e-01 -6.20923627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40534707000002 meters 0.04542474042328985 Centerline is valid? [True, True] Translation: X:-120.94, Y:20.64, Z:-6.21 [[ 8.78640367e-01 4.68275251e-01 -9.33241330e-02 -1.20935109e+02] [-4.66598854e-01 8.83545978e-01 4.03981937e-02 2.06361625e+01] [ 1.01373637e-01 8.04944975e-03 9.94815858e-01 -6.21466152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43534707000002 meters 0.04492940453126355 Centerline is valid? [True, True] Translation: X:-120.97, Y:20.64, Z:-6.21 [[ 8.77233149e-01 4.70932056e-01 -9.31933528e-02 -1.20965262e+02] [-4.69277074e-01 8.82129862e-01 4.03228840e-02 2.06437372e+01] [ 1.01197978e-01 8.36093337e-03 9.94831174e-01 -6.21079533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46534707 meters 0.04271242775493585 Centerline is valid? [True, True] Translation: X:-121.00, Y:20.64, Z:-6.22 [[ 8.80185186e-01 4.64505365e-01 -9.75131019e-02 -1.20998576e+02] [-4.62656055e-01 8.85534213e-01 4.21726562e-02 2.06435000e+01] [ 1.05940613e-01 7.99527982e-03 9.94340315e-01 -6.22012721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49534707000001 meters 0.041297046388802224 Centerline is valid? [True, True] Translation: X:-121.03, Y:20.64, Z:-6.23 [[ 8.84546085e-01 4.55590237e-01 -1.00078771e-01 -1.21033018e+02] [-4.53586340e-01 8.90161153e-01 4.32730069e-02 2.06424092e+01] [ 1.08800994e-01 7.11739470e-03 9.94038071e-01 -6.23056050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52534707000001 meters 0.03952037381555001 Centerline is valid? [True, True] Translation: X:-121.07, Y:20.63, Z:-6.23 [[ 8.89362065e-01 4.45256779e-01 -1.03834090e-01 -1.21069809e+02] [-4.43030214e-01 8.95382276e-01 4.48866276e-02 2.06330113e+01] [ 1.12957279e-01 6.08117547e-03 9.93581236e-01 -6.23421430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55534707000001 meters 0.03507628068623642 Centerline is valid? [True, True] Translation: X:-121.10, Y:20.63, Z:-6.25 [[ 8.94977416e-01 4.32402543e-01 -1.09742724e-01 -1.21103087e+02] [-4.29819257e-01 9.01668320e-01 4.74304468e-02 2.06342680e+01] [ 1.19460583e-01 4.72035728e-03 9.92827723e-01 -6.24542711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58534707000001 meters 0.034059014579078756 Centerline is valid? [True, True] Translation: X:-121.14, Y:20.64, Z:-6.25 [[ 8.98769594e-01 4.24481610e-01 -1.09674879e-01 -1.21135866e+02] [-4.21843671e-01 9.05429118e-01 4.73922983e-02 2.06370493e+01] [ 1.19419988e-01 3.67089691e-03 9.92837041e-01 -6.24651709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61534707000001 meters 0.029510638341540312 Centerline is valid? [True, True] Translation: X:-121.17, Y:20.63, Z:-6.23 [[ 9.03460625e-01 4.14631184e-01 -1.08811212e-01 -1.21171039e+02] [-4.11963832e-01 9.09986514e-01 4.70143118e-02 2.06334898e+01] [ 1.18510335e-01 2.35070434e-03 9.92950036e-01 -6.23337604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64534707000001 meters 0.0347707040911428 Centerline is valid? [True, True] Translation: X:-121.21, Y:20.62, Z:-6.27 [[ 9.13201422e-01 3.88287305e-01 -1.23677527e-01 -1.21207261e+02] [-3.84595293e-01 9.21537552e-01 5.34322153e-02 2.06233695e+01] [ 1.34720537e-01 -1.22858023e-03 9.90882873e-01 -6.27062978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67534707000002 meters 0.03620751902198222 Centerline is valid? [True, True] Translation: X:-121.24, Y:20.62, Z:-6.27 [[ 9.18285170e-01 3.75399398e-01 -1.25807944e-01 -1.21242608e+02] [-3.71457897e-01 9.26857706e-01 5.43490804e-02 2.06181397e+01] [ 1.37008674e-01 -3.17560029e-03 9.90564757e-01 -6.26618322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70534707000002 meters 0.03620751902198222 Centerline is valid? [True, True] Translation: X:-121.27, Y:20.63, Z:-6.27 [[ 9.18417323e-01 3.75071994e-01 -1.25819794e-01 -1.21272501e+02] [-3.71131195e-01 9.26990181e-01 5.43216354e-02 2.06313883e+01] [ 1.37008238e-01 -3.19428032e-03 9.90564758e-01 -6.26793222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73534707000002 meters 0.03984903906799209 Centerline is valid? [True, True] Translation: X:-121.30, Y:20.63, Z:-6.29 [[ 9.21640280e-01 3.63359215e-01 -1.36195721e-01 -1.21303895e+02] [-3.58613425e-01 9.31633874e-01 5.87769996e-02 2.06329128e+01] [ 1.48241712e-01 -5.32963626e-03 9.88936798e-01 -6.29066844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76534707000002 meters 0.03331958718737056 Centerline is valid? [True, True] Translation: X:-121.33, Y:20.65, Z:-6.27 [[ 9.21009241e-01 3.64018670e-01 -1.38680876e-01 -1.21332687e+02] [-3.59104941e-01 9.31376472e-01 5.98457090e-02 2.06456757e+01] [ 1.50949061e-01 -5.31746297e-03 9.88527241e-01 -6.26857291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79534707000002 meters 0.03157399748779865 Centerline is valid? [True, True] Translation: X:-121.36, Y:20.65, Z:-6.27 [[ 9.16949588e-01 3.74598771e-01 -1.37401648e-01 -1.21362358e+02] [-3.69893664e-01 9.27180245e-01 5.92914082e-02 2.06540133e+01] [ 1.49606582e-01 -3.54323334e-03 9.88739256e-01 -6.27151347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82534707000002 meters 0.06531199083824678 Centerline is valid? [True, True] Translation: X:-121.46, Y:20.49, Z:-6.30 [[ 8.81559774e-01 4.68407247e-01 -5.87112846e-02 -1.21463459e+02] [-4.67749730e-01 8.83497794e-01 2.53345301e-02 2.04909908e+01] [ 6.37381680e-02 5.12828488e-03 9.97953479e-01 -6.30136917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85534707000001 meters 0.06654982441844837 Centerline is valid? [True, True] Translation: X:-121.49, Y:20.51, Z:-6.31 [[ 8.79847182e-01 4.71182094e-01 -6.20996853e-02 -1.21489598e+02] [-4.70453390e-01 8.82017931e-01 2.67950945e-02 2.05060643e+01] [ 6.73984047e-02 5.63941912e-03 9.97710204e-01 -6.30572595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88534707000001 meters 0.06553033438616947 Centerline is valid? [True, True] Translation: X:-121.53, Y:20.49, Z:-6.31 [[ 8.87336551e-01 4.56256142e-01 -6.68145073e-02 -1.21529133e+02] [-4.55370198e-01 8.89835303e-01 2.88290969e-02 2.04897595e+01] [ 7.26073599e-02 4.84422399e-03 9.97348838e-01 -6.31392131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91534707000001 meters 0.06701599773833332 Centerline is valid? [True, True] Translation: X:-121.57, Y:20.48, Z:-6.31 [[ 8.92894657e-01 4.44074855e-01 -7.44086995e-02 -1.21567029e+02] [-4.42933740e-01 8.95979403e-01 3.21031463e-02 2.04810469e+01] [ 8.09248622e-02 4.29339578e-03 9.96710958e-01 -6.31298488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94534707000001 meters 0.07376165041397773 Centerline is valid? [True, True] Translation: X:-121.62, Y:20.45, Z:-6.28 [[ 9.05888138e-01 4.11763176e-01 -9.90846539e-02 -1.21618917e+02] [-4.09543388e-01 9.11288986e-01 4.27387134e-02 2.04474337e+01] [ 1.07892982e-01 1.86297137e-03 9.94160769e-01 -6.27702241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97534707000001 meters 0.06353999063878865 Centerline is valid? [True, True] Translation: X:-121.65, Y:20.45, Z:-6.28 [[ 9.09475541e-01 4.03023505e-01 -1.02109230e-01 -1.21650613e+02] [-4.00611361e-01 9.15189227e-01 4.40365275e-02 2.04499971e+01] [ 1.11197023e-01 8.55973131e-04 9.93798012e-01 -6.28424649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00534707000001 meters 0.04881954410568188 Centerline is valid? [True, True] Translation: X:-121.68, Y:20.45, Z:-6.29 [[ 9.09883133e-01 4.02828374e-01 -9.92067790e-02 -1.21681589e+02] [-4.00550132e-01 9.15275180e-01 4.27894435e-02 2.04504909e+01] [ 1.08038304e-01 8.03895573e-04 9.94146407e-01 -6.28888649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03534707000001 meters 0.06869439832384563 Centerline is valid? [True, True] Translation: X:-121.71, Y:20.46, Z:-6.28 [[ 9.07252941e-01 4.08845069e-01 -9.86803426e-02 -1.21711199e+02] [-4.06623569e-01 9.12602596e-01 4.25884447e-02 2.04554666e+01] [ 1.07468012e-01 1.48726131e-03 9.94207430e-01 -6.28460990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06534707000002 meters 0.053488352139840704 Centerline is valid? [True, True] Translation: X:-121.74, Y:20.47, Z:-6.30 [[ 9.04419107e-01 4.14891743e-01 -9.94531060e-02 -1.21736577e+02] [-4.12669498e-01 9.09868111e-01 4.29407188e-02 2.04715556e+01] [ 1.08304959e-01 2.20485682e-03 9.94115272e-01 -6.30466160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09534707000002 meters 0.04179529964917751 Centerline is valid? [True, True] Translation: X:-121.76, Y:20.49, Z:-6.32 [[ 9.00955398e-01 4.21809335e-01 -1.01765688e-01 -1.21757946e+02] [-4.19526261e-01 9.06679230e-01 4.39373413e-02 2.04944729e+01] [ 1.10802016e-01 3.10779379e-03 9.93837640e-01 -6.32309525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12534707000002 meters 0.05496411228344587 Centerline is valid? [True, True] Translation: X:-121.79, Y:20.51, Z:-6.32 [[ 8.97657897e-01 4.29284358e-01 -9.96254982e-02 -1.21785100e+02] [-4.27142434e-01 9.03160771e-01 4.30112063e-02 2.05110572e+01] [ 1.08441880e-01 3.94492882e-03 9.94094963e-01 -6.32212699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15534707000002 meters 0.0715934163042905 Centerline is valid? [True, True] Translation: X:-121.81, Y:20.54, Z:-6.32 [[ 8.91206590e-01 4.43212516e-01 -9.65063681e-02 -1.21808429e+02] [-4.41283900e-01 8.96399953e-01 4.16610711e-02 2.05353165e+01] [ 1.04973012e-01 5.45808540e-03 9.94460093e-01 -6.32079473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18534707000002 meters 0.074940372387038 Centerline is valid? [True, True] Translation: X:-121.83, Y:20.57, Z:-6.33 [[ 8.83643626e-01 4.58035489e-01 -9.68371435e-02 -1.21828623e+02] [-4.56181470e-01 8.88904441e-01 4.18014392e-02 2.05661877e+01] [ 1.05225510e-01 7.23773514e-03 9.94422047e-01 -6.32781657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21534707000002 meters 0.08054487530082566 Centerline is valid? [True, True] Translation: X:-121.85, Y:20.59, Z:-6.32 [[ 8.76013867e-01 4.73414856e-01 -9.20764815e-02 -1.21851347e+02] [-4.71822560e-01 8.80797328e-01 3.97434270e-02 2.05910790e+01] [ 9.99158476e-02 8.62796802e-03 9.94958482e-01 -6.32406018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24534707000001 meters 0.0810797001783943 Centerline is valid? [True, True] Translation: X:-121.88, Y:20.61, Z:-6.32 [[ 8.72124821e-01 4.80911477e-01 -9.01246273e-02 -1.21877263e+02] [-4.79425723e-01 8.76719995e-01 3.88976318e-02 2.06058094e+01] [ 9.77203804e-02 9.28447446e-03 9.95170601e-01 -6.32157032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27534707000001 meters 0.09569572808338911 Centerline is valid? [True, True] Translation: X:-121.90, Y:20.64, Z:-6.33 [[ 8.66125730e-01 4.91219281e-01 -9.23571198e-02 -1.21896005e+02] [-4.89716683e-01 8.70970131e-01 3.98572627e-02 2.06393477e+01] [ 1.00018949e-01 1.07074215e-02 9.94927918e-01 -6.33218724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30534707000001 meters 0.06552035849575853 Centerline is valid? [True, True] Translation: X:-121.93, Y:20.64, Z:-6.33 [[ 8.61978640e-01 4.98418315e-01 -9.25851403e-02 -1.21930049e+02] [-4.96949007e-01 8.66859456e-01 3.99545829e-02 2.06354406e+01] [ 1.00172400e-01 1.15700965e-02 9.94902821e-01 -6.32792024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33534707000001 meters 0.06188860234531304 Centerline is valid? [True, True] Translation: X:-121.96, Y:20.64, Z:-6.33 [[ 8.56091384e-01 5.08743358e-01 -9.10370161e-02 -1.21958862e+02] [-5.07379602e-01 8.60826641e-01 3.92865532e-02 2.06439946e+01] [ 9.83538618e-02 1.25574453e-02 9.95072273e-01 -6.32686652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36534707000001 meters 0.06354919321244003 Centerline is valid? [True, True] Translation: X:-121.99, Y:20.66, Z:-6.33 [[ 8.51363708e-01 5.17156520e-01 -8.79145583e-02 -1.21985096e+02] [-5.15928511e-01 8.55791200e-01 3.79367097e-02 2.06601601e+01] [ 9.48557221e-02 1.30596893e-02 9.95405363e-01 -6.32940013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39534707000001 meters 0.06100145368469338 Centerline is valid? [True, True] Translation: X:-122.01, Y:20.67, Z:-6.33 [[ 8.50952338e-01 5.17877369e-01 -8.76535753e-02 -1.22012390e+02] [-5.16661120e-01 8.55354444e-01 3.78161560e-02 2.06723086e+01] [ 9.45590065e-02 1.31074480e-02 9.95432966e-01 -6.33316976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42534707000002 meters 0.059771118109141964 Centerline is valid? [True, True] Translation: X:-122.04, Y:20.69, Z:-6.34 [[ 8.50973454e-01 5.17802934e-01 -8.78880115e-02 -1.22040059e+02] [-5.16582144e-01 8.55398764e-01 3.78925263e-02 2.06882245e+01] [ 9.48001577e-02 1.31558434e-02 9.95409390e-01 -6.33927947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45534707000002 meters 0.059390458688235157 Centerline is valid? [True, True] Translation: X:-122.06, Y:20.71, Z:-6.35 [[ 8.51652594e-01 5.16716977e-01 -8.77007641e-02 -1.22064513e+02] [-5.15499323e-01 8.56056977e-01 3.77743292e-02 2.07079746e+01] [ 9.45954882e-02 1.30390791e-02 9.95430397e-01 -6.35191364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48534707000002 meters 0.062377528774730066 Centerline is valid? [True, True] Translation: X:-122.09, Y:20.73, Z:-6.36 [[ 8.49299629e-01 5.20277682e-01 -8.94498432e-02 -1.22090290e+02] [-5.19032452e-01 8.53886841e-01 3.85042289e-02 2.07256885e+01] [ 9.64129351e-02 1.37257442e-02 9.95246778e-01 -6.36016244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51534707000002 meters 0.06919739686647995 Centerline is valid? [True, True] Translation: X:-122.11, Y:20.75, Z:-6.37 [[ 8.48465921e-01 5.21244281e-01 -9.17059481e-02 -1.22113933e+02] [-5.19941280e-01 8.53289527e-01 3.94721212e-02 2.07473769e+01] [ 9.88263424e-02 1.41909584e-02 9.95003503e-01 -6.36991884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54534707000002 meters 0.06974150023696847 Centerline is valid? [True, True] Translation: X:-122.14, Y:20.76, Z:-6.37 [[ 8.48230677e-01 5.21612477e-01 -9.17885738e-02 -1.22143445e+02] [-5.20311287e-01 8.53063271e-01 3.94869483e-02 2.07597252e+01] [ 9.88983459e-02 1.42645901e-02 9.94995296e-01 -6.37193650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57534707000002 meters 0.07092142650890954 Centerline is valid? [True, True] Translation: X:-122.17, Y:20.77, Z:-6.37 [[ 8.48526928e-01 5.21352966e-01 -9.05159467e-02 -1.22172274e+02] [-5.20090078e-01 8.53225142e-01 3.88994670e-02 2.07742962e+01] [ 9.75108340e-02 1.40692006e-02 9.95135013e-01 -6.37395637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60534707000001 meters 0.06893082155943968 Centerline is valid? [True, True] Translation: X:-122.20, Y:20.78, Z:-6.38 [[ 8.48012407e-01 5.22072800e-01 -9.11863459e-02 -1.22202038e+02] [-5.20797619e-01 8.52781392e-01 3.91629541e-02 2.07826529e+01] [ 9.82079321e-02 1.42789609e-02 9.95063472e-01 -6.37606433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63534707000001 meters 0.07068998852254035 Centerline is valid? [True, True] Translation: X:-122.23, Y:20.80, Z:-6.38 [[ 8.48839763e-01 5.20651979e-01 -9.16109919e-02 -1.22229848e+02] [-5.19358913e-01 8.53650930e-01 3.93244221e-02 2.07975406e+01] [ 9.86781466e-02 1.41988520e-02 9.95018098e-01 -6.38160153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66534707000001 meters 0.05974224802941468 Centerline is valid? [True, True] Translation: X:-122.27, Y:20.79, Z:-6.38 [[ 8.50276914e-01 5.18704619e-01 -8.93011063e-02 -1.22265253e+02] [-5.17467334e-01 8.54844809e-01 3.83133257e-02 2.07911174e+01] [ 9.62118861e-02 1.36334691e-02 9.95267502e-01 -6.37904938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69534707000001 meters 0.0631675417656784 Centerline is valid? [True, True] Translation: X:-122.29, Y:20.81, Z:-6.38 [[ 8.50997681e-01 5.17642092e-01 -8.85980298e-02 -1.22291863e+02] [-5.16418807e-01 8.55492196e-01 3.80094519e-02 2.08078969e+01] [ 9.54702153e-02 1.34077335e-02 9.95341987e-01 -6.38461982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72534707000001 meters 0.06184818373092953 Centerline is valid? [True, True] Translation: X:-122.32, Y:20.82, Z:-6.39 [[ 8.52877363e-01 5.14489795e-01 -8.88844966e-02 -1.22321901e+02] [-5.13242339e-01 8.57396411e-01 3.81273569e-02 2.08164207e+01] [ 9.58253844e-02 1.31013274e-02 9.95311936e-01 -6.38961341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75534707000001 meters 0.06163248663697125 Centerline is valid? [True, True] Translation: X:-122.35, Y:20.83, Z:-6.39 [[ 8.54099160e-01 5.12561116e-01 -8.82934159e-02 -1.22351140e+02] [-5.11320560e-01 8.58555302e-01 3.78692238e-02 2.08274042e+01] [ 9.52150720e-02 1.28021667e-02 9.95374399e-01 -6.39129915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78534707000001 meters 0.05623502038143079 Centerline is valid? [True, True] Translation: X:-122.38, Y:20.83, Z:-6.39 [[ 8.56087899e-01 5.09415277e-01 -8.72329353e-02 -1.22382809e+02] [-5.08188698e-01 8.60432849e-01 3.74106790e-02 2.08293743e+01] [ 9.41156545e-02 1.23039622e-02 9.95485237e-01 -6.39085577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81534707000002 meters 0.06042660163364865 Centerline is valid? [True, True] Translation: X:-122.41, Y:20.85, Z:-6.40 [[ 8.58348932e-01 5.05550139e-01 -8.74995249e-02 -1.22409137e+02] [-5.04296590e-01 8.62714907e-01 3.75225156e-02 2.08463971e+01] [ 9.44566575e-02 1.19183008e-02 9.95457630e-01 -6.39806789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84534707000002 meters 0.05080357821198518 Centerline is valid? [True, True] Translation: X:-122.44, Y:20.84, Z:-6.39 [[ 8.60035908e-01 5.02670497e-01 -8.75249024e-02 -1.22443988e+02] [-5.01402070e-01 8.64400134e-01 3.75282931e-02 2.08418866e+01] [ 9.45209031e-02 1.16094876e-02 9.95455182e-01 -6.39497720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87534707000002 meters 0.05046345522760508 Centerline is valid? [True, True] Translation: X:-122.47, Y:20.85, Z:-6.40 [[ 8.62846998e-01 4.97743118e-01 -8.80161752e-02 -1.22473731e+02] [-4.96435596e-01 8.67253018e-01 3.77346243e-02 2.08493131e+01] [ 9.51144431e-02 1.11351552e-02 9.95404064e-01 -6.40169731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90534707000002 meters 0.04700392561173163 Centerline is valid? [True, True] Translation: X:-122.51, Y:20.85, Z:-6.40 [[ 8.66677606e-01 4.91010776e-01 -8.81949317e-02 -1.22505388e+02] [-4.89663692e-01 8.71091213e-01 3.78096124e-02 2.08536856e+01] [ 9.53907572e-02 1.04171116e-02 9.95385396e-01 -6.40418189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93534707000002 meters 0.04380949143101274 Centerline is valid? [True, True] Translation: X:-122.54, Y:20.86, Z:-6.41 [[ 8.71407478e-01 4.82599102e-01 -8.80176906e-02 -1.22536080e+02] [-4.81215091e-01 8.75790114e-01 3.77321191e-02 2.08592991e+01] [ 9.52945101e-02 9.47539028e-03 9.95404025e-01 -6.40910656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96534707000002 meters 0.04553365860941783 Centerline is valid? [True, True] Translation: X:-122.56, Y:20.87, Z:-6.41 [[ 8.73922595e-01 4.77976960e-01 -8.83024549e-02 -1.22562891e+02] [-4.76560772e-01 8.78326252e-01 3.78526854e-02 2.08729334e+01] [ 9.56510758e-02 9.00116897e-03 9.95374226e-01 -6.41399994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99534707000001 meters 0.047879476265541496 Centerline is valid? [True, True] Translation: X:-122.59, Y:20.89, Z:-6.42 [[ 8.78716665e-01 4.69209999e-01 -8.77439435e-02 -1.22589959e+02] [-4.67768378e-01 8.83050440e-01 3.76120314e-02 2.08873732e+01] [ 9.51302692e-02 7.99352327e-03 9.95432738e-01 -6.42376032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02534707 meters 0.041681380111189464 Centerline is valid? [True, True] Translation: X:-122.62, Y:20.89, Z:-6.42 [[ 8.80999660e-01 4.64974136e-01 -8.73993847e-02 -1.22621376e+02] [-4.63523383e-01 8.85292429e-01 3.74618169e-02 2.08890527e+01] [ 9.47927895e-02 7.50781057e-03 9.95468714e-01 -6.41970319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05534707 meters 0.038458626807381 Centerline is valid? [True, True] Translation: X:-122.65, Y:20.89, Z:-6.42 [[ 8.83891194e-01 4.59362524e-01 -8.78773459e-02 -1.22652639e+02] [-4.57868525e-01 8.88221726e-01 3.76640466e-02 2.08942105e+01] [ 9.53560193e-02 6.94535162e-03 9.95419003e-01 -6.42307992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08534707 meters 0.034569672419549946 Centerline is valid? [True, True] Translation: X:-122.68, Y:20.90, Z:-6.43 [[ 8.86756601e-01 4.53821381e-01 -8.78002541e-02 -1.22682781e+02] [-4.52302943e-01 8.91070103e-01 3.76313637e-02 2.08992373e+01] [ 9.53140989e-02 6.34245319e-03 9.95427042e-01 -6.42785607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11534707 meters 0.03155385989704018 Centerline is valid? [True, True] Translation: X:-122.71, Y:20.91, Z:-6.43 [[ 8.87326085e-01 4.52714590e-01 -8.77605789e-02 -1.22713832e+02] [-4.51192943e-01 8.91633731e-01 3.76060797e-02 2.09070610e+01] [ 9.52751134e-02 6.22809839e-03 9.95431496e-01 -6.42561369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14534707 meters 0.030875467983696354 Centerline is valid? [True, True] Translation: X:-122.74, Y:20.92, Z:-6.43 [[ 8.88910608e-01 4.49423776e-01 -8.86352074e-02 -1.22742891e+02] [-4.47856899e-01 8.93298876e-01 3.79646610e-02 2.09197213e+01] [ 9.62399525e-02 5.94869927e-03 9.95340386e-01 -6.42999530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17534707 meters 0.03268204351719398 Centerline is valid? [True, True] Translation: X:-122.77, Y:20.94, Z:-6.43 [[ 8.88820066e-01 4.49787970e-01 -8.76907769e-02 -1.22770517e+02] [-4.48257096e-01 8.93115660e-01 3.75498828e-02 2.09364235e+01] [ 9.52074917e-02 5.93292363e-03 9.95439769e-01 -6.43351890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20534707 meters 0.031694592858560376 Centerline is valid? [True, True] Translation: X:-122.80, Y:20.95, Z:-6.43 [[ 8.88420127e-01 4.50540479e-01 -8.78803469e-02 -1.22799527e+02] [-4.49007639e-01 8.92735594e-01 3.76204639e-02 2.09486144e+01] [ 9.54034556e-02 6.03616971e-03 9.95420386e-01 -6.43486037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23534707 meters 0.03584205245647644 Centerline is valid? [True, True] Translation: X:-122.83, Y:20.97, Z:-6.44 [[ 8.88088344e-01 4.51132522e-01 -8.81960418e-02 -1.22825854e+02] [-4.49592510e-01 8.92435913e-01 3.77454102e-02 2.09686538e+01] [ 9.57374972e-02 6.13102104e-03 9.95387735e-01 -6.44310573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26534707 meters 0.031497587657446584 Centerline is valid? [True, True] Translation: X:-122.86, Y:20.98, Z:-6.44 [[ 8.87494191e-01 4.52097007e-01 -8.92320470e-02 -1.22855975e+02] [-4.50526438e-01 8.91946395e-01 3.81779682e-02 2.09769435e+01] [ 9.68503477e-02 6.31867136e-03 9.95278898e-01 -6.44327961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29534707 meters 0.031855921152650665 Centerline is valid? [True, True] Translation: X:-122.88, Y:20.99, Z:-6.44 [[ 8.87036798e-01 4.53021981e-01 -8.90887375e-02 -1.22884149e+02] [-4.51462117e-01 8.91476239e-01 3.81060686e-02 2.09920849e+01] [ 9.66833793e-02 6.41870497e-03 9.95294491e-01 -6.44428479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32534707 meters 0.03234607326286725 Centerline is valid? [True, True] Translation: X:-122.91, Y:21.01, Z:-6.45 [[ 8.87192768e-01 4.52804315e-01 -8.86411015e-02 -1.22911912e+02] [-4.51260216e-01 8.91587141e-01 3.79023350e-02 2.10088976e+01] [ 9.61936071e-02 6.37352508e-03 9.95342237e-01 -6.44593651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35534707 meters 0.03227348390468203 Centerline is valid? [True, True] Translation: X:-122.94, Y:21.02, Z:-6.45 [[ 8.86788283e-01 4.53567451e-01 -8.87868655e-02 -1.22940080e+02] [-4.52023244e-01 8.91198408e-01 3.79523907e-02 2.10248503e+01] [ 9.63406823e-02 6.47799155e-03 9.95327337e-01 -6.45055585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38534707 meters 0.042415053605182836 Centerline is valid? [True, True] Translation: X:-122.96, Y:21.05, Z:-6.47 [[ 8.86520047e-01 4.53829632e-01 -9.01158757e-02 -1.22961604e+02] [-4.52242763e-01 8.91063815e-01 3.84936355e-02 2.10541530e+01] [ 9.77685484e-02 6.62887307e-03 9.95187103e-01 -6.46600707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41534707 meters 0.04122551495443353 Centerline is valid? [True, True] Translation: X:-122.99, Y:21.07, Z:-6.47 [[ 8.85824878e-01 4.55005905e-01 -9.10160005e-02 -1.22989192e+02] [-4.53395804e-01 8.90462077e-01 3.88527360e-02 2.10665336e+01] [ 9.87245211e-02 6.84955255e-03 9.95091228e-01 -6.46898486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44534707 meters 0.04213679143068178 Centerline is valid? [True, True] Translation: X:-123.02, Y:21.08, Z:-6.48 [[ 8.86044402e-01 4.54133984e-01 -9.32075207e-02 -1.23016749e+02] [-4.52442511e-01 8.90906414e-01 3.97685170e-02 2.10820052e+01] [ 1.01099413e-01 6.93437283e-03 9.94852161e-01 -6.47767072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47534707 meters 0.04064930846263039 Centerline is valid? [True, True] Translation: X:-123.05, Y:21.09, Z:-6.48 [[ 8.86791692e-01 4.52828997e-01 -9.24467091e-02 -1.23045914e+02] [-4.51161720e-01 8.91571741e-01 3.94072709e-02 2.10931635e+01] [ 1.00267628e-01 6.76237579e-03 9.94937522e-01 -6.47819884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50534707 meters 0.03821034201474034 Centerline is valid? [True, True] Translation: X:-123.07, Y:21.10, Z:-6.48 [[ 8.88633828e-01 4.49076966e-01 -9.30580365e-02 -1.23074505e+02] [-4.47369573e-01 8.93470134e-01 3.96432337e-02 2.11016838e+01] [ 1.00947439e-01 6.40301547e-03 9.94871155e-01 -6.48237528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53534707 meters 0.03580204856699262 Centerline is valid? [True, True] Translation: X:-123.10, Y:21.11, Z:-6.49 [[ 8.90220443e-01 4.46039028e-01 -9.25026921e-02 -1.23102979e+02] [-4.44336327e-01 8.94993215e-01 3.94001688e-02 2.11102745e+01] [ 1.00363295e-01 6.02747068e-03 9.94932600e-01 -6.48527786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56534707 meters 0.03439232390898707 Centerline is valid? [True, True] Translation: X:-123.13, Y:21.12, Z:-6.49 [[ 8.91610425e-01 4.42976585e-01 -9.38221404e-02 -1.23133699e+02] [-4.41209962e-01 8.96514539e-01 3.99431003e-02 2.11200365e+01] [ 1.01806771e-01 5.78157838e-03 9.94787392e-01 -6.49219317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59534707 meters 0.03080555794725136 Centerline is valid? [True, True] Translation: X:-123.16, Y:21.13, Z:-6.50 [[ 8.94473044e-01 4.36858014e-01 -9.52525519e-02 -1.23163319e+02] [-4.35004626e-01 8.99515551e-01 4.05308295e-02 2.11262286e+01] [ 1.03387369e-01 5.18156625e-03 9.94627671e-01 -6.49825193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62534707 meters 0.03080555794725136 Centerline is valid? [True, True] Translation: X:-123.19, Y:21.14, Z:-6.50 [[ 8.94656869e-01 4.36479622e-01 -9.52608342e-02 -1.23193161e+02] [-4.34626169e-01 8.99699352e-01 4.05113537e-02 2.11392264e+01] [ 1.03388491e-01 5.15909058e-03 9.94627671e-01 -6.49999314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65534707 meters 0.02927900684787497 Centerline is valid? [True, True] Translation: X:-123.22, Y:21.15, Z:-6.50 [[ 8.96079400e-01 4.33380343e-01 -9.60374245e-02 -1.23223509e+02] [-4.31481954e-01 9.01197968e-01 4.08111045e-02 2.11494499e+01] [ 1.04235462e-01 4.86842554e-03 9.94540732e-01 -6.50452024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68534707 meters 0.026070518864925053 Centerline is valid? [True, True] Translation: X:-123.25, Y:21.16, Z:-6.51 [[ 8.98477542e-01 4.28121838e-01 -9.72100747e-02 -1.23253616e+02] [-4.26147125e-01 9.03710702e-01 4.12988651e-02 2.11558281e+01] [ 1.05530731e-01 4.31969099e-03 9.94406660e-01 -6.50977231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71534707 meters 0.025493704864892375 Centerline is valid? [True, True] Translation: X:-123.28, Y:21.17, Z:-6.52 [[ 8.99802270e-01 4.25272305e-01 -9.74645628e-02 -1.23283261e+02] [-4.23271690e-01 9.05056585e-01 4.13963023e-02 2.11672355e+01] [ 1.05815645e-01 4.00550336e-03 9.94377697e-01 -6.51574891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74534707 meters 0.022181191664289165 Centerline is valid? [True, True] Translation: X:-123.31, Y:21.17, Z:-6.52 [[ 9.02400862e-01 4.19601302e-01 -9.80175064e-02 -1.23314501e+02] [-4.17545315e-01 9.07702274e-01 4.16232176e-02 2.11712143e+01] [ 1.06435870e-01 3.36592313e-03 9.94313872e-01 -6.52045774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77534707 meters 0.020321930143067192 Centerline is valid? [True, True] Translation: X:-123.35, Y:21.18, Z:-6.53 [[ 9.04857148e-01 4.14199702e-01 -9.83470783e-02 -1.23345783e+02] [-4.12098661e-01 9.10181890e-01 4.17566910e-02 2.11775203e+01] [ 1.06809339e-01 2.74485893e-03 9.94275732e-01 -6.52874771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80534707 meters 0.019193524137481155 Centerline is valid? [True, True] Translation: X:-123.38, Y:21.19, Z:-6.53 [[ 9.06697255e-01 4.10044583e-01 -9.88105602e-02 -1.23376526e+02] [-4.07900249e-01 9.12062640e-01 4.19419625e-02 2.11869611e+01] [ 1.07319495e-01 2.27618977e-03 9.94221980e-01 -6.53097932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83534707 meters 0.01700654434945667 Centerline is valid? [True, True] Translation: X:-123.41, Y:21.19, Z:-6.54 [[ 9.10096656e-01 4.02355303e-01 -9.91679713e-02 -1.23407218e+02] [-4.00150430e-01 9.15482555e-01 4.20871016e-02 2.11919180e+01] [ 1.07720516e-01 1.37877585e-03 9.94180260e-01 -6.53721153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86534707 meters 0.016716909606254663 Centerline is valid? [True, True] Translation: X:-123.44, Y:21.20, Z:-6.54 [[ 9.12399603e-01 3.97136786e-01 -9.90421024e-02 -1.23435161e+02] [-3.94905888e-01 9.17759122e-01 4.20420455e-02 2.11969388e+01] [ 1.07593236e-01 7.53163861e-04 9.94194714e-01 -6.54012315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89534707 meters 0.016545381715707644 Centerline is valid? [True, True] Translation: X:-123.46, Y:21.20, Z:-6.55 [[ 9.14284896e-01 3.92935864e-01 -9.84100355e-02 -1.23463888e+02] [-3.90705728e-01 9.19565851e-01 4.18052540e-02 2.12024654e+01] [ 1.06921292e-01 2.27452271e-04 9.94267462e-01 -6.54647917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92534707 meters 0.01692936576785841 Centerline is valid? [True, True] Translation: X:-123.49, Y:21.21, Z:-6.55 [[ 9.14922809e-01 3.91349271e-01 -9.88028465e-02 -1.23490930e+02] [-3.89086969e-01 9.20242223e-01 4.20188297e-02 2.12109009e+01] [ 1.07366589e-01 -1.08551987e-06 9.94219501e-01 -6.55215297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95534707 meters 0.016420569151504593 Centerline is valid? [True, True] Translation: X:-123.52, Y:21.22, Z:-6.56 [[ 9.16404995e-01 3.87606802e-01 -9.98140941e-02 -1.23518052e+02] [-3.85272160e-01 9.21824681e-01 4.24808216e-02 2.12177716e+01] [ 1.08476951e-01 -4.74045428e-04 9.94098851e-01 -6.55561462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98534707 meters 0.017414627969130035 Centerline is valid? [True, True] Translation: X:-123.54, Y:21.23, Z:-6.56 [[ 9.16849503e-01 3.86570802e-01 -9.97497030e-02 -1.23544164e+02] [-3.84229113e-01 9.22259518e-01 4.24896576e-02 2.12263957e+01] [ 1.08420374e-01 -6.29881563e-04 9.94104937e-01 -6.56448801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01534707 meters 0.017543700607611543 Centerline is valid? [True, True] Translation: X:-123.57, Y:21.23, Z:-6.57 [[ 9.18283788e-01 3.83144637e-01 -9.97751072e-02 -1.23570292e+02] [-3.80777704e-01 9.23687743e-01 4.25357882e-02 2.12349745e+01] [ 1.08458403e-01 -1.06778840e-03 9.94100415e-01 -6.56870639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04534707 meters 0.01778914574703549 Centerline is valid? [True, True] Translation: X:-123.60, Y:21.24, Z:-6.57 [[ 9.18112740e-01 3.83569893e-01 -9.97152626e-02 -1.23596732e+02] [-3.81204503e-01 9.23511254e-01 4.25451605e-02 2.12445082e+01] [ 1.08407210e-01 -1.04934680e-03 9.94106018e-01 -6.57172011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07534707 meters 0.018497182107680074 Centerline is valid? [True, True] Translation: X:-123.62, Y:21.25, Z:-6.58 [[ 9.18674546e-01 3.82109686e-01 -1.00146223e-01 -1.23623908e+02] [-3.79709601e-01 9.24116100e-01 4.27791170e-02 2.12535116e+01] [ 1.08893052e-01 -1.27360364e-03 9.94052655e-01 -6.57505190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10534707 meters 0.020073412527633908 Centerline is valid? [True, True] Translation: X:-123.65, Y:21.26, Z:-6.58 [[ 9.19089497e-01 3.81199778e-01 -9.98059430e-02 -1.23650204e+02] [-3.78805257e-01 9.24491593e-01 4.26833968e-02 2.12613685e+01] [ 1.08540657e-01 -1.42284577e-03 9.94090993e-01 -6.58337152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13534707 meters 0.018524459658294835 Centerline is valid? [True, True] Translation: X:-123.68, Y:21.27, Z:-6.58 [[ 9.18867309e-01 3.81713882e-01 -9.98868378e-02 -1.23675901e+02] [-3.79312699e-01 9.24279458e-01 4.27710173e-02 2.12723597e+01] [ 1.08649643e-01 -1.41254352e-03 9.94079101e-01 -6.58338822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.16534707 meters 0.019316344198462378 Centerline is valid? [True, True] Translation: X:-123.70, Y:21.28, Z:-6.59 [[ 9.19171452e-01 3.80935084e-01 -1.00061499e-01 -1.23702797e+02] [-3.78515353e-01 9.24600479e-01 4.28961654e-02 2.12819796e+01] [ 1.08857564e-01 -1.55411708e-03 9.94056143e-01 -6.59188043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19534707 meters 0.019297389755542415 Centerline is valid? [True, True] Translation: X:-123.73, Y:21.29, Z:-6.59 [[ 9.19234228e-01 3.80655377e-01 -1.00548093e-01 -1.23729345e+02] [-3.78205084e-01 9.24715522e-01 4.31522591e-02 2.12924192e+01] [ 1.09404522e-01 -1.63923355e-03 9.93995957e-01 -6.59400364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22534707 meters 0.019930902614868046 Centerline is valid? [True, True] Translation: X:-123.76, Y:21.30, Z:-6.60 [[ 9.20095537e-01 3.79060291e-01 -9.86787632e-02 -1.23756319e+02] [-3.76686416e-01 9.25370153e-01 4.23960429e-02 2.13023978e+01] [ 1.07385039e-01 -1.83746030e-03 9.94215810e-01 -6.60278086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25534707 meters 0.01966719475309227 Centerline is valid? [True, True] Translation: X:-123.78, Y:21.31, Z:-6.61 [[ 9.19748819e-01 3.79946153e-01 -9.85039600e-02 -1.23782418e+02] [-3.77580784e-01 9.25006905e-01 4.23671826e-02 2.13133026e+01] [ 1.07214091e-01 -1.77396376e-03 9.94234375e-01 -6.60592132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28534707 meters 0.021920799507086954 Centerline is valid? [True, True] Translation: X:-123.81, Y:21.32, Z:-6.62 [[ 9.20485989e-01 3.78592496e-01 -9.68156268e-02 -1.23809448e+02] [-3.76297049e-01 9.25561457e-01 4.16715851e-02 2.13206375e+01] [ 1.05385362e-01 -1.92667560e-03 9.94429592e-01 -6.61879785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31534707 meters 0.019946858585225286 Centerline is valid? [True, True] Translation: X:-123.83, Y:21.33, Z:-6.61 [[ 9.19727454e-01 3.79915411e-01 -9.88215054e-02 -1.23834368e+02] [-3.77529008e-01 9.25019420e-01 4.25549053e-02 2.13346747e+01] [ 1.07579076e-01 -1.83092979e-03 9.94194845e-01 -6.61410199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34534707 meters 0.020053512079403788 Centerline is valid? [True, True] Translation: X:-123.86, Y:21.35, Z:-6.62 [[ 9.19731064e-01 3.80392713e-01 -9.69337590e-02 -1.23860376e+02] [-3.78095972e-01 9.24823358e-01 4.17754951e-02 2.13470055e+01] [ 1.05537698e-01 -1.77195669e-03 9.94413724e-01 -6.61972888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37534707 meters 0.019574470217426834 Centerline is valid? [True, True] Translation: X:-123.89, Y:21.36, Z:-6.62 [[ 9.19108920e-01 3.81991027e-01 -9.65486850e-02 -1.23885198e+02] [-3.79718086e-01 9.24164629e-01 4.16402887e-02 2.13596697e+01] [ 1.05133096e-01 -1.61067888e-03 9.94456856e-01 -6.62196752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40534707 meters 0.02009442768563076 Centerline is valid? [True, True] Translation: X:-123.91, Y:21.37, Z:-6.62 [[ 9.18268272e-01 3.84265472e-01 -9.55166341e-02 -1.23910849e+02] [-3.82050102e-01 9.23221635e-01 4.12253835e-02 2.13734513e+01] [ 1.04024515e-01 -1.36382185e-03 9.94573798e-01 -6.62288877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43534707 meters 0.019044060969202622 Centerline is valid? [True, True] Translation: X:-123.94, Y:21.39, Z:-6.63 [[ 9.17166370e-01 3.87141975e-01 -9.44824861e-02 -1.23935570e+02] [-3.84985041e-01 9.22019496e-01 4.08236093e-02 2.13883569e+01] [ 1.02919227e-01 -1.06769784e-03 9.94689144e-01 -6.63045094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46534707 meters 0.019162740894493067 Centerline is valid? [True, True] Translation: X:-123.96, Y:21.40, Z:-6.63 [[ 9.16672038e-01 3.88614768e-01 -9.32251940e-02 -1.23961090e+02] [-3.86519497e-01 9.21399869e-01 4.03107882e-02 2.14007083e+01] [ 1.01563049e-01 -9.18417268e-04 9.94828681e-01 -6.63182990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49534707 meters 0.01866806254435834 Centerline is valid? [True, True] Translation: X:-123.99, Y:21.42, Z:-6.64 [[ 9.15319129e-01 3.91900976e-01 -9.27605345e-02 -1.23986203e+02] [-3.89842258e-01 9.20007233e-01 4.01211181e-02 2.14168990e+01] [ 1.01063868e-01 -5.61650684e-04 9.94879781e-01 -6.63595337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52534707 meters 0.018472361085608367 Centerline is valid? [True, True] Translation: X:-124.01, Y:21.43, Z:-6.64 [[ 9.15006496e-01 3.92902438e-01 -9.16012357e-02 -1.24012398e+02] [-3.90899664e-01 9.19580052e-01 3.96229754e-02 2.14315473e+01] [ 9.98026328e-02 -4.48387672e-04 9.95007152e-01 -6.64173256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55534707 meters 0.018422661862042004 Centerline is valid? [True, True] Translation: X:-124.04, Y:21.45, Z:-6.65 [[ 9.13253771e-01 3.97693961e-01 -8.83575887e-02 -1.24037856e+02] [-3.95853297e-01 9.17518124e-01 3.82185714e-02 2.14499793e+01] [ 9.62689841e-02 7.33883522e-05 9.95355352e-01 -6.64855542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58534707 meters 0.018157422384913274 Centerline is valid? [True, True] Translation: X:-124.06, Y:21.47, Z:-6.65 [[ 9.11616237e-01 4.01443487e-01 -8.83117343e-02 -1.24064474e+02] [-3.99622939e-01 9.15883672e-01 3.81916962e-02 2.14685527e+01] [ 9.62150832e-02 4.75224353e-04 9.95360453e-01 -6.65295124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61534707 meters 0.018903564710071763 Centerline is valid? [True, True] Translation: X:-124.09, Y:21.49, Z:-6.66 [[ 9.10934812e-01 4.03994097e-01 -8.35855092e-02 -1.24091249e+02] [-4.02375184e-01 9.14761314e-01 3.61379417e-02 2.14858690e+01] [ 9.10603053e-02 7.13425441e-04 9.95845124e-01 -6.65665788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64534707 meters 0.021299218940302404 Centerline is valid? [True, True] Translation: X:-124.12, Y:21.50, Z:-6.65 [[ 9.11791082e-01 4.02066622e-01 -8.35431245e-02 -1.24120919e+02] [-4.00442158e-01 9.15610261e-01 3.61099291e-02 2.14998755e+01] [ 9.10115393e-02 5.29477739e-04 9.95849697e-01 -6.65312417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67534707 meters 0.019787144278992322 Centerline is valid? [True, True] Translation: X:-124.15, Y:21.52, Z:-6.67 [[ 9.10822968e-01 4.04313808e-01 -8.32578271e-02 -1.24147833e+02] [-4.02710842e-01 9.14620011e-01 3.59751792e-02 2.15162303e+01] [ 9.06945364e-02 7.61810162e-04 9.95878467e-01 -6.66665366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70534707 meters 0.02015854098677279 Centerline is valid? [True, True] Translation: X:-124.18, Y:21.53, Z:-6.67 [[ 9.11653405e-01 4.02617298e-01 -8.23855601e-02 -1.24176413e+02] [-4.01041900e-01 9.15368207e-01 3.55870745e-02 2.15298944e+01] [ 8.97410943e-02 5.96983897e-04 9.95964949e-01 -6.67175529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73534707 meters 0.019927913715683844 Centerline is valid? [True, True] Translation: X:-124.20, Y:21.54, Z:-6.67 [[ 9.12428885e-01 4.01269758e-01 -8.03499306e-02 -1.24204473e+02] [-3.99767026e-01 9.15959807e-01 3.46980865e-02 2.15429932e+01] [ 8.75205997e-02 4.61716424e-04 9.96162603e-01 -6.67361022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76534707 meters 0.019919426319078386 Centerline is valid? [True, True] Translation: X:-124.23, Y:21.56, Z:-6.68 [[ 9.14064204e-01 3.98321268e-01 -7.63334755e-02 -1.24233629e+02] [-3.96955617e-01 9.17245952e-01 3.29560611e-02 2.15550764e+01] [ 8.31436714e-02 1.77046129e-04 9.96537555e-01 -6.67834276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79534707 meters 0.019895223834899698 Centerline is valid? [True, True] Translation: X:-124.26, Y:21.57, Z:-6.68 [[ 9.15202282e-01 3.96002248e-01 -7.47462568e-02 -1.24262994e+02] [-3.94685859e-01 9.18249541e-01 3.22622634e-02 2.15673908e+01] [ 8.14116448e-02 -2.52065115e-05 9.96680562e-01 -6.68166222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82534707 meters 0.01960610273643295 Centerline is valid? [True, True] Translation: X:-124.29, Y:21.58, Z:-6.69 [[ 9.16040779e-01 3.94492102e-01 -7.24242597e-02 -1.24292258e+02] [-3.93252422e-01 9.18899320e-01 3.12501575e-02 2.15792993e+01] [ 7.88785433e-02 -1.45403075e-04 9.96884223e-01 -6.68856038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85534707 meters 0.020680145908772075 Centerline is valid? [True, True] Translation: X:-124.32, Y:21.59, Z:-6.69 [[ 9.17599259e-01 3.91158071e-01 -7.07599001e-02 -1.24321558e+02] [-3.89965578e-01 9.20323417e-01 3.05230297e-02 2.15909183e+01] [ 7.70613224e-02 -4.13984083e-04 9.97026269e-01 -6.69084888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88534707 meters 0.02106523650816206 Centerline is valid? [True, True] Translation: X:-124.35, Y:21.60, Z:-6.70 [[ 9.18977416e-01 3.88550012e-01 -6.71520528e-02 -1.24351193e+02] [-3.87469770e-01 9.21427445e-01 2.89593086e-02 2.16029987e+01] [ 7.31278841e-02 -5.93560115e-04 9.97322395e-01 -6.69657541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91534707 meters 0.021463518136666096 Centerline is valid? [True, True] Translation: X:-124.38, Y:21.61, Z:-6.70 [[ 9.20270110e-01 3.85773779e-01 -6.54333038e-02 -1.24379571e+02] [-3.84741788e-01 9.22593071e-01 2.82096031e-02 2.16146310e+01] [ 7.12508379e-02 -7.85528204e-04 9.97458120e-01 -6.70185620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94534707 meters 0.021650086923086696 Centerline is valid? [True, True] Translation: X:-124.41, Y:21.63, Z:-6.71 [[ 9.21252470e-01 3.83900190e-01 -6.25662093e-02 -1.24409368e+02] [-3.82952914e-01 9.23374173e-01 2.69666794e-02 2.16263651e+01] [ 6.81245351e-02 -8.83207871e-04 9.97676434e-01 -6.70689811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97534707 meters 0.021919306864308687 Centerline is valid? [True, True] Translation: X:-124.44, Y:21.64, Z:-6.71 [[ 9.23178903e-01 3.79607270e-01 -6.03244046e-02 -1.24438340e+02] [-3.78718115e-01 9.25147015e-01 2.59921147e-02 2.16386725e+01] [ 6.56757386e-02 -1.14942713e-03 9.97840356e-01 -6.71178675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00534707 meters 0.02341912039618821 Centerline is valid? [True, True] Translation: X:-124.47, Y:21.65, Z:-6.71 [[ 9.25206023e-01 3.75407015e-01 -5.53478799e-02 -1.24468076e+02] [-3.74651562e-01 9.26859119e-01 2.38407289e-02 2.16497987e+01] [ 6.02496641e-02 -1.32141631e-03 9.98182464e-01 -6.71494608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03534707 meters 0.023422717355197745 Centerline is valid? [True, True] Translation: X:-124.50, Y:21.66, Z:-6.72 [[ 9.26245730e-01 3.72911072e-01 -5.48286388e-02 -1.24498303e+02] [-3.72165839e-01 9.27865935e-01 2.36092053e-02 2.16620238e+01] [ 5.96777603e-02 -1.46257926e-03 9.98216623e-01 -6.71763606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06534707 meters 0.02311840260284263 Centerline is valid? [True, True] Translation: X:-124.53, Y:21.67, Z:-6.72 [[ 9.27571496e-01 3.69769038e-01 -5.36840524e-02 -1.24527855e+02] [-3.69049897e-01 9.29122290e-01 2.31072379e-02 2.16737684e+01] [ 5.84233908e-02 -1.62152124e-03 9.98290578e-01 -6.72200851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09534707 meters 0.024112439495876783 Centerline is valid? [True, True] Translation: X:-124.56, Y:21.69, Z:-6.73 [[ 9.29248275e-01 3.66007663e-01 -5.03590464e-02 -1.24556109e+02] [-3.65369773e-01 9.30610217e-01 2.16691815e-02 2.16857844e+01] [ 5.47957296e-02 -1.73637621e-03 9.98496076e-01 -6.72795186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12534707 meters 0.02659676413935888 Centerline is valid? [True, True] Translation: X:-124.59, Y:21.70, Z:-6.73 [[ 9.30700101e-01 3.62605687e-01 -4.81086026e-02 -1.24586249e+02] [-3.62019714e-01 9.31940844e-01 2.06878930e-02 2.16971358e+01] [ 5.23359194e-02 -1.83796149e-03 9.98627845e-01 -6.73040950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15534707 meters 0.025346768805306442 Centerline is valid? [True, True] Translation: X:-124.62, Y:21.71, Z:-6.74 [[ 9.31177802e-01 3.61446101e-01 -4.75879841e-02 -1.24616218e+02] [-3.60871593e-01 9.32391117e-01 2.04572054e-02 2.17095394e+01] [ 5.17647908e-02 -1.87614391e-03 9.98657542e-01 -6.73531357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18534707 meters 0.025451332306059903 Centerline is valid? [True, True] Translation: X:-124.65, Y:21.72, Z:-6.74 [[ 9.31641670e-01 3.60490469e-01 -4.57211199e-02 -1.24645550e+02] [-3.59959434e-01 9.32761070e-01 1.96466648e-02 2.17215681e+01] [ 4.97293162e-02 -1.84590313e-03 9.98761026e-01 -6.73762876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21534707 meters 0.026348069291494053 Centerline is valid? [True, True] Translation: X:-124.67, Y:21.73, Z:-6.74 [[ 9.33027036e-01 3.57107155e-01 -4.39889752e-02 -1.24673428e+02] [-3.56612182e-01 9.34061402e-01 1.88957223e-02 2.17337143e+01] [ 4.78362015e-02 -1.94321537e-03 9.98853303e-01 -6.73843619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24534707 meters 0.02777481053086221 Centerline is valid? [True, True] Translation: X:-124.70, Y:21.74, Z:-6.74 [[ 9.34115270e-01 3.54417979e-01 -4.26211016e-02 -1.24703431e+02] [-3.53950570e-01 9.35084934e-01 1.83073704e-02 2.17442841e+01] [ 4.63428112e-02 -2.01543100e-03 9.98923562e-01 -6.74021761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27534707 meters 0.026591125333844896 Centerline is valid? [True, True] Translation: X:-124.73, Y:21.76, Z:-6.74 [[ 9.34197500e-01 3.54315993e-01 -4.16558327e-02 -1.24730342e+02] [-3.53869711e-01 9.35123682e-01 1.78865006e-02 2.17593628e+01] [ 4.52908288e-02 -1.96878666e-03 9.98971904e-01 -6.74301194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30534707 meters 0.027586466843062225 Centerline is valid? [True, True] Translation: X:-124.76, Y:21.77, Z:-6.74 [[ 9.34475452e-01 3.53610165e-01 -4.14183562e-02 -1.24760584e+02] [-3.53168460e-01 9.35390775e-01 1.77802674e-02 2.17704409e+01] [ 4.50296315e-02 -1.98756635e-03 9.98983674e-01 -6.74433904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33534707 meters 0.027109333499501315 Centerline is valid? [True, True] Translation: X:-124.79, Y:21.78, Z:-6.75 [[ 9.34756816e-01 3.53012703e-01 -4.01463203e-02 -1.24788244e+02] [-3.52597382e-01 9.35616497e-01 1.72295404e-02 2.17843571e+01] [ 4.36438062e-02 -1.94994288e-03 9.99045252e-01 -6.74712176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36534707 meters 0.02673076006073079 Centerline is valid? [True, True] Translation: X:-124.82, Y:21.80, Z:-6.75 [[ 9.34682825e-01 3.53136447e-01 -4.07758191e-02 -1.24815816e+02] [-3.52708674e-01 9.35569772e-01 1.74869547e-02 2.17981056e+01] [ 4.43239048e-02 -1.96277108e-03 9.99015285e-01 -6.74807518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39534707 meters 0.028176613760297998 Centerline is valid? [True, True] Translation: X:-124.85, Y:21.81, Z:-6.75 [[ 9.34861624e-01 3.52688512e-01 -4.05531503e-02 -1.24845543e+02] [-3.52265161e-01 9.35738711e-01 1.73873774e-02 2.18092863e+01] [ 4.40794808e-02 -1.96932988e-03 9.99026086e-01 -6.74896092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42534707 meters 0.02711849311138229 Centerline is valid? [True, True] Translation: X:-124.87, Y:21.83, Z:-6.75 [[ 9.34553670e-01 3.53372335e-01 -4.16825124e-02 -1.24872003e+02] [-3.52926042e-01 9.35480654e-01 1.78649323e-02 2.18258497e+01] [ 4.53061568e-02 -1.98489395e-03 9.98971177e-01 -6.74878807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45534707 meters 0.026961985539935285 Centerline is valid? [True, True] Translation: X:-124.90, Y:21.84, Z:-6.75 [[ 9.34546820e-01 3.53321888e-01 -4.22597239e-02 -1.24900678e+02] [-3.52863289e-01 9.35499653e-01 1.81080025e-02 2.18396857e+01] [ 4.59319106e-02 -2.01087104e-03 9.98942549e-01 -6.75040090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48534707 meters 0.02707683302185457 Centerline is valid? [True, True] Translation: X:-124.93, Y:21.85, Z:-6.75 [[ 9.34542815e-01 3.53274584e-01 -4.27410300e-02 -1.24929054e+02] [-3.52805711e-01 9.35517475e-01 1.83080386e-02 2.18539652e+01] [ 4.64527452e-02 -2.03036642e-03 9.98918425e-01 -6.75105983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51534707 meters 0.02707683302185457 Centerline is valid? [True, True] Translation: X:-124.96, Y:21.87, Z:-6.75 [[ 9.34606829e-01 3.53104946e-01 -4.27430891e-02 -1.24958855e+02] [-3.52636116e-01 9.35581510e-01 1.83032299e-02 2.18668939e+01] [ 4.64526049e-02 -2.03356672e-03 9.98918425e-01 -6.75279777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54534707 meters 0.0269165851481554 Centerline is valid? [True, True] Translation: X:-124.99, Y:21.88, Z:-6.75 [[ 9.34498578e-01 3.53301769e-01 -4.34771974e-02 -1.24987612e+02] [-3.52817367e-01 9.35507167e-01 1.86076680e-02 2.18822513e+01] [ 4.72473518e-02 -2.04932896e-03 9.98881118e-01 -6.75390760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57534707 meters 0.026795337012595042 Centerline is valid? [True, True] Translation: X:-125.02, Y:21.90, Z:-6.76 [[ 9.34222501e-01 3.53915080e-01 -4.44121084e-02 -1.25017025e+02] [-3.53410613e-01 9.35275302e-01 1.90012726e-02 2.18960380e+01] [ 4.82623850e-02 -2.05570599e-03 9.98832577e-01 -6.75500313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60534707 meters 0.0263815610412111 Centerline is valid? [True, True] Translation: X:-125.04, Y:21.91, Z:-6.76 [[ 9.33650468e-01 3.55225543e-01 -4.59523419e-02 -1.25044803e+02] [-3.54687378e-01 9.34778374e-01 1.96533881e-02 2.19131823e+01] [ 4.99366409e-02 -2.05067931e-03 9.98750282e-01 -6.75744111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63534707 meters 0.02493338677185754 Centerline is valid? [True, True] Translation: X:-125.07, Y:21.93, Z:-6.76 [[ 9.32854444e-01 3.57325033e-01 -4.58411073e-02 -1.25071994e+02] [-3.56792324e-01 9.33978108e-01 1.95992722e-02 2.19310677e+01] [ 4.98179012e-02 -1.92751295e-03 9.98756458e-01 -6.75970976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66534707 meters 0.023871820470888955 Centerline is valid? [True, True] Translation: X:-125.10, Y:21.95, Z:-6.76 [[ 9.32261469e-01 3.58896844e-01 -4.56246457e-02 -1.25098676e+02] [-3.58371364e-01 9.33375440e-01 1.95001033e-02 2.19471815e+01] [ 4.95834493e-02 -1.82862849e-03 9.98768310e-01 -6.76103402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69534707 meters 0.023119459243896523 Centerline is valid? [True, True] Translation: X:-125.13, Y:21.97, Z:-6.76 [[ 9.31075469e-01 3.61924812e-01 -4.59227786e-02 -1.25126286e+02] [-3.61396360e-01 9.32205787e-01 1.96224842e-02 2.19650362e+01] [ 4.99113439e-02 -1.67368861e-03 9.98752250e-01 -6.76234579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72534707 meters 0.02265756273209797 Centerline is valid? [True, True] Translation: X:-125.15, Y:21.98, Z:-6.76 [[ 9.29842530e-01 3.64918553e-01 -4.71944851e-02 -1.25154053e+02] [-3.64364611e-01 9.31038158e-01 2.01588472e-02 2.19808707e+01] [ 5.12962038e-02 -1.54855334e-03 9.98682283e-01 -6.76206858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75534707 meters 0.022329745496058404 Centerline is valid? [True, True] Translation: X:-125.18, Y:22.00, Z:-6.76 [[ 9.29408874e-01 3.65864942e-01 -4.83941055e-02 -1.25181309e+02] [-3.65284425e-01 9.30666711e-01 2.06582271e-02 2.19959969e+01] [ 5.25969040e-02 -1.52232663e-03 9.98614665e-01 -6.76395880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78534707 meters 0.021700370703303214 Centerline is valid? [True, True] Translation: X:-125.21, Y:22.01, Z:-6.76 [[ 9.28608662e-01 3.67703793e-01 -4.97983288e-02 -1.25209449e+02] [-3.67093010e-01 9.29941856e-01 2.12336050e-02 2.20122674e+01] [ 5.41172274e-02 -1.43709109e-03 9.98533555e-01 -6.76322558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81534707 meters 0.022009560676780542 Centerline is valid? [True, True] Translation: X:-125.24, Y:22.03, Z:-6.77 [[ 9.29276721e-01 3.65942463e-01 -5.03079524e-02 -1.25239138e+02] [-3.65316933e-01 9.30636189e-01 2.14434663e-02 2.20254044e+01] [ 5.46654759e-02 -1.54856717e-03 9.98503524e-01 -6.76558133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84534707 meters 0.022736174713221032 Centerline is valid? [True, True] Translation: X:-125.27, Y:22.04, Z:-6.77 [[ 9.30051812e-01 3.63800358e-01 -5.15065635e-02 -1.25268947e+02] [-3.63141785e-01 9.31475380e-01 2.19467492e-02 2.20380806e+01] [ 5.59613310e-02 -1.70742847e-03 9.98431477e-01 -6.76539112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87534707 meters 0.02380492843474722 Centerline is valid? [True, True] Translation: X:-125.30, Y:22.05, Z:-6.76 [[ 9.31634340e-01 3.59720753e-01 -5.15600292e-02 -1.25299027e+02] [-3.59054976e-01 9.33057976e-01 2.19621940e-02 2.20501478e+01] [ 5.60087534e-02 -1.94784907e-03 9.98428378e-01 -6.76462620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90534707 meters 0.02502725804807885 Centerline is valid? [True, True] Translation: X:-125.33, Y:22.06, Z:-6.77 [[ 9.32255909e-01 3.58115533e-01 -5.14993701e-02 -1.25329870e+02] [-3.57449283e-01 9.33675063e-01 2.19291460e-02 2.20594152e+01] [ 5.59368454e-02 -2.03516305e-03 9.98432235e-01 -6.76711732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93534707 meters 0.025030365999260784 Centerline is valid? [True, True] Translation: X:-125.36, Y:22.07, Z:-6.76 [[ 9.34322144e-01 3.52680965e-01 -5.15583907e-02 -1.25357687e+02] [-3.52005318e-01 9.35740660e-01 2.19470677e-02 2.20729142e+01] [ 5.59855955e-02 -2.35680369e-03 9.98428795e-01 -6.76458915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96534707 meters 0.026436511051451356 Centerline is valid? [True, True] Translation: X:-125.39, Y:22.08, Z:-6.76 [[ 9.35383109e-01 3.49790090e-01 -5.20128076e-02 -1.25388505e+02] [-3.49098235e-01 9.36824636e-01 2.21364897e-02 2.20829317e+01] [ 5.64700043e-02 -2.54851924e-03 9.98401044e-01 -6.76469490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99534707 meters 0.027658116020757628 Centerline is valid? [True, True] Translation: X:-125.42, Y:22.09, Z:-6.76 [[ 9.37105891e-01 3.45209026e-01 -5.16069541e-02 -1.25418933e+02] [-3.44521423e-01 9.38521664e-01 2.19562360e-02 2.20933017e+01] [ 5.60137352e-02 -2.79561690e-03 9.98426084e-01 -6.76403461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02534707 meters 0.030746384291474964 Centerline is valid? [True, True] Translation: X:-125.45, Y:22.10, Z:-6.76 [[ 9.38907100e-01 3.40292366e-01 -5.15224560e-02 -1.25450275e+02] [-3.39599941e-01 9.40314642e-01 2.19147002e-02 2.21004324e+01] [ 5.59047250e-02 -3.07884460e-03 9.98431361e-01 -6.76239313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05534707 meters 0.030273895678018265 Centerline is valid? [True, True] Translation: X:-125.48, Y:22.11, Z:-6.76 [[ 9.39283833e-01 3.39062052e-01 -5.27523053e-02 -1.25478354e+02] [-3.38334443e-01 9.40758488e-01 2.24337191e-02 2.21134270e+01] [ 5.72336017e-02 -3.22370778e-03 9.98355609e-01 -6.76242318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08534707 meters 0.03227031389885884 Centerline is valid? [True, True] Translation: X:-125.51, Y:22.12, Z:-6.76 [[ 9.39733401e-01 3.37850422e-01 -5.25188327e-02 -1.25509582e+02] [-3.37127696e-01 9.41194109e-01 2.23285720e-02 2.21237188e+01] [ 5.69741334e-02 -3.27735182e-03 9.98370276e-01 -6.76263753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11534707 meters 0.030793161059117224 Centerline is valid? [True, True] Translation: X:-125.54, Y:22.14, Z:-6.76 [[ 9.39401919e-01 3.38750987e-01 -5.26479211e-02 -1.25535546e+02] [-3.38026633e-01 9.40870547e-01 2.23742753e-02 2.21416798e+01] [ 5.71141862e-02 -3.22203764e-03 9.98362453e-01 -6.75994421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14534707 meters 0.02914239010280566 Centerline is valid? [True, True] Translation: X:-125.56, Y:22.16, Z:-6.76 [[ 9.38139045e-01 3.42185666e-01 -5.29537836e-02 -1.25561578e+02] [-3.41458509e-01 9.39627482e-01 2.25006916e-02 2.21584636e+01] [ 5.74562445e-02 -3.02725731e-03 9.98343436e-01 -6.76097287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17534707 meters 0.029292462508921962 Centerline is valid? [True, True] Translation: X:-125.59, Y:22.18, Z:-6.76 [[ 9.36625926e-01 3.46363970e-01 -5.25725685e-02 -1.25588908e+02] [-3.45653915e-01 9.38096180e-01 2.23367239e-02 2.21750163e+01] [ 5.70547620e-02 -2.74924065e-03 9.98367265e-01 -6.75931448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20534707 meters 0.026279599710002797 Centerline is valid? [True, True] Translation: X:-125.61, Y:22.19, Z:-6.76 [[ 9.35359031e-01 3.49660361e-01 -5.33021026e-02 -1.25614061e+02] [-3.48935997e-01 9.36872977e-01 2.26427716e-02 2.21948709e+01] [ 5.78545792e-02 -2.58009860e-03 9.98321687e-01 -6.75718837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23534707 meters 0.025812044376721632 Centerline is valid? [True, True] Translation: X:-125.64, Y:22.21, Z:-6.76 [[ 9.34417755e-01 3.52145216e-01 -5.34528442e-02 -1.25641739e+02] [-3.51421037e-01 9.35942224e-01 2.27026217e-02 2.22121405e+01] [ 5.80233935e-02 -2.42927889e-03 9.98312268e-01 -6.75530047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26534707 meters 0.02505466892876435 Centerline is valid? [True, True] Translation: X:-125.67, Y:22.23, Z:-6.75 [[ 9.34257744e-01 3.52478728e-01 -5.40482569e-02 -1.25668974e+02] [-3.51739350e-01 9.35816677e-01 2.29472691e-02 2.22297114e+01] [ 5.86676844e-02 -2.42776505e-03 9.98274616e-01 -6.75464860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29534707 meters 0.026429386316628063 Centerline is valid? [True, True] Translation: X:-125.70, Y:22.24, Z:-6.75 [[ 9.35061414e-01 3.50253128e-01 -5.46159265e-02 -1.25698708e+02] [-3.49494915e-01 9.36651516e-01 2.31784694e-02 2.22411802e+01] [ 5.92744218e-02 -2.58530374e-03 9.98238378e-01 -6.75401806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32534707 meters 0.026155197897582253 Centerline is valid? [True, True] Translation: X:-125.73, Y:22.26, Z:-6.75 [[ 9.35691679e-01 3.48397734e-01 -5.56785538e-02 -1.25727528e+02] [-3.47606974e-01 9.37342772e-01 2.36203052e-02 2.22557348e+01] [ 6.04191507e-02 -2.74706943e-03 9.98169314e-01 -6.75271505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35534707 meters 0.027504162107430685 Centerline is valid? [True, True] Translation: X:-125.76, Y:22.27, Z:-6.75 [[ 9.37015751e-01 3.44618163e-01 -5.69192750e-02 -1.25757031e+02] [-3.43785680e-01 9.38738013e-01 2.41319230e-02 2.22676884e+01] [ 6.17485860e-02 -3.04396025e-03 9.98087094e-01 -6.75335202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38534707 meters 0.027230182521917237 Centerline is valid? [True, True] Translation: X:-125.79, Y:22.28, Z:-6.76 [[ 9.37222440e-01 3.44164024e-01 -5.62603093e-02 -1.25786351e+02] [-3.43350542e-01 9.38904656e-01 2.38422483e-02 2.22822237e+01] [ 6.10287104e-02 -3.02848244e-03 9.98131417e-01 -6.75518324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41534707 meters 0.028395934662693405 Centerline is valid? [True, True] Translation: X:-125.82, Y:22.30, Z:-6.75 [[ 9.37900013e-01 3.42153438e-01 -5.72240361e-02 -1.25816165e+02] [-3.41309344e-01 9.39638664e-01 2.42303921e-02 2.22956126e+01] [ 6.20604288e-02 -3.19458679e-03 9.98067281e-01 -6.75207567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44534707 meters 0.02822200792102447 Centerline is valid? [True, True] Translation: X:-125.84, Y:22.31, Z:-6.75 [[ 9.37938895e-01 3.42029833e-01 -5.73255888e-02 -1.25844892e+02] [-3.41183070e-01 9.39683646e-01 2.42643531e-02 2.23123954e+01] [ 6.21670509e-02 -3.19996013e-03 9.98060628e-01 -6.74890518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47534707 meters 0.027862626737832602 Centerline is valid? [True, True] Translation: X:-125.87, Y:22.33, Z:-6.75 [[ 9.37219749e-01 3.43809122e-01 -5.84331166e-02 -1.25873072e+02] [-3.42933503e-01 9.39034338e-01 2.47209144e-02 2.23286932e+01] [ 6.33699788e-02 -3.13025579e-03 9.97985194e-01 -6.74890976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50534707 meters 0.027836949162091253 Centerline is valid? [True, True] Translation: X:-125.90, Y:22.35, Z:-6.75 [[ 9.35990472e-01 3.46983990e-01 -5.93628466e-02 -1.25899771e+02] [-3.46087366e-01 9.37866410e-01 2.51024427e-02 2.23475478e+01] [ 6.43845656e-02 -2.95091603e-03 9.97920798e-01 -6.74738342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53534707 meters 0.02573544653869899 Centerline is valid? [True, True] Translation: X:-125.92, Y:22.37, Z:-6.74 [[ 9.33384540e-01 3.53712787e-01 -6.06676520e-02 -1.25923968e+02] [-3.52791978e-01 9.35350691e-01 2.56301554e-02 2.23715443e+01] [ 6.58112439e-02 -2.51972991e-03 9.97828909e-01 -6.74430182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56534707 meters 0.024435027373512205 Centerline is valid? [True, True] Translation: X:-125.95, Y:22.39, Z:-6.74 [[ 9.30960784e-01 3.60080018e-01 -6.04516259e-02 -1.25950466e+02] [-3.59179385e-01 9.32919150e-01 2.55348339e-02 2.23899873e+01] [ 6.55910629e-02 -2.05895113e-03 9.97844463e-01 -6.74402477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59534707 meters 0.02163808610791971 Centerline is valid? [True, True] Translation: X:-125.97, Y:22.42, Z:-6.74 [[ 9.27423701e-01 3.68729882e-01 -6.26382692e-02 -1.25970859e+02] [-3.67782710e-01 9.29535385e-01 2.64546001e-02 2.24206127e+01] [ 6.79790892e-02 -1.49735072e-03 9.97685623e-01 -6.74098978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62534707 meters 0.02023625880184994 Centerline is valid? [True, True] Translation: X:-125.99, Y:22.45, Z:-6.74 [[ 9.24186211e-01 3.76230972e-01 -6.58035221e-02 -1.25993557e+02] [-3.75204874e-01 9.26525379e-01 2.77853359e-02 2.24487850e+01] [ 7.14223372e-02 -9.89022130e-04 9.97445674e-01 -6.73737034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65534707 meters 0.019846378873929857 Centerline is valid? [True, True] Translation: X:-126.02, Y:22.47, Z:-6.74 [[ 9.22260234e-01 3.81134448e-01 -6.45956142e-02 -1.26019781e+02] [-3.80159081e-01 9.24519440e-01 2.72557773e-02 2.24683753e+01] [ 7.01080167e-02 -5.80310221e-04 9.97539237e-01 -6.73712941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68534707 meters 0.01993127484431826 Centerline is valid? [True, True] Translation: X:-126.05, Y:22.49, Z:-6.74 [[ 9.20383979e-01 3.85475907e-01 -6.55870174e-02 -1.26045186e+02] [-3.84483635e-01 9.22717874e-01 2.76416226e-02 2.24948534e+01] [ 7.11734928e-02 -2.23771750e-04 9.97463926e-01 -6.73552133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71534707 meters 0.020111153643797484 Centerline is valid? [True, True] Translation: X:-126.07, Y:22.51, Z:-6.74 [[ 9.19679751e-01 3.86952964e-01 -6.67574650e-02 -1.26071911e+02] [-3.85931447e-01 9.22099451e-01 2.80984031e-02 2.25129246e+01] [ 7.24297822e-02 -7.77272487e-05 9.97373511e-01 -6.73511292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74534707 meters 0.02015056241377739 Centerline is valid? [True, True] Translation: X:-126.10, Y:22.54, Z:-6.73 [[ 9.18860579e-01 3.88818865e-01 -6.71946981e-02 -1.26097237e+02] [-3.87791120e-01 9.21314214e-01 2.82518380e-02 2.25359667e+01] [ 7.28922780e-02 9.80069956e-05 9.97339815e-01 -6.73244876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77534707 meters 0.019939667356052945 Centerline is valid? [True, True] Translation: X:-126.12, Y:22.56, Z:-6.73 [[ 9.18780268e-01 3.88720239e-01 -6.88432664e-02 -1.26123247e+02] [-3.87643732e-01 9.21355827e-01 2.89098096e-02 2.25564993e+01] [ 7.46669728e-02 1.24898132e-04 9.97208518e-01 -6.73058507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80534707 meters 0.020484596267355337 Centerline is valid? [True, True] Translation: X:-126.15, Y:22.57, Z:-6.73 [[ 9.18640406e-01 3.88990317e-01 -6.91833711e-02 -1.26151687e+02] [-3.87906451e-01 9.21241826e-01 2.90186789e-02 2.25728211e+01] [ 7.50226002e-02 1.78944980e-04 9.97181818e-01 -6.73073479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83534707 meters 0.020177404849799945 Centerline is valid? [True, True] Translation: X:-126.18, Y:22.59, Z:-6.73 [[ 9.18699060e-01 3.88645275e-01 -7.03341062e-02 -1.26178205e+02] [-3.87526718e-01 9.21387440e-01 2.94657018e-02 2.25930381e+01] [ 7.62566678e-02 1.86232759e-04 9.97088204e-01 -6.72847887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86534707 meters 0.02055971129004634 Centerline is valid? [True, True] Translation: X:-126.20, Y:22.61, Z:-6.73 [[ 9.19591885e-01 3.86750123e-01 -6.91021452e-02 -1.26204446e+02] [-3.85667513e-01 9.22184547e-01 2.89176483e-02 2.26105900e+01] [ 7.49088345e-02 5.80177795e-05 9.97190385e-01 -6.72679014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89534707 meters 0.02058199665287144 Centerline is valid? [True, True] Translation: X:-126.23, Y:22.63, Z:-6.73 [[ 9.19941596e-01 3.85894962e-01 -6.92281574e-02 -1.26233739e+02] [-3.84808388e-01 9.22542724e-01 2.89383268e-02 2.26262849e+01] [ 7.50330875e-02 1.80050914e-05 9.97181044e-01 -6.72598669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92534707 meters 0.020325465734448364 Centerline is valid? [True, True] Translation: X:-126.26, Y:22.64, Z:-6.72 [[ 9.20918577e-01 3.83613224e-01 -6.89192895e-02 -1.26262650e+02] [-3.82532705e-01 9.23493842e-01 2.87724327e-02 2.26437335e+01] [ 7.46840251e-02 -1.33185511e-04 9.97207240e-01 -6.72411267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95534707 meters 0.020624695744752806 Centerline is valid? [True, True] Translation: X:-126.29, Y:22.66, Z:-6.72 [[ 9.21562307e-01 3.81978635e-01 -6.93919136e-02 -1.26290320e+02] [-3.80881202e-01 9.24171124e-01 2.89351456e-02 2.26579519e+01] [ 7.51826102e-02 -2.35464086e-04 9.97169755e-01 -6.72135726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98534707 meters 0.0205818998558663 Centerline is valid? [True, True] Translation: X:-126.32, Y:22.67, Z:-6.72 [[ 9.22415041e-01 3.79997024e-01 -6.89402141e-02 -1.26319043e+02] [-3.78910634e-01 9.24987637e-01 2.87159137e-02 2.26744645e+01] [ 7.46808074e-02 -3.65810507e-04 9.97207422e-01 -6.72003012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01534707 meters 0.02049901164955054 Centerline is valid? [True, True] Translation: X:-126.35, Y:22.69, Z:-6.72 [[ 9.23170415e-01 3.78086787e-01 -6.93308423e-02 -1.26348170e+02] [-3.76985284e-01 9.25770026e-01 2.88436264e-02 2.26891431e+01] [ 7.50898097e-02 -4.90875311e-04 9.97176654e-01 -6.72076590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04534707 meters 0.02109942937403458 Centerline is valid? [True, True] Translation: X:-126.38, Y:22.70, Z:-6.72 [[ 9.24423631e-01 3.75057405e-01 -6.90861227e-02 -1.26376372e+02] [-3.73957553e-01 9.27001319e-01 2.87106946e-02 2.27047504e+01] [ 7.48110855e-02 -7.05567186e-04 9.97197475e-01 -6.71835708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07534707 meters 0.02066151917877581 Centerline is valid? [True, True] Translation: X:-126.40, Y:22.72, Z:-6.71 [[ 9.25509411e-01 3.72438284e-01 -6.87172085e-02 -1.26403952e+02] [-3.71345227e-01 9.28056541e-01 2.85268150e-02 2.27211170e+01] [ 7.43979329e-02 -8.84028363e-04 9.97228242e-01 -6.71411145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10534707 meters 0.02098274741333483 Centerline is valid? [True, True] Translation: X:-126.43, Y:22.74, Z:-6.71 [[ 9.26155692e-01 3.70774203e-01 -6.90081560e-02 -1.26430673e+02] [-3.69669463e-01 9.28722511e-01 2.86179418e-02 2.27377650e+01] [ 7.47002224e-02 -9.94461745e-04 9.97205539e-01 -6.71019451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13534707 meters 0.021085011149305367 Centerline is valid? [True, True] Translation: X:-126.46, Y:22.75, Z:-6.71 [[ 9.26582539e-01 3.70008073e-01 -6.73707925e-02 -1.26459528e+02] [-3.68955374e-01 9.29027997e-01 2.79089988e-02 2.27516373e+01] [ 7.29159073e-02 -1.00317495e-03 9.97337588e-01 -6.71030109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16534707 meters 0.021022869330292217 Centerline is valid? [True, True] Translation: X:-126.49, Y:22.77, Z:-6.71 [[ 9.27576522e-01 3.67605804e-01 -6.68413664e-02 -1.26488480e+02] [-3.66565384e-01 9.29980986e-01 2.76619723e-02 2.27677358e+01] [ 7.23299014e-02 -1.15686490e-03 9.97380092e-01 -6.70733981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19534707 meters 0.02178281653757236 Centerline is valid? [True, True] Translation: X:-126.52, Y:22.78, Z:-6.71 [[ 9.28292875e-01 3.66038690e-01 -6.54829471e-02 -1.26517932e+02] [-3.65037722e-01 9.30598815e-01 2.70796480e-02 2.27832191e+01] [ 7.08505519e-02 -1.23409852e-03 9.97486179e-01 -6.70547048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22534707 meters 0.021214790807599804 Centerline is valid? [True, True] Translation: X:-126.55, Y:22.80, Z:-6.71 [[ 9.27857737e-01 3.67116893e-01 -6.56140782e-02 -1.26545462e+02] [-3.66116905e-01 9.30174136e-01 2.71014382e-02 2.27994821e+01] [ 7.09819143e-02 -1.12385591e-03 9.97476970e-01 -6.70530464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25534707 meters 0.02170562853087046 Centerline is valid? [True, True] Translation: X:-126.58, Y:22.81, Z:-6.70 [[ 9.29297883e-01 3.63967435e-01 -6.27148326e-02 -1.26575717e+02] [-3.63048611e-01 9.31410795e-01 2.58773296e-02 2.28139468e+01] [ 6.78317774e-02 -1.27921475e-03 9.97695952e-01 -6.70366801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28534707 meters 0.021076214554920994 Centerline is valid? [True, True] Translation: X:-126.60, Y:22.83, Z:-6.70 [[ 9.28446757e-01 3.65922502e-01 -6.39323285e-02 -1.26602819e+02] [-3.64974494e-01 9.30644642e-01 2.63470809e-02 2.28326376e+01] [ 6.91392687e-02 -1.12819258e-03 9.97606380e-01 -6.70336764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31534707 meters 0.021298305226227547 Centerline is valid? [True, True] Translation: X:-126.63, Y:22.85, Z:-6.70 [[ 9.28589612e-01 3.65466740e-01 -6.44623506e-02 -1.26630303e+02] [-3.64503876e-01 9.30823695e-01 2.65362474e-02 2.28516102e+01] [ 6.97011992e-02 -1.14450703e-03 9.97567257e-01 -6.69753913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34534707 meters 0.020716745868511677 Centerline is valid? [True, True] Translation: X:-126.66, Y:22.87, Z:-6.70 [[ 9.28111710e-01 3.66881050e-01 -6.33004597e-02 -1.26658605e+02] [-3.65957945e-01 9.30267333e-01 2.60282837e-02 2.28685481e+01] [ 6.84356339e-02 -9.91848748e-04 9.97655041e-01 -6.69795658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37534707 meters 0.021232131617924 Centerline is valid? [True, True] Translation: X:-126.69, Y:22.89, Z:-6.69 [[ 9.28497661e-01 3.66107577e-01 -6.21074451e-02 -1.26687016e+02] [-3.65219170e-01 9.30571995e-01 2.55092304e-02 2.28874701e+01] [ 6.71345716e-02 -1.00243126e-03 9.97743426e-01 -6.69499117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40534707 meters 0.020601227009634595 Centerline is valid? [True, True] Translation: X:-126.71, Y:22.91, Z:-6.69 [[ 9.27853814e-01 3.67823018e-01 -6.15916117e-02 -1.26713628e+02] [-3.66955134e-01 9.29895434e-01 2.52668214e-02 2.29084164e+01] [ 6.65674770e-02 -8.42558462e-04 9.97781570e-01 -6.69225539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43534707 meters 0.020601227009634595 Centerline is valid? [True, True] Translation: X:-126.74, Y:22.92, Z:-6.69 [[ 9.28010766e-01 3.67425231e-01 -6.16012784e-02 -1.26743678e+02] [-3.66558037e-01 9.30052678e-01 2.52432343e-02 2.29209960e+01] [ 6.65674352e-02 -8.45549461e-04 9.97781570e-01 -6.69399332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46534707 meters 0.020203848901912406 Centerline is valid? [True, True] Translation: X:-126.77, Y:22.94, Z:-6.69 [[ 9.27811512e-01 3.67948472e-01 -6.14794278e-02 -1.26771152e+02] [-3.67087693e-01 9.29845854e-01 2.51657121e-02 2.29377197e+01] [ 6.64260763e-02 -7.80696043e-04 9.97791044e-01 -6.69418197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49534707 meters 0.02056077713436088 Centerline is valid? [True, True] Translation: X:-126.80, Y:22.96, Z:-6.69 [[ 9.26799609e-01 3.70656573e-01 -6.04664319e-02 -1.26797790e+02] [-3.69830808e-01 9.28769826e-01 2.47342636e-02 2.29582435e+01] [ 6.53273148e-02 -5.61356547e-04 9.97863732e-01 -6.69030934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52534707 meters 0.020341183585564828 Centerline is valid? [True, True] Translation: X:-126.83, Y:22.98, Z:-6.69 [[ 9.27666674e-01 3.68587949e-01 -5.98119164e-02 -1.26825700e+02] [-3.67777441e-01 9.29592636e-01 2.44393990e-02 2.29767658e+01] [ 6.46087850e-02 -6.74142398e-04 9.97910442e-01 -6.68791957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55534707 meters 0.02025338427239545 Centerline is valid? [True, True] Translation: X:-126.85, Y:23.00, Z:-6.68 [[ 9.27140298e-01 3.69938179e-01 -5.96373370e-02 -1.26850615e+02] [-3.69136965e-01 9.29056208e-01 2.43405619e-02 2.29976123e+01] [ 6.44109413e-02 -5.52770192e-04 9.97923306e-01 -6.68441440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58534707 meters 0.01951832532105661 Centerline is valid? [True, True] Translation: X:-126.88, Y:23.02, Z:-6.68 [[ 9.26345855e-01 3.71754424e-01 -6.06795231e-02 -1.26879481e+02] [-3.70929929e-01 9.28331015e-01 2.47490294e-02 2.30157700e+01] [ 6.55312444e-02 -4.18309657e-04 9.97850430e-01 -6.68490717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61534707 meters 0.020357074081640798 Centerline is valid? [True, True] Translation: X:-126.91, Y:23.03, Z:-6.69 [[ 9.27665059e-01 3.68658555e-01 -5.94004114e-02 -1.26907397e+02] [-3.67864073e-01 9.29564691e-01 2.41972932e-02 2.30343564e+01] [ 6.41370642e-02 -5.95706163e-04 9.97940921e-01 -6.68557910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64534707 meters 0.019939360001098454 Centerline is valid? [True, True] Translation: X:-126.93, Y:23.05, Z:-6.68 [[ 9.26627908e-01 3.71312665e-01 -5.90561130e-02 -1.26934160e+02] [-3.70534628e-01 9.28507813e-01 2.40277196e-02 2.30513832e+01] [ 6.37558590e-02 -3.82420748e-04 9.97965452e-01 -6.68477656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67534707 meters 0.019403350582136394 Centerline is valid? [True, True] Translation: X:-126.96, Y:23.07, Z:-6.68 [[ 9.25925998e-01 3.73014848e-01 -5.93377545e-02 -1.26961570e+02] [-3.72234457e-01 9.27825342e-01 2.41173060e-02 2.30728959e+01] [ 6.40511855e-02 -2.43283750e-04 9.97946585e-01 -6.68267351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70534707 meters 0.01948399041461451 Centerline is valid? [True, True] Translation: X:-126.99, Y:23.09, Z:-6.68 [[ 9.25343545e-01 3.74575116e-01 -5.85901547e-02 -1.26989362e+02] [-3.73819261e-01 9.27196566e-01 2.37842098e-02 2.30943072e+01] [ 6.32335633e-02 -1.06436687e-04 9.97998750e-01 -6.67935588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73534707 meters 0.019663083791561616 Centerline is valid? [True, True] Translation: X:-127.02, Y:23.11, Z:-6.68 [[ 9.26292321e-01 3.72292028e-01 -5.81479283e-02 -1.27018814e+02] [-3.71544898e-01 9.28115613e-01 2.35753486e-02 2.31098315e+01] [ 6.27449145e-02 -2.33098260e-04 9.98029569e-01 -6.68079342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76534707 meters 0.019685197421849557 Centerline is valid? [True, True] Translation: X:-127.05, Y:23.13, Z:-6.68 [[ 9.25384560e-01 3.74425355e-01 -5.88988111e-02 -1.27045254e+02] [-3.73664978e-01 9.27257057e-01 2.38502535e-02 2.31313103e+01] [ 6.35444779e-02 -6.22334248e-05 9.97979006e-01 -6.67777467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79534707 meters 0.01952710125926198 Centerline is valid? [True, True] Translation: X:-127.07, Y:23.15, Z:-6.68 [[ 9.26130059e-01 3.72744825e-01 -5.78308717e-02 -1.27074755e+02] [-3.72010208e-01 9.27933873e-01 2.33908682e-02 2.31463664e+01] [ 6.23820498e-02 -1.49311543e-04 9.98052332e-01 -6.68059436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82534707 meters 0.0196632822076653 Centerline is valid? [True, True] Translation: X:-127.10, Y:23.17, Z:-6.68 [[ 9.26694049e-01 3.71305679e-01 -5.80536977e-02 -1.27103382e+02] [-3.70564410e-01 9.28510659e-01 2.34515142e-02 2.31650531e+01] [ 6.26111575e-02 -2.19744464e-04 9.98037973e-01 -6.68152800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85534707 meters 0.019686509995728487 Centerline is valid? [True, True] Translation: X:-127.13, Y:23.18, Z:-6.68 [[ 9.27155401e-01 3.70254208e-01 -5.73993295e-02 -1.27130721e+02] [-3.69529297e-01 9.28930435e-01 2.31591441e-02 2.31831500e+01] [ 6.18947547e-02 -2.61391711e-04 9.98082647e-01 -6.68068976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88534707 meters 0.01952873297170257 Centerline is valid? [True, True] Translation: X:-127.16, Y:23.20, Z:-6.68 [[ 9.28699997e-01 3.66350919e-01 -5.74745169e-02 -1.27158859e+02] [-3.65618180e-01 9.30476628e-01 2.31644388e-02 2.31997861e+01] [ 6.19650081e-02 -4.99086001e-04 9.98078198e-01 -6.67880443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91534707 meters 0.019435329908836653 Centerline is valid? [True, True] Translation: X:-127.19, Y:23.22, Z:-6.68 [[ 9.28748189e-01 3.66038910e-01 -5.86712643e-02 -1.27188307e+02] [-3.65276296e-01 9.30599408e-01 2.36213637e-02 2.32163717e+01] [ 6.32457821e-02 -5.07076677e-04 9.97997853e-01 -6.67994589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94534707 meters 0.019890400276091246 Centerline is valid? [True, True] Translation: X:-127.22, Y:23.23, Z:-6.68 [[ 9.29826228e-01 3.63435403e-01 -5.77745118e-02 -1.27217995e+02] [-3.62692680e-01 9.31619176e-01 2.32321212e-02 2.32323502e+01] [ 6.22672184e-02 -6.47443107e-04 9.98059304e-01 -6.68300645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97534707 meters 0.019182529299140775 Centerline is valid? [True, True] Translation: X:-127.24, Y:23.25, Z:-6.68 [[ 9.28889377e-01 3.65803462e-01 -5.78995004e-02 -1.27243524e+02] [-3.65063787e-01 9.30692007e-01 2.32555310e-02 2.32541727e+01] [ 6.23935560e-02 -4.64804808e-04 9.98051516e-01 -6.67818786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00534707 meters 0.018710201691775633 Centerline is valid? [True, True] Translation: X:-127.27, Y:23.27, Z:-6.68 [[ 9.28847250e-01 3.65887205e-01 -5.80460186e-02 -1.27273053e+02] [-3.65144986e-01 9.30659097e-01 2.32977162e-02 2.32705576e+01] [ 6.25453915e-02 -4.44806951e-04 9.98042021e-01 -6.67818835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03534707 meters 0.01962986677615441 Centerline is valid? [True, True] Translation: X:-127.30, Y:23.29, Z:-6.68 [[ 9.30228852e-01 3.62462797e-01 -5.74021324e-02 -1.27301294e+02] [-3.61732247e-01 9.31998021e-01 2.30102291e-02 2.32881030e+01] [ 6.18390258e-02 -6.40576620e-04 9.98085930e-01 -6.67966565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06534707 meters 0.01959971088177132 Centerline is valid? [True, True] Translation: X:-127.33, Y:23.30, Z:-6.68 [[ 9.30109692e-01 3.62862054e-01 -5.68074838e-02 -1.27328899e+02] [-3.62148828e-01 9.31842684e-01 2.27472658e-02 2.33043332e+01] [ 6.11897578e-02 -5.84688719e-04 9.98125980e-01 -6.67984389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09534707 meters 0.019328990763552354 Centerline is valid? [True, True] Translation: X:-127.36, Y:23.33, Z:-6.68 [[ 9.30308198e-01 3.62350171e-01 -5.68243884e-02 -1.27355491e+02] [-3.61636994e-01 9.32041843e-01 2.27307433e-02 2.33251944e+01] [ 6.11991964e-02 -5.96795776e-04 9.98125394e-01 -6.67942434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12534707 meters 0.018683778461520775 Centerline is valid? [True, True] Translation: X:-127.38, Y:23.35, Z:-6.68 [[ 9.27730849e-01 3.68990117e-01 -5.62295705e-02 -1.27380754e+02] [-3.68305490e-01 9.29433309e-01 2.24675425e-02 2.33475831e+01] [ 6.05519369e-02 -1.34172733e-04 9.98165039e-01 -6.67838418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15534707 meters 0.01869849088211584 Centerline is valid? [True, True] Translation: X:-127.41, Y:23.36, Z:-6.68 [[ 9.28673831e-01 3.66655167e-01 -5.59366076e-02 -1.27410024e+02] [-3.65974837e-01 9.30356877e-01 2.23271038e-02 2.33631485e+01] [ 6.02273555e-02 -2.63206195e-04 9.98184650e-01 -6.68065059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18534707 meters 0.019134616794326712 Centerline is valid? [True, True] Translation: X:-127.44, Y:23.38, Z:-6.68 [[ 9.27653844e-01 3.69355729e-01 -5.50880390e-02 -1.27436633e+02] [-3.68702288e-01 9.29288083e-01 2.19608969e-02 2.33848394e+01] [ 5.93040413e-02 -6.10243799e-05 9.98239965e-01 -6.68185837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21534707 meters 0.01878288104877369 Centerline is valid? [True, True] Translation: X:-127.46, Y:23.40, Z:-6.68 [[ 9.26769451e-01 3.71439987e-01 -5.59528417e-02 -1.27464268e+02] [-3.70771265e-01 9.28456960e-01 2.22787489e-02 2.34035782e+01] [ 6.02250235e-02 9.84419796e-05 9.98184821e-01 -6.68302125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24534707 meters 0.018933853644079724 Centerline is valid? [True, True] Translation: X:-127.49, Y:23.43, Z:-6.68 [[ 9.25070711e-01 3.75595595e-01 -5.63216604e-02 -1.27489138e+02] [-3.74927161e-01 9.26783575e-01 2.24015516e-02 2.34286117e+01] [ 6.06119138e-02 3.93500966e-04 9.98161330e-01 -6.68355579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27534707 meters 0.0193309083201576 Centerline is valid? [True, True] Translation: X:-127.51, Y:23.45, Z:-6.68 [[ 9.23265250e-01 3.80198316e-01 -5.50501392e-02 -1.27513571e+02] [-3.79569191e-01 9.24904725e-01 2.18741450e-02 2.34525080e+01] [ 5.92326470e-02 6.99698875e-04 9.98243960e-01 -6.68338211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30534707 meters 0.01972120364552436 Centerline is valid? [True, True] Translation: X:-127.54, Y:23.48, Z:-6.68 [[ 9.21587858e-01 3.84125875e-01 -5.58849881e-02 -1.27538258e+02] [-3.83486009e-01 9.23280206e-01 2.21842680e-02 2.34764830e+01] [ 6.01190547e-02 9.86359086e-04 9.98190726e-01 -6.68260969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33534707 meters 0.019819295088345963 Centerline is valid? [True, True] Translation: X:-127.57, Y:23.49, Z:-6.69 [[ 9.20772989e-01 3.86097985e-01 -5.57265615e-02 -1.27565421e+02] [-3.85466670e-01 9.22457080e-01 2.20993650e-02 2.34948641e+01] [ 5.99378814e-02 1.13223376e-03 9.98201467e-01 -6.68622352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36534707 meters 0.02156556863307502 Centerline is valid? [True, True] Translation: X:-127.59, Y:23.52, Z:-6.69 [[ 9.20598430e-01 3.86312542e-01 -5.71064828e-02 -1.27590597e+02] [-3.85651488e-01 9.22367164e-01 2.26217611e-02 2.35192514e+01] [ 6.14122146e-02 1.19764235e-03 9.98111770e-01 -6.68977969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39534707 meters 0.02079384448543215 Centerline is valid? [True, True] Translation: X:-127.62, Y:23.53, Z:-6.69 [[ 9.20977750e-01 3.85306855e-01 -5.77807288e-02 -1.27619689e+02] [-3.84629602e-01 9.22787770e-01 2.28648445e-02 2.35331240e+01] [ 6.21293312e-02 1.16616570e-03 9.98067426e-01 -6.68902833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42534707 meters 0.019704637050670968 Centerline is valid? [True, True] Translation: X:-127.65, Y:23.55, Z:-6.69 [[ 9.23755634e-01 3.79073889e-01 -5.45757738e-02 -1.27647989e+02] [-3.78460032e-01 9.25366124e-01 2.15763917e-02 2.35488978e+01] [ 5.86816189e-02 7.23435740e-04 9.98276487e-01 -6.68650077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45534707 meters 0.01877386028044369 Centerline is valid? [True, True] Translation: X:-127.68, Y:23.56, Z:-6.69 [[ 9.27242063e-01 3.70556330e-01 -5.39459185e-02 -1.27677376e+02] [-3.69942536e-01 9.28809976e-01 2.13201655e-02 2.35615686e+01] [ 5.80058295e-02 1.87935675e-04 9.98316227e-01 -6.69039564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48534707 meters 0.018752224262557217 Centerline is valid? [True, True] Translation: X:-127.71, Y:23.57, Z:-6.69 [[ 9.28293468e-01 3.67474208e-01 -5.68677734e-02 -1.27706069e+02] [-3.66787700e-01 9.30033712e-01 2.24516705e-02 2.35726380e+01] [ 6.11393563e-02 1.66607172e-05 9.98129240e-01 -6.69423376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51534707 meters 0.018874118803867933 Centerline is valid? [True, True] Translation: X:-127.74, Y:23.58, Z:-6.70 [[ 9.30829117e-01 3.59903980e-01 -6.34529781e-02 -1.27737028e+02] [-3.59032912e-01 9.32989206e-01 2.50301761e-02 2.35830212e+01] [ 6.82094036e-02 -5.17109192e-04 9.97670893e-01 -6.69916314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54534707 meters 0.019102772160685445 Centerline is valid? [True, True] Translation: X:-127.77, Y:23.60, Z:-6.70 [[ 9.31824905e-01 3.57135105e-01 -6.44737397e-02 -1.27766984e+02] [-3.56229737e-01 9.34052458e-01 2.54240246e-02 2.35961318e+01] [ 6.93016667e-02 -7.23276009e-04 9.97595487e-01 -6.69966949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57534707 meters 0.01983827135179436 Centerline is valid? [True, True] Translation: X:-127.80, Y:23.61, Z:-6.69 [[ 9.32600922e-01 3.55323684e-01 -6.32502985e-02 -1.27797669e+02] [-3.54449051e-01 9.34742954e-01 2.49295000e-02 2.36099762e+01] [ 6.79808127e-02 -8.30266342e-04 9.97686283e-01 -6.69497150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60534707 meters 0.01894683975516769 Centerline is valid? [True, True] Translation: X:-127.82, Y:23.63, Z:-6.69 [[ 9.33008564e-01 3.54815684e-01 -6.00070795e-02 -1.27824163e+02] [-3.54029017e-01 9.34935928e-01 2.36276439e-02 2.36285134e+01] [ 6.44862332e-02 -8.00546794e-04 9.97918276e-01 -6.68726856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63534707 meters 0.018597655169565613 Centerline is valid? [True, True] Translation: X:-127.85, Y:23.65, Z:-6.69 [[ 9.32238219e-01 3.56973973e-01 -5.91733626e-02 -1.27851834e+02] [-3.56214784e-01 9.34114124e-01 2.32772580e-02 2.36461949e+01] [ 6.35840491e-02 -6.21522940e-04 9.97976294e-01 -6.68864851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66534707 meters 0.01901310529588626 Centerline is valid? [True, True] Translation: X:-127.88, Y:23.66, Z:-6.70 [[ 9.31536460e-01 3.58371784e-01 -6.17210527e-02 -1.27878931e+02] [-3.57550490e-01 9.33578807e-01 2.42540454e-02 2.36648889e+01] [ 6.63134322e-02 -5.25134964e-04 9.97798704e-01 -6.69630287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69534707 meters 0.018426545015969503 Centerline is valid? [True, True] Translation: X:-127.91, Y:23.68, Z:-6.70 [[ 9.30819767e-01 3.60219136e-01 -6.17797262e-02 -1.27907299e+02] [-3.59401819e-01 9.32867640e-01 2.42548610e-02 2.36806417e+01] [ 6.63693725e-02 -3.73158148e-04 9.97795053e-01 -6.69518724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72534707 meters 0.017784996026531833 Centerline is valid? [True, True] Translation: X:-127.93, Y:23.70, Z:-6.70 [[ 9.30569544e-01 3.60750060e-01 -6.24477164e-02 -1.27934745e+02] [-3.59917439e-01 9.32662474e-01 2.44978820e-02 2.36967637e+01] [ 6.70802541e-02 -3.20960780e-04 9.97747531e-01 -6.69680301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75534707 meters 0.018264934643837306 Centerline is valid? [True, True] Translation: X:-127.96, Y:23.71, Z:-6.70 [[ 9.30653010e-01 3.60165422e-01 -6.45433530e-02 -1.27963114e+02] [-3.59275516e-01 9.32888385e-01 2.53054381e-02 2.37124606e+01] [ 6.93258881e-02 -3.61735646e-04 9.97594001e-01 -6.69959082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78534707 meters 0.01819590074382006 Centerline is valid? [True, True] Translation: X:-127.99, Y:23.73, Z:-6.70 [[ 9.29758508e-01 3.62361873e-01 -6.51382346e-02 -1.27992446e+02] [-3.61462444e-01 9.32037468e-01 2.55158811e-02 2.37281961e+01] [ 6.99572577e-02 -1.78582038e-04 9.97549974e-01 -6.70105115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81534707 meters 0.018482301866368372 Centerline is valid? [True, True] Translation: X:-128.02, Y:23.74, Z:-6.71 [[ 9.29988536e-01 3.60946712e-01 -6.95614373e-02 -1.28020427e+02] [-3.59918871e-01 9.32586400e-01 2.72215512e-02 2.37433835e+01] [ 7.46975798e-02 -2.79256499e-04 9.97206194e-01 -6.70560281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84534707 meters 0.018116017459804706 Centerline is valid? [True, True] Translation: X:-128.05, Y:23.76, Z:-6.70 [[ 9.28828702e-01 3.63912005e-01 -6.96081559e-02 -1.28050482e+02] [-3.62892916e-01 9.31433332e-01 2.72154232e-02 2.37587998e+01] [ 7.47393758e-02 -1.81595500e-05 9.97203101e-01 -6.70479972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87534707 meters 0.01870765297170254 Centerline is valid? [True, True] Translation: X:-128.08, Y:23.78, Z:-6.70 [[ 9.27745375e-01 3.66747728e-01 -6.91709698e-02 -1.28078437e+02] [-3.65751236e-01 9.30320402e-01 2.70182212e-02 2.37772920e+01] [ 7.42600357e-02 2.33337936e-04 9.97238884e-01 -6.70327177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90534707 meters 0.01933584308586247 Centerline is valid? [True, True] Translation: X:-128.10, Y:23.79, Z:-6.70 [[ 9.26880058e-01 3.69125757e-01 -6.81141255e-02 -1.28104818e+02] [-3.68167470e-01 9.29379355e-01 2.65843833e-02 2.37948900e+01] [ 7.31168426e-02 4.36870475e-04 9.97323286e-01 -6.70015419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93534707 meters 0.019582425043116854 Centerline is valid? [True, True] Translation: X:-128.13, Y:23.81, Z:-6.70 [[ 9.25922321e-01 3.71922410e-01 -6.58906431e-02 -1.28133491e+02] [-3.71033786e-01 9.28263594e-01 2.57027154e-02 2.38106551e+01] [ 7.07233010e-02 6.48936889e-04 9.97495761e-01 -6.70084547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96534707 meters 0.019617207276946245 Centerline is valid? [True, True] Translation: X:-128.16, Y:23.82, Z:-6.71 [[ 9.26120277e-01 3.71117743e-01 -6.76228701e-02 -1.28161930e+02] [-3.70181297e-01 9.28585607e-01 2.63548355e-02 2.38238561e+01] [ 7.25743710e-02 6.24974177e-04 9.97362808e-01 -6.70551232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99534707 meters 0.019840325539556187 Centerline is valid? [True, True] Translation: X:-128.19, Y:23.84, Z:-6.71 [[ 9.26278932e-01 3.70283751e-01 -6.99805889e-02 -1.28191770e+02] [-3.69280201e-01 9.28918501e-01 2.72497906e-02 2.38361389e+01] [ 7.50964184e-02 6.01539003e-04 9.97176096e-01 -6.71028032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02534707 meters 0.019494922960036517 Centerline is valid? [True, True] Translation: X:-128.22, Y:23.85, Z:-6.72 [[ 9.27482447e-01 3.66369559e-01 -7.44960252e-02 -1.28221968e+02] [-3.65221697e-01 9.30469365e-01 2.89805707e-02 2.38454530e+01] [ 7.99338681e-02 3.28594153e-04 9.96800115e-01 -6.71561360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05534707 meters 0.020335895820037336 Centerline is valid? [True, True] Translation: X:-128.25, Y:23.86, Z:-6.73 [[ 9.27982407e-01 3.64404467e-01 -7.78333927e-02 -1.28252535e+02] [-3.63146206e-01 9.31240758e-01 3.02569592e-02 2.38561570e+01] [ 8.35073987e-02 1.86975517e-04 9.96507140e-01 -6.72535975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08534707 meters 0.019601124777811233 Centerline is valid? [True, True] Translation: X:-128.28, Y:23.87, Z:-6.72 [[ 9.29268237e-01 3.60829947e-01 -7.91346505e-02 -1.28281786e+02] [-3.59517296e-01 9.32631618e-01 3.07502811e-02 2.38666389e+01] [ 8.48990994e-02 -1.24983925e-04 9.96389546e-01 -6.72442810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11534707 meters 0.01975378210643014 Centerline is valid? [True, True] Translation: X:-128.31, Y:23.88, Z:-6.73 [[ 9.28936291e-01 3.62626917e-01 -7.46932803e-02 -1.28311195e+02] [-3.61464492e-01 9.31934395e-01 2.90121335e-02 2.38791502e+01] [ 8.01298176e-02 4.85449970e-05 9.96784435e-01 -6.72579941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14534707 meters 0.020174912054442194 Centerline is valid? [True, True] Translation: X:-128.34, Y:23.89, Z:-6.72 [[ 9.29724852e-01 3.61110428e-01 -7.21869754e-02 -1.28340803e+02] [-3.60021224e-01 9.32523058e-01 2.80261302e-02 2.38923023e+01] [ 7.74365469e-02 -6.77465304e-05 9.96997280e-01 -6.72353024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17534707 meters 0.01954873724694982 Centerline is valid? [True, True] Translation: X:-128.37, Y:23.90, Z:-6.73 [[ 9.30928050e-01 3.57509908e-01 -7.45629360e-02 -1.28370420e+02] [-3.56338208e-01 9.33909278e-01 2.89230420e-02 2.39036033e+01] [ 7.99752918e-02 -3.55648112e-04 9.96796783e-01 -6.72792185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20534707 meters 0.01952363949773072 Centerline is valid? [True, True] Translation: X:-128.40, Y:23.91, Z:-6.73 [[ 9.31398643e-01 3.56568688e-01 -7.31801795e-02 -1.28401392e+02] [-3.55439134e-01 9.34269022e-01 2.83622286e-02 2.39145191e+01] [ 7.84830574e-02 -4.05441648e-04 9.96915365e-01 -6.72564776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23534707 meters 0.01953061485307695 Centerline is valid? [True, True] Translation: X:-128.43, Y:23.92, Z:-6.73 [[ 9.32374795e-01 3.53823861e-01 -7.40669818e-02 -1.28432034e+02] [-3.52660063e-01 9.35311868e-01 2.86808245e-02 2.39216404e+01] [ 7.94236871e-02 -6.20811417e-04 9.96840756e-01 -6.72515986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26534707 meters 0.018983593330052156 Centerline is valid? [True, True] Translation: X:-128.46, Y:23.93, Z:-6.72 [[ 9.33571866e-01 3.50350916e-01 -7.54838134e-02 -1.28461619e+02] [-3.49132834e-01 9.36618069e-01 2.92037053e-02 2.39323092e+01] [ 8.09310485e-02 -9.09879927e-04 9.96719287e-01 -6.72220516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29534707 meters 0.019541309480761642 Centerline is valid? [True, True] Translation: X:-128.49, Y:23.94, Z:-6.72 [[ 9.33594728e-01 3.50501503e-01 -7.44955042e-02 -1.28492918e+02] [-3.49317812e-01 9.36561775e-01 2.87942354e-02 2.39408457e+01] [ 7.98620644e-02 -8.59539850e-04 9.96805554e-01 -6.72260708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32534707 meters 0.019541309480761642 Centerline is valid? [True, True] Translation: X:-128.52, Y:23.95, Z:-6.72 [[ 9.33721321e-01 3.50162007e-01 -7.45054620e-02 -1.28523308e+02] [-3.48979295e-01 9.36688757e-01 2.87684508e-02 2.39528496e+01] [ 7.98620471e-02 -8.60852272e-04 9.96805554e-01 -6.72434545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35534707 meters 0.01881463774147352 Centerline is valid? [True, True] Translation: X:-128.55, Y:23.96, Z:-6.73 [[ 9.35011069e-01 3.46397468e-01 -7.59150544e-02 -1.28552717e+02] [-3.45159664e-01 9.38087103e-01 2.92812826e-02 2.39649819e+01] [ 8.13578956e-02 -1.17550861e-03 9.96684258e-01 -6.72765568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38534707 meters 0.02083124446356506 Centerline is valid? [True, True] Translation: X:-128.58, Y:23.97, Z:-6.73 [[ 9.34468493e-01 3.48191423e-01 -7.43731749e-02 -1.28583461e+02] [-3.47011465e-01 9.37422951e-01 2.86575223e-02 2.39745794e+01] [ 7.96974245e-02 -9.71207239e-04 9.96818628e-01 -6.72658262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41534707 meters 0.020274019944150543 Centerline is valid? [True, True] Translation: X:-128.61, Y:23.99, Z:-6.73 [[ 9.35149957e-01 3.46120285e-01 -7.54672583e-02 -1.28611814e+02] [-3.44900886e-01 9.38189455e-01 2.90503804e-02 2.39879266e+01] [ 8.08575119e-02 -1.13773764e-03 9.96725021e-01 -6.72652710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44534707 meters 0.019480477374088947 Centerline is valid? [True, True] Translation: X:-128.64, Y:24.00, Z:-6.72 [[ 9.35438737e-01 3.45506774e-01 -7.46956327e-02 -1.28639310e+02] [-3.44312345e-01 9.38415546e-01 2.87275554e-02 2.40043571e+01] [ 8.00211080e-02 -1.15423972e-03 9.96792501e-01 -6.72282842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47534707 meters 0.019853242967500347 Centerline is valid? [True, True] Translation: X:-128.67, Y:24.02, Z:-6.72 [[ 9.35295560e-01 3.46366267e-01 -7.24749972e-02 -1.28669465e+02] [-3.45246607e-01 9.38098802e-01 2.78463181e-02 2.40165151e+01] [ 7.76337333e-02 -1.02279079e-03 9.96981423e-01 -6.72373892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50534707 meters 0.020502746830158677 Centerline is valid? [True, True] Translation: X:-128.70, Y:24.03, Z:-6.72 [[ 9.34980284e-01 3.47869533e-01 -6.92723404e-02 -1.28699526e+02] [-3.46852608e-01 9.37542579e-01 2.65928558e-02 2.40268839e+01] [ 7.41966131e-02 -8.36503933e-04 9.97243282e-01 -6.72304842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53534707 meters 0.022933223291052983 Centerline is valid? [True, True] Translation: X:-128.73, Y:24.04, Z:-6.72 [[ 9.36089370e-01 3.44149313e-01 -7.27869648e-02 -1.28726639e+02] [-3.43016039e-01 9.38914193e-01 2.79309158e-02 2.40424277e+01] [ 7.79531198e-02 -1.17873708e-03 9.96956329e-01 -6.72463409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56534707 meters 0.02044850834952035 Centerline is valid? [True, True] Translation: X:-128.76, Y:24.05, Z:-6.73 [[ 9.36793672e-01 3.41806177e-01 -7.47405699e-02 -1.28757373e+02] [-3.40604805e-01 9.39769431e-01 2.86667649e-02 2.40527202e+01] [ 8.00373801e-02 -1.39784670e-03 9.96790883e-01 -6.72558990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59534707 meters 0.022473302759717973 Centerline is valid? [True, True] Translation: X:-128.79, Y:24.06, Z:-6.72 [[ 9.37437251e-01 3.40527118e-01 -7.24753902e-02 -1.28788575e+02] [-3.39396054e-01 9.40233602e-01 2.77685362e-02 2.40613294e+01] [ 7.75997368e-02 -1.43339884e-03 9.96983564e-01 -6.72252778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62534707 meters 0.021846332618170154 Centerline is valid? [True, True] Translation: X:-128.82, Y:24.08, Z:-6.72 [[ 9.38285937e-01 3.37705779e-01 -7.46612852e-02 -1.28816761e+02] [-3.36498748e-01 9.41250207e-01 2.85769296e-02 2.40766102e+01] [ 7.99255443e-02 -1.68990211e-03 9.96799404e-01 -6.72491576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65534707 meters 0.021834100450061403 Centerline is valid? [True, True] Translation: X:-128.85, Y:24.09, Z:-6.73 [[ 9.38436573e-01 3.37015134e-01 -7.58788409e-02 -1.28845812e+02] [-3.35768502e-01 9.41497604e-01 2.90133490e-02 2.40919783e+01] [ 8.12176846e-02 -1.74946306e-03 9.96694852e-01 -6.72610497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68534707 meters 0.022169624684699237 Centerline is valid? [True, True] Translation: X:-128.87, Y:24.11, Z:-6.73 [[ 9.38337279e-01 3.37071967e-01 -7.68481598e-02 -1.28872796e+02] [-3.35795845e-01 9.41477278e-01 2.93544904e-02 2.41083615e+01] [ 8.22453721e-02 -1.73911987e-03 9.96610593e-01 -6.72754759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71534707 meters 0.022441642034705393 Centerline is valid? [True, True] Translation: X:-128.90, Y:24.13, Z:-6.73 [[ 9.37905466e-01 3.38603571e-01 -7.53721319e-02 -1.28900014e+02] [-3.37382881e-01 9.40927847e-01 2.87676757e-02 2.41264412e+01] [ 8.06605755e-02 -1.55209324e-03 9.96740419e-01 -6.72661969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74534707 meters 0.02314601638006689 Centerline is valid? [True, True] Translation: X:-128.93, Y:24.14, Z:-6.73 [[ 9.37367690e-01 3.40632796e-01 -7.28773833e-02 -1.28929560e+02] [-3.39498800e-01 9.40195488e-01 2.78030268e-02 2.41390665e+01] [ 7.79896097e-02 -1.31987478e-03 9.96953298e-01 -6.72701783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77534707 meters 0.022047172671730602 Centerline is valid? [True, True] Translation: X:-128.96, Y:24.15, Z:-6.72 [[ 9.37803728e-01 3.38716009e-01 -7.61290602e-02 -1.28958333e+02] [-3.37473420e-01 9.40887413e-01 2.90270023e-02 2.41534044e+01] [ 8.14607849e-02 -1.53009664e-03 9.96675373e-01 -6.72264061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80534707 meters 0.023961313503759032 Centerline is valid? [True, True] Translation: X:-128.99, Y:24.17, Z:-6.72 [[ 9.36089367e-01 3.44481922e-01 -7.11962221e-02 -1.28986876e+02] [-3.43413983e-01 9.38792483e-01 2.71202765e-02 2.41670330e+01] [ 7.61809231e-02 -9.37224224e-04 9.97093571e-01 -6.71785468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83534707 meters 0.023883974722346456 Centerline is valid? [True, True] Translation: X:-129.02, Y:24.18, Z:-6.72 [[ 9.36551618e-01 3.43263725e-01 -7.10005777e-02 -1.29017527e+02] [-3.42200110e-01 9.39238519e-01 2.70201525e-02 2.41797033e+01] [ 7.59615157e-02 -1.00936204e-03 9.97110239e-01 -6.71818661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86534707 meters 0.021938829258304697 Centerline is valid? [True, True] Translation: X:-129.04, Y:24.20, Z:-6.72 [[ 9.37019600e-01 3.40645239e-01 -7.71692256e-02 -1.29042285e+02] [-3.39381573e-01 9.40191000e-01 2.93433364e-02 2.41988775e+01] [ 8.25494792e-02 -1.30546819e-03 9.96586112e-01 -6.72229445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89534707 meters 0.023420510085823798 Centerline is valid? [True, True] Translation: X:-129.07, Y:24.21, Z:-6.72 [[ 9.35540289e-01 3.45293312e-01 -7.44103287e-02 -1.29072061e+02] [-3.44133538e-01 9.38494428e-01 2.82898868e-02 2.42120511e+01] [ 7.96019875e-02 -8.59239228e-04 9.96826357e-01 -6.72017302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92534707 meters 0.022350004490552463 Centerline is valid? [True, True] Translation: X:-129.10, Y:24.23, Z:-6.73 [[ 9.36044677e-01 3.43074529e-01 -7.82318978e-02 -1.29097288e+02] [-3.41785539e-01 9.39307551e-01 2.97316173e-02 2.42308568e+01] [ 8.36839729e-02 -1.09159077e-03 9.96491747e-01 -6.72763724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95534707 meters 0.027650697123601672 Centerline is valid? [True, True] Translation: X:-129.12, Y:24.25, Z:-6.72 [[ 9.32671764e-01 3.53304770e-01 -7.27950492e-02 -1.29124346e+02] [-3.52221203e-01 9.35508267e-01 2.76497153e-02 2.42487586e+01] [ 7.78691467e-02 -1.48148978e-04 9.96963577e-01 -6.72137834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98534707 meters 0.023317543050151008 Centerline is valid? [True, True] Translation: X:-129.15, Y:24.27, Z:-6.72 [[ 9.32903639e-01 3.52202794e-01 -7.51265135e-02 -1.29152424e+02] [-3.51047255e-01 9.35923684e-01 2.85075775e-02 2.42652080e+01] [ 8.03531317e-02 -2.21866439e-04 9.96766435e-01 -6.72169244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01534707 meters 0.02519989465884787 Centerline is valid? [True, True] Translation: X:-129.18, Y:24.28, Z:-6.72 [[ 9.31104216e-01 3.57508169e-01 -7.23384240e-02 -1.29179970e+02] [-3.56455107e-01 9.33909977e-01 2.74210102e-02 2.42846771e+01] [ 7.73608110e-02 2.53582417e-04 9.97003130e-01 -6.71861784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04534707 meters 0.02273949131493874 Centerline is valid? [True, True] Translation: X:-129.21, Y:24.30, Z:-6.71 [[ 9.30263408e-01 3.59241196e-01 -7.45369384e-02 -1.29208280e+02] [-3.58130990e-01 9.33244647e-01 2.82244998e-02 2.42997588e+01] [ 7.97006019e-02 4.37768182e-04 9.96818751e-01 -6.71094810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07534707 meters 0.024878068554008242 Centerline is valid? [True, True] Translation: X:-129.24, Y:24.32, Z:-6.71 [[ 9.28403576e-01 3.64378527e-01 -7.27673608e-02 -1.29237474e+02] [-3.63338536e-01 9.31250506e-01 2.75245951e-02 2.43184412e+01] [ 7.77940130e-02 8.85253825e-04 9.96969061e-01 -6.70524488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10534707 meters 0.02760161462528775 Centerline is valid? [True, True] Translation: X:-129.26, Y:24.34, Z:-6.71 [[ 9.27943558e-01 3.66349501e-01 -6.86206667e-02 -1.29263827e+02] [-3.65432159e-01 9.30476766e-01 2.59292373e-02 2.43382378e+01] [ 7.33490992e-02 1.01532965e-03 9.97305810e-01 -6.70858664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13534707 meters 0.02537624493522016 Centerline is valid? [True, True] Translation: X:-129.29, Y:24.35, Z:-6.71 [[ 9.27221479e-01 3.67529551e-01 -7.19885993e-02 -1.29294026e+02] [-3.66524971e-01 9.30011092e-01 2.71811613e-02 2.43490969e+01] [ 7.69400758e-02 1.18266267e-03 9.97035017e-01 -6.70599924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.16534707 meters 0.029260755717215203 Centerline is valid? [True, True] Translation: X:-129.32, Y:24.37, Z:-6.70 [[ 9.26108348e-01 3.70657445e-01 -7.02594189e-02 -1.29323171e+02] [-3.69711739e-01 9.28768540e-01 2.64995896e-02 2.43652621e+01] [ 7.50770081e-02 1.43424080e-03 9.97176707e-01 -6.70101996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19534707 meters 0.029253761289299473 Centerline is valid? [True, True] Translation: X:-129.35, Y:24.38, Z:-6.69 [[ 9.24953525e-01 3.73466330e-01 -7.05965807e-02 -1.29353100e+02] [-3.72521846e-01 9.27642184e-01 2.65979902e-02 2.43759024e+01] [ 7.54218201e-02 1.69686374e-03 9.97150274e-01 -6.69230125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22534707 meters 0.030229344195662075 Centerline is valid? [True, True] Translation: X:-129.38, Y:24.39, Z:-6.68 [[ 9.24878773e-01 3.73618774e-01 -7.07691140e-02 -1.29383601e+02] [-3.72672178e-01 9.27580718e-01 2.66356939e-02 2.43885890e+01] [ 7.55956609e-02 1.73889196e-03 9.97137038e-01 -6.68422102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25534707 meters 0.03220367049536464 Centerline is valid? [True, True] Translation: X:-129.41, Y:24.41, Z:-6.68 [[ 9.24510672e-01 3.74566436e-01 -7.05691303e-02 -1.29411694e+02] [-3.73630128e-01 9.27198256e-01 2.65315111e-02 2.44075345e+01] [ 7.53693881e-02 1.83808796e-03 9.97153988e-01 -6.68245165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28534707 meters 0.032673553209998124 Centerline is valid? [True, True] Translation: X:-129.44, Y:24.42, Z:-6.68 [[ 9.24465683e-01 3.74685765e-01 -7.05250162e-02 -1.29441053e+02] [-3.73752893e-01 9.27149977e-01 2.64895292e-02 2.44174233e+01] [ 7.53125167e-02 1.87026809e-03 9.97158226e-01 -6.68308691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31534707 meters 0.03657711408518121 Centerline is valid? [True, True] Translation: X:-129.47, Y:24.43, Z:-6.69 [[ 9.24288209e-01 3.75391860e-01 -6.90815257e-02 -1.29472539e+02] [-3.74500309e-01 9.26864237e-01 2.59269055e-02 2.44289925e+01] [ 7.37619449e-02 1.90711963e-03 9.97274054e-01 -6.68560063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34534707 meters 0.03559425891064861 Centerline is valid? [True, True] Translation: X:-129.50, Y:24.45, Z:-6.68 [[ 9.24824038e-01 3.74356202e-01 -6.75124650e-02 -1.29500896e+02] [-3.73504198e-01 9.27283211e-01 2.53073356e-02 2.44462645e+01] [ 7.20771334e-02 1.81135678e-03 9.97397416e-01 -6.68007297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37534707 meters 0.036723639805813967 Centerline is valid? [True, True] Translation: X:-129.53, Y:24.46, Z:-6.68 [[ 9.25047244e-01 3.73859355e-01 -6.72069885e-02 -1.29530056e+02] [-3.73015769e-01 9.27483679e-01 2.51646752e-02 2.44620896e+01] [ 7.17414342e-02 1.79075302e-03 9.97421656e-01 -6.68434815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40534707 meters 0.039828592996941775 Centerline is valid? [True, True] Translation: X:-129.56, Y:24.47, Z:-6.68 [[ 9.24562439e-01 3.75099647e-01 -6.69667913e-02 -1.29559785e+02] [-3.74267112e-01 9.26982542e-01 2.50498787e-02 2.44728613e+01] [ 7.14732470e-02 1.90329069e-03 9.97440701e-01 -6.68236925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43534707 meters 0.03873701405466104 Centerline is valid? [True, True] Translation: X:-129.59, Y:24.49, Z:-6.69 [[ 9.23919300e-01 3.76415053e-01 -6.84458564e-02 -1.29587598e+02] [-3.75550118e-01 9.26448835e-01 2.55864314e-02 2.44863423e+01] [ 7.30427018e-02 2.06505161e-03 9.97326676e-01 -6.68787554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46534707 meters 0.03701298788326324 Centerline is valid? [True, True] Translation: X:-129.62, Y:24.50, Z:-6.69 [[ 9.23451791e-01 3.77016876e-01 -7.13797187e-02 -1.29616675e+02] [-3.76079608e-01 9.26203718e-01 2.66608571e-02 2.44984208e+01] [ 7.61637539e-02 2.22444041e-03 9.97092841e-01 -6.68835371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49534707 meters 0.043255096243443 Centerline is valid? [True, True] Translation: X:-129.65, Y:24.51, Z:-6.69 [[ 9.22464321e-01 3.79945456e-01 -6.85640381e-02 -1.29645602e+02] [-3.79089763e-01 9.25005830e-01 2.55962318e-02 2.45148320e+01] [ 7.31473069e-02 2.38031431e-03 9.97318307e-01 -6.68751047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52534707 meters 0.042938002713884094 Centerline is valid? [True, True] Translation: X:-129.68, Y:24.52, Z:-6.67 [[ 9.20871546e-01 3.84482129e-01 -6.45684811e-02 -1.29678372e+02] [-3.83735109e-01 9.23128805e-01 2.40951196e-02 2.45202729e+01] [ 6.88691677e-02 2.58868307e-03 9.97622342e-01 -6.66811977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55534707 meters 0.038907005904701246 Centerline is valid? [True, True] Translation: X:-129.71, Y:24.53, Z:-6.66 [[ 9.21157828e-01 3.83842478e-01 -6.42900247e-02 -1.29709035e+02] [-3.83101416e-01 9.23395082e-01 2.39755447e-02 2.45302500e+01] [ 6.85679251e-02 2.54433880e-03 9.97643206e-01 -6.66376136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58534707 meters 0.03517210359297472 Centerline is valid? [True, True] Translation: X:-129.74, Y:24.54, Z:-6.66 [[ 9.20035724e-01 3.86706543e-01 -6.31847735e-02 -1.29740572e+02] [-3.85999067e-01 9.22198779e-01 2.35400166e-02 2.45376073e+01] [ 6.73719994e-02 2.73160742e-03 9.97724186e-01 -6.66180958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61534707 meters 0.028834273947133105 Centerline is valid? [True, True] Translation: X:-129.77, Y:24.55, Z:-6.67 [[ 9.20360326e-01 3.85381863e-01 -6.64657001e-02 -1.29770515e+02] [-3.84597404e-01 9.22752944e-01 2.47354146e-02 2.45459117e+01] [ 7.08640006e-02 2.79704148e-03 9.97482065e-01 -6.66858963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64534707 meters 0.0279139664532422 Centerline is valid? [True, True] Translation: X:-129.80, Y:24.56, Z:-6.68 [[ 9.21006583e-01 3.83536201e-01 -6.81678560e-02 -1.29799803e+02] [-3.82707703e-01 9.23521762e-01 2.53450038e-02 2.45569033e+01] [ 7.26752250e-02 2.74544822e-03 9.97351881e-01 -6.67564367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67534707 meters 0.03287564424717879 Centerline is valid? [True, True] Translation: X:-129.83, Y:24.57, Z:-6.68 [[ 9.18275445e-01 3.90496898e-01 -6.54398991e-02 -1.29829715e+02] [-3.89751859e-01 9.20598771e-01 2.43185397e-02 2.45677890e+01] [ 6.97402050e-02 3.17420440e-03 9.97560138e-01 -6.67794931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70534707 meters 0.03374080108060681 Centerline is valid? [True, True] Translation: X:-129.86, Y:24.58, Z:-6.68 [[ 9.19361460e-01 3.87704349e-01 -6.67820524e-02 -1.29858232e+02] [-3.86921852e-01 9.21778788e-01 2.48061675e-02 2.45848776e+01] [ 7.11757384e-02 3.03360097e-03 9.97459178e-01 -6.67568032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73534707 meters 0.04020417829397748 Centerline is valid? [True, True] Translation: X:-129.89, Y:24.60, Z:-6.66 [[ 9.13757939e-01 3.99923163e-01 -7.14695186e-02 -1.29887803e+02] [-3.99066079e-01 9.16538630e-01 2.65180181e-02 2.45974473e+01] [ 7.61097443e-02 4.29001094e-03 9.97090218e-01 -6.66013765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76534707 meters 0.046584756377336854 Centerline is valid? [True, True] Translation: X:-129.91, Y:24.62, Z:-6.64 [[ 9.02318425e-01 4.24711076e-01 -7.37696579e-02 -1.29913936e+02] [-4.23880682e-01 9.05304962e-01 2.73512830e-02 2.46219129e+01] [ 7.84004301e-02 6.58996628e-03 9.96900168e-01 -6.63962259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79534707 meters 0.05218681589065141 Centerline is valid? [True, True] Translation: X:-129.94, Y:24.64, Z:-6.61 [[ 8.94416422e-01 4.41761869e-01 -6.97546738e-02 -1.29942814e+02] [-4.41071148e-01 8.97099769e-01 2.58504903e-02 2.46379702e+01] [ 7.39966626e-02 7.64567098e-03 9.97229180e-01 -6.61168570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82534707 meters 0.06831594431005661 Centerline is valid? [True, True] Translation: X:-129.97, Y:24.66, Z:-6.53 [[ 8.72483499e-01 4.85349465e-01 -5.66431045e-02 -1.29972278e+02] [-4.84982599e-01 8.74272174e-01 2.09772558e-02 2.46627186e+01] [ 5.97027900e-02 9.16861047e-03 9.98174090e-01 -6.53306999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85534707 meters 0.08130991364763136 Centerline is valid? [True, True] Translation: X:-130.00, Y:24.69, Z:-6.45 [[ 8.62901753e-01 5.02940742e-01 -4.95093349e-02 -1.29999878e+02] [-5.02688478e-01 8.64273292e-01 1.83295091e-02 2.46930166e+01] [ 5.20082528e-02 9.07120667e-03 9.98605455e-01 -6.44850217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88534707 meters 0.09375429282495909 Centerline is valid? [True, True] Translation: X:-130.05, Y:24.69, Z:-6.26 [[ 8.39804191e-01 5.41852455e-01 -3.35385845e-02 -1.30046819e+02] [-5.41765590e-01 8.40437943e-01 1.24140498e-02 2.46888491e+01] [ 3.49136823e-02 7.74467999e-03 9.99360323e-01 -6.25848552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91534707 meters 0.11160390391576477 Centerline is valid? [True, False] Translation: X:-130.08, Y:24.84, Z:-6.17 [[ 9.63257345e-01 2.53915694e-01 -8.75334607e-02 -1.30084011e+02] [-2.61033019e-01 9.61791744e-01 -8.25736219e-02 2.48429607e+01] [ 6.32222213e-02 1.02388771e-01 9.92733343e-01 -6.16540064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94534707 meters 0.1245404177067444 Centerline is valid? [False, False] Translation: X:-130.07, Y:24.87, Z:-6.11 [[ 9.81670749e-01 1.59967972e-01 -1.03599176e-01 -1.30066065e+02] [-1.73303796e-01 9.75433614e-01 -1.35996537e-01 2.48693733e+01] [ 7.92990286e-02 1.51457953e-01 9.85277703e-01 -6.11457775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97534707 meters 0.12612538103870247 Centerline is valid? [False, False] Translation: X:-130.04, Y:24.89, Z:-6.10 [[ 9.86894229e-01 1.17895944e-01 -1.10183156e-01 -1.30039464e+02] [-1.33776603e-01 9.79584126e-01 -1.50062522e-01 2.48902435e+01] [ 9.02419075e-02 1.62835766e-01 9.82517639e-01 -6.09556103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00534707 meters 0.12839088817857003 Centerline is valid? [False, False] Translation: X:-130.03, Y:24.93, Z:-6.08 [[ 9.89850596e-01 8.42534171e-02 -1.14442822e-01 -1.30033690e+02] [-1.01341488e-01 9.83045845e-01 -1.52809587e-01 2.49280601e+01] [ 9.96278106e-02 1.62856466e-01 9.81606882e-01 -6.08360930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03534707 meters 0.1240991379981719 Centerline is valid? [False, False] Translation: X:-130.04, Y:24.94, Z:-6.08 [[ 9.90442680e-01 7.60310070e-02 -1.15076423e-01 -1.30040236e+02] [-9.35705741e-02 9.83373627e-01 -1.55630516e-01 2.49441799e+01] [ 1.01330375e-01 1.64910872e-01 9.81089476e-01 -6.07852919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06534707 meters 0.11685038938518497 Centerline is valid? [False, False] Translation: X:-130.05, Y:24.97, Z:-6.07 [[ 9.91311654e-01 5.35807294e-02 -1.20126227e-01 -1.30052490e+02] [-7.30191563e-02 9.83793424e-01 -1.63764165e-01 2.49705729e+01] [ 1.09404789e-01 1.71112841e-01 9.79158306e-01 -6.06780726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09534707 meters 0.13995446355937866 Centerline is valid? [False, False] Translation: X:-130.06, Y:24.99, Z:-6.06 [[ 9.91759654e-01 3.67385200e-02 -1.22731701e-01 -1.30056565e+02] [-5.63273190e-02 9.85480845e-01 -1.60170962e-01 2.49883169e+01] [ 1.15065296e-01 1.65764246e-01 9.79429524e-01 -6.06348134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12534707 meters 0.13179663775421963 Centerline is valid? [False, False] Translation: X:-130.07, Y:25.00, Z:-6.07 [[ 9.91809069e-01 2.51090702e-02 -1.25236993e-01 -1.30067228e+02] [-4.43304026e-02 9.87208934e-01 -1.53144822e-01 2.50010091e+01] [ 1.19789755e-01 1.57442229e-01 9.80235869e-01 -6.07137080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15534707 meters 0.1429404740084921 Centerline is valid? [False, False] Translation: X:-130.07, Y:25.01, Z:-6.08 [[ 9.92117498e-01 1.21785475e-02 -1.24717896e-01 -1.30073371e+02] [-2.99667873e-02 9.89446747e-01 -1.41764338e-01 2.50132679e+01] [ 1.21675232e-01 1.44384275e-01 9.82012382e-01 -6.08305457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18534707 meters 0.12561417259359267 Centerline is valid? [False, False] Translation: X:-130.10, Y:25.00, Z:-6.10 [[ 9.93007881e-01 -6.41711339e-03 -1.17873532e-01 -1.30100250e+02] [-7.47933268e-03 9.93095115e-01 -1.17073273e-01 2.50019097e+01] [ 1.17810901e-01 1.17136298e-01 9.86103280e-01 -6.09520277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21534707 meters 0.10082040837972195 Centerline is valid? [False, False] Translation: X:-130.10, Y:25.00, Z:-6.10 [[ 9.93016015e-01 -5.83565142e-03 -1.17835220e-01 -1.30097878e+02] [-7.78618238e-03 9.93356928e-01 -1.14810229e-01 2.49960061e+01] [ 1.17722424e-01 1.14925883e-01 9.86373901e-01 -6.09925500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24534707 meters 0.10082040837972195 Centerline is valid? [False, False] Translation: X:-130.10, Y:25.00, Z:-6.10 [[ 9.93016015e-01 -5.83565142e-03 -1.17835220e-01 -1.30097878e+02] [-7.78618238e-03 9.93356928e-01 -1.14810229e-01 2.49960061e+01] [ 1.17722424e-01 1.14925883e-01 9.86373901e-01 -6.09925500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27534707 meters 0.12340876452751301 Centerline is valid? [False, False] Translation: X:-130.10, Y:24.99, Z:-6.10 [[ 9.93059024e-01 -9.90103363e-03 -1.17199595e-01 -1.30095176e+02] [-3.89910518e-03 9.93131578e-01 -1.16937868e-01 2.49924645e+01] [ 1.17552424e-01 1.16583179e-01 9.86199670e-01 -6.10359676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30534707 meters 0.10332789492459725 Centerline is valid? [False, False] Translation: X:-130.10, Y:24.98, Z:-6.12 [[ 9.93704009e-01 1.24228797e-03 -1.12030348e-01 -1.30095842e+02] [-1.17690812e-02 9.95563648e-01 -9.33515477e-02 2.49847493e+01] [ 1.11417373e-01 9.40823014e-02 9.89310209e-01 -6.11983362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33534707 meters 0.10279853005290956 Centerline is valid? [False, False] Translation: X:-130.10, Y:24.98, Z:-6.13 [[ 9.93943314e-01 9.89277145e-03 -1.09447807e-01 -1.30097518e+02] [-1.88292817e-02 9.96542615e-01 -8.09214051e-02 2.49798766e+01] [ 1.08268866e-01 8.24921131e-02 9.90693143e-01 -6.12579582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36534707 meters 0.08013721237113332 Centerline is valid? [False, True] Translation: X:-130.10, Y:25.00, Z:-6.14 [[ 9.93497452e-01 1.58064418e-02 -1.12751806e-01 -1.30096273e+02] [-2.21477692e-02 9.98228962e-01 -5.52124574e-02 2.49979251e+01] [ 1.11679406e-01 5.73506367e-02 9.92088008e-01 -6.13674534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39534707 meters 0.06700087234786187 Centerline is valid? [True, True] Translation: X:-130.11, Y:25.11, Z:-6.34 [[ 9.85363103e-01 -7.31406269e-02 -1.53980534e-01 -1.30110577e+02] [ 6.90305911e-02 9.97105074e-01 -3.18786580e-02 2.51063000e+01] [ 1.55866397e-01 2.07826860e-02 9.87559490e-01 -6.34348572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42534707 meters 0.03423132340316047 Centerline is valid? [True, True] Translation: X:-130.11, Y:25.13, Z:-6.55 [[ 9.65777101e-01 -1.70607766e-01 -1.95365251e-01 -1.30105391e+02] [ 1.65880720e-01 9.85316648e-01 -4.04312984e-02 2.51270592e+01] [ 1.99394527e-01 6.64029368e-03 9.79896795e-01 -6.55196026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45534707 meters 0.031662070445716534 Centerline is valid? [True, True] Translation: X:-130.14, Y:25.14, Z:-6.56 [[ 9.66513557e-01 -1.65063591e-01 -1.96482963e-01 -1.30136104e+02] [ 1.60171535e-01 9.86251969e-01 -4.06464326e-02 2.51381061e+01] [ 2.00490955e-01 7.81435037e-03 9.79664388e-01 -6.55849170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48534707 meters 0.03429606330891822 Centerline is valid? [True, True] Translation: X:-130.17, Y:25.14, Z:-6.54 [[ 9.66929869e-01 -1.64280858e-01 -1.95085692e-01 -1.30168081e+02] [ 1.59447983e-01 9.86382013e-01 -4.03344098e-02 2.51366681e+01] [ 1.99055190e-01 7.89452542e-03 9.79956483e-01 -6.54211567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51534707 meters 0.03421509547785798 Centerline is valid? [True, True] Translation: X:-130.20, Y:25.14, Z:-6.53 [[ 9.69422380e-01 -1.53122582e-01 -1.91764764e-01 -1.30199943e+02] [ 1.48251505e-01 9.88157166e-01 -3.95841751e-02 2.51417174e+01] [ 1.95554956e-01 9.94437049e-03 9.80642324e-01 -6.53026734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54534707 meters 0.03123081991205291 Centerline is valid? [True, True] Translation: X:-130.23, Y:25.15, Z:-6.54 [[ 9.70740461e-01 -1.41193390e-01 -1.94235383e-01 -1.30228484e+02] [ 1.35963439e-01 9.89903285e-01 -4.00678234e-02 2.51494398e+01] [ 1.97931556e-01 1.24865467e-02 9.80136310e-01 -6.54222153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57534707 meters 0.03172631134586768 Centerline is valid? [True, True] Translation: X:-130.26, Y:25.15, Z:-6.55 [[ 9.70939525e-01 -1.40049556e-01 -1.94068444e-01 -1.30258683e+02] [ 1.34818783e-01 9.90063744e-01 -3.99709625e-02 2.51526033e+01] [ 1.97738045e-01 1.26453159e-02 9.80173332e-01 -6.54515038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60534707 meters 0.02924877953601087 Centerline is valid? [True, True] Translation: X:-130.28, Y:25.15, Z:-6.57 [[ 9.70332696e-01 -1.39354675e-01 -1.97572100e-01 -1.30282610e+02] [ 1.33928864e-01 9.90157657e-01 -4.06309558e-02 2.51504957e+01] [ 2.01289641e-01 1.29649381e-02 9.79445961e-01 -6.56760174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63534707 meters 0.02951568547788184 Centerline is valid? [True, True] Translation: X:-130.31, Y:25.15, Z:-6.57 [[ 9.70092928e-01 -1.40361512e-01 -1.98036253e-01 -1.30311580e+02] [ 1.34936356e-01 9.90018116e-01 -4.06977754e-02 2.51469307e+01] [ 2.01771879e-01 1.27583338e-02 9.79349444e-01 -6.56909806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.66534707 meters 0.029651433489567797 Centerline is valid? [True, True] Translation: X:-130.34, Y:25.15, Z:-6.57 [[ 9.67879592e-01 -1.49832956e-01 -2.01889030e-01 -1.30340955e+02] [ 1.44408782e-01 9.88650858e-01 -4.14196255e-02 2.51453884e+01] [ 2.05803787e-01 1.09346614e-02 9.78532184e-01 -6.57057446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69534707 meters 0.025097567380595244 Centerline is valid? [True, True] Translation: X:-130.36, Y:25.13, Z:-6.58 [[ 9.68415600e-01 -1.49571761e-01 -1.99498157e-01 -1.30363864e+02] [ 1.44284052e-01 9.88691946e-01 -4.08698967e-02 2.51294297e+01] [ 2.03355203e-01 1.07946431e-02 9.79045523e-01 -6.58298374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72534707 meters 0.025744905707421394 Centerline is valid? [True, True] Translation: X:-130.39, Y:25.13, Z:-6.59 [[ 9.67768459e-01 -1.51709993e-01 -2.01018130e-01 -1.30392241e+02] [ 1.46392360e-01 9.88370382e-01 -4.11492992e-02 2.51314246e+01] [ 2.04923125e-01 1.03954755e-02 9.78722865e-01 -6.59081709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75534707 meters 0.02254594532147659 Centerline is valid? [True, True] Translation: X:-130.42, Y:25.12, Z:-6.59 [[ 9.66832815e-01 -1.55876711e-01 -2.02328346e-01 -1.30417528e+02] [ 1.50593517e-01 9.87730783e-01 -4.13460186e-02 2.51171923e+01] [ 2.06290817e-01 9.50535031e-03 9.78444555e-01 -6.59196234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78534707 meters 0.024774188649655988 Centerline is valid? [True, True] Translation: X:-130.45, Y:25.12, Z:-6.60 [[ 9.67231677e-01 -1.54388341e-01 -2.01561712e-01 -1.30447696e+02] [ 1.49124226e-01 9.87962293e-01 -4.11396759e-02 2.51236424e+01] [ 2.05486857e-01 9.73386337e-03 9.78611467e-01 -6.59718810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81534707 meters 0.025254809358713496 Centerline is valid? [True, True] Translation: X:-130.48, Y:25.12, Z:-6.60 [[ 9.67093875e-01 -1.55466410e-01 -2.01394223e-01 -1.30475166e+02] [ 1.50249940e-01 9.87796254e-01 -4.10306767e-02 2.51196517e+01] [ 2.05315351e-01 9.42104622e-03 9.78650525e-01 -6.60327961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84534707 meters 0.02206515711558887 Centerline is valid? [True, True] Translation: X:-130.50, Y:25.11, Z:-6.62 [[ 9.65056696e-01 -1.63541151e-01 -2.04743413e-01 -1.30499117e+02] [ 1.58339297e-01 9.86505857e-01 -4.16516672e-02 2.51105442e+01] [ 2.08792338e-01 7.77729227e-03 9.77929074e-01 -6.62076481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87534707 meters 0.021470017442700145 Centerline is valid? [True, True] Translation: X:-130.53, Y:25.10, Z:-6.62 [[ 9.65163714e-01 -1.63484199e-01 -2.04283927e-01 -1.30528125e+02] [ 1.58311269e-01 9.86515586e-01 -4.15275856e-02 2.51037177e+01] [ 2.08318382e-01 7.74047105e-03 9.78030438e-01 -6.61834259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90534707 meters 0.022328943137852202 Centerline is valid? [True, True] Translation: X:-130.56, Y:25.10, Z:-6.62 [[ 9.64983469e-01 -1.64382826e-01 -2.04414263e-01 -1.30556371e+02] [ 1.59238628e-01 9.86368270e-01 -4.14812514e-02 2.51017128e+01] [ 2.08446548e-01 7.47807508e-03 9.78005171e-01 -6.62412464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93534707 meters 0.019957416265653144 Centerline is valid? [True, True] Translation: X:-130.58, Y:25.09, Z:-6.63 [[ 9.62755869e-01 -1.73191688e-01 -2.07619306e-01 -1.30580398e+02] [ 1.68099842e-01 9.84872253e-01 -4.20605338e-02 2.50875533e+01] [ 2.11763028e-01 5.59325331e-03 9.77305037e-01 -6.63106548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96534707 meters 0.019792930540357075 Centerline is valid? [True, True] Translation: X:-130.61, Y:25.08, Z:-6.63 [[ 9.62998838e-01 -1.72481838e-01 -2.07082719e-01 -1.30607334e+02] [ 1.67412362e-01 9.84996332e-01 -4.18966301e-02 2.50804220e+01] [ 2.11202127e-01 5.67819903e-03 9.77425915e-01 -6.63425631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99534707 meters 0.01980375434776809 Centerline is valid? [True, True] Translation: X:-130.64, Y:25.07, Z:-6.64 [[ 9.62104549e-01 -1.77083141e-01 -2.07355726e-01 -1.30635387e+02] [ 1.72125178e-01 9.84185221e-01 -4.18613636e-02 2.50748450e+01] [ 2.11489383e-01 4.58386721e-03 9.77369546e-01 -6.63866009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02534707 meters 0.018940712931720238 Centerline is valid? [True, True] Translation: X:-130.66, Y:25.07, Z:-6.63 [[ 9.62143200e-01 -1.79063867e-01 -2.05466769e-01 -1.30663586e+02] [ 1.74257542e-01 9.83829180e-01 -4.14059581e-02 2.50664656e+01] [ 2.09558514e-01 4.03432686e-03 9.77787785e-01 -6.63090448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05534707 meters 0.018871280707899285 Centerline is valid? [True, True] Translation: X:-130.69, Y:25.06, Z:-6.64 [[ 9.61332306e-01 -1.81400346e-01 -2.07205481e-01 -1.30689363e+02] [ 1.76576281e-01 9.83403092e-01 -4.17034223e-02 2.50636060e+01] [ 2.11331526e-01 3.50327394e-03 9.77408161e-01 -6.64497080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08534707 meters 0.018408237728750467 Centerline is valid? [True, True] Translation: X:-130.72, Y:25.06, Z:-6.64 [[ 9.60869502e-01 -1.82995891e-01 -2.07947838e-01 -1.30716117e+02] [ 1.78192456e-01 9.83108862e-01 -4.17661744e-02 2.50563501e+01] [ 2.12078400e-01 3.07710735e-03 9.77247811e-01 -6.64316276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11534707 meters 0.018839682926734963 Centerline is valid? [True, True] Translation: X:-130.74, Y:25.05, Z:-6.65 [[ 9.60731740e-01 -1.84021102e-01 -2.07679458e-01 -1.30742933e+02] [ 1.79267810e-01 9.82918355e-01 -4.16480464e-02 2.50518906e+01] [ 2.11796070e-01 2.78235868e-03 9.77309922e-01 -6.65224684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14534707 meters 0.018890255886744877 Centerline is valid? [True, True] Translation: X:-130.77, Y:25.05, Z:-6.66 [[ 9.61187641e-01 -1.82865761e-01 -2.06587590e-01 -1.30770809e+02] [ 1.78153221e-01 9.83133488e-01 -4.13518512e-02 2.50484282e+01] [ 2.10665015e-01 2.94264387e-03 9.77553882e-01 -6.65626069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17534707 meters 0.018725685918773043 Centerline is valid? [True, True] Translation: X:-130.79, Y:25.04, Z:-6.67 [[ 9.58594478e-01 -1.91476064e-01 -2.10792657e-01 -1.30794672e+02] [ 1.86788687e-01 9.81496772e-01 -4.21197553e-02 2.50399429e+01] [ 2.14957237e-01 1.00208116e-03 9.76622948e-01 -6.67489093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20534707 meters 0.018967623557552344 Centerline is valid? [True, True] Translation: X:-130.82, Y:25.03, Z:-6.68 [[ 9.58881353e-01 -1.90894587e-01 -2.10013827e-01 -1.30822169e+02] [ 1.86244883e-01 9.81609978e-01 -4.18890777e-02 2.50336524e+01] [ 2.14148066e-01 1.05265487e-03 9.76800644e-01 -6.67740245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23534707 meters 0.019609591241929562 Centerline is valid? [True, True] Translation: X:-130.85, Y:25.03, Z:-6.71 [[ 9.56292816e-01 -1.95913196e-01 -2.17076186e-01 -1.30845542e+02] [ 1.91087202e-01 9.80621230e-01 -4.32167212e-02 2.50301792e+01] [ 2.21336242e-01 -1.52640939e-04 9.75197541e-01 -6.70632306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26534707 meters 0.021251263085081448 Centerline is valid? [True, True] Translation: X:-130.87, Y:25.02, Z:-6.72 [[ 9.54147833e-01 -2.01268854e-01 -2.21568863e-01 -1.30870031e+02] [ 1.96398837e-01 9.79534886e-01 -4.40329873e-02 2.50221953e+01] [ 2.25896900e-01 -1.50188763e-03 9.74150058e-01 -6.71591753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29534707 meters 0.02005837533359238 Centerline is valid? [True, True] Translation: X:-130.89, Y:25.02, Z:-6.73 [[ 9.54539303e-01 -1.99823320e-01 -2.21190776e-01 -1.30894519e+02] [ 1.94947023e-01 9.79831181e-01 -4.38920860e-02 2.50151608e+01] [ 2.25500282e-01 -1.22376203e-03 9.74242334e-01 -6.73413774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32534707 meters 0.021123088266072156 Centerline is valid? [True, True] Translation: X:-130.92, Y:25.01, Z:-6.75 [[ 9.51655492e-01 -2.06751490e-01 -2.27168760e-01 -1.30919070e+02] [ 2.01818721e-01 9.78388807e-01 -4.49949605e-02 2.50078018e+01] [ 2.31562147e-01 -3.02720721e-03 9.72815403e-01 -6.74858310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35534707 meters 0.021595041609059427 Centerline is valid? [True, True] Translation: X:-130.94, Y:25.00, Z:-6.76 [[ 9.52029224e-01 -2.06696162e-01 -2.25648072e-01 -1.30944887e+02] [ 2.01835321e-01 9.78400514e-01 -4.46647185e-02 2.49980469e+01] [ 2.30006215e-01 -3.02163358e-03 9.73184469e-01 -6.75639616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38534707 meters 0.02208533411810288 Centerline is valid? [True, True] Translation: X:-130.97, Y:24.99, Z:-6.76 [[ 9.50255039e-01 -2.13539557e-01 -2.26751447e-01 -1.30970830e+02] [ 2.08829220e-01 9.76922969e-01 -4.48538654e-02 2.49890226e+01] [ 2.31096771e-01 -4.72971622e-03 9.72919273e-01 -6.75985192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41534707 meters 0.022673871548517018 Centerline is valid? [True, True] Translation: X:-131.00, Y:24.98, Z:-6.77 [[ 9.51072690e-01 -2.12602195e-01 -2.24189752e-01 -1.30997375e+02] [ 2.07982904e-01 9.77128521e-01 -4.43053670e-02 2.49781507e+01] [ 2.28481619e-01 -4.49001097e-03 9.73537873e-01 -6.76617727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44534707 meters 0.02328738513662946 Centerline is valid? [True, True] Translation: X:-131.02, Y:24.97, Z:-6.76 [[ 9.50511733e-01 -2.17181855e-01 -2.22169950e-01 -1.31024358e+02] [ 2.12784545e-01 9.76115083e-01 -4.38415632e-02 2.49681262e+01] [ 2.26385031e-01 -5.60241129e-03 9.74021781e-01 -6.76024880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47534707 meters 0.02313443812318233 Centerline is valid? [True, True] Translation: X:-131.05, Y:24.96, Z:-6.76 [[ 9.49968947e-01 -2.19231498e-01 -2.22478201e-01 -1.31051701e+02] [ 2.14885963e-01 9.75653569e-01 -4.38649783e-02 2.49631875e+01] [ 2.26678236e-01 -6.13707512e-03 9.73950365e-01 -6.76470805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50534707 meters 0.02212234637575584 Centerline is valid? [True, True] Translation: X:-131.08, Y:24.96, Z:-6.76 [[ 9.51721238e-01 -2.15074441e-01 -2.19019792e-01 -1.31081165e+02] [ 2.10769949e-01 9.76584211e-01 -4.31196932e-02 2.49590073e+01] [ 2.23165215e-01 -5.12486261e-03 9.74767163e-01 -6.76249426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53534707 meters 0.02105859554270068 Centerline is valid? [True, True] Translation: X:-131.11, Y:24.96, Z:-6.76 [[ 9.52871264e-01 -2.10925602e-01 -2.18052160e-01 -1.31110264e+02] [ 2.06561445e-01 9.77493205e-01 -4.28882587e-02 2.49561113e+01] [ 2.22190737e-01 -4.17418017e-03 9.74994283e-01 -6.76030428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56534707 meters 0.0206258837283027 Centerline is valid? [True, True] Translation: X:-131.14, Y:24.96, Z:-6.77 [[ 9.52877374e-01 -2.06314806e-01 -2.22393593e-01 -1.31136845e+02] [ 2.01663469e-01 9.78480350e-01 -4.36812337e-02 2.49569474e+01] [ 2.26619846e-01 -3.22580429e-03 9.73977946e-01 -6.77091031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59534707 meters 0.02080410184450065 Centerline is valid? [True, True] Translation: X:-131.16, Y:24.95, Z:-6.79 [[ 9.52384215e-01 -2.04378052e-01 -2.26260731e-01 -1.31162227e+02] [ 1.99527437e-01 9.78887738e-01 -4.43576231e-02 2.49541427e+01] [ 2.30549580e-01 -2.89972354e-03 9.73056259e-01 -6.78726994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62534707 meters 0.020835348765636138 Centerline is valid? [True, True] Translation: X:-131.19, Y:24.95, Z:-6.80 [[ 9.50589716e-01 -2.07589358e-01 -2.30837281e-01 -1.31188741e+02] [ 2.02651343e-01 9.78208525e-01 -4.51720644e-02 2.49509721e+01] [ 2.35184236e-01 -3.83938514e-03 9.71943226e-01 -6.79576950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65534707 meters 0.02246862506953975 Centerline is valid? [True, True] Translation: X:-131.21, Y:24.94, Z:-6.82 [[ 9.49179248e-01 -2.10575783e-01 -2.33915787e-01 -1.31212500e+02] [ 2.05611976e-01 9.77566133e-01 -4.56965027e-02 2.49439648e+01] [ 2.38290729e-01 -4.72171513e-03 9.71182390e-01 -6.81737378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68534707 meters 0.022768431282796153 Centerline is valid? [True, True] Translation: X:-131.24, Y:24.94, Z:-6.83 [[ 9.50577991e-01 -2.06282901e-01 -2.32053543e-01 -1.31239567e+02] [ 2.01293746e-01 9.78485393e-01 -4.52455960e-02 2.49362362e+01] [ 2.36394395e-01 -3.70145918e-03 9.71650137e-01 -6.82544970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71534707 meters 0.02244102450742011 Centerline is valid? [True, True] Translation: X:-131.27, Y:24.93, Z:-6.82 [[ 9.49811602e-01 -2.09807165e-01 -2.32032054e-01 -1.31268075e+02] [ 2.04938257e-01 9.77731760e-01 -4.51764921e-02 2.49314251e+01] [ 2.36343460e-01 -4.64308828e-03 9.71658485e-01 -6.82283556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74534707 meters 0.02291327275390675 Centerline is valid? [True, True] Translation: X:-131.30, Y:24.92, Z:-6.83 [[ 9.50850498e-01 -2.09040814e-01 -2.28440951e-01 -1.31295460e+02] [ 2.04310252e-01 9.77896940e-01 -4.44397880e-02 2.49235319e+01] [ 2.32681437e-01 -4.41723380e-03 9.72542974e-01 -6.82781408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77534707 meters 0.021141222803336978 Centerline is valid? [True, True] Translation: X:-131.33, Y:24.92, Z:-6.81 [[ 9.52057119e-01 -2.10266792e-01 -2.22205129e-01 -1.31327808e+02] [ 2.05842377e-01 9.77632986e-01 -4.31585499e-02 2.49232772e+01] [ 2.26309873e-01 -4.64982725e-03 9.74044260e-01 -6.80552670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80534707 meters 0.020590863434136162 Centerline is valid? [True, True] Translation: X:-131.36, Y:24.92, Z:-6.81 [[ 9.53886773e-01 -2.06959719e-01 -2.17411358e-01 -1.31356400e+02] [ 2.02654752e-01 9.78341942e-01 -4.21674677e-02 2.49178516e+01] [ 2.21429618e-01 -3.83645513e-03 9.75168809e-01 -6.80502497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83534707 meters 0.019758151379502653 Centerline is valid? [True, True] Translation: X:-131.39, Y:24.92, Z:-6.80 [[ 9.55478371e-01 -2.03858141e-01 -2.13314181e-01 -1.31386114e+02] [ 1.99655108e-01 9.78995444e-01 -4.13008369e-02 2.49152961e+01] [ 2.17253124e-01 -3.12720946e-03 9.76110291e-01 -6.79696196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86534707 meters 0.018717942689224398 Centerline is valid? [True, True] Translation: X:-131.42, Y:24.91, Z:-6.79 [[ 9.57073170e-01 -1.99953247e-01 -2.09832424e-01 -1.31415774e+02] [ 1.95805991e-01 9.79802850e-01 -4.05757173e-02 2.49119093e+01] [ 2.13707653e-01 -2.25251527e-03 9.76895064e-01 -6.78710161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89534707 meters 0.018951921345449922 Centerline is valid? [True, True] Translation: X:-131.44, Y:24.91, Z:-6.80 [[ 9.56257936e-01 -2.02575522e-01 -2.11030611e-01 -1.31442577e+02] [ 1.98462112e-01 9.79262227e-01 -4.07219915e-02 2.49068131e+01] [ 2.14903584e-01 -2.94085316e-03 9.76630842e-01 -6.79521928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92534707000002 meters 0.019028989692299797 Centerline is valid? [True, True] Translation: X:-131.47, Y:24.90, Z:-6.80 [[ 9.57714640e-01 -1.98232649e-01 -2.08534134e-01 -1.31469467e+02] [ 1.94133427e-01 9.80152903e-01 -4.01559284e-02 2.49033610e+01] [ 2.12355553e-01 -2.02552549e-03 9.77190369e-01 -6.80341046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95534707 meters 0.018881404804413856 Centerline is valid? [True, True] Translation: X:-131.50, Y:24.90, Z:-6.80 [[ 9.57754213e-01 -1.97843675e-01 -2.08721698e-01 -1.31495714e+02] [ 1.93743754e-01 9.80231515e-01 -4.01190153e-02 2.48984766e+01] [ 2.12532880e-01 -2.01436931e-03 9.77151839e-01 -6.80499590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98534707 meters 0.019139162487537803 Centerline is valid? [True, True] Translation: X:-131.52, Y:24.89, Z:-6.81 [[ 9.57472505e-01 -1.98359707e-01 -2.09522860e-01 -1.31522991e+02] [ 1.94251315e-01 9.80126847e-01 -4.02217690e-02 2.48928017e+01] [ 2.13337358e-01 -2.18885319e-03 9.76976141e-01 -6.81362334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01534707 meters 0.019235640508753222 Centerline is valid? [True, True] Translation: X:-131.55, Y:24.89, Z:-6.82 [[ 9.55904605e-01 -2.02805403e-01 -2.12406109e-01 -1.31548349e+02] [ 1.98705919e-01 9.79213511e-01 -4.07045168e-02 2.48876180e+01] [ 2.16246028e-01 -3.29671606e-03 9.76333338e-01 -6.81972633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04534707 meters 0.020771151664708814 Centerline is valid? [True, True] Translation: X:-131.57, Y:24.88, Z:-6.84 [[ 9.54961849e-01 -2.05921493e-01 -2.13645044e-01 -1.31571664e+02] [ 2.01861438e-01 9.78560028e-01 -4.08929217e-02 2.48773446e+01] [ 2.17485232e-01 -4.07551571e-03 9.76055103e-01 -6.83736940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07534707 meters 0.019813397827005856 Centerline is valid? [True, True] Translation: X:-131.60, Y:24.87, Z:-6.84 [[ 9.54618986e-01 -2.07327132e-01 -2.13817799e-01 -1.31599591e+02] [ 2.03313280e-01 9.78261410e-01 -4.08451282e-02 2.48740759e+01] [ 2.17638005e-01 -4.48046317e-03 9.76019275e-01 -6.83614534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10534707 meters 0.019845604788188927 Centerline is valid? [True, True] Translation: X:-131.63, Y:24.87, Z:-6.84 [[ 9.54736071e-01 -2.08805799e-01 -2.11847052e-01 -1.31626455e+02] [ 2.04910114e-01 9.77945311e-01 -4.04328235e-02 2.48688646e+01] [ 2.15617439e-01 -4.80692862e-03 9.76466084e-01 -6.83874785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13534707 meters 0.019845604788188927 Centerline is valid? [True, True] Translation: X:-131.65, Y:24.86, Z:-6.84 [[ 9.54822185e-01 -2.08395926e-01 -2.11862532e-01 -1.31652697e+02] [ 2.04508300e-01 9.78032774e-01 -4.03515602e-02 2.48637058e+01] [ 2.15617601e-01 -4.79908152e-03 9.76466087e-01 -6.84375617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16534707 meters 0.020302132570513932 Centerline is valid? [True, True] Translation: X:-131.68, Y:24.86, Z:-6.85 [[ 9.54371279e-01 -2.10929697e-01 -2.11386196e-01 -1.31679691e+02] [ 2.07141143e-01 9.77486040e-01 -4.01694931e-02 2.48578846e+01] [ 2.15099995e-01 -5.45016783e-03 9.76576821e-01 -6.84927554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19534707 meters 0.021174369507056662 Centerline is valid? [True, True] Translation: X:-131.71, Y:24.85, Z:-6.85 [[ 9.54405838e-01 -2.14988620e-01 -2.07097538e-01 -1.31705760e+02] [ 2.11466144e-01 9.76596134e-01 -3.92690938e-02 2.48463564e+01] [ 2.10693064e-01 -6.31546552e-03 9.77531865e-01 -6.85401796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22534707 meters 0.022073893759269946 Centerline is valid? [True, True] Translation: X:-131.73, Y:24.83, Z:-6.85 [[ 9.55721413e-01 -2.12448518e-01 -2.03622711e-01 -1.31733082e+02] [ 2.09005111e-01 9.77155408e-01 -3.85249637e-02 2.48343435e+01] [ 2.07155604e-01 -5.73905468e-03 9.78291173e-01 -6.85321155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25534707 meters 0.02184625569297211 Centerline is valid? [True, True] Translation: X:-131.76, Y:24.83, Z:-6.85 [[ 9.55415707e-01 -2.14224399e-01 -2.03196295e-01 -1.31760651e+02] [ 2.10848942e-01 9.76764950e-01 -3.83791122e-02 2.48291910e+01] [ 2.06696761e-01 -6.17571726e-03 9.78385563e-01 -6.85463473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28534707 meters 0.02099056496660137 Centerline is valid? [True, True] Translation: X:-131.79, Y:24.83, Z:-6.85 [[ 9.55101489e-01 -2.15090827e-01 -2.03757407e-01 -1.31789461e+02] [ 2.11722132e-01 9.76573011e-01 -3.84563822e-02 2.48276144e+01] [ 2.07255600e-01 -6.41020478e-03 9.78265826e-01 -6.85409970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31534707 meters 0.021001512718348443 Centerline is valid? [True, True] Translation: X:-131.82, Y:24.82, Z:-6.86 [[ 9.55407294e-01 -2.13620793e-01 -2.03870202e-01 -1.31817581e+02] [ 2.10230350e-01 9.76897200e-01 -3.84065184e-02 2.48223084e+01] [ 2.07364660e-01 -6.16583614e-03 9.78244284e-01 -6.85765640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34534707 meters 0.021842990884657448 Centerline is valid? [True, True] Translation: X:-131.84, Y:24.81, Z:-6.86 [[ 9.56517344e-01 -2.09100032e-01 -2.03351289e-01 -1.31844080e+02] [ 2.05640972e-01 9.77880203e-01 -3.82374028e-02 2.48127036e+01] [ 2.06848641e-01 -5.24261770e-03 9.78358909e-01 -6.86442840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37534707 meters 0.02178003913661469 Centerline is valid? [True, True] Translation: X:-131.87, Y:24.81, Z:-6.87 [[ 9.54463152e-01 -2.14718931e-01 -2.07113188e-01 -1.31871091e+02] [ 2.11275556e-01 9.76653211e-01 -3.88734326e-02 2.48120606e+01] [ 2.10624622e-01 -6.65469502e-03 9.77544364e-01 -6.87288999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40534707 meters 0.022100031509049278 Centerline is valid? [True, True] Translation: X:-131.90, Y:24.81, Z:-6.88 [[ 9.54032064e-01 -2.14680064e-01 -2.09129844e-01 -1.31898192e+02] [ 2.11180936e-01 9.76660938e-01 -3.91921516e-02 2.48067393e+01] [ 2.12662723e-01 -6.77366701e-03 9.77102187e-01 -6.87904398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43534707 meters 0.02219408493975905 Centerline is valid? [True, True] Translation: X:-131.92, Y:24.81, Z:-6.89 [[ 9.52898017e-01 -2.17814174e-01 -2.11050598e-01 -1.31924027e+02] [ 2.14340890e-01 9.75960567e-01 -3.94835888e-02 2.48071039e+01] [ 2.14577147e-01 -7.61293957e-03 9.76677373e-01 -6.89069434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46534707 meters 0.021977099676160558 Centerline is valid? [True, True] Translation: X:-131.95, Y:24.80, Z:-6.90 [[ 9.52978630e-01 -2.16017534e-01 -2.12528014e-01 -1.31950048e+02] [ 2.12461553e-01 9.76362128e-01 -3.97125024e-02 2.47995388e+01] [ 2.16082901e-01 -7.30886581e-03 9.76347664e-01 -6.89846958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49534707 meters 0.021397559242963878 Centerline is valid? [True, True] Translation: X:-131.98, Y:24.79, Z:-6.90 [[ 9.52497590e-01 -2.16893164e-01 -2.13788908e-01 -1.31977060e+02] [ 2.13336379e-01 9.76165417e-01 -3.98580974e-02 2.47918736e+01] [ 2.17338287e-01 -7.64420985e-03 9.76066409e-01 -6.90140095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52534707 meters 0.023778612203018783 Centerline is valid? [True, True] Translation: X:-132.00, Y:24.78, Z:-6.92 [[ 9.52523567e-01 -2.17403628e-01 -2.13153739e-01 -1.32000517e+02] [ 2.13899453e-01 9.76050457e-01 -3.96551346e-02 2.47792877e+01] [ 2.16669975e-01 -7.82101806e-03 9.76213580e-01 -6.91592551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55534707 meters 0.024308715434948985 Centerline is valid? [True, True] Translation: X:-132.03, Y:24.78, Z:-6.92 [[ 9.51507085e-01 -2.20149280e-01 -2.14868710e-01 -1.32026870e+02] [ 2.16676668e-01 9.75428244e-01 -3.98868710e-02 2.47757629e+01] [ 2.18370074e-01 -8.60439587e-03 9.75828097e-01 -6.92352198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58534707 meters 0.02293254632694198 Centerline is valid? [True, True] Translation: X:-132.05, Y:24.77, Z:-6.93 [[ 9.51505103e-01 -2.18984306e-01 -2.16064604e-01 -1.32053769e+02] [ 2.15459207e-01 9.75691727e-01 -4.00372868e-02 2.47748201e+01] [ 2.19579984e-01 -8.45742549e-03 9.75557842e-01 -6.92784606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61534707 meters 0.024274864130842275 Centerline is valid? [True, True] Translation: X:-132.08, Y:24.77, Z:-6.94 [[ 9.51517799e-01 -2.17358342e-01 -2.17644733e-01 -1.32078811e+02] [ 2.13751799e-01 9.76057434e-01 -4.02747338e-02 2.47662545e+01] [ 2.21187809e-01 -8.19982715e-03 9.75196758e-01 -6.94101584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64534707 meters 0.022904285456025762 Centerline is valid? [True, True] Translation: X:-132.11, Y:24.76, Z:-6.94 [[ 9.49870603e-01 -2.21313685e-01 -2.20830455e-01 -1.32106648e+02] [ 2.17726022e-01 9.75157848e-01 -4.07744005e-02 2.47646654e+01] [ 2.24368484e-01 -9.35013191e-03 9.74459521e-01 -6.93926584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67534707000002 meters 0.026362745113353556 Centerline is valid? [True, True] Translation: X:-132.13, Y:24.75, Z:-6.96 [[ 9.50231539e-01 -2.19518021e-01 -2.21069811e-01 -1.32129737e+02] [ 2.15894503e-01 9.75566724e-01 -4.07324326e-02 2.47481644e+01] [ 2.24609854e-01 -9.02251475e-03 9.74407003e-01 -6.95621801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70534707 meters 0.025113310484065586 Centerline is valid? [True, True] Translation: X:-132.16, Y:24.75, Z:-6.96 [[ 9.46633785e-01 -2.29128617e-01 -2.26681612e-01 -1.32157852e+02] [ 2.25608115e-01 9.73326037e-01 -4.16821882e-02 2.47508734e+01] [ 2.30185697e-01 -1.16834436e-02 9.73076586e-01 -6.96073885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73534707 meters 0.027421548898206857 Centerline is valid? [True, True] Translation: X:-132.18, Y:24.74, Z:-6.97 [[ 9.47438647e-01 -2.26617126e-01 -2.25842176e-01 -1.32183142e+02] [ 2.23065661e-01 9.73920833e-01 -4.14719362e-02 2.47363755e+01] [ 2.29350651e-01 -1.10855191e-02 9.73280735e-01 -6.96947113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76534707 meters 0.02886336982462793 Centerline is valid? [True, True] Translation: X:-132.21, Y:24.73, Z:-6.98 [[ 9.46805474e-01 -2.28357908e-01 -2.26742276e-01 -1.32208592e+02] [ 2.24846903e-01 9.73507674e-01 -4.15533350e-02 2.47252614e+01] [ 2.30224379e-01 -1.16393735e-02 9.73067963e-01 -6.97734764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79534707 meters 0.02605129199346204 Centerline is valid? [True, True] Translation: X:-132.24, Y:24.73, Z:-6.97 [[ 9.45110282e-01 -2.33102109e-01 -2.28975898e-01 -1.32238071e+02] [ 2.29677980e-01 9.72365232e-01 -4.18793653e-02 2.47290151e+01] [ 2.32410370e-01 -1.30101030e-02 9.72530800e-01 -6.97337754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82534707 meters 0.02810830643801263 Centerline is valid? [True, True] Translation: X:-132.26, Y:24.72, Z:-6.98 [[ 9.45110694e-01 -2.35499147e-01 -2.26508119e-01 -1.32263456e+02] [ 2.32236312e-01 9.71780370e-01 -4.13425635e-02 2.47155973e+01] [ 2.29852282e-01 -1.35301113e-02 9.73131473e-01 -6.97900387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85534707 meters 0.027286102010339777 Centerline is valid? [True, True] Translation: X:-132.29, Y:24.71, Z:-6.98 [[ 9.45611713e-01 -2.35710953e-01 -2.24184824e-01 -1.32290921e+02] [ 2.32540504e-01 9.71729162e-01 -4.08331951e-02 2.47105087e+01] [ 2.27471762e-01 -1.35197045e-02 9.73690821e-01 -6.97776022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88534707 meters 0.0314954191086361 Centerline is valid? [True, True] Translation: X:-132.31, Y:24.69, Z:-6.99 [[ 9.45815000e-01 -2.36246830e-01 -2.22758661e-01 -1.32314040e+02] [ 2.33145748e-01 9.71597624e-01 -4.05107153e-02 2.46907378e+01] [ 2.26002314e-01 -1.36195925e-02 9.74031550e-01 -6.98772415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91534707 meters 0.03207790780702132 Centerline is valid? [True, True] Translation: X:-132.34, Y:24.68, Z:-6.99 [[ 9.46607598e-01 -2.34372698e-01 -2.21367329e-01 -1.32340660e+02] [ 2.31279649e-01 9.72057593e-01 -4.01716360e-02 2.46822811e+01] [ 2.24596927e-01 -1.31709821e-02 9.74362738e-01 -6.99269178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94534707 meters 0.029062921938727122 Centerline is valid? [True, True] Translation: X:-132.37, Y:24.69, Z:-6.99 [[ 9.43885454e-01 -2.42619383e-01 -2.24089455e-01 -1.32369278e+02] [ 2.39692053e-01 9.69999519e-01 -4.06036190e-02 2.46868345e+01] [ 2.27217889e-01 -1.53872962e-02 9.73722374e-01 -6.99196884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97534707 meters 0.0288116981626367 Centerline is valid? [True, True] Translation: X:-132.40, Y:24.69, Z:-7.00 [[ 9.42150759e-01 -2.47386656e-01 -2.26167615e-01 -1.32395622e+02] [ 2.44550587e-01 9.68772149e-01 -4.09332751e-02 2.46851613e+01] [ 2.29231232e-01 -1.67441067e-02 9.73227968e-01 -6.99792363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00534707 meters 0.033972938891724695 Centerline is valid? [True, True] Translation: X:-132.42, Y:24.66, Z:-7.00 [[ 9.44627604e-01 -2.41456776e-01 -2.22210070e-01 -1.32419388e+02] [ 2.38574092e-01 9.70294207e-01 -4.01441675e-02 2.46612321e+01] [ 2.25302225e-01 -1.50922769e-02 9.74172023e-01 -7.00227725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03534707 meters 0.03255870719765341 Centerline is valid? [True, True] Translation: X:-132.45, Y:24.66, Z:-7.01 [[ 9.44508452e-01 -2.42501360e-01 -2.21578146e-01 -1.32447401e+02] [ 2.39681685e-01 9.70029223e-01 -3.99499152e-02 2.46598752e+01] [ 2.24625186e-01 -1.53751910e-02 9.74323935e-01 -7.00636037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06534707 meters 0.0335604788426375 Centerline is valid? [True, True] Translation: X:-132.48, Y:24.65, Z:-7.01 [[ 9.44475909e-01 -2.43379305e-01 -2.20752736e-01 -1.32475045e+02] [ 2.40611931e-01 9.69806422e-01 -3.97668479e-02 2.46538084e+01] [ 2.23765849e-01 -1.55569122e-02 9.74518767e-01 -7.01255381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09534707 meters 0.030337244187694384 Centerline is valid? [True, True] Translation: X:-132.50, Y:24.66, Z:-7.02 [[ 9.43596344e-01 -2.43031005e-01 -2.24859667e-01 -1.32502296e+02] [ 2.40168656e-01 9.69888925e-01 -4.04288348e-02 2.46607750e+01] [ 2.27914361e-01 -1.58557433e-02 9.73552073e-01 -7.02344897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12534707 meters 0.03188902192752679 Centerline is valid? [True, True] Translation: X:-132.53, Y:24.65, Z:-7.04 [[ 9.45507608e-01 -2.38264608e-01 -2.21912909e-01 -1.32526763e+02] [ 2.35367635e-01 9.71090692e-01 -3.98113528e-02 2.46499518e+01] [ 2.24983196e-01 -1.45891795e-02 9.74253415e-01 -7.03958819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15534707 meters 0.03400071311751472 Centerline is valid? [True, True] Translation: X:-132.55, Y:24.64, Z:-7.06 [[ 9.44620384e-01 -2.37028608e-01 -2.26957637e-01 -1.32550971e+02] [ 2.33984024e-01 9.71391085e-01 -4.06304813e-02 2.46440712e+01] [ 2.30095212e-01 -1.47240802e-02 9.73056728e-01 -7.06109837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18534707 meters 0.033280898384171004 Centerline is valid? [True, True] Translation: X:-132.58, Y:24.65, Z:-7.07 [[ 9.40020846e-01 -2.44584629e-01 -2.37779663e-01 -1.32577888e+02] [ 2.41497441e-01 9.69470465e-01 -4.24970965e-02 2.46463575e+01] [ 2.40914497e-01 -1.74750233e-02 9.70389009e-01 -7.06992491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21534707 meters 0.03373504458844299 Centerline is valid? [True, True] Translation: X:-132.60, Y:24.64, Z:-7.09 [[ 9.40373060e-01 -2.42250041e-01 -2.38774845e-01 -1.32603848e+02] [ 2.39075121e-01 9.70064921e-01 -4.26278696e-02 2.46434316e+01] [ 2.41953704e-01 -1.69990249e-02 9.70138876e-01 -7.08670463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24534707 meters 0.03733858493927766 Centerline is valid? [True, True] Translation: X:-132.63, Y:24.63, Z:-7.11 [[ 9.41159945e-01 -2.36947952e-01 -2.40984701e-01 -1.32627015e+02] [ 2.33564933e-01 9.71392660e-01 -4.29385849e-02 2.46308717e+01] [ 2.44264980e-01 -1.58734994e-02 9.69578595e-01 -7.10917686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27534707 meters 0.034997462896066624 Centerline is valid? [True, True] Translation: X:-132.65, Y:24.63, Z:-7.12 [[ 9.40385263e-01 -2.37559691e-01 -2.43394637e-01 -1.32654397e+02] [ 2.34150239e-01 9.71236392e-01 -4.32843676e-02 2.46343216e+01] [ 2.46676350e-01 -1.62869311e-02 9.68961049e-01 -7.11848751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30534707 meters 0.03722644748831017 Centerline is valid? [True, True] Translation: X:-132.68, Y:24.63, Z:-7.14 [[ 9.39772988e-01 -2.37490920e-01 -2.45814551e-01 -1.32678125e+02] [ 2.34029740e-01 9.71249386e-01 -4.36429881e-02 2.46282754e+01] [ 2.49112046e-01 -1.65134144e-02 9.68333876e-01 -7.14368420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33534707 meters 0.03324416771958728 Centerline is valid? [True, True] Translation: X:-132.71, Y:24.63, Z:-7.14 [[ 9.38791348e-01 -2.39444262e-01 -2.47663583e-01 -1.32708271e+02] [ 2.36013383e-01 9.70757224e-01 -4.39100715e-02 2.46323474e+01] [ 2.50935227e-01 -1.72295248e-02 9.67850534e-01 -7.13801023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36534707 meters 0.03685534623735159 Centerline is valid? [True, True] Translation: X:-132.73, Y:24.62, Z:-7.15 [[ 9.41618688e-01 -2.32577401e-01 -2.43437875e-01 -1.32732640e+02] [ 2.29056927e-01 9.72459192e-01 -4.30818283e-02 2.46153908e+01] [ 2.46753259e-01 -1.51944768e-02 9.68959213e-01 -7.14982584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39534707 meters 0.031924285093089026 Centerline is valid? [True, True] Translation: X:-132.76, Y:24.62, Z:-7.14 [[ 9.40711600e-01 -2.35753930e-01 -2.43888848e-01 -1.32762754e+02] [ 2.32341449e-01 9.71679016e-01 -4.30968903e-02 2.46224117e+01] [ 2.47141937e-01 -1.61237437e-02 9.68845131e-01 -7.14434717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42534707000002 meters 0.03598537819511204 Centerline is valid? [True, True] Translation: X:-132.79, Y:24.61, Z:-7.14 [[ 9.41871178e-01 -2.31971238e-01 -2.43039149e-01 -1.32791681e+02] [ 2.28482820e-01 9.72604368e-01 -4.28525875e-02 2.46122988e+01] [ 2.46321506e-01 -1.51686531e-02 9.69069465e-01 -7.13530175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45534707 meters 0.033501463688956 Centerline is valid? [True, True] Translation: X:-132.82, Y:24.60, Z:-7.15 [[ 9.43153352e-01 -2.27683195e-01 -2.42120048e-01 -1.32816794e+02] [ 2.24102922e-01 9.73633567e-01 -4.26093583e-02 2.46040082e+01] [ 2.45437641e-01 -1.40726511e-02 9.69310232e-01 -7.15194288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48534707 meters 0.033823736311864874 Centerline is valid? [True, True] Translation: X:-132.84, Y:24.60, Z:-7.17 [[ 9.43954374e-01 -2.25384818e-01 -2.41146893e-01 -1.32843047e+02] [ 2.21772686e-01 9.74176714e-01 -4.23863818e-02 2.45991600e+01] [ 2.44472934e-01 -1.34689836e-02 9.69562567e-01 -7.16609792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51534707 meters 0.033573822016684456 Centerline is valid? [True, True] Translation: X:-132.87, Y:24.60, Z:-7.17 [[ 9.44155997e-01 -2.23214527e-01 -2.42373120e-01 -1.32870831e+02] [ 2.19514428e-01 9.74681950e-01 -4.25266093e-02 2.45956289e+01] [ 2.45729262e-01 -1.30526435e-02 9.69250617e-01 -7.17467099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54534707 meters 0.03434537931034947 Centerline is valid? [True, True] Translation: X:-132.90, Y:24.59, Z:-7.18 [[ 9.43917421e-01 -2.22391520e-01 -2.44053099e-01 -1.32898554e+02] [ 2.18632034e-01 9.74870649e-01 -4.27463509e-02 2.45913901e+01] [ 2.47426629e-01 -1.30088003e-02 9.68819299e-01 -7.18312171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57534707 meters 0.03156163887953985 Centerline is valid? [True, True] Translation: X:-132.93, Y:24.60, Z:-7.18 [[ 9.41471813e-01 -2.28234538e-01 -2.48072209e-01 -1.32928558e+02] [ 2.24567837e-01 9.73492590e-01 -4.33758487e-02 2.45955304e+01] [ 2.51396324e-01 -1.48719005e-02 9.67769970e-01 -7.18014891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60534707 meters 0.03280708537115754 Centerline is valid? [True, True] Translation: X:-132.96, Y:24.59, Z:-7.19 [[ 9.41810898e-01 -2.26438451e-01 -2.48430795e-01 -1.32955907e+02] [ 2.22721210e-01 9.73917586e-01 -4.33566463e-02 2.45892430e+01] [ 2.51768732e-01 -1.44970454e-02 9.67678842e-01 -7.18809099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63534707 meters 0.03392614970341976 Centerline is valid? [True, True] Translation: X:-132.98, Y:24.58, Z:-7.20 [[ 9.43302217e-01 -2.22489281e-01 -2.46331984e-01 -1.32981053e+02] [ 2.18724913e-01 9.74842929e-01 -4.29031059e-02 2.45800471e+01] [ 2.49680474e-01 -1.34083468e-02 9.68235445e-01 -7.19929875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66534707 meters 0.03318003399744834 Centerline is valid? [True, True] Translation: X:-133.01, Y:24.58, Z:-7.21 [[ 9.43505189e-01 -2.20507304e-01 -2.47334767e-01 -1.33008224e+02] [ 2.16667769e-01 9.75298327e-01 -4.29912886e-02 2.45787926e+01] [ 2.50705077e-01 -1.30269682e-02 9.67975858e-01 -7.20955453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69534707 meters 0.03360027213098536 Centerline is valid? [True, True] Translation: X:-133.04, Y:24.57, Z:-7.22 [[ 9.44254272e-01 -2.17900221e-01 -2.46786069e-01 -1.33035362e+02] [ 2.14010390e-01 9.75892486e-01 -4.28183139e-02 2.45744751e+01] [ 2.50166790e-01 -1.23834070e-02 9.68123560e-01 -7.21837809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72534707 meters 0.032589325854047856 Centerline is valid? [True, True] Translation: X:-133.06, Y:24.57, Z:-7.23 [[ 9.45174234e-01 -2.14100399e-01 -2.46590118e-01 -1.33062151e+02] [ 2.10109674e-01 9.76744606e-01 -4.27071421e-02 2.45749217e+01] [ 2.49999183e-01 -1.14452790e-02 9.68178400e-01 -7.23135836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75534707 meters 0.03273868645449393 Centerline is valid? [True, True] Translation: X:-133.09, Y:24.57, Z:-7.24 [[ 9.45072211e-01 -2.13030500e-01 -2.47904261e-01 -1.33089631e+02] [ 2.08981441e-01 9.76980133e-01 -4.28553090e-02 2.45731241e+01] [ 2.51327026e-01 -1.13060282e-02 9.67836195e-01 -7.24220153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78534707 meters 0.02889458844289822 Centerline is valid? [True, True] Translation: X:-133.12, Y:24.58, Z:-7.24 [[ 9.44207473e-01 -2.14654467e-01 -2.49791328e-01 -1.33119419e+02] [ 2.10620178e-01 9.76617369e-01 -4.31005141e-02 2.45773431e+01] [ 2.53202267e-01 -1.19152665e-02 9.67339981e-01 -7.23806585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81534707 meters 0.029628107316900725 Centerline is valid? [True, True] Translation: X:-133.14, Y:24.57, Z:-7.25 [[ 9.47736178e-01 -2.01870179e-01 -2.47071987e-01 -1.33144169e+02] [ 1.97518692e-01 9.79375559e-01 -4.25426996e-02 2.45686818e+01] [ 2.50564368e-01 -8.48208015e-03 9.68062783e-01 -7.25360778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84534707 meters 0.02784904894958515 Centerline is valid? [True, True] Translation: X:-133.17, Y:24.57, Z:-7.25 [[ 9.50386665e-01 -1.92488088e-01 -2.44363504e-01 -1.33173460e+02] [ 1.87948665e-01 9.81280841e-01 -4.19905918e-02 2.45731655e+01] [ 2.47871914e-01 -6.02049579e-03 9.68774106e-01 -7.25379743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87534707 meters 0.025602023811692135 Centerline is valid? [True, True] Translation: X:-133.20, Y:24.57, Z:-7.26 [[ 9.48934851e-01 -1.94613087e-01 -2.48290950e-01 -1.33199358e+02] [ 1.90012098e-01 9.80856871e-01 -4.26051871e-02 2.45695727e+01] [ 2.51829411e-01 -6.74873736e-03 9.67748109e-01 -7.26401237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90534707 meters 0.024721613642717348 Centerline is valid? [True, True] Translation: X:-133.23, Y:24.57, Z:-7.28 [[ 9.50552070e-01 -1.87077462e-01 -2.47896724e-01 -1.33225872e+02] [ 1.82250297e-01 9.82333503e-01 -4.24937504e-02 2.45713321e+01] [ 2.51466880e-01 -4.78672912e-03 9.67854067e-01 -7.27966890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93534707 meters 0.02375371803059195 Centerline is valid? [True, True] Translation: X:-133.25, Y:24.57, Z:-7.29 [[ 9.51484327e-01 -1.82705825e-01 -2.47580605e-01 -1.33253825e+02] [ 1.77766678e-01 9.83160631e-01 -4.23577860e-02 2.45710796e+01] [ 2.51150518e-01 -3.70881210e-03 9.67940939e-01 -7.28854285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96534707 meters 0.022314560206039422 Centerline is valid? [True, True] Translation: X:-133.28, Y:24.58, Z:-7.30 [[ 9.52680738e-01 -1.75131637e-01 -2.48451847e-01 -1.33280864e+02] [ 1.69919954e-01 9.84543415e-01 -4.24437709e-02 2.45759044e+01] [ 2.52044877e-01 -1.78156340e-03 9.67713907e-01 -7.30140762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99534707 meters 0.021462033301770187 Centerline is valid? [True, True] Translation: X:-133.31, Y:24.57, Z:-7.31 [[ 9.52923409e-01 -1.72257345e-01 -2.49528323e-01 -1.33309323e+02] [ 1.66913777e-01 9.85051402e-01 -4.25855235e-02 2.45740809e+01] [ 2.53133893e-01 -1.06897250e-03 9.67430664e-01 -7.30667177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02534707 meters 0.02016211664067396 Centerline is valid? [True, True] Translation: X:-133.34, Y:24.57, Z:-7.31 [[ 9.54490758e-01 -1.64317082e-01 -2.48892125e-01 -1.33337629e+02] [ 1.58752041e-01 9.86407094e-01 -4.24126700e-02 2.45742372e+01] [ 2.52478084e-01 9.70368811e-04 9.67602127e-01 -7.30824056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05534707 meters 0.02016211664067396 Centerline is valid? [True, True] Translation: X:-133.36, Y:24.57, Z:-7.31 [[ 9.54548900e-01 -1.63967250e-01 -2.48899855e-01 -1.33364036e+02] [ 1.58402353e-01 9.86465261e-01 -4.23672552e-02 2.45694866e+01] [ 2.52477903e-01 1.01529408e-03 9.67602128e-01 -7.31323026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08534707 meters 0.019942505671223045 Centerline is valid? [True, True] Translation: X:-133.39, Y:24.57, Z:-7.32 [[ 9.55172604e-01 -1.58536274e-01 -2.50023091e-01 -1.33392679e+02] [ 1.52757843e-01 9.87350281e-01 -4.24789871e-02 2.45689615e+01] [ 2.53594830e-01 2.38177667e-03 9.67307598e-01 -7.32021977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11534707 meters 0.020026567834531477 Centerline is valid? [True, True] Translation: X:-133.42, Y:24.57, Z:-7.33 [[ 9.55507716e-01 -1.55546164e-01 -2.50620021e-01 -1.33419538e+02] [ 1.49652698e-01 9.87823672e-01 -4.25260318e-02 2.45664847e+01] [ 2.54183150e-01 3.12798924e-03 9.67151044e-01 -7.33335016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14534707 meters 0.020287037471104344 Centerline is valid? [True, True] Translation: X:-133.45, Y:24.56, Z:-7.34 [[ 9.55946936e-01 -1.52201814e-01 -2.50998135e-01 -1.33447689e+02] [ 1.46195468e-01 9.88341537e-01 -4.25192988e-02 2.45648982e+01] [ 2.54543397e-01 3.95140366e-03 9.67053280e-01 -7.34204666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17534707000002 meters 0.019977574196542894 Centerline is valid? [True, True] Translation: X:-133.47, Y:24.56, Z:-7.35 [[ 9.56267500e-01 -1.48859801e-01 -2.51780118e-01 -1.33474814e+02] [ 1.42711658e-01 9.88846579e-01 -4.26125135e-02 2.45606690e+01] [ 2.55315198e-01 4.81700364e-03 9.66845875e-01 -7.34770577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20534707 meters 0.020592094537683993 Centerline is valid? [True, True] Translation: X:-133.50, Y:24.56, Z:-7.36 [[ 9.56874681e-01 -1.45759750e-01 -2.51286569e-01 -1.33501549e+02] [ 1.39543268e-01 9.89304251e-01 -4.24826532e-02 2.45579940e+01] [ 2.54791132e-01 5.58522623e-03 9.66979981e-01 -7.35808016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23534707 meters 0.021747091429533665 Centerline is valid? [True, True] Translation: X:-133.53, Y:24.56, Z:-7.37 [[ 9.57660567e-01 -1.39870073e-01 -2.51639825e-01 -1.33527992e+02] [ 1.33457733e-01 9.90144567e-01 -4.24590374e-02 2.45573260e+01] [ 2.55098554e-01 7.07806521e-03 9.66889150e-01 -7.37357209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26534707 meters 0.022560095753439226 Centerline is valid? [True, True] Translation: X:-133.55, Y:24.55, Z:-7.38 [[ 9.58174260e-01 -1.36366046e-01 -2.51607610e-01 -1.33554461e+02] [ 1.29853096e-01 9.90626651e-01 -4.23911841e-02 2.45521642e+01] [ 2.55029922e-01 7.94611427e-03 9.66900511e-01 -7.37962355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29534707 meters 0.024481790511297324 Centerline is valid? [True, True] Translation: X:-133.58, Y:24.55, Z:-7.39 [[ 9.59069092e-01 -1.31523914e-01 -2.50774673e-01 -1.33580940e+02] [ 1.24903175e-01 9.91270685e-01 -4.22093090e-02 2.45487747e+01] [ 2.54137115e-01 9.15909093e-03 9.67124830e-01 -7.39385688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32534707 meters 0.022367680737922502 Centerline is valid? [True, True] Translation: X:-133.61, Y:24.54, Z:-7.40 [[ 9.57619691e-01 -1.35839830e-01 -2.53992258e-01 -1.33607302e+02] [ 1.29213909e-01 9.90698150e-01 -4.26724975e-02 2.45366080e+01] [ 2.57426285e-01 8.04469136e-03 9.66264452e-01 -7.39742127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35534707 meters 0.025060591650835684 Centerline is valid? [True, True] Translation: X:-133.63, Y:24.53, Z:-7.41 [[ 9.59531747e-01 -1.26741035e-01 -2.51466771e-01 -1.33634711e+02] [ 1.19961635e-01 9.91882359e-01 -4.21733671e-02 2.45344469e+01] [ 2.54770550e-01 1.03003198e-02 9.66946674e-01 -7.40580764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38534707 meters 0.02413320479744714 Centerline is valid? [True, True] Translation: X:-133.66, Y:24.52, Z:-7.41 [[ 9.58699649e-01 -1.28067096e-01 -2.53956300e-01 -1.33660214e+02] [ 1.21213171e-01 9.91715248e-01 -4.25233288e-02 2.45224428e+01] [ 2.57298174e-01 9.98425199e-03 9.66280479e-01 -7.41263419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41534707 meters 0.02576726973097967 Centerline is valid? [True, True] Translation: X:-133.69, Y:24.52, Z:-7.42 [[ 9.59388377e-01 -1.24085056e-01 -2.53331484e-01 -1.33687159e+02] [ 1.17147214e-01 9.92211119e-01 -4.23512160e-02 2.45169397e+01] [ 2.56613469e-01 1.09541867e-02 9.66452034e-01 -7.42461185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44534707 meters 0.028993620429482583 Centerline is valid? [True, True] Translation: X:-133.72, Y:24.52, Z:-7.44 [[ 9.60942830e-01 -1.16080327e-01 -2.51225467e-01 -1.33715037e+02] [ 1.09011219e-01 9.93156054e-01 -4.19238164e-02 2.45185238e+01] [ 2.54372624e-01 1.28999963e-02 9.67020247e-01 -7.43623654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47534707 meters 0.03699987274160298 Centerline is valid? [True, True] Translation: X:-133.74, Y:24.49, Z:-7.40 [[ 9.63487814e-01 -1.08676067e-01 -2.44705425e-01 -1.33744875e+02] [ 1.01758635e-01 9.93973125e-01 -4.07750897e-02 2.44888282e+01] [ 2.47661892e-01 1.43854121e-02 9.68739721e-01 -7.40208521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50534707 meters 0.04124587026661886 Centerline is valid? [True, True] Translation: X:-133.77, Y:24.50, Z:-7.43 [[ 9.64390192e-01 -1.01552214e-01 -2.44210372e-01 -1.33771476e+02] [ 9.44509913e-02 9.94699385e-01 -4.06465769e-02 2.45024123e+01] [ 2.47043657e-01 1.61332484e-02 9.68870038e-01 -7.43184162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53534707 meters 0.025799370917821994 Centerline is valid? [True, True] Translation: X:-133.79, Y:24.47, Z:-7.44 [[ 9.59845499e-01 -1.16738178e-01 -2.55085898e-01 -1.33794292e+02] [ 1.09517221e-01 9.93080969e-01 -4.23812217e-02 2.44746801e+01] [ 2.58268457e-01 1.27431263e-02 9.65989139e-01 -7.43844067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56534707 meters 0.041743340487401234 Centerline is valid? [True, True] Translation: X:-133.82, Y:24.48, Z:-7.44 [[ 9.65260691e-01 -9.43191800e-02 -2.43671275e-01 -1.33824649e+02] [ 8.70537268e-02 9.95382458e-01 -4.04402065e-02 2.44818880e+01] [ 2.46360400e-01 1.78228491e-02 9.69014396e-01 -7.44093041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59534707 meters 0.04029107667850412 Centerline is valid? [True, True] Translation: X:-133.85, Y:24.47, Z:-7.44 [[ 9.65199255e-01 -9.45543675e-02 -2.43823441e-01 -1.33851492e+02] [ 8.73057415e-02 9.95362359e-01 -4.03916114e-02 2.44673944e+01] [ 2.46511878e-01 1.76987670e-02 9.68978146e-01 -7.43926523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62534707 meters 0.028868049190358902 Centerline is valid? [True, True] Translation: X:-133.88, Y:24.45, Z:-7.45 [[ 9.62398284e-01 -1.03154990e-01 -2.51293834e-01 -1.33875340e+02] [ 9.57411136e-02 9.94537187e-01 -4.15863360e-02 2.44457985e+01] [ 2.54210901e-01 1.59634669e-02 9.67017055e-01 -7.44561674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65534707 meters 0.02810406219805044 Centerline is valid? [True, True] Translation: X:-133.90, Y:24.43, Z:-7.45 [[ 9.63108668e-01 -9.98075743e-02 -2.49920271e-01 -1.33901471e+02] [ 9.23749849e-02 9.94866361e-01 -4.13253772e-02 2.44336225e+01] [ 2.52761856e-01 1.67144478e-02 9.67384138e-01 -7.44655429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68534707 meters 0.03258421559314159 Centerline is valid? [True, True] Translation: X:-133.93, Y:24.42, Z:-7.45 [[ 9.64711435e-01 -9.19197299e-02 -2.46744016e-01 -1.33929086e+02] [ 8.44397114e-02 9.95594976e-01 -4.07501923e-02 2.44225290e+01] [ 2.49402850e-01 1.84771830e-02 9.68223534e-01 -7.44890816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71534707 meters 0.03245961414323852 Centerline is valid? [True, True] Translation: X:-133.95, Y:24.42, Z:-7.47 [[ 9.63025301e-01 -9.54794176e-02 -2.51924493e-01 -1.33954231e+02] [ 8.78173485e-02 9.95271302e-01 -4.15108338e-02 2.44216428e+01] [ 2.54696648e-01 1.78526423e-02 9.66856194e-01 -7.47388868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74534707 meters 0.04207388924790292 Centerline is valid? [True, True] Translation: X:-133.98, Y:24.42, Z:-7.47 [[ 9.66357987e-01 -8.06459214e-02 -2.44230376e-01 -1.33984693e+02] [ 7.30143055e-02 9.96522127e-01 -4.01567080e-02 2.44214535e+01] [ 2.46619449e-01 2.09734442e-02 9.68885423e-01 -7.47101376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77534707 meters 0.03784120215126326 Centerline is valid? [True, True] Translation: X:-134.01, Y:24.41, Z:-7.48 [[ 9.64863600e-01 -8.48547380e-02 -2.48672290e-01 -1.34009076e+02] [ 7.70911275e-02 9.96188394e-01 -4.08122773e-02 2.44067680e+01] [ 2.51187564e-01 2.02078536e-02 9.67727467e-01 -7.48266713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80534707 meters 0.03781373153420611 Centerline is valid? [True, True] Translation: X:-134.04, Y:24.39, Z:-7.47 [[ 9.66274268e-01 -7.88848730e-02 -2.45135097e-01 -1.34036831e+02] [ 7.11692684e-02 9.96654264e-01 -4.01897258e-02 2.43881304e+01] [ 2.47485301e-01 2.13882124e-02 9.68655548e-01 -7.47204373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83534707 meters 0.04724112897015878 Centerline is valid? [True, True] Translation: X:-134.07, Y:24.39, Z:-7.48 [[ 9.68308192e-01 -6.86214988e-02 -2.40146487e-01 -1.34065119e+02] [ 6.09232360e-02 9.97366736e-01 -3.93440350e-02 2.43874600e+01] [ 2.42213964e-01 2.34666503e-02 9.69939025e-01 -7.48025829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86534707 meters 0.03736835338703362 Centerline is valid? [True, True] Translation: X:-134.09, Y:24.38, Z:-7.50 [[ 9.65085399e-01 -8.04139827e-02 -2.49286509e-01 -1.34089187e+02] [ 7.24925804e-02 9.96533624e-01 -4.08113008e-02 2.43768885e+01] [ 2.51704188e-01 2.13149683e-02 9.67569467e-01 -7.50091636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89534707 meters 0.04744178163611776 Centerline is valid? [True, True] Translation: X:-134.12, Y:24.38, Z:-7.51 [[ 9.67196752e-01 -7.01330302e-02 -2.44155282e-01 -1.34118151e+02] [ 6.22321402e-02 9.97262436e-01 -3.99348831e-02 2.43776439e+01] [ 2.46287646e-01 2.34305834e-02 9.68913517e-01 -7.50879433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92534707000002 meters 0.04607273974947465 Centerline is valid? [True, True] Translation: X:-134.15, Y:24.36, Z:-7.50 [[ 9.67910702e-01 -6.72167817e-02 -2.42137928e-01 -1.34145713e+02] [ 5.93770424e-02 9.97452277e-01 -3.95388581e-02 2.43550438e+01] [ 2.44178703e-01 2.38926499e-02 9.69435868e-01 -7.49731103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95534707 meters 0.03855860726777445 Centerline is valid? [True, True] Translation: X:-134.17, Y:24.34, Z:-7.51 [[ 9.66325536e-01 -7.28590739e-02 -2.46792451e-01 -1.34170380e+02] [ 6.48924804e-02 9.97079270e-01 -4.02727525e-02 2.43354793e+01] [ 2.49005872e-01 2.29016148e-02 9.68231166e-01 -7.50671981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98534707 meters 0.04491458181525603 Centerline is valid? [True, True] Translation: X:-134.19, Y:24.34, Z:-7.54 [[ 9.64515428e-01 -7.77726343e-02 -2.52312123e-01 -1.34194939e+02] [ 6.96111763e-02 9.96726049e-01 -4.11274614e-02 2.43448362e+01] [ 2.54684656e-01 2.21043274e-02 9.66771496e-01 -7.53983374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01534707 meters 0.03838327460153857 Centerline is valid? [True, True] Translation: X:-134.22, Y:24.31, Z:-7.52 [[ 9.65167560e-01 -7.47785855e-02 -2.50718455e-01 -1.34222374e+02] [ 6.66461212e-02 9.96942807e-01 -4.07839891e-02 2.43138012e+01] [ 2.53001730e-01 2.26539707e-02 9.67200560e-01 -7.52483058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04534707 meters 0.04552949685994166 Centerline is valid? [True, True] Translation: X:-134.25, Y:24.31, Z:-7.53 [[ 9.66903706e-01 -6.54904166e-02 -2.46593244e-01 -1.34249343e+02] [ 5.73486238e-02 9.97550027e-01 -4.00634251e-02 2.43069700e+01] [ 2.48612867e-01 2.45956910e-02 9.68290604e-01 -7.53275431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07534707 meters 0.03991707782774972 Centerline is valid? [True, True] Translation: X:-134.28, Y:24.29, Z:-7.54 [[ 9.65778281e-01 -7.02193835e-02 -2.49682899e-01 -1.34275979e+02] [ 6.20385712e-02 9.97251909e-01 -4.04950028e-02 2.42927103e+01] [ 2.51840281e-01 2.36192239e-02 9.67480545e-01 -7.53692679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10534707 meters 0.04093228698716269 Centerline is valid? [True, True] Translation: X:-134.30, Y:24.28, Z:-7.55 [[ 9.65568165e-01 -7.04766843e-02 -2.50421954e-01 -1.34300730e+02] [ 6.22676123e-02 9.97234820e-01 -4.05642526e-02 2.42840032e+01] [ 2.52588326e-01 2.35743739e-02 9.67286610e-01 -7.54773476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13534707 meters 0.05062839722455825 Centerline is valid? [True, True] Translation: X:-134.33, Y:24.30, Z:-7.57 [[ 9.65311511e-01 -6.89012199e-02 -2.51845803e-01 -1.34327905e+02] [ 6.05736413e-02 9.97334427e-01 -4.06801519e-02 2.42951872e+01] [ 2.53977402e-01 2.40138015e-02 9.66912000e-01 -7.57382837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.16534707 meters 0.05496653183202997 Centerline is valid? [True, True] Translation: X:-134.36, Y:24.30, Z:-7.60 [[ 9.64021577e-01 -7.45407342e-02 -2.55158927e-01 -1.34355668e+02] [ 6.62005682e-02 9.96958192e-01 -4.11320881e-02 2.43038028e+01] [ 2.57448798e-01 2.27605545e-02 9.66023847e-01 -7.59705307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19534707 meters 0.039656339199742756 Centerline is valid? [True, True] Translation: X:-134.38, Y:24.26, Z:-7.58 [[ 9.64313740e-01 -7.15608444e-02 -2.54907938e-01 -1.34381365e+02] [ 6.31475442e-02 9.97159678e-01 -4.10483257e-02 2.42564127e+01] [ 2.57121370e-01 2.34866542e-02 9.66093670e-01 -7.57539841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22534707 meters 0.051226010912895546 Centerline is valid? [True, True] Translation: X:-134.41, Y:24.26, Z:-7.59 [[ 9.67102318e-01 -5.90514241e-02 -2.47438953e-01 -1.34409456e+02] [ 5.07448770e-02 9.97917503e-01 -3.98197673e-02 2.42588203e+01] [ 2.49275076e-01 2.59535300e-02 9.68084888e-01 -7.58624387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25534707 meters 0.05573783916530735 Centerline is valid? [True, True] Translation: X:-134.44, Y:24.27, Z:-7.63 [[ 9.63727643e-01 -7.24156245e-02 -2.56875470e-01 -1.34435054e+02] [ 6.39157821e-02 9.97100452e-01 -4.12972319e-02 2.42742559e+01] [ 2.59121212e-01 2.33808874e-02 9.65561770e-01 -7.62571128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28534707 meters 0.06166697972082173 Centerline is valid? [True, True] Translation: X:-134.46, Y:24.27, Z:-7.64 [[ 9.65960281e-01 -6.77231087e-02 -2.49668413e-01 -1.34461844e+02] [ 5.95684670e-02 9.97419130e-01 -4.00833690e-02 2.42655204e+01] [ 2.51738622e-01 2.38465778e-02 9.67501425e-01 -7.63608545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31534707 meters 0.054428423700961036 Centerline is valid? [True, True] Translation: X:-134.49, Y:24.25, Z:-7.64 [[ 9.63887492e-01 -7.32454021e-02 -2.56039087e-01 -1.34486463e+02] [ 6.48518303e-02 9.97048776e-01 -4.10850179e-02 2.42503967e+01] [ 2.58292747e-01 2.29967315e-02 9.65792942e-01 -7.64327170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34534707 meters 0.05280222936142034 Centerline is valid? [True, True] Translation: X:-134.51, Y:24.24, Z:-7.65 [[ 9.63870864e-01 -7.57782236e-02 -2.55363698e-01 -1.34513626e+02] [ 6.75233984e-02 9.96876874e-01 -4.09522670e-02 2.42403129e+01] [ 2.57669455e-01 2.22296723e-02 9.65977377e-01 -7.64964439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37534707 meters 0.057232408295838054 Centerline is valid? [True, True] Translation: X:-134.54, Y:24.23, Z:-7.65 [[ 9.65105735e-01 -6.77048985e-02 -2.52956451e-01 -1.34540748e+02] [ 5.93428830e-02 9.97413675e-01 -4.05509912e-02 2.42328521e+01] [ 2.55047724e-01 2.41248291e-02 9.66627462e-01 -7.65397508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40534707 meters 0.05296967548063885 Centerline is valid? [True, True] Translation: X:-134.57, Y:24.22, Z:-7.67 [[ 9.63391349e-01 -7.38598211e-02 -2.57724340e-01 -1.34567249e+02] [ 6.53892198e-02 9.97004926e-01 -4.12968242e-02 2.42229117e+01] [ 2.60002612e-01 2.29326096e-02 9.65335557e-01 -7.66655312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43534707 meters 0.05124498335889459 Centerline is valid? [True, True] Translation: X:-134.59, Y:24.21, Z:-7.67 [[ 9.62902461e-01 -7.68115236e-02 -2.58686763e-01 -1.34592934e+02] [ 6.83837754e-02 9.96798274e-01 -4.14350099e-02 2.42110407e+01] [ 2.61041205e-01 2.22078955e-02 9.65072173e-01 -7.67317785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46534707 meters 0.05563866405798281 Centerline is valid? [True, True] Translation: X:-134.62, Y:24.21, Z:-7.69 [[ 9.62381490e-01 -7.73060580e-02 -2.60471960e-01 -1.34620004e+02] [ 6.87871763e-02 9.96760361e-01 -4.16786095e-02 2.42134412e+01] [ 2.62850134e-01 2.21935917e-02 9.64581387e-01 -7.69123354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49534707 meters 0.04980251380590259 Centerline is valid? [True, True] Translation: X:-134.65, Y:24.20, Z:-7.69 [[ 9.62237845e-01 -7.68662286e-02 -2.61131982e-01 -1.34645894e+02] [ 6.83049612e-02 9.96791857e-01 -4.17184137e-02 2.41959400e+01] [ 2.63500970e-01 2.23064266e-02 9.64401194e-01 -7.69083251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52534707 meters 0.05573382456253604 Centerline is valid? [True, True] Translation: X:-134.67, Y:24.20, Z:-7.71 [[ 9.61731788e-01 -7.73288959e-02 -2.62853972e-01 -1.34672439e+02] [ 6.86815676e-02 9.96756561e-01 -4.19428228e-02 2.42007867e+01] [ 2.65244813e-01 2.22845231e-02 9.63923539e-01 -7.70838540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55534707 meters 0.05267157340382452 Centerline is valid? [True, True] Translation: X:-134.70, Y:24.19, Z:-7.72 [[ 9.61310017e-01 -8.19082261e-02 -2.63009683e-01 -1.34699156e+02] [ 7.34362629e-02 9.96419371e-01 -4.18993241e-02 2.41918740e+01] [ 2.65499842e-01 2.09637917e-02 9.63882956e-01 -7.71832822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58534707 meters 0.05982297278906275 Centerline is valid? [True, True] Translation: X:-134.73, Y:24.19, Z:-7.72 [[ 9.63363014e-01 -7.20000395e-02 -2.58355758e-01 -1.34728905e+02] [ 6.34910766e-02 9.97134088e-01 -4.11399339e-02 2.41907015e+01] [ 2.60577410e-01 2.32294055e-02 9.65173460e-01 -7.71992498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61534707 meters 0.05785444475261822 Centerline is valid? [True, True] Translation: X:-134.75, Y:24.18, Z:-7.73 [[ 9.63092392e-01 -7.29296226e-02 -2.59102904e-01 -1.34754692e+02] [ 6.44076083e-02 9.97071150e-01 -4.12405456e-02 2.41844336e+01] [ 2.61351688e-01 2.30302573e-02 9.64968861e-01 -7.73125976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64534707 meters 0.0486475383011148 Centerline is valid? [True, True] Translation: X:-134.78, Y:24.17, Z:-7.73 [[ 9.61182792e-01 -7.30335421e-02 -2.66070934e-01 -1.34782114e+02] [ 6.40437649e-02 9.97049329e-01 -4.23205917e-02 2.41658502e+01] [ 2.68376669e-01 2.36376401e-02 9.63024001e-01 -7.72588125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67534707000002 meters 0.05315228341217529 Centerline is valid? [True, True] Translation: X:-134.81, Y:24.17, Z:-7.75 [[ 9.61867176e-01 -7.87526184e-02 -2.61934268e-01 -1.34809014e+02] [ 7.02617036e-02 9.96659098e-01 -4.16405511e-02 2.41704308e+01] [ 2.64338473e-01 2.16487314e-02 9.64186965e-01 -7.74674741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70534707 meters 0.05492391230668156 Centerline is valid? [True, True] Translation: X:-134.84, Y:24.17, Z:-7.76 [[ 9.61823334e-01 -7.59859414e-02 -2.62910650e-01 -1.34835700e+02] [ 6.73339155e-02 9.96855461e-01 -4.17771950e-02 2.41655823e+01] [ 2.65258397e-01 2.24794775e-02 9.63915274e-01 -7.75563785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73534707 meters 0.05242354155522915 Centerline is valid? [True, True] Translation: X:-134.86, Y:24.16, Z:-7.76 [[ 9.61317593e-01 -7.98562251e-02 -2.63612347e-01 -1.34863881e+02] [ 7.13042231e-02 9.96575552e-01 -4.18673770e-02 2.41572235e+01] [ 2.66052990e-01 2.14511725e-02 9.63719697e-01 -7.76288167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76534707 meters 0.045993639212314814 Centerline is valid? [True, True] Translation: X:-134.89, Y:24.15, Z:-7.78 [[ 9.58812360e-01 -8.82110229e-02 -2.69995694e-01 -1.34888201e+02] [ 7.95593190e-02 9.95908986e-01 -4.28439867e-02 2.41460366e+01] [ 2.72670449e-01 1.95986704e-02 9.61907853e-01 -7.77661853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79534707 meters 0.04728441535156066 Centerline is valid? [True, True] Translation: X:-134.92, Y:24.14, Z:-7.78 [[ 9.59426230e-01 -8.59444295e-02 -2.68542107e-01 -1.34915475e+02] [ 7.73210004e-02 9.96098055e-01 -4.25455925e-02 2.41410875e+01] [ 2.71150828e-01 2.00554130e-02 9.62327911e-01 -7.78143017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82534707 meters 0.04883148549615178 Centerline is valid? [True, True] Translation: X:-134.94, Y:24.13, Z:-7.79 [[ 9.59992857e-01 -8.69810709e-02 -2.66172891e-01 -1.34941964e+02] [ 7.85741013e-02 9.96019186e-01 -4.20938416e-02 2.41316383e+01] [ 2.68774673e-01 1.94954916e-02 9.63005764e-01 -7.78939743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85534707 meters 0.04582747870563383 Centerline is valid? [True, True] Translation: X:-134.97, Y:24.12, Z:-7.80 [[ 9.59533246e-01 -9.13610679e-02 -2.66362731e-01 -1.34968756e+02] [ 8.31127513e-02 9.95650413e-01 -4.21013739e-02 2.41211358e+01] [ 2.69050590e-01 1.82595285e-02 9.62952943e-01 -7.79588860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88534707 meters 0.0470624042465371 Centerline is valid? [True, True] Translation: X:-135.00, Y:24.12, Z:-7.81 [[ 9.59195736e-01 -9.14430442e-02 -2.67547585e-01 -1.34995911e+02] [ 8.31354982e-02 9.95642616e-01 -4.22406217e-02 2.41160087e+01] [ 2.70244389e-01 1.82743224e-02 9.62618315e-01 -7.80529395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91534707 meters 0.040285725393664734 Centerline is valid? [True, True] Translation: X:-135.02, Y:24.10, Z:-7.81 [[ 9.57708853e-01 -1.02050017e-01 -2.69034473e-01 -1.35021352e+02] [ 9.40749653e-02 9.94661547e-01 -4.24064648e-02 2.41020619e+01] [ 2.71925825e-01 1.53036380e-02 9.62196521e-01 -7.81481130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94534707 meters 0.040285725393664734 Centerline is valid? [True, True] Translation: X:-135.05, Y:24.10, Z:-7.82 [[ 9.57747519e-01 -1.01666715e-01 -2.69041945e-01 -1.35047946e+02] [ 9.36901635e-02 9.94699888e-01 -4.23590041e-02 2.40975698e+01] [ 2.71922493e-01 1.53626473e-02 9.62196522e-01 -7.81981805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97534707 meters 0.03469832063013597 Centerline is valid? [True, True] Translation: X:-135.07, Y:24.09, Z:-7.83 [[ 9.54973277e-01 -1.10215306e-01 -2.75460753e-01 -1.35073746e+02] [ 1.02212175e-01 9.93820290e-01 -4.32886017e-02 2.40884279e+01] [ 2.78529552e-01 1.31840150e-02 9.60337165e-01 -7.83192567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00534707 meters 0.03226789381247151 Centerline is valid? [True, True] Translation: X:-135.10, Y:24.08, Z:-7.84 [[ 9.55173124e-01 -1.21354339e-01 -2.70032273e-01 -1.35100148e+02] [ 1.14113207e-01 9.92561846e-01 -4.24164777e-02 2.40753128e+01] [ 2.73171155e-01 9.70083079e-03 9.61916532e-01 -7.83958071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03534707 meters 0.031130952923480837 Centerline is valid? [True, True] Translation: X:-135.13, Y:24.07, Z:-7.85 [[ 9.53536478e-01 -1.20873654e-01 -2.75966929e-01 -1.35126756e+02] [ 1.13288202e-01 9.92617024e-01 -4.33269779e-02 2.40678399e+01] [ 2.79166562e-01 1.00500567e-02 9.60190099e-01 -7.84726944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06534707 meters 0.0311664323148036 Centerline is valid? [True, True] Translation: X:-135.15, Y:24.06, Z:-7.87 [[ 9.54921376e-01 -1.29320555e-01 -2.67210329e-01 -1.35151869e+02] [ 1.22551150e-01 9.91576014e-01 -4.19311939e-02 2.40581691e+01] [ 2.70381918e-01 7.29406033e-03 9.62725514e-01 -7.86580266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09534707 meters 0.028891687056686603 Centerline is valid? [True, True] Translation: X:-135.18, Y:24.05, Z:-7.86 [[ 9.53814411e-01 -1.32103358e-01 -2.69790236e-01 -1.35179759e+02] [ 1.25316073e-01 9.91214335e-01 -4.23086667e-02 2.40474887e+01] [ 2.73009067e-01 6.54556301e-03 9.61989192e-01 -7.86055015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12534707 meters 0.027475546655655537 Centerline is valid? [True, True] Translation: X:-135.21, Y:24.04, Z:-7.87 [[ 9.52149456e-01 -1.35288798e-01 -2.74059035e-01 -1.35205991e+02] [ 1.28416925e-01 9.90789810e-01 -4.29493489e-02 2.40385940e+01] [ 2.77345465e-01 5.70038052e-03 9.60753350e-01 -7.86941804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15534707 meters 0.02723105237787211 Centerline is valid? [True, True] Translation: X:-135.23, Y:24.03, Z:-7.88 [[ 9.52283470e-01 -1.39724754e-01 -2.71354356e-01 -1.35233784e+02] [ 1.33174401e-01 9.90180888e-01 -4.25016250e-02 2.40308232e+01] [ 2.74628426e-01 4.33614126e-03 9.61540652e-01 -7.87896655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18534707 meters 0.028383865158938138 Centerline is valid? [True, True] Translation: X:-135.26, Y:24.02, Z:-7.89 [[ 9.51846296e-01 -1.39983176e-01 -2.72751424e-01 -1.35259455e+02] [ 1.33382821e-01 9.90144745e-01 -4.26896476e-02 2.40230754e+01] [ 2.76039222e-01 4.25362842e-03 9.61136959e-01 -7.88674965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21534707 meters 0.026799627600770842 Centerline is valid? [True, True] Translation: X:-135.28, Y:24.01, Z:-7.89 [[ 9.50556510e-01 -1.46577245e-01 -2.73783551e-01 -1.35284629e+02] [ 1.40204080e-01 9.89196526e-01 -4.28141157e-02 2.40116260e+01] [ 2.77101313e-01 2.31166541e-03 9.60837925e-01 -7.89273372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24534707 meters 0.02617994758393804 Centerline is valid? [True, True] Translation: X:-135.31, Y:24.01, Z:-7.90 [[ 9.50905059e-01 -1.45930481e-01 -2.72917319e-01 -1.35312270e+02] [ 1.39589685e-01 9.89291864e-01 -4.26184024e-02 2.40054705e+01] [ 2.76214207e-01 2.42961188e-03 9.61093028e-01 -7.89834850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27534707 meters 0.028222073994133377 Centerline is valid? [True, True] Translation: X:-135.34, Y:24.00, Z:-7.90 [[ 9.51761128e-01 -1.46330643e-01 -2.69700014e-01 -1.35338990e+02] [ 1.40179340e-01 9.89233280e-01 -4.20389142e-02 2.39980231e+01] [ 2.72947811e-01 2.20463457e-03 9.62026316e-01 -7.90430680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30534707 meters 0.02770640235969973 Centerline is valid? [True, True] Translation: X:-135.37, Y:23.99, Z:-7.91 [[ 9.51997936e-01 -1.48753471e-01 -2.67530062e-01 -1.35365492e+02] [ 1.42805106e-01 9.88873226e-01 -4.16706746e-02 2.39894602e+01] [ 2.70751973e-01 1.46573741e-03 9.62648025e-01 -7.91098767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33534707 meters 0.028299018069072566 Centerline is valid? [True, True] Translation: X:-135.39, Y:23.98, Z:-7.92 [[ 9.52115059e-01 -1.49282851e-01 -2.66817438e-01 -1.35393329e+02] [ 1.43403779e-01 9.88793743e-01 -4.15004804e-02 2.39849210e+01] [ 2.70022723e-01 1.25060352e-03 9.62853138e-01 -7.91776132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36534707 meters 0.02651272080729648 Centerline is valid? [True, True] Translation: X:-135.42, Y:23.98, Z:-7.92 [[ 9.51477666e-01 -1.53347295e-01 -2.66786165e-01 -1.35420396e+02] [ 1.47651542e-01 9.88172357e-01 -4.14054957e-02 2.39796353e+01] [ 2.69980134e-01 5.01573071e-06 9.62865893e-01 -7.92332475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39534707 meters 0.026532256190827535 Centerline is valid? [True, True] Translation: X:-135.45, Y:23.98, Z:-7.93 [[ 9.51775468e-01 -1.52901903e-01 -2.65978318e-01 -1.35447909e+02] [ 1.47240350e-01 9.88241369e-01 -4.12222825e-02 2.39755122e+01] [ 2.69153743e-01 7.16166045e-05 9.63097221e-01 -7.92729686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42534707000002 meters 0.02931140456784198 Centerline is valid? [True, True] Translation: X:-135.47, Y:23.97, Z:-7.94 [[ 9.54623636e-01 -1.49501760e-01 -2.57571226e-01 -1.35474484e+02] [ 1.44089225e-01 9.88761001e-01 -3.98745249e-02 2.39710948e+01] [ 2.60637695e-01 9.51925638e-04 9.65436215e-01 -7.94355124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45534707 meters 0.03319610720354933 Centerline is valid? [True, True] Translation: X:-135.50, Y:23.97, Z:-7.95 [[ 9.57072768e-01 -1.38161657e-01 -2.54800065e-01 -1.35502619e+02] [ 1.32477156e-01 9.90401708e-01 -3.94241009e-02 2.39706231e+01] [ 2.57801319e-01 3.97654552e-03 9.66189768e-01 -7.94865173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48534707 meters 0.0339839369846168 Centerline is valid? [True, True] Translation: X:-135.53, Y:23.97, Z:-7.94 [[ 9.57727736e-01 -1.36220414e-01 -2.53380314e-01 -1.35531064e+02] [ 1.30540788e-01 9.90668584e-01 -3.91772769e-02 2.39651159e+01] [ 2.56352662e-01 4.44469879e-03 9.66573100e-01 -7.94279065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51534707 meters 0.027402163660897788 Centerline is valid? [True, True] Translation: X:-135.56, Y:23.96, Z:-7.96 [[ 9.53403036e-01 -1.48801257e-01 -2.62451591e-01 -1.35558110e+02] [ 1.43174788e-01 9.88866533e-01 -4.05457833e-02 2.39636854e+01] [ 2.65562858e-01 1.08002207e-03 9.64092943e-01 -7.95742759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54534707 meters 0.027140424312825005 Centerline is valid? [True, True] Translation: X:-135.59, Y:23.96, Z:-7.96 [[ 9.55716443e-01 -1.43801098e-01 -2.56763170e-01 -1.35586328e+02] [ 1.38249688e-01 9.89603727e-01 -3.96419864e-02 2.39605156e+01] [ 2.59794351e-01 2.38907009e-03 9.65661011e-01 -7.95829482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57534707 meters 0.027492558146465486 Centerline is valid? [True, True] Translation: X:-135.61, Y:23.96, Z:-7.97 [[ 9.55832189e-01 -1.43804047e-01 -2.56330301e-01 -1.35613571e+02] [ 1.38286832e-01 9.89603447e-01 -3.95192263e-02 2.39571692e+01] [ 2.59348374e-01 2.32664328e-03 9.65781035e-01 -7.96704069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60534707 meters 0.030888781581429825 Centerline is valid? [True, True] Translation: X:-135.64, Y:23.96, Z:-7.97 [[ 9.59869604e-01 -1.30288530e-01 -2.48345007e-01 -1.35642459e+02] [ 1.24694882e-01 9.91459778e-01 -3.81928762e-02 2.39555143e+01] [ 2.51200179e-01 5.69282961e-03 9.67918417e-01 -7.97263737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63534707 meters 0.036308136206894145 Centerline is valid? [True, True] Translation: X:-135.67, Y:23.95, Z:-7.97 [[ 9.63903164e-01 -1.17514690e-01 -2.38916279e-01 -1.35672369e+02] [ 1.11976477e-01 9.93033945e-01 -3.66722394e-02 2.39525649e+01] [ 2.41561502e-01 8.59548429e-03 9.70347442e-01 -7.97381095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.66534707 meters 0.028564023146005212 Centerline is valid? [True, True] Translation: X:-135.70, Y:23.95, Z:-7.98 [[ 9.60685011e-01 -1.29342314e-01 -2.45672294e-01 -1.35699669e+02] [ 1.23872936e-01 9.91583375e-01 -3.76551053e-02 2.39470284e+01] [ 2.48474961e-01 5.74254698e-03 9.68621297e-01 -7.98309914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69534707 meters 0.028455971704531412 Centerline is valid? [True, True] Translation: X:-135.73, Y:23.94, Z:-7.99 [[ 9.60789573e-01 -1.29646702e-01 -2.45102283e-01 -1.35726520e+02] [ 1.24235805e-01 9.91544673e-01 -3.74783547e-02 2.39425625e+01] [ 2.47888808e-01 5.55833290e-03 9.68772545e-01 -7.99431733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72534707 meters 0.028954957396933295 Centerline is valid? [True, True] Translation: X:-135.75, Y:23.94, Z:-8.00 [[ 9.61156075e-01 -1.27648537e-01 -2.44713813e-01 -1.35753511e+02] [ 1.22216111e-01 9.91801531e-01 -3.73221947e-02 2.39378536e+01] [ 2.47471658e-01 5.96448364e-03 9.68876774e-01 -8.00007798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75534707 meters 0.03018030150000115 Centerline is valid? [True, True] Translation: X:-135.78, Y:23.93, Z:-8.01 [[ 9.63222650e-01 -1.24497125e-01 -2.38123063e-01 -1.35781518e+02] [ 1.19284919e-01 9.92198703e-01 -3.62331553e-02 2.39346427e+01] [ 2.40776318e-01 6.49610565e-03 9.70558893e-01 -8.01241247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78534707 meters 0.03231585754820297 Centerline is valid? [True, True] Translation: X:-135.81, Y:23.93, Z:-8.03 [[ 9.64619990e-01 -1.21849439e-01 -2.33796896e-01 -1.35809805e+02] [ 1.16758092e-01 9.92523955e-01 -3.55492188e-02 2.39348213e+01] [ 2.36380672e-01 6.99380756e-03 9.71635356e-01 -8.02564646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81534707 meters 0.028145008699933693 Centerline is valid? [True, True] Translation: X:-135.84, Y:23.92, Z:-8.01 [[ 9.63787359e-01 -1.23906805e-01 -2.36137736e-01 -1.35838672e+02] [ 1.18779475e-01 9.92272397e-01 -3.58737488e-02 2.39175602e+01] [ 2.38757959e-01 6.52634923e-03 9.71057178e-01 -8.01323774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84534707 meters 0.02775662108795084 Centerline is valid? [True, True] Translation: X:-135.87, Y:23.91, Z:-8.02 [[ 9.63558287e-01 -1.27027482e-01 -2.35413354e-01 -1.35865633e+02] [ 1.22046717e-01 9.91883168e-01 -3.56704332e-02 2.39106719e+01] [ 2.38033669e-01 5.63911463e-03 9.71240533e-01 -8.02200330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87534707 meters 0.027925459773801984 Centerline is valid? [True, True] Translation: X:-135.89, Y:23.91, Z:-8.03 [[ 9.63838032e-01 -1.26955553e-01 -2.34304365e-01 -1.35892182e+02] [ 1.22042977e-01 9.91892969e-01 -3.54097446e-02 2.39051920e+01] [ 2.36900316e-01 5.53405642e-03 9.71518201e-01 -8.03252758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90534707 meters 0.026300279269532628 Centerline is valid? [True, True] Translation: X:-135.92, Y:23.90, Z:-8.03 [[ 9.63571956e-01 -1.28062444e-01 -2.34795862e-01 -1.35919043e+02] [ 1.23181006e-01 9.91752522e-01 -3.54030473e-02 2.38963207e+01] [ 2.37393189e-01 5.19099305e-03 9.71399777e-01 -8.03228871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93534707 meters 0.02616765869485743 Centerline is valid? [True, True] Translation: X:-135.95, Y:23.89, Z:-8.04 [[ 9.63295731e-01 -1.29992223e-01 -2.34868808e-01 -1.35945478e+02] [ 1.25178322e-01 9.91504072e-01 -3.53562297e-02 2.38890941e+01] [ 2.37469415e-01 4.65802190e-03 9.71383848e-01 -8.04153255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96534707 meters 0.026869700608128527 Centerline is valid? [True, True] Translation: X:-135.97, Y:23.88, Z:-8.05 [[ 9.63740291e-01 -1.28501770e-01 -2.33863094e-01 -1.35972497e+02] [ 1.23709311e-01 9.91697140e-01 -3.51110995e-02 2.38839830e+01] [ 2.36433200e-01 4.90693902e-03 9.71635355e-01 -8.05007689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99534707 meters 0.02711799680746633 Centerline is valid? [True, True] Translation: X:-136.00, Y:23.88, Z:-8.06 [[ 9.63814930e-01 -1.28113372e-01 -2.33768572e-01 -1.35998775e+02] [ 1.23337055e-01 9.91747416e-01 -3.50004756e-02 2.38790302e+01] [ 2.36323407e-01 4.90165366e-03 9.71662092e-01 -8.05623957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02534707 meters 0.028055258737232247 Centerline is valid? [True, True] Translation: X:-136.03, Y:23.87, Z:-8.06 [[ 9.64312139e-01 -1.26318424e-01 -2.32692404e-01 -1.36025926e+02] [ 1.21556685e-01 9.91975983e-01 -3.47508351e-02 2.38709136e+01] [ 2.35214947e-01 5.22533482e-03 9.71929331e-01 -8.05937179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05534707 meters 0.028540324307133956 Centerline is valid? [True, True] Translation: X:-136.05, Y:23.87, Z:-8.07 [[ 9.64390735e-01 -1.24507965e-01 -2.33341546e-01 -1.36053162e+02] [ 1.19680932e-01 9.92202666e-01 -3.47899998e-02 2.38663262e+01] [ 2.35853736e-01 5.62461979e-03 9.71772288e-01 -8.06637935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08534707 meters 0.028363970096498325 Centerline is valid? [True, True] Translation: X:-136.08, Y:23.86, Z:-8.07 [[ 9.64300735e-01 -1.24058630e-01 -2.33952024e-01 -1.36079621e+02] [ 1.19211494e-01 9.92258678e-01 -3.48042351e-02 2.38585881e+01] [ 2.36458692e-01 5.67197928e-03 9.71624987e-01 -8.07093381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11534707 meters 0.029099857420128352 Centerline is valid? [True, True] Translation: X:-136.11, Y:23.85, Z:-8.07 [[ 9.64600307e-01 -1.20693013e-01 -2.34476960e-01 -1.36106430e+02] [ 1.15734661e-01 9.92668762e-01 -3.48456185e-02 2.38536631e+01] [ 2.36963577e-01 6.47498283e-03 9.71496957e-01 -8.07423593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14534707 meters 0.03049734592043903 Centerline is valid? [True, True] Translation: X:-136.13, Y:23.85, Z:-8.08 [[ 9.65411657e-01 -1.15857529e-01 -2.33575182e-01 -1.36133581e+02] [ 1.10812984e-01 9.93236993e-01 -3.46519575e-02 2.38478222e+01] [ 2.36010202e-01 7.57024084e-03 9.71721090e-01 -8.08184427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17534707000002 meters 0.031288691819574076 Centerline is valid? [True, True] Translation: X:-136.16, Y:23.84, Z:-8.09 [[ 9.65889068e-01 -1.11777411e-01 -2.33589637e-01 -1.36160699e+02] [ 1.06633834e-01 9.93697024e-01 -3.45752750e-02 2.38411381e+01] [ 2.35982062e-01 8.48732145e-03 9.71720346e-01 -8.08725621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20534707 meters 0.03240132005304317 Centerline is valid? [True, True] Translation: X:-136.19, Y:23.84, Z:-8.09 [[ 9.66637938e-01 -1.06136098e-01 -2.33122768e-01 -1.36189430e+02] [ 1.00858757e-01 9.94303170e-01 -3.44777876e-02 2.38361323e+01] [ 2.35454045e-01 9.81506490e-03 9.71835921e-01 -8.09266919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23534707 meters 0.03270205633479857 Centerline is valid? [True, True] Translation: X:-136.22, Y:23.83, Z:-8.10 [[ 9.66520778e-01 -1.05935946e-01 -2.33698867e-01 -1.36216601e+02] [ 1.00634479e-01 9.94324122e-01 -3.45288436e-02 2.38294998e+01] [ 2.36030267e-01 9.85468098e-03 9.71695733e-01 -8.09604700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26534707 meters 0.03638690450539243 Centerline is valid? [True, True] Translation: X:-136.25, Y:23.83, Z:-8.11 [[ 9.67425728e-01 -9.93059389e-02 -2.32864320e-01 -1.36245085e+02] [ 9.38647868e-02 9.94991830e-01 -3.43607308e-02 2.38282262e+01] [ 2.35110321e-01 1.13836952e-02 9.71902026e-01 -8.10585473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29534707 meters 0.03836373065717307 Centerline is valid? [True, True] Translation: X:-136.27, Y:23.82, Z:-8.11 [[ 9.67731579e-01 -9.59338124e-02 -2.33007071e-01 -1.36272623e+02] [ 9.04061875e-02 9.95313668e-01 -3.43136028e-02 2.38247449e+01] [ 2.35206957e-01 1.21410760e-02 9.71869478e-01 -8.11393624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32534707 meters 0.038794654113650275 Centerline is valid? [True, True] Translation: X:-136.30, Y:23.82, Z:-8.11 [[ 9.68100234e-01 -9.21404029e-02 -2.33006617e-01 -1.36301247e+02] [ 8.65105066e-02 9.95660659e-01 -3.42897240e-02 2.38178764e+01] [ 2.35154990e-01 1.30383693e-02 9.71870429e-01 -8.11471314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35534707 meters 0.04114423175090289 Centerline is valid? [True, True] Translation: X:-136.33, Y:23.81, Z:-8.12 [[ 9.68940314e-01 -8.85045735e-02 -2.30914722e-01 -1.36328464e+02] [ 8.28841108e-02 9.95980801e-01 -3.39480289e-02 2.38102886e+01] [ 2.32991186e-01 1.37544523e-02 9.72381572e-01 -8.11915244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38534707 meters 0.040742061444802746 Centerline is valid? [True, True] Translation: X:-136.36, Y:23.81, Z:-8.13 [[ 9.68794514e-01 -8.62693761e-02 -2.32367778e-01 -1.36356692e+02] [ 8.05345045e-02 9.96169268e-01 -3.40732059e-02 2.38061243e+01] [ 2.34417113e-01 1.42963111e-02 9.72030983e-01 -8.12721917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41534707 meters 0.04243503109034854 Centerline is valid? [True, True] Translation: X:-136.38, Y:23.80, Z:-8.13 [[ 9.69089062e-01 -8.30156398e-02 -2.32324759e-01 -1.36383864e+02] [ 7.72056688e-02 9.96435071e-01 -3.40063872e-02 2.37974748e+01] [ 2.34319600e-01 1.50184294e-02 9.72043606e-01 -8.13116424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44534707 meters 0.04238991843985282 Centerline is valid? [True, True] Translation: X:-136.41, Y:23.79, Z:-8.14 [[ 9.69130810e-01 -8.23211002e-02 -2.32397740e-01 -1.36410876e+02] [ 7.64965541e-02 9.96490637e-01 -3.39807012e-02 2.37869731e+01] [ 2.34379501e-01 1.51541182e-02 9.72027058e-01 -8.13809146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47534707 meters 0.041317191409515897 Centerline is valid? [True, True] Translation: X:-136.44, Y:23.78, Z:-8.14 [[ 9.69022332e-01 -8.26866117e-02 -2.32720099e-01 -1.36437789e+02] [ 7.68751902e-02 9.96462619e-01 -3.39478268e-02 2.37774369e+01] [ 2.34703910e-01 1.50058004e-02 9.71951079e-01 -8.14152883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50534707 meters 0.04190062252371697 Centerline is valid? [True, True] Translation: X:-136.46, Y:23.77, Z:-8.15 [[ 9.69312961e-01 -8.14241698e-02 -2.31953635e-01 -1.36463095e+02] [ 7.56283681e-02 9.96563521e-01 -3.37860622e-02 2.37663894e+01] [ 2.33907534e-01 1.52069930e-02 9.72139914e-01 -8.14768043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53534707 meters 0.04500045775776516 Centerline is valid? [True, True] Translation: X:-136.49, Y:23.76, Z:-8.15 [[ 9.69985947e-01 -7.82716773e-02 -2.30219042e-01 -1.36490353e+02] [ 7.25018046e-02 9.96807886e-01 -3.34294397e-02 2.37562801e+01] [ 2.32100734e-01 1.57347907e-02 9.72564479e-01 -8.15344944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56534707 meters 0.04518263418533173 Centerline is valid? [True, True] Translation: X:-136.52, Y:23.75, Z:-8.16 [[ 9.69800843e-01 -7.78419025e-02 -2.31142734e-01 -1.36518413e+02] [ 7.20328511e-02 9.96840222e-01 -3.34789656e-02 2.37483417e+01] [ 2.33018441e-01 1.58180589e-02 9.72343661e-01 -8.15779016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59534707 meters 0.04444280306039479 Centerline is valid? [True, True] Translation: X:-136.54, Y:23.73, Z:-8.16 [[ 9.69787705e-01 -7.72837190e-02 -2.31385035e-01 -1.36544241e+02] [ 7.14574397e-02 9.96881973e-01 -3.34688880e-02 2.37329606e+01] [ 2.33250170e-01 1.59235339e-02 9.72286377e-01 -8.15829256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62534707 meters 0.048744722037069865 Centerline is valid? [True, True] Translation: X:-136.57, Y:23.73, Z:-8.17 [[ 9.70349238e-01 -7.39021619e-02 -2.30132195e-01 -1.36572160e+02] [ 6.80574728e-02 9.97127406e-01 -3.32433022e-02 2.37301997e+01] [ 2.31927871e-01 1.65953973e-02 9.72591412e-01 -8.16717719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65534707 meters 0.04706793517936714 Centerline is valid? [True, True] Translation: X:-136.60, Y:23.71, Z:-8.17 [[ 9.70187684e-01 -7.30667596e-02 -2.31078141e-01 -1.36598352e+02] [ 6.71708043e-02 9.97185932e-01 -3.32911527e-02 2.37108948e+01] [ 2.32860348e-01 1.67769617e-02 9.72365462e-01 -8.16713421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68534707 meters 0.04972132871705948 Centerline is valid? [True, True] Translation: X:-136.63, Y:23.70, Z:-8.17 [[ 9.70934219e-01 -6.90432279e-02 -2.29171934e-01 -1.36626425e+02] [ 6.31548951e-02 9.97460027e-01 -3.29386370e-02 2.37007485e+01] [ 2.30864033e-01 1.75079204e-02 9.72828490e-01 -8.16881195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71534707 meters 0.054424483841044584 Centerline is valid? [True, True] Translation: X:-136.65, Y:23.70, Z:-8.18 [[ 9.71462558e-01 -6.57474166e-02 -2.27898609e-01 -1.36654961e+02] [ 5.98453030e-02 9.97671260e-01 -3.27199752e-02 2.37001554e+01] [ 2.29519146e-01 1.81475695e-02 9.73134948e-01 -8.17672203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74534707 meters 0.05473754398962912 Centerline is valid? [True, True] Translation: X:-136.68, Y:23.68, Z:-8.18 [[ 9.72039306e-01 -6.11765061e-02 -2.26709114e-01 -1.36683119e+02] [ 5.52323966e-02 9.97945215e-01 -3.24765993e-02 2.36837213e+01] [ 2.28230080e-01 1.90468434e-02 9.73420900e-01 -8.17641693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77534707 meters 0.06061218985958147 Centerline is valid? [True, True] Translation: X:-136.71, Y:23.68, Z:-8.18 [[ 9.72566152e-01 -5.60082976e-02 -2.25783414e-01 -1.36712674e+02] [ 4.99819527e-02 9.98226908e-01 -3.23240497e-02 2.36789237e+01] [ 2.27193494e-01 2.01521807e-02 9.73641107e-01 -8.18044265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80534707 meters 0.06132010476140657 Centerline is valid? [True, True] Translation: X:-136.74, Y:23.67, Z:-8.18 [[ 9.72815588e-01 -5.34534937e-02 -2.25327663e-01 -1.36740208e+02] [ 4.73889324e-02 9.98356033e-01 -3.22416063e-02 2.36702158e+01] [ 2.26680658e-01 2.06870998e-02 9.73749415e-01 -8.18398352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83534707 meters 0.06836538375937634 Centerline is valid? [True, True] Translation: X:-136.77, Y:23.67, Z:-8.19 [[ 9.73522793e-01 -4.57192034e-02 -2.23971260e-01 -1.36769640e+02] [ 3.95326893e-02 9.98704754e-01 -3.20309475e-02 2.36684261e+01] [ 2.25145591e-01 2.23286713e-02 9.74069245e-01 -8.19002698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86534707 meters 0.06836538375937634 Centerline is valid? [True, True] Translation: X:-136.80, Y:23.66, Z:-8.20 [[ 9.73541704e-01 -4.52977128e-02 -2.23974704e-01 -1.36796344e+02] [ 3.91057905e-02 9.98722334e-01 -3.20068266e-02 2.36643115e+01] [ 2.25138376e-01 2.24012726e-02 9.74069245e-01 -8.19503806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89534707 meters 0.07154605619917404 Centerline is valid? [True, True] Translation: X:-136.82, Y:23.65, Z:-8.20 [[ 9.73933374e-01 -3.85367878e-02 -2.23536795e-01 -1.36824208e+02] [ 3.22146126e-02 9.98972989e-01 -3.18619751e-02 2.36521489e+01] [ 2.24535078e-01 2.38302897e-02 9.74174582e-01 -8.19640817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92534707000002 meters 0.08094661386283755 Centerline is valid? [True, True] Translation: X:-136.85, Y:23.66, Z:-8.21 [[ 9.73885311e-01 -4.23471490e-02 -2.23056314e-01 -1.36853183e+02] [ 3.61530007e-02 9.98840760e-01 -3.17820284e-02 2.36636529e+01] [ 2.24143616e-01 2.28878956e-02 9.74287321e-01 -8.21240355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95534707 meters 0.08205770380260972 Centerline is valid? [True, True] Translation: X:-136.88, Y:23.64, Z:-8.21 [[ 9.74706620e-01 -3.23463503e-02 -2.21135067e-01 -1.36880742e+02] [ 2.60116893e-02 9.99165247e-01 -3.14992253e-02 2.36433012e+01] [ 2.21969359e-01 2.49504067e-02 9.74734364e-01 -8.20956277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98534707 meters 0.0891231588921437 Centerline is valid? [True, True] Translation: X:-136.91, Y:23.65, Z:-8.22 [[ 9.74865716e-01 -3.09245526e-02 -2.20636595e-01 -1.36909216e+02] [ 2.45891546e-02 9.99204272e-01 -3.14037714e-02 2.36451464e+01] [ 2.21432176e-01 2.51891927e-02 9.74850397e-01 -8.21795057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01534707 meters 0.08886518516697298 Centerline is valid? [True, True] Translation: X:-136.94, Y:23.63, Z:-8.22 [[ 9.75207111e-01 -2.41602437e-02 -2.19971301e-01 -1.36935973e+02] [ 1.77127421e-02 9.99355071e-01 -3.12362109e-02 2.36252263e+01] [ 2.20584110e-01 2.65654800e-02 9.75006116e-01 -8.21681603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04534707 meters 0.09765321405128234 Centerline is valid? [True, True] Translation: X:-136.96, Y:23.63, Z:-8.23 [[ 9.75270902e-01 -2.23980589e-02 -2.19874952e-01 -1.36964817e+02] [ 1.59195244e-02 9.99386607e-01 -3.11925990e-02 2.36305138e+01] [ 2.20438736e-01 2.69209295e-02 9.75029244e-01 -8.22709625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07534707 meters 0.10664719479317536 Centerline is valid? [True, False] Translation: X:-136.98, Y:23.61, Z:-8.23 [[ 9.76438695e-01 -2.11236224e-02 -2.14758626e-01 -1.36981380e+02] [ 9.84399046e-03 9.98521632e-01 -5.34569483e-02 2.36090240e+01] [ 2.15570338e-01 5.00833510e-02 9.75203101e-01 -8.22853803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10534707 meters 0.10825134517016136 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.61, Z:-8.23 [[ 9.76456371e-01 -2.17637750e-02 -2.14614291e-01 -1.36981671e+02] [ 1.04179767e-02 9.98494355e-01 -5.38561840e-02 2.36083439e+01] [ 2.15463272e-01 5.03523673e-02 9.75212909e-01 -8.22862163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13534707 meters 0.11589599449608691 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.61, Z:-8.23 [[ 9.76287437e-01 -2.62602114e-02 -2.14879598e-01 -1.36981608e+02] [ 1.41294439e-02 9.98228392e-01 -5.77965062e-02 2.36069950e+01] [ 2.16016664e-01 5.33898737e-02 9.74928881e-01 -8.22826801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16534707 meters 0.11331182934234274 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.61, Z:-8.23 [[ 9.76330398e-01 -2.60857828e-02 -2.14705580e-01 -1.36981528e+02] [ 1.40058804e-02 9.98241891e-01 -5.75930739e-02 2.36056810e+01] [ 2.15830464e-01 5.32227280e-02 9.74979257e-01 -8.22855569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19534707 meters 0.11245464986045704 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.60, Z:-8.23 [[ 9.76302702e-01 -2.59832017e-02 -2.14843912e-01 -1.36981481e+02] [ 1.38938611e-02 9.98243610e-01 -5.75904188e-02 2.36039132e+01] [ 2.15962946e-01 5.32406700e-02 9.74948941e-01 -8.22842697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22534707 meters 0.1126254112190947 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.60, Z:-8.23 [[ 9.76409608e-01 -2.53645024e-02 -2.14431620e-01 -1.36981314e+02] [ 1.34316360e-02 9.98288160e-01 -5.69239930e-02 2.36024118e+01] [ 2.15508396e-01 5.27009662e-02 9.75078838e-01 -8.22904456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25534707 meters 0.10940911663494116 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.60, Z:-8.23 [[ 9.76415561e-01 -2.34196924e-02 -2.14625651e-01 -1.36980433e+02] [ 1.17517182e-02 9.98390636e-01 -5.54800465e-02 2.35998947e+01] [ 2.15579566e-01 5.16493605e-02 9.75119374e-01 -8.22934340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28534707 meters 0.10811142004266182 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.60, Z:-8.23 [[ 9.76448979e-01 -2.25745641e-02 -2.14564164e-01 -1.36979295e+02] [ 1.09607288e-02 9.98417139e-01 -5.51641010e-02 2.35968336e+01] [ 2.15469845e-01 5.15131504e-02 9.75150830e-01 -8.22983028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31534707 meters 0.1075290879746618 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.60, Z:-8.23 [[ 9.76521499e-01 -2.17638338e-02 -2.14317747e-01 -1.36978633e+02] [ 1.03093731e-02 9.98464930e-01 -5.44196666e-02 2.35956071e+01] [ 2.15173135e-01 5.09324928e-02 9.75246842e-01 -8.23049455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34534707 meters 0.11329159801653667 Centerline is valid? [False, False] Translation: X:-136.98, Y:23.59, Z:-8.23 [[ 9.76563787e-01 -1.87680192e-02 -2.14408327e-01 -1.36975598e+02] [ 7.64281639e-03 9.98586436e-01 -5.25995976e-02 2.35922728e+01] [ 2.15092437e-01 4.97281788e-02 9.75326792e-01 -8.23169306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37534707 meters 0.10097279809048942 Centerline is valid? [False, False] Translation: X:-136.97, Y:23.59, Z:-8.23 [[ 9.76377529e-01 -2.31250885e-02 -2.14830517e-01 -1.36974870e+02] [ 1.11719059e-02 9.98329396e-01 -5.66886769e-02 2.35890234e+01] [ 2.15782550e-01 5.29494840e-02 9.75004740e-01 -8.23136882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40534707 meters 0.09635255787035826 Centerline is valid? [False, True] Translation: X:-136.97, Y:23.59, Z:-8.23 [[ 9.76764673e-01 -1.76557803e-02 -2.13586156e-01 -1.36973012e+02] [ 6.69434203e-03 9.98627990e-01 -5.19357609e-02 2.35867403e+01] [ 2.14210080e-01 4.92991978e-02 9.75542736e-01 -8.23370159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43534707 meters 0.10379576536405581 Centerline is valid? [True, False] Translation: X:-136.97, Y:23.58, Z:-8.24 [[ 9.76913709e-01 -1.60769170e-02 -2.13028490e-01 -1.36971428e+02] [ 5.43255399e-03 9.98711391e-01 -5.04583388e-02 2.35845410e+01] [ 2.13565194e-01 4.81361541e-02 9.75742189e-01 -8.23522987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46534707 meters 0.09837459014351846 Centerline is valid? [False, True] Translation: X:-136.97, Y:23.58, Z:-8.24 [[ 9.77120214e-01 -1.46579212e-02 -2.12182076e-01 -1.36970474e+02] [ 4.37535070e-03 9.98796556e-01 -4.88497321e-02 2.35828544e+01] [ 2.12642763e-01 4.68036896e-02 9.76008438e-01 -8.23685375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49534707 meters 0.10179818269057327 Centerline is valid? [True, False] Translation: X:-136.97, Y:23.58, Z:-8.24 [[ 9.77211693e-01 -1.36539905e-02 -2.11827467e-01 -1.36969870e+02] [ 3.58507705e-03 9.98848338e-01 -4.78450065e-02 2.35818396e+01] [ 2.12236789e-01 4.59952820e-02 9.76135226e-01 -8.23763601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52534707 meters 0.0915101645613227 Centerline is valid? [False, True] Translation: X:-136.97, Y:23.58, Z:-8.24 [[ 9.77341318e-01 -1.34293922e-02 -2.11242989e-01 -1.36969981e+02] [ 3.53413260e-03 9.98881521e-01 -4.71509988e-02 2.35805247e+01] [ 2.11639927e-01 4.53360586e-02 9.76295643e-01 -8.23843146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55534707 meters 0.10194469872497032 Centerline is valid? [True, False] Translation: X:-136.97, Y:23.58, Z:-8.24 [[ 9.77264300e-01 -1.21517111e-02 -2.11676225e-01 -1.36968918e+02] [ 2.33136068e-03 9.98911786e-01 -4.65811970e-02 2.35779403e+01] [ 2.12011917e-01 4.50286472e-02 9.76229157e-01 -8.23825515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58534707 meters 0.0965453913399123 Centerline is valid? [False, True] Translation: X:-136.97, Y:23.58, Z:-8.24 [[ 9.77191939e-01 -1.47300705e-02 -2.11846498e-01 -1.36970277e+02] [ 4.53985892e-03 9.98812473e-01 -4.85080695e-02 2.35761790e+01] [ 2.12309452e-01 4.64399413e-02 9.76098370e-01 -8.23737910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61534707 meters 0.0792717859470351 Centerline is valid? [True, True] Translation: X:-137.00, Y:23.56, Z:-8.25 [[ 9.76421654e-01 -1.49619288e-02 -2.15352952e-01 -1.36995054e+02] [ 7.10865507e-03 9.99282725e-01 -3.71954607e-02 2.35560898e+01] [ 2.15755001e-01 3.47875834e-02 9.75827651e-01 -8.24599865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64534707 meters 0.07564771930905136 Centerline is valid? [True, True] Translation: X:-137.02, Y:23.54, Z:-8.25 [[ 9.75998386e-01 -2.02332660e-02 -2.16835805e-01 -1.37022489e+02] [ 1.23966091e-02 9.99221962e-01 -3.74405567e-02 2.35433645e+01] [ 2.17424643e-01 3.38538942e-02 9.75489845e-01 -8.25425752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67534707000002 meters 0.07877788012832344 Centerline is valid? [True, True] Translation: X:-137.05, Y:23.54, Z:-8.26 [[ 9.75776569e-01 -2.39771245e-02 -2.17451570e-01 -1.37051798e+02] [ 1.61850582e-02 9.99163884e-01 -3.75443429e-02 2.35406141e+01] [ 2.18169961e-01 3.31154238e-02 9.75348777e-01 -8.26209675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70534707 meters 0.07251054358052801 Centerline is valid? [True, True] Translation: X:-137.08, Y:23.53, Z:-8.27 [[ 9.74893398e-01 -3.11861706e-02 -2.20477402e-01 -1.37079183e+02] [ 2.33503003e-02 9.99002664e-01 -3.80583852e-02 2.35311919e+01] [ 2.21444408e-01 3.19546550e-02 9.74649308e-01 -8.27146895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73534707 meters 0.06815986957005815 Centerline is valid? [True, True] Translation: X:-137.11, Y:23.52, Z:-8.28 [[ 9.74545548e-01 -3.45078708e-02 -2.21517906e-01 -1.37106451e+02] [ 2.66818649e-02 9.98912848e-01 -3.82256359e-02 2.35182349e+01] [ 2.22596168e-01 3.13421125e-02 9.74406803e-01 -8.27595225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76534707 meters 0.062296727487612724 Centerline is valid? [True, True] Translation: X:-137.13, Y:23.51, Z:-8.28 [[ 9.74056019e-01 -3.83151682e-02 -2.23039951e-01 -1.37134450e+02] [ 3.04772413e-02 9.98794511e-01 -3.84793817e-02 2.35087182e+01] [ 2.24245423e-01 3.06834310e-02 9.74049546e-01 -8.28355027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79534707 meters 0.05023150953327587 Centerline is valid? [True, True] Translation: X:-137.16, Y:23.50, Z:-8.29 [[ 9.73067041e-01 -4.12935273e-02 -2.26793693e-01 -1.37160497e+02] [ 3.32646830e-02 9.98680997e-01 -3.91117330e-02 2.34955366e+01] [ 2.28109613e-01 3.05141180e-02 9.73157178e-01 -8.28732116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82534707 meters 0.05674690433786969 Centerline is valid? [True, True] Translation: X:-137.19, Y:23.51, Z:-8.30 [[ 9.71540789e-01 -4.67284559e-02 -2.32217454e-01 -1.37191752e+02] [ 3.84550716e-02 9.98458202e-01 -4.00303217e-02 2.35096254e+01] [ 2.33729977e-01 2.99611515e-02 9.71839816e-01 -8.30094018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85534707 meters 0.06071124302624544 Centerline is valid? [True, True] Translation: X:-137.22, Y:23.51, Z:-8.31 [[ 9.72042448e-01 -4.50577400e-02 -2.30441486e-01 -1.37220752e+02] [ 3.68733717e-02 9.98530960e-01 -3.97023383e-02 2.35109288e+01] [ 2.31891856e-01 3.00952036e-02 9.72275910e-01 -8.30812943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88534707 meters 0.059668808253693355 Centerline is valid? [True, True] Translation: X:-137.25, Y:23.51, Z:-8.31 [[ 9.71883025e-01 -4.45987957e-02 -2.31201931e-01 -1.37248510e+02] [ 3.63699545e-02 9.98548142e-01 -3.97345435e-02 2.35071779e+01] [ 2.32638371e-01 3.02085246e-02 9.72094045e-01 -8.31402069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91534707 meters 0.06939242927774547 Centerline is valid? [True, True] Translation: X:-137.28, Y:23.52, Z:-8.33 [[ 9.72209240e-01 -4.64557490e-02 -2.29458181e-01 -1.37279238e+02] [ 3.84231776e-02 9.98486322e-01 -3.93538446e-02 2.35202495e+01] [ 2.30939068e-01 2.94436589e-02 9.72522605e-01 -8.32831332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94534707 meters 0.06047689950989383 Centerline is valid? [True, True] Translation: X:-137.31, Y:23.50, Z:-8.33 [[ 9.71607928e-01 -4.25061334e-02 -2.32747209e-01 -1.37306792e+02] [ 3.41270271e-02 9.98620239e-01 -3.99119505e-02 2.35026531e+01] [ 2.34122576e-01 3.08357973e-02 9.71717949e-01 -8.32729041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97534707 meters 0.058250546316006 Centerline is valid? [True, True] Translation: X:-137.33, Y:23.50, Z:-8.33 [[ 9.71553778e-01 -4.16158051e-02 -2.33133826e-01 -1.37333846e+02] [ 3.31912435e-02 9.98650453e-01 -3.99451453e-02 2.34975444e+01] [ 2.34481551e-01 3.10708552e-02 9.71623901e-01 -8.33292623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00534707 meters 0.058381695331567104 Centerline is valid? [True, True] Translation: X:-137.36, Y:23.49, Z:-8.34 [[ 9.71482266e-01 -4.11537081e-02 -2.33513553e-01 -1.37361450e+02] [ 3.27144469e-02 9.98667957e-01 -3.99008300e-02 2.34946345e+01] [ 2.34844570e-01 3.11236820e-02 9.71534531e-01 -8.33709720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03534707 meters 0.05804173279437354 Centerline is valid? [True, True] Translation: X:-137.39, Y:23.49, Z:-8.35 [[ 9.71275861e-01 -4.24561641e-02 -2.34138158e-01 -1.37389482e+02] [ 3.40318162e-02 9.98623737e-01 -3.99057196e-02 2.34918720e+01] [ 2.35510166e-01 3.07913154e-02 9.71383990e-01 -8.34510838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06534707 meters 0.05806608237501219 Centerline is valid? [True, True] Translation: X:-137.42, Y:23.49, Z:-8.35 [[ 9.71099638e-01 -4.61960799e-02 -2.34161089e-01 -1.37418987e+02] [ 3.78803994e-02 9.98485819e-01 -3.98891575e-02 2.34909526e+01] [ 2.35649250e-01 2.98662308e-02 9.71379143e-01 -8.35086747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09534707 meters 0.06234951605119442 Centerline is valid? [True, True] Translation: X:-137.45, Y:23.50, Z:-8.36 [[ 9.71060356e-01 -4.93075137e-02 -2.33689012e-01 -1.37448886e+02] [ 4.11161318e-02 9.98361429e-01 -3.97985090e-02 2.34951042e+01] [ 2.35268461e-01 2.90383661e-02 9.71496539e-01 -8.36076941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12534707 meters 0.05333299523381859 Centerline is valid? [True, True] Translation: X:-137.48, Y:23.48, Z:-8.36 [[ 9.70795294e-01 -5.61348607e-02 -2.33249598e-01 -1.37475842e+02] [ 4.81692056e-02 9.98049420e-01 -3.97125103e-02 2.34780678e+01] [ 2.35023882e-01 2.73172702e-02 9.71605651e-01 -8.36036251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15534707 meters 0.05153384384069706 Centerline is valid? [True, True] Translation: X:-137.51, Y:23.47, Z:-8.36 [[ 9.70746031e-01 -6.70794418e-02 -2.30548242e-01 -1.37505121e+02] [ 5.96061043e-02 9.97450533e-01 -3.92370622e-02 2.34713370e+01] [ 2.32592467e-01 2.43471398e-02 9.72269490e-01 -8.36488628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18534707 meters 0.050114834675624935 Centerline is valid? [True, True] Translation: X:-137.53, Y:23.47, Z:-8.37 [[ 9.70433321e-01 -7.35673086e-02 -2.29884797e-01 -1.37534238e+02] [ 6.63196192e-02 9.97031758e-01 -3.91073042e-02 2.34652611e+01] [ 2.32079462e-01 2.27051590e-02 9.72431797e-01 -8.37080240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21534707 meters 0.044156035533654873 Centerline is valid? [True, True] Translation: X:-137.56, Y:23.45, Z:-8.37 [[ 9.69282487e-01 -8.75460771e-02 -2.29841564e-01 -1.37561875e+02] [ 8.06888708e-02 9.95972752e-01 -3.90843058e-02 2.34510355e+01] [ 2.32337613e-01 1.93380769e-02 9.72442940e-01 -8.37480298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24534707 meters 0.03753438030072118 Centerline is valid? [True, True] Translation: X:-137.59, Y:23.44, Z:-8.38 [[ 9.68231761e-01 -1.02254492e-01 -2.28191314e-01 -1.37589311e+02] [ 9.59014772e-02 9.94634817e-01 -3.87877233e-02 2.34360571e+01] [ 2.30933245e-01 1.56716216e-02 9.72843377e-01 -8.37759911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27534707 meters 0.03560001313304379 Centerline is valid? [True, True] Translation: X:-137.62, Y:23.43, Z:-8.38 [[ 9.67839464e-01 -1.09528483e-01 -2.26473584e-01 -1.37617949e+02] [ 1.03471962e-01 9.93887731e-01 -3.84802784e-02 2.34273415e+01] [ 2.29304003e-01 1.38090658e-02 9.73256895e-01 -8.38109266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30534707 meters 0.029331085459408903 Centerline is valid? [True, True] Translation: X:-137.64, Y:23.41, Z:-8.39 [[ 9.65725447e-01 -1.24224819e-01 -2.27909094e-01 -1.37644944e+02] [ 1.18494030e-01 9.92199796e-01 -3.87134201e-02 2.34132738e+01] [ 2.30940524e-01 1.03806679e-02 9.72912491e-01 -8.38852731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33534707 meters 0.02795864785061867 Centerline is valid? [True, True] Translation: X:-137.67, Y:23.41, Z:-8.40 [[ 9.64804865e-01 -1.32658948e-01 -2.27053243e-01 -1.37673243e+02] [ 1.27204710e-01 9.91126856e-01 -3.85553747e-02 2.34065558e+01] [ 2.30153282e-01 8.31617116e-03 9.73118856e-01 -8.39596258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36534707 meters 0.02366808799417653 Centerline is valid? [True, True] Translation: X:-137.70, Y:23.39, Z:-8.40 [[ 9.62887021e-01 -1.45592510e-01 -2.27269457e-01 -1.37700668e+02] [ 1.40484965e-01 9.89330871e-01 -3.85798207e-02 2.33925727e+01] [ 2.30461623e-01 5.22006688e-03 9.73067414e-01 -8.39790635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39534707 meters 0.021921905826388487 Centerline is valid? [True, True] Translation: X:-137.73, Y:23.38, Z:-8.40 [[ 9.60707827e-01 -1.59269565e-01 -2.27318447e-01 -1.37728384e+02] [ 1.54540424e-01 9.87233253e-01 -3.85715072e-02 2.33793217e+01] [ 2.30559598e-01 1.92605959e-03 9.73056300e-01 -8.40272504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42534707000002 meters 0.021127338152447914 Centerline is valid? [True, True] Translation: X:-137.76, Y:23.37, Z:-8.41 [[ 9.58968880e-01 -1.70265301e-01 -2.26690127e-01 -1.37755757e+02] [ 1.65872139e-01 9.85397978e-01 -3.84351257e-02 2.33695065e+01] [ 2.29924161e-01 -7.43486814e-04 9.73208265e-01 -8.40778811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45534707 meters 0.02113564617850701 Centerline is valid? [True, True] Translation: X:-137.78, Y:23.36, Z:-8.41 [[ 9.58434537e-01 -1.74538232e-01 -2.25698126e-01 -1.37782146e+02] [ 1.70320513e-01 9.84648668e-01 -3.81827532e-02 2.33627747e+01] [ 2.28897709e-01 -1.84535111e-03 9.73448732e-01 -8.41135437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48534707 meters 0.022642582554333067 Centerline is valid? [True, True] Translation: X:-137.81, Y:23.35, Z:-8.42 [[ 9.56669426e-01 -1.82720893e-01 -2.26708369e-01 -1.37808733e+02] [ 1.78698890e-01 9.83157279e-01 -3.83206480e-02 2.33535551e+01] [ 2.29891966e-01 -3.85234148e-03 9.73208530e-01 -8.41841576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51534707 meters 0.023096163847458346 Centerline is valid? [True, True] Translation: X:-137.84, Y:23.35, Z:-8.42 [[ 9.55902268e-01 -1.85453247e-01 -2.27723400e-01 -1.37836468e+02] [ 1.81480771e-01 9.82642456e-01 -3.84517061e-02 2.33481317e+01] [ 2.30901675e-01 -4.57134506e-03 9.72966351e-01 -8.42397314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54534707 meters 0.023043385742613918 Centerline is valid? [True, True] Translation: X:-137.86, Y:23.34, Z:-8.43 [[ 9.56219634e-01 -1.85343955e-01 -2.26476554e-01 -1.37864535e+02] [ 1.81431215e-01 9.82662944e-01 -3.81608910e-02 2.33448689e+01] [ 2.29623008e-01 -4.59972306e-03 9.73268779e-01 -8.42668973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57534707 meters 0.023125328155961283 Centerline is valid? [True, True] Translation: X:-137.89, Y:23.34, Z:-8.44 [[ 9.56764388e-01 -1.82332982e-01 -2.26619923e-01 -1.37891964e+02] [ 1.78342762e-01 9.83229002e-01 -3.81390659e-02 2.33427805e+01] [ 2.29773291e-01 -3.92592300e-03 9.73236262e-01 -8.43548343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60534707 meters 0.02252858141093287 Centerline is valid? [True, True] Translation: X:-137.92, Y:23.34, Z:-8.44 [[ 9.57615201e-01 -1.76316881e-01 -2.27783853e-01 -1.37919783e+02] [ 1.72138046e-01 9.84330065e-01 -3.82467747e-02 2.33437132e+01] [ 2.30958047e-01 -2.58457437e-03 9.72960277e-01 -8.44047186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63534707 meters 0.022587673830442717 Centerline is valid? [True, True] Translation: X:-137.95, Y:23.34, Z:-8.45 [[ 9.58554642e-01 -1.71575639e-01 -2.27452850e-01 -1.37947241e+02] [ 1.67288546e-01 9.85169827e-01 -3.81438628e-02 2.33426580e+01] [ 2.30624242e-01 -1.48727982e-03 9.73041750e-01 -8.44849987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.66534707 meters 0.022695577758592704 Centerline is valid? [True, True] Translation: X:-137.98, Y:23.35, Z:-8.45 [[ 9.59705024e-01 -1.63786196e-01 -2.28342613e-01 -1.37975502e+02] [ 1.59256274e-01 9.86495798e-01 -3.82554412e-02 2.33458291e+01] [ 2.31524741e-01 3.48945411e-04 9.72828953e-01 -8.45362514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69534707 meters 0.023262045799027648 Centerline is valid? [True, True] Translation: X:-138.00, Y:23.35, Z:-8.46 [[ 9.61330606e-01 -1.54813498e-01 -2.27763578e-01 -1.38003875e+02] [ 1.50072520e-01 9.87940692e-01 -3.80976092e-02 2.33483619e+01] [ 2.30914931e-01 2.44334352e-03 9.72970875e-01 -8.46451950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72534707 meters 0.022706850393047293 Centerline is valid? [True, True] Translation: X:-138.03, Y:23.35, Z:-8.47 [[ 9.61331006e-01 -1.51318295e-01 -2.30098829e-01 -1.38031114e+02] [ 1.46400755e-01 9.88479822e-01 -3.83987028e-02 2.33462075e+01] [ 2.33258476e-01 3.22722132e-03 9.72409414e-01 -8.46914306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75534707 meters 0.022706850393047293 Centerline is valid? [True, True] Translation: X:-138.06, Y:23.34, Z:-8.47 [[ 9.61404811e-01 -1.50832443e-01 -2.30109458e-01 -1.38057613e+02] [ 1.45916450e-01 9.88553906e-01 -3.83349052e-02 2.33415785e+01] [ 2.33257751e-01 3.27860718e-03 9.72409416e-01 -8.47424817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78534707 meters 0.024945599951852197 Centerline is valid? [True, True] Translation: X:-138.09, Y:23.35, Z:-8.49 [[ 9.62252381e-01 -1.41835274e-01 -2.32278089e-01 -1.38086378e+02] [ 1.36592248e-01 9.89875526e-01 -3.85875844e-02 2.33450635e+01] [ 2.35399476e-01 5.40360873e-03 9.71883680e-01 -8.48691207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81534707 meters 0.02714057513968462 Centerline is valid? [True, True] Translation: X:-138.12, Y:23.35, Z:-8.50 [[ 9.63235729e-01 -1.33456829e-01 -2.33165618e-01 -1.38115073e+02] [ 1.27943733e-01 9.91026792e-01 -3.86820255e-02 2.33476925e+01] [ 2.36235755e-01 7.42782951e-03 9.71667379e-01 -8.49833759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84534707 meters 0.027566621676628513 Centerline is valid? [True, True] Translation: X:-138.14, Y:23.35, Z:-8.51 [[ 9.63713508e-01 -1.30462520e-01 -2.32885823e-01 -1.38142309e+02] [ 1.24884590e-01 9.91420000e-01 -3.86034039e-02 2.33464711e+01] [ 2.35923960e-01 8.11877141e-03 9.71737604e-01 -8.50776893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87534707 meters 0.030956946135400638 Centerline is valid? [True, True] Translation: X:-138.17, Y:23.35, Z:-8.52 [[ 9.64252207e-01 -1.24402570e-01 -2.33969403e-01 -1.38171640e+02] [ 1.18615244e-01 9.92185699e-01 -3.87035261e-02 2.33496965e+01] [ 2.36955913e-01 9.56762274e-03 9.71473291e-01 -8.51961415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90534707 meters 0.031471648672625835 Centerline is valid? [True, True] Translation: X:-138.20, Y:23.35, Z:-8.53 [[ 9.64685054e-01 -1.21685964e-01 -2.33613511e-01 -1.38198756e+02] [ 1.15841298e-01 9.92516184e-01 -3.86318402e-02 2.33473065e+01] [ 2.36566143e-01 1.02054666e-02 9.71561788e-01 -8.52723417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93534707 meters 0.03179626560807674 Centerline is valid? [True, True] Translation: X:-138.23, Y:23.34, Z:-8.54 [[ 9.64376055e-01 -1.21025202e-01 -2.35226966e-01 -1.38226688e+02] [ 1.15089906e-01 9.92594997e-01 -3.88520927e-02 2.33440226e+01] [ 2.38187192e-01 1.03957784e-02 9.71163626e-01 -8.53587771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96534707 meters 0.031204822590656517 Centerline is valid? [True, True] Translation: X:-138.25, Y:23.34, Z:-8.54 [[ 9.64423392e-01 -1.19476022e-01 -2.35824089e-01 -1.38253701e+02] [ 1.13483492e-01 9.92779127e-01 -3.88728989e-02 2.33390175e+01] [ 2.38765613e-01 1.07277918e-02 9.71017969e-01 -8.54163432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99534707 meters 0.030571552957814878 Centerline is valid? [True, True] Translation: X:-138.28, Y:23.33, Z:-8.55 [[ 9.64079739e-01 -1.19148689e-01 -2.37389651e-01 -1.38280517e+02] [ 1.13073651e-01 9.92817152e-01 -3.90954128e-02 2.33343404e+01] [ 2.40342684e-01 1.08485809e-02 9.70627479e-01 -8.54775015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02534707 meters 0.0305755971381515 Centerline is valid? [True, True] Translation: X:-138.31, Y:23.33, Z:-8.56 [[ 9.64116762e-01 -1.19293794e-01 -2.37166311e-01 -1.38307551e+02] [ 1.13247381e-01 9.92800807e-01 -3.90075476e-02 2.33303168e+01] [ 2.40112263e-01 1.07493669e-02 9.70685609e-01 -8.55559575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05534707 meters 0.03052410131871056 Centerline is valid? [True, True] Translation: X:-138.33, Y:23.33, Z:-8.56 [[ 9.63922178e-01 -1.19517930e-01 -2.37843432e-01 -1.38333932e+02] [ 1.13469110e-01 9.92775264e-01 -3.90132856e-02 2.33253701e+01] [ 2.40787863e-01 1.06178888e-02 9.70519688e-01 -8.56348986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08534707 meters 0.030656418255874156 Centerline is valid? [True, True] Translation: X:-138.36, Y:23.32, Z:-8.57 [[ 9.63512185e-01 -1.19000318e-01 -2.39756528e-01 -1.38361227e+02] [ 1.12864474e-01 9.92836321e-01 -3.92128737e-02 2.33210896e+01] [ 2.42705334e-01 1.07220873e-02 9.70040802e-01 -8.57052872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11534707 meters 0.03125713310144377 Centerline is valid? [True, True] Translation: X:-138.39, Y:23.32, Z:-8.58 [[ 9.63461049e-01 -1.20445909e-01 -2.39239609e-01 -1.38388099e+02] [ 1.14406652e-01 9.92667195e-01 -3.90251031e-02 2.33181818e+01] [ 2.42185726e-01 1.02285641e-02 9.70175990e-01 -8.58214277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14534707 meters 0.02986998510689 Centerline is valid? [True, True] Translation: X:-138.41, Y:23.31, Z:-8.59 [[ 9.63058738e-01 -1.19832710e-01 -2.41159675e-01 -1.38414978e+02] [ 1.13698506e-01 9.92739876e-01 -3.92452407e-02 2.33108692e+01] [ 2.44111689e-01 1.03759772e-02 9.69691612e-01 -8.58609120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17534707000002 meters 0.030098467540317773 Centerline is valid? [True, True] Translation: X:-138.44, Y:23.31, Z:-8.60 [[ 9.62492120e-01 -1.23360499e-01 -2.41642517e-01 -1.38441823e+02] [ 1.17326953e-01 9.92317074e-01 -3.92582438e-02 2.33064898e+01] [ 2.44628912e-01 9.43457000e-03 9.69570876e-01 -8.59797245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20534707 meters 0.029091797110635254 Centerline is valid? [True, True] Translation: X:-138.47, Y:23.30, Z:-8.60 [[ 9.62454551e-01 -1.23745463e-01 -2.41595318e-01 -1.38468555e+02] [ 1.17748894e-01 9.92270945e-01 -3.91608127e-02 2.32998120e+01] [ 2.44573988e-01 9.24292093e-03 9.69586578e-01 -8.60144644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23534707 meters 0.02954437599228526 Centerline is valid? [True, True] Translation: X:-138.50, Y:23.30, Z:-8.61 [[ 9.61876682e-01 -1.26339449e-01 -2.42552245e-01 -1.38495693e+02] [ 1.20389080e-01 9.91950099e-01 -3.92615616e-02 2.32952826e+01] [ 2.45560008e-01 8.56413897e-03 9.69343560e-01 -8.61209234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26534707 meters 0.028769665264232462 Centerline is valid? [True, True] Translation: X:-138.52, Y:23.29, Z:-8.62 [[ 9.61725956e-01 -1.26237660e-01 -2.43202055e-01 -1.38522993e+02] [ 1.20278320e-01 9.91963554e-01 -3.92610824e-02 2.32897377e+01] [ 2.46203802e-01 8.50646736e-03 9.69180751e-01 -8.61802751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29534707 meters 0.028502628458245107 Centerline is valid? [True, True] Translation: X:-138.55, Y:23.28, Z:-8.63 [[ 9.61217332e-01 -1.27844148e-01 -2.44370853e-01 -1.38549110e+02] [ 1.21904652e-01 9.91761791e-01 -3.93421602e-02 2.32841473e+01] [ 2.47387339e-01 8.02642254e-03 9.68883420e-01 -8.62627637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32534707 meters 0.02768336160015676 Centerline is valid? [True, True] Translation: X:-138.58, Y:23.28, Z:-8.63 [[ 9.60711736e-01 -1.29599122e-01 -2.45432328e-01 -1.38576162e+02] [ 1.23688555e-01 9.91538046e-01 -3.94137702e-02 2.32774607e+01] [ 2.48463481e-01 7.50810164e-03 9.68612166e-01 -8.63105069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35534707 meters 0.027339845247174088 Centerline is valid? [True, True] Translation: X:-138.60, Y:23.27, Z:-8.64 [[ 9.61118646e-01 -1.28697922e-01 -2.44310853e-01 -1.38603929e+02] [ 1.22827682e-01 9.91654355e-01 -3.91790979e-02 2.32720221e+01] [ 2.47314190e-01 7.64762573e-03 9.68905158e-01 -8.63511494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38534707 meters 0.03032289992130171 Centerline is valid? [True, True] Translation: X:-138.63, Y:23.27, Z:-8.66 [[ 9.61266777e-01 -1.29594981e-01 -2.43251566e-01 -1.38629990e+02] [ 1.23831703e-01 9.91540329e-01 -3.89035466e-02 2.32728967e+01] [ 2.46235442e-01 7.27443126e-03 9.69182743e-01 -8.65585057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41534707 meters 0.029304421548642493 Centerline is valid? [True, True] Translation: X:-138.66, Y:23.27, Z:-8.66 [[ 9.61077534e-01 -1.31330781e-01 -2.43068304e-01 -1.38657623e+02] [ 1.25656932e-01 9.91315829e-01 -3.87719294e-02 2.32669002e+01] [ 2.46049405e-01 6.71961293e-03 9.69233995e-01 -8.66309400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44534707 meters 0.028630841495099126 Centerline is valid? [True, True] Translation: X:-138.68, Y:23.26, Z:-8.67 [[ 9.60824916e-01 -1.32772881e-01 -2.43283462e-01 -1.38683620e+02] [ 1.27153874e-01 9.91126610e-01 -3.87290009e-02 2.32605881e+01] [ 2.46266874e-01 6.27735449e-03 9.69181728e-01 -8.66910540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47534707 meters 0.02671713732795458 Centerline is valid? [True, True] Translation: X:-138.71, Y:23.25, Z:-8.67 [[ 9.60949896e-01 -1.34341974e-01 -2.41924639e-01 -1.38711587e+02] [ 1.28846541e-01 9.90918077e-01 -3.84699145e-02 2.32508773e+01] [ 2.44895622e-01 5.79650739e-03 9.69532122e-01 -8.66630889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50534707 meters 0.029268559408437606 Centerline is valid? [True, True] Translation: X:-138.74, Y:23.25, Z:-8.69 [[ 9.60582507e-01 -1.33911094e-01 -2.43616639e-01 -1.38736781e+02] [ 1.28340853e-01 9.90975906e-01 -3.86701386e-02 2.32523998e+01] [ 2.46596580e-01 5.87989139e-03 9.69100384e-01 -8.68942639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53534707 meters 0.028559774342752444 Centerline is valid? [True, True] Translation: X:-138.76, Y:23.25, Z:-8.70 [[ 9.59986579e-01 -1.35852153e-01 -2.44887648e-01 -1.38763447e+02] [ 1.30307687e-01 9.90714843e-01 -3.87815142e-02 2.32457809e+01] [ 2.47882380e-01 5.31899023e-03 9.68775533e-01 -8.69559042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56534707 meters 0.02900483458262338 Centerline is valid? [True, True] Translation: X:-138.79, Y:23.24, Z:-8.70 [[ 9.60079360e-01 -1.35098316e-01 -2.44940948e-01 -1.38789648e+02] [ 1.29538024e-01 9.90817089e-01 -3.87478591e-02 2.32401125e+01] [ 2.47926448e-01 5.47185337e-03 9.68763405e-01 -8.70297908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59534707 meters 0.028456156839819734 Centerline is valid? [True, True] Translation: X:-138.82, Y:23.23, Z:-8.71 [[ 9.60212919e-01 -1.35543656e-01 -2.44170159e-01 -1.38816593e+02] [ 1.30044542e-01 9.90757235e-01 -3.85813278e-02 2.32338405e+01] [ 2.47142806e-01 5.29329298e-03 9.68964610e-01 -8.70966153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62534707 meters 0.028431137630910187 Centerline is valid? [True, True] Translation: X:-138.84, Y:23.23, Z:-8.72 [[ 9.60253188e-01 -1.34272159e-01 -2.44713717e-01 -1.38844219e+02] [ 1.28729720e-01 9.90928981e-01 -3.85799792e-02 2.32288788e+01] [ 2.47674131e-01 5.54461992e-03 9.68827530e-01 -8.71683064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65534707 meters 0.028626664240099173 Centerline is valid? [True, True] Translation: X:-138.87, Y:23.22, Z:-8.72 [[ 9.60713514e-01 -1.33500927e-01 -2.43324983e-01 -1.38871456e+02] [ 1.28020261e-01 9.91032755e-01 -3.82739022e-02 2.32228039e+01] [ 2.46252630e-01 5.61972722e-03 9.69189383e-01 -8.72413004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68534707 meters 0.02788774483783812 Centerline is valid? [True, True] Translation: X:-138.90, Y:23.22, Z:-8.73 [[ 9.60616810e-01 -1.33745012e-01 -2.43572610e-01 -1.38898031e+02] [ 1.28283961e-01 9.91000684e-01 -3.82213283e-02 2.32181057e+01] [ 2.46492536e-01 5.46959118e-03 9.69129255e-01 -8.72984736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71534707 meters 0.028705702824350508 Centerline is valid? [True, True] Translation: X:-138.92, Y:23.21, Z:-8.74 [[ 9.61379352e-01 -1.30301596e-01 -2.42427793e-01 -1.38924398e+02] [ 1.24810503e-01 9.91454906e-01 -3.79408458e-02 2.32137342e+01] [ 2.45299978e-01 6.21801093e-03 9.69427283e-01 -8.73738311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74534707 meters 0.028734857945450273 Centerline is valid? [True, True] Translation: X:-138.95, Y:23.21, Z:-8.74 [[ 9.61399614e-01 -1.28150406e-01 -2.43491798e-01 -1.38951457e+02] [ 1.22563940e-01 9.91732041e-01 -3.80215670e-02 2.32094087e+01] [ 2.46351097e-01 6.71060582e-03 9.69157420e-01 -8.74089753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77534707 meters 0.029531036783229166 Centerline is valid? [True, True] Translation: X:-138.98, Y:23.21, Z:-8.75 [[ 9.62260276e-01 -1.25159342e-01 -2.41640851e-01 -1.38978989e+02] [ 1.19578052e-01 9.92109287e-01 -3.76862431e-02 2.32051841e+01] [ 2.44450917e-01 7.36903247e-03 9.69633666e-01 -8.74591027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80534707 meters 0.02934474687023153 Centerline is valid? [True, True] Translation: X:-139.01, Y:23.20, Z:-8.75 [[ 9.63100819e-01 -1.22214920e-01 -2.39792255e-01 -1.39005713e+02] [ 1.16649755e-01 9.92471638e-01 -3.73213323e-02 2.32000522e+01] [ 2.42548236e-01 7.97249776e-03 9.70106588e-01 -8.75203655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83534707 meters 0.029341906188260592 Centerline is valid? [True, True] Translation: X:-139.03, Y:23.19, Z:-8.76 [[ 9.62960761e-01 -1.21400880e-01 -2.40766276e-01 -1.39032679e+02] [ 1.15772769e-01 9.92569863e-01 -3.74397167e-02 2.31938809e+01] [ 2.43522564e-01 8.17879974e-03 9.69860747e-01 -8.75679232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86534707 meters 0.029012587780041683 Centerline is valid? [True, True] Translation: X:-139.06, Y:23.19, Z:-8.76 [[ 9.63413476e-01 -1.20719495e-01 -2.39293286e-01 -1.39058979e+02] [ 1.15150587e-01 9.92652321e-01 -3.71713739e-02 2.31882546e+01] [ 2.42022346e-01 8.25664023e-03 9.70235545e-01 -8.76149553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89534707 meters 0.029240545531702293 Centerline is valid? [True, True] Translation: X:-139.09, Y:23.18, Z:-8.77 [[ 9.63769258e-01 -1.19819307e-01 -2.38311037e-01 -1.39085965e+02] [ 1.14286658e-01 9.92760376e-01 -3.69512580e-02 2.31814220e+01] [ 2.41013229e-01 8.37671450e-03 9.70485679e-01 -8.76733838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92534707000002 meters 0.02914498486466382 Centerline is valid? [True, True] Translation: X:-139.11, Y:23.18, Z:-8.77 [[ 9.64113763e-01 -1.18832628e-01 -2.37409895e-01 -1.39113385e+02] [ 1.13336492e-01 9.92877982e-01 -3.67172077e-02 2.31759723e+01] [ 2.40082260e-01 8.49236058e-03 9.70715400e-01 -8.77304556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95534707 meters 0.02914029951719905 Centerline is valid? [True, True] Translation: X:-139.14, Y:23.17, Z:-8.78 [[ 9.63951309e-01 -1.20045946e-01 -2.37459143e-01 -1.39140575e+02] [ 1.14607362e-01 9.92735340e-01 -3.66291906e-02 2.31684246e+01] [ 2.40131269e-01 8.09419033e-03 9.70706680e-01 -8.78105594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98534707 meters 0.027952780922410363 Centerline is valid? [True, True] Translation: X:-139.17, Y:23.16, Z:-8.79 [[ 9.63880512e-01 -1.20676445e-01 -2.37426946e-01 -1.39166819e+02] [ 1.15279501e-01 9.92660872e-01 -3.65380629e-02 2.31603056e+01] [ 2.40093723e-01 7.84786693e-03 9.70717990e-01 -8.78730613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01534707 meters 0.02744045644027305 Centerline is valid? [True, True] Translation: X:-139.19, Y:23.15, Z:-8.79 [[ 9.63638377e-01 -1.21336421e-01 -2.38072574e-01 -1.39192017e+02] [ 1.15943981e-01 9.92581999e-01 -3.65782484e-02 2.31527922e+01] [ 2.40744825e-01 7.64512197e-03 9.70558335e-01 -8.79323351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04534707 meters 0.02756883478499732 Centerline is valid? [True, True] Translation: X:-139.22, Y:23.15, Z:-8.80 [[ 9.63472967e-01 -1.22053799e-01 -2.38375151e-01 -1.39218966e+02] [ 1.16686152e-01 9.92495860e-01 -3.65555609e-02 2.31478097e+01] [ 2.41048096e-01 7.40521569e-03 9.70484919e-01 -8.80055098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07534707 meters 0.02743804073861123 Centerline is valid? [True, True] Translation: X:-139.25, Y:23.14, Z:-8.81 [[ 9.63533451e-01 -1.22298948e-01 -2.38004738e-01 -1.39246007e+02] [ 1.16968261e-01 9.92466610e-01 -3.64479698e-02 2.31411305e+01] [ 2.40669304e-01 7.27983774e-03 9.70579873e-01 -8.80855266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10534707 meters 0.027757638928355532 Centerline is valid? [True, True] Translation: X:-139.27, Y:23.14, Z:-8.82 [[ 9.63874047e-01 -1.21815286e-01 -2.36870973e-01 -1.39273150e+02] [ 1.16546423e-01 9.92526224e-01 -3.61749427e-02 2.31360269e+01] [ 2.39507313e-01 7.26162387e-03 9.70867404e-01 -8.81790723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13534707 meters 0.026730580962360865 Centerline is valid? [True, True] Translation: X:-139.30, Y:23.13, Z:-8.82 [[ 9.63787170e-01 -1.22083227e-01 -2.37086431e-01 -1.39299029e+02] [ 1.16834330e-01 9.92494386e-01 -3.61196924e-02 2.31283488e+01] [ 2.39716560e-01 7.11186184e-03 9.70816868e-01 -8.82164144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16534707 meters 0.02688000803356046 Centerline is valid? [True, True] Translation: X:-139.33, Y:23.12, Z:-8.83 [[ 9.63774992e-01 -1.22764651e-01 -2.36783879e-01 -1.39325010e+02] [ 1.17564924e-01 9.92412035e-01 -3.60116732e-02 2.31213674e+01] [ 2.39408132e-01 6.86967142e-03 9.70894718e-01 -8.83249477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19534707 meters 0.02671599892724864 Centerline is valid? [True, True] Translation: X:-139.35, Y:23.11, Z:-8.84 [[ 9.63857905e-01 -1.23639683e-01 -2.35989761e-01 -1.39352028e+02] [ 1.18525874e-01 9.92305717e-01 -3.57908047e-02 2.31146117e+01] [ 2.38599153e-01 6.52635741e-03 9.71096211e-01 -8.83839696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22534707 meters 0.026649557925709805 Centerline is valid? [True, True] Translation: X:-139.38, Y:23.11, Z:-8.84 [[ 9.63771325e-01 -1.25117351e-01 -2.35564176e-01 -1.39378254e+02] [ 1.20086368e-01 9.92123424e-01 -3.56423312e-02 2.31057274e+01] [ 2.38168211e-01 6.06301043e-03 9.71204996e-01 -8.84427006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25534707 meters 0.025011901723496526 Centerline is valid? [True, True] Translation: X:-139.40, Y:23.10, Z:-8.85 [[ 9.63438842e-01 -1.26310688e-01 -2.36286284e-01 -1.39404049e+02] [ 1.21296702e-01 9.91974169e-01 -3.56981597e-02 2.30960538e+01] [ 2.38898949e-01 5.73224671e-03 9.71027514e-01 -8.85178193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28534707 meters 0.025184502764733656 Centerline is valid? [True, True] Translation: X:-139.43, Y:23.09, Z:-8.86 [[ 9.63736304e-01 -1.25669175e-01 -2.35413669e-01 -1.39430734e+02] [ 1.20697848e-01 9.92055431e-01 -3.54690100e-02 2.30887746e+01] [ 2.38000770e-01 5.76884951e-03 9.71247833e-01 -8.85722442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31534707 meters 0.02422774281130721 Centerline is valid? [True, True] Translation: X:-139.46, Y:23.08, Z:-8.86 [[ 9.63366695e-01 -1.27544921e-01 -2.35917153e-01 -1.39456758e+02] [ 1.22617489e-01 9.91818767e-01 -3.55033144e-02 2.30795095e+01] [ 2.38515327e-01 5.27514164e-03 9.71124406e-01 -8.86368456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34534707 meters 0.025661906092618435 Centerline is valid? [True, True] Translation: X:-139.48, Y:23.07, Z:-8.88 [[ 9.63486539e-01 -1.27396234e-01 -2.35507726e-01 -1.39482702e+02] [ 1.22498718e-01 9.91838105e-01 -3.53728258e-02 2.30740851e+01] [ 2.38091902e-01 5.23184692e-03 9.71228539e-01 -8.87742650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37534707 meters 0.025591029893647053 Centerline is valid? [True, True] Translation: X:-139.51, Y:23.07, Z:-8.89 [[ 9.63387738e-01 -1.27320530e-01 -2.35952430e-01 -1.39508539e+02] [ 1.22428773e-01 9.91848258e-01 -3.53302835e-02 2.30687813e+01] [ 2.38527277e-01 5.14939527e-03 9.71122146e-01 -8.88583877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40534707 meters 0.02469591598268581 Centerline is valid? [True, True] Translation: X:-139.53, Y:23.06, Z:-8.89 [[ 9.63261610e-01 -1.26507480e-01 -2.36902784e-01 -1.39534694e+02] [ 1.21575077e-01 9.91951628e-01 -3.53760985e-02 2.30607354e+01] [ 2.39471443e-01 5.27496329e-03 9.70889078e-01 -8.89054244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43534707 meters 0.024251317499703797 Centerline is valid? [True, True] Translation: X:-139.56, Y:23.05, Z:-8.89 [[ 9.63259895e-01 -1.25735691e-01 -2.37320270e-01 -1.39562042e+02] [ 1.20775398e-01 9.92048950e-01 -3.53862034e-02 2.30546910e+01] [ 2.39882634e-01 5.42366053e-03 9.70786746e-01 -8.89443565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46534707 meters 0.024759316723516965 Centerline is valid? [True, True] Translation: X:-139.59, Y:23.05, Z:-8.90 [[ 9.62996776e-01 -1.25135880e-01 -2.38701114e-01 -1.39588908e+02] [ 1.20124813e-01 9.92124374e-01 -3.54860014e-02 2.30488983e+01] [ 2.41261765e-01 5.49897818e-03 9.70444497e-01 -8.90311326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49534707 meters 0.025093145752877417 Centerline is valid? [True, True] Translation: X:-139.62, Y:23.04, Z:-8.91 [[ 9.63089616e-01 -1.24391192e-01 -2.38715778e-01 -1.39615329e+02] [ 1.19384390e-01 9.92217603e-01 -3.53779070e-02 2.30431943e+01] [ 2.41258697e-01 5.57315748e-03 9.70444837e-01 -8.91265010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52534707 meters 0.02640877314745689 Centerline is valid? [True, True] Translation: X:-139.64, Y:23.04, Z:-8.92 [[ 9.62942038e-01 -1.25254020e-01 -2.38859921e-01 -1.39641963e+02] [ 1.20296646e-01 9.92110871e-01 -3.52808336e-02 2.30365411e+01] [ 2.41394590e-01 5.23935040e-03 9.70412902e-01 -8.92192861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55534707 meters 0.025259117933379018 Centerline is valid? [True, True] Translation: X:-139.67, Y:23.03, Z:-8.93 [[ 9.62788877e-01 -1.25387740e-01 -2.39406544e-01 -1.39668866e+02] [ 1.20433615e-01 9.92094567e-01 -3.52720137e-02 2.30307069e+01] [ 2.41936610e-01 5.12690677e-03 9.70278512e-01 -8.92708032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58534707 meters 0.025232136010487145 Centerline is valid? [True, True] Translation: X:-139.70, Y:23.02, Z:-8.93 [[ 9.62883711e-01 -1.26409890e-01 -2.38485845e-01 -1.39695678e+02] [ 1.21538430e-01 9.91966498e-01 -3.50838498e-02 2.30223691e+01] [ 2.41004914e-01 4.79647239e-03 9.70512043e-01 -8.93488037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61534707 meters 0.02418729441062686 Centerline is valid? [True, True] Translation: X:-139.72, Y:23.01, Z:-8.94 [[ 9.62983503e-01 -1.26933487e-01 -2.37803833e-01 -1.39721320e+02] [ 1.22129774e-01 9.91900779e-01 -3.48878611e-02 2.30138393e+01] [ 2.40306245e-01 4.55350632e-03 9.70686445e-01 -8.94094329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64534707 meters 0.025325738010491643 Centerline is valid? [True, True] Translation: X:-139.75, Y:23.01, Z:-8.95 [[ 9.63249141e-01 -1.25791809e-01 -2.37334179e-01 -1.39747272e+02] [ 1.20992587e-01 9.92045298e-01 -3.47407480e-02 2.30090513e+01] [ 2.39816358e-01 4.74831937e-03 9.70806658e-01 -8.94940792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67534707000002 meters 0.025325738010491643 Centerline is valid? [True, True] Translation: X:-139.77, Y:23.00, Z:-8.95 [[ 9.63305307e-01 -1.25328886e-01 -2.37351125e-01 -1.39773902e+02] [ 1.20544424e-01 9.92103914e-01 -3.46246324e-02 2.30049408e+01] [ 2.39816447e-01 4.74273753e-03 9.70806664e-01 -8.95453068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70534707 meters 0.025148463030310604 Centerline is valid? [True, True] Translation: X:-139.80, Y:23.00, Z:-8.96 [[ 9.63338920e-01 -1.25041302e-01 -2.37366380e-01 -1.39798971e+02] [ 1.20272066e-01 9.92140341e-01 -3.45278788e-02 2.29965531e+01] [ 2.39818172e-01 4.71350454e-03 9.70806380e-01 -8.95985161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73534707 meters 0.024400470037954702 Centerline is valid? [True, True] Translation: X:-139.83, Y:22.99, Z:-8.96 [[ 9.63361187e-01 -1.25358613e-01 -2.37108500e-01 -1.39825377e+02] [ 1.20622395e-01 9.92100945e-01 -3.44376741e-02 2.29893557e+01] [ 2.39552626e-01 4.57532346e-03 9.70872600e-01 -8.96325472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76534707 meters 0.024175447883598475 Centerline is valid? [True, True] Translation: X:-139.85, Y:22.98, Z:-8.97 [[ 9.63491541e-01 -1.26078258e-01 -2.36195521e-01 -1.39852376e+02] [ 1.21417214e-01 9.92010942e-01 -3.42366897e-02 2.29796049e+01] [ 2.38625043e-01 4.30855875e-03 9.71102222e-01 -8.97001142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79534707 meters 0.02456505299393174 Centerline is valid? [True, True] Translation: X:-139.88, Y:22.97, Z:-8.98 [[ 9.63873962e-01 -1.26266995e-01 -2.34528530e-01 -1.39879440e+02] [ 1.21703886e-01 9.91987728e-01 -3.38897050e-02 2.29707032e+01] [ 2.36928575e-01 4.12237080e-03 9.71518325e-01 -8.97647029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82534707 meters 0.02544951978706955 Centerline is valid? [True, True] Translation: X:-139.91, Y:22.97, Z:-8.99 [[ 9.64383301e-01 -1.25561897e-01 -2.32806913e-01 -1.39906267e+02] [ 1.21071317e-01 9.92077077e-01 -3.35381933e-02 2.29657348e+01] [ 2.35173521e-01 4.15743407e-03 9.71944510e-01 -8.98616107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85534707 meters 0.023618444253387785 Centerline is valid? [True, True] Translation: X:-139.93, Y:22.96, Z:-8.99 [[ 9.64467743e-01 -1.25078816e-01 -2.32717129e-01 -1.39932932e+02] [ 1.20599985e-01 9.92138002e-01 -3.34339420e-02 2.29568517e+01] [ 2.35069385e-01 4.18027621e-03 9.71969603e-01 -8.98595993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88534707 meters 0.025891983923312368 Centerline is valid? [True, True] Translation: X:-139.96, Y:22.95, Z:-8.99 [[ 9.64796303e-01 -1.24319450e-01 -2.31760151e-01 -1.39961057e+02] [ 1.19871542e-01 9.92233005e-01 -3.32336722e-02 2.29516370e+01] [ 2.34091663e-01 4.28227739e-03 9.72205099e-01 -8.99176911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91534707 meters 0.02471675291133494 Centerline is valid? [True, True] Translation: X:-139.99, Y:22.95, Z:-9.00 [[ 9.65198422e-01 -1.22925597e-01 -2.30827431e-01 -1.39988106e+02] [ 1.18499659e-01 9.92405711e-01 -3.29959961e-02 2.29451035e+01] [ 2.33130513e-01 4.49471155e-03 9.72435068e-01 -8.99778532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94534707 meters 0.025284643770929073 Centerline is valid? [True, True] Translation: X:-140.01, Y:22.94, Z:-9.01 [[ 9.65301129e-01 -1.22096478e-01 -2.30837995e-01 -1.40014522e+02] [ 1.17672610e-01 9.92507646e-01 -3.28896671e-02 2.29405111e+01] [ 2.33124187e-01 4.58512357e-03 9.72436162e-01 -9.00832260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97534707 meters 0.025045758998634867 Centerline is valid? [True, True] Translation: X:-140.04, Y:22.93, Z:-9.01 [[ 9.65140514e-01 -1.21123821e-01 -2.32018984e-01 -1.40041518e+02] [ 1.16651094e-01 9.92626089e-01 -3.29540627e-02 2.29329279e+01] [ 2.34299619e-01 4.74003271e-03 9.72152879e-01 -9.01033334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00534707 meters 0.024431589827679547 Centerline is valid? [True, True] Translation: X:-140.07, Y:22.93, Z:-9.02 [[ 9.65252659e-01 -1.22413502e-01 -2.30872777e-01 -1.40068822e+02] [ 1.18030734e-01 9.92469580e-01 -3.27548232e-02 2.29274700e+01] [ 2.33143841e-01 4.36659684e-03 9.72432456e-01 -9.01594866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03534707 meters 0.02447975997615594 Centerline is valid? [True, True] Translation: X:-140.10, Y:22.92, Z:-9.02 [[ 9.65443562e-01 -1.21525450e-01 -2.30543476e-01 -1.40095772e+02] [ 1.17143259e-01 9.92578027e-01 -3.26545160e-02 2.29211300e+01] [ 2.32800743e-01 4.51947817e-03 9.72513953e-01 -9.02191834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06534707 meters 0.025501468971230474 Centerline is valid? [True, True] Translation: X:-140.12, Y:22.92, Z:-9.03 [[ 9.65616401e-01 -1.20946285e-01 -2.30123797e-01 -1.40122968e+02] [ 1.16591800e-01 9.92648709e-01 -3.24791256e-02 2.29172337e+01] [ 2.32360320e-01 4.53182867e-03 9.72619219e-01 -9.03114858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09534707 meters 0.025423067108718993 Centerline is valid? [True, True] Translation: X:-140.15, Y:22.91, Z:-9.04 [[ 9.65703007e-01 -1.20411508e-01 -2.30040801e-01 -1.40150345e+02] [ 1.16070583e-01 9.92713635e-01 -3.23613664e-02 2.29129437e+01] [ 2.32261321e-01 4.55049896e-03 9.72642777e-01 -9.03661961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12534707 meters 0.025214731805062753 Centerline is valid? [True, True] Translation: X:-140.18, Y:22.91, Z:-9.04 [[ 9.65921797e-01 -1.18656008e-01 -2.30034418e-01 -1.40178304e+02] [ 1.14289377e-01 9.92923461e-01 -3.22635791e-02 2.29073924e+01] [ 2.32234838e-01 4.87360414e-03 9.72647535e-01 -9.03686691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15534707 meters 0.024784057299616778 Centerline is valid? [True, True] Translation: X:-140.21, Y:22.90, Z:-9.04 [[ 9.66114611e-01 -1.18279868e-01 -2.29417591e-01 -1.40205569e+02] [ 1.13936396e-01 9.92968169e-01 -3.21358400e-02 2.29038817e+01] [ 2.31605388e-01 4.90789105e-03 9.72797439e-01 -9.04385919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18534707 meters 0.02550822658345022 Centerline is valid? [True, True] Translation: X:-140.23, Y:22.90, Z:-9.05 [[ 9.66326666e-01 -1.16203900e-01 -2.29585339e-01 -1.40233161e+02] [ 1.11812218e-01 9.93211019e-01 -3.20920565e-02 2.28999160e+01] [ 2.31755911e-01 5.34096389e-03 9.72759308e-01 -9.04958223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21534707 meters 0.025999432245361092 Centerline is valid? [True, True] Translation: X:-140.26, Y:22.90, Z:-9.06 [[ 9.66736945e-01 -1.14689237e-01 -2.28617712e-01 -1.40260450e+02] [ 1.10315911e-01 9.93385737e-01 -3.18618567e-02 2.28968492e+01] [ 2.30759787e-01 5.58186270e-03 9.72994740e-01 -9.05661881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24534707 meters 0.025977194813969245 Centerline is valid? [True, True] Translation: X:-140.29, Y:22.89, Z:-9.06 [[ 9.66968816e-01 -1.13576689e-01 -2.28192124e-01 -1.40287254e+02] [ 1.09202646e-01 9.93512427e-01 -3.17464907e-02 2.28921672e+01] [ 2.30317372e-01 5.77868285e-03 9.73098410e-01 -9.05993735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27534707 meters 0.026305251927854628 Centerline is valid? [True, True] Translation: X:-140.32, Y:22.89, Z:-9.06 [[ 9.67288705e-01 -1.12407872e-01 -2.27413790e-01 -1.40315143e+02] [ 1.08046810e-01 9.93644202e-01 -3.15766763e-02 2.28884637e+01] [ 2.29517861e-01 5.97242777e-03 9.73286125e-01 -9.06481075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30534707 meters 0.02683001136256561 Centerline is valid? [True, True] Translation: X:-140.34, Y:22.88, Z:-9.07 [[ 9.67493461e-01 -1.11211730e-01 -2.27130700e-01 -1.40342526e+02] [ 1.06854350e-01 9.93777774e-01 -3.14306292e-02 2.28844974e+01] [ 2.29212896e-01 6.13902503e-03 9.73356954e-01 -9.07072175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33534707 meters 0.02823813808439107 Centerline is valid? [True, True] Translation: X:-140.37, Y:22.88, Z:-9.08 [[ 9.68180188e-01 -1.11982323e-01 -2.23801437e-01 -1.40371360e+02] [ 1.07796850e-01 9.93693475e-01 -3.08725837e-02 2.28811966e+01] [ 2.25847212e-01 5.76513387e-03 9.74145677e-01 -9.07761839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36534707 meters 0.027586972787453732 Centerline is valid? [True, True] Translation: X:-140.40, Y:22.88, Z:-9.08 [[ 9.67883867e-01 -1.10878317e-01 -2.25625393e-01 -1.40399538e+02] [ 1.06600576e-01 9.93815613e-01 -3.10941271e-02 2.28773536e+01] [ 2.27677703e-01 6.04370712e-03 9.73717791e-01 -9.08357508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39534707 meters 0.02601030731551525 Centerline is valid? [True, True] Translation: X:-140.43, Y:22.87, Z:-9.08 [[ 9.67720580e-01 -1.10455796e-01 -2.26531226e-01 -1.40426971e+02] [ 1.06152126e-01 9.93862441e-01 -3.11315595e-02 2.28686327e+01] [ 2.28579538e-01 6.07987958e-03 9.73506256e-01 -9.08436998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42534707000002 meters 0.026572893913302517 Centerline is valid? [True, True] Translation: X:-140.45, Y:22.86, Z:-9.09 [[ 9.67542706e-01 -1.12551208e-01 -2.26259446e-01 -1.40454299e+02] [ 1.08326388e-01 9.93630559e-01 -3.10436263e-02 2.28645968e+01] [ 2.28312297e-01 5.52616574e-03 9.73572266e-01 -9.09325615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45534707 meters 0.025737649571104915 Centerline is valid? [True, True] Translation: X:-140.48, Y:22.86, Z:-9.10 [[ 9.67539366e-01 -1.15198166e-01 -2.24937675e-01 -1.40481134e+02] [ 1.11115527e-01 9.93331045e-01 -3.07697146e-02 2.28562686e+01] [ 2.26982191e-01 4.77684177e-03 9.73887194e-01 -9.09645150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48534707 meters 0.026033002441620427 Centerline is valid? [True, True] Translation: X:-140.51, Y:22.85, Z:-9.10 [[ 9.67752322e-01 -1.15749684e-01 -2.23735231e-01 -1.40509798e+02] [ 1.11736488e-01 9.93267882e-01 -3.05593246e-02 2.28515260e+01] [ 2.25766251e-01 4.57446843e-03 9.74170762e-01 -9.09953584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51534707 meters 0.024704863141568428 Centerline is valid? [True, True] Translation: X:-140.54, Y:22.85, Z:-9.10 [[ 9.68012712e-01 -1.16198366e-01 -2.22372052e-01 -1.40537429e+02] [ 1.12266443e-01 9.93216490e-01 -3.02861321e-02 2.28456683e+01] [ 2.24382788e-01 4.35244169e-03 9.74491365e-01 -9.10072573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54534707 meters 0.02562347845167541 Centerline is valid? [True, True] Translation: X:-140.57, Y:22.84, Z:-9.10 [[ 9.68396161e-01 -1.16130751e-01 -2.20731794e-01 -1.40565327e+02] [ 1.12264231e-01 9.93224641e-01 -3.00259080e-02 2.28407727e+01] [ 2.22723188e-01 4.29668879e-03 9.74872258e-01 -9.10370031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57534707 meters 0.025043437044422207 Centerline is valid? [True, True] Translation: X:-140.59, Y:22.84, Z:-9.11 [[ 9.68680135e-01 -1.14367678e-01 -2.20406057e-01 -1.40592713e+02] [ 1.10476160e-01 9.93427575e-01 -2.99444745e-02 2.28361290e+01] [ 2.22382135e-01 4.65700280e-03 9.74948459e-01 -9.10834427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60534707 meters 0.025969579707520448 Centerline is valid? [True, True] Translation: X:-140.62, Y:22.83, Z:-9.12 [[ 9.68725554e-01 -1.13033383e-01 -2.20894217e-01 -1.40620050e+02] [ 1.09100833e-01 9.93578975e-01 -2.99637905e-02 2.28321636e+01] [ 2.22862758e-01 4.92694659e-03 9.74837379e-01 -9.11538408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63534707 meters 0.025527395738163317 Centerline is valid? [True, True] Translation: X:-140.65, Y:22.83, Z:-9.12 [[ 9.69343510e-01 -1.09707232e-01 -2.19857868e-01 -1.40647167e+02] [ 1.05748222e-01 9.93948329e-01 -2.97326981e-02 2.28270352e+01] [ 2.21789253e-01 5.57161934e-03 9.75078707e-01 -9.12070159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66534707 meters 0.02698838904666638 Centerline is valid? [True, True] Translation: X:-140.67, Y:22.82, Z:-9.13 [[ 9.70279387e-01 -1.06422470e-01 -2.17329631e-01 -1.40673850e+02] [ 1.02484892e-01 9.94301688e-01 -2.93428190e-02 2.28246701e+01] [ 2.19213954e-01 6.19772880e-03 9.75657128e-01 -9.12719316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69534707 meters 0.026725242820099703 Centerline is valid? [True, True] Translation: X:-140.70, Y:22.82, Z:-9.13 [[ 9.70372151e-01 -1.06400664e-01 -2.16925762e-01 -1.40700800e+02] [ 1.02501368e-01 9.94304738e-01 -2.91814662e-02 2.28176147e+01] [ 2.18795241e-01 6.08169485e-03 9.75751841e-01 -9.13260057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72534707 meters 0.027017487035512606 Centerline is valid? [True, True] Translation: X:-140.73, Y:22.81, Z:-9.14 [[ 9.70379978e-01 -1.11198312e-01 -2.14470588e-01 -1.40728236e+02] [ 1.07514386e-01 9.93786197e-01 -2.88036667e-02 2.28079104e+01] [ 2.16340829e-01 4.89182777e-03 9.76305647e-01 -9.13920079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75534707 meters 0.02523426767393911 Centerline is valid? [True, True] Translation: X:-140.76, Y:22.80, Z:-9.14 [[ 9.70405747e-01 -1.15608472e-01 -2.12007942e-01 -1.40755651e+02] [ 1.12118563e-01 9.93287441e-01 -2.84515093e-02 2.27968141e+01] [ 2.13874062e-01 3.83948229e-03 9.76853696e-01 -9.14013671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78534707 meters 0.025263904444543614 Centerline is valid? [True, True] Translation: X:-140.78, Y:22.79, Z:-9.14 [[ 9.70667104e-01 -1.16416195e-01 -2.10363122e-01 -1.40783606e+02] [ 1.13007436e-01 9.93194009e-01 -2.81953753e-02 2.27915729e+01] [ 2.12213791e-01 3.59572628e-03 9.77216648e-01 -9.14460289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81534707 meters 0.024149878574526735 Centerline is valid? [True, True] Translation: X:-140.81, Y:22.78, Z:-9.15 [[ 9.70561782e-01 -1.19573880e-01 -2.09073945e-01 -1.40811285e+02] [ 1.16299638e-01 9.92821377e-01 -2.79304071e-02 2.27834856e+01] [ 2.10912829e-01 2.79296145e-03 9.77500884e-01 -9.14911453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84534707 meters 0.023777134561074737 Centerline is valid? [True, True] Translation: X:-140.84, Y:22.78, Z:-9.15 [[ 9.70806981e-01 -1.19368235e-01 -2.08050546e-01 -1.40837887e+02] [ 1.16139643e-01 9.92846275e-01 -2.77102433e-02 2.27786158e+01] [ 2.09869932e-01 2.73838167e-03 9.77725479e-01 -9.15424480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87534707 meters 0.02515694279391425 Centerline is valid? [True, True] Translation: X:-140.87, Y:22.78, Z:-9.17 [[ 9.70836396e-01 -1.15133756e-01 -2.10287686e-01 -1.40865801e+02] [ 1.11743807e-01 9.93343259e-01 -2.79730358e-02 2.27787920e+01] [ 2.12108496e-01 3.65889462e-03 9.77239274e-01 -9.16603424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90534707 meters 0.025078782497729903 Centerline is valid? [True, True] Translation: X:-140.89, Y:22.77, Z:-9.17 [[ 9.70741093e-01 -1.14793074e-01 -2.10912969e-01 -1.40892702e+02] [ 1.11386553e-01 9.93382573e-01 -2.80017644e-02 2.27741682e+01] [ 2.12731676e-01 3.68959487e-03 9.77103690e-01 -9.17242701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93534707 meters 0.024205942087705844 Centerline is valid? [True, True] Translation: X:-140.92, Y:22.77, Z:-9.18 [[ 9.70574906e-01 -1.16535565e-01 -2.10722124e-01 -1.40919442e+02] [ 1.13195388e-01 9.93181321e-01 -2.78866964e-02 2.27670287e+01] [ 2.12535069e-01 3.21335516e-03 9.77148156e-01 -9.17706464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96534707 meters 0.024774710546821493 Centerline is valid? [True, True] Translation: X:-140.95, Y:22.76, Z:-9.18 [[ 9.70671303e-01 -1.19591113e-01 -2.08554996e-01 -1.40946684e+02] [ 1.16398297e-01 9.92820139e-01 -2.75609708e-02 2.27608446e+01] [ 2.10353648e-01 2.47719704e-03 9.77622221e-01 -9.18424400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99534707 meters 0.02381705916524701 Centerline is valid? [True, True] Translation: X:-140.97, Y:22.76, Z:-9.19 [[ 9.70836813e-01 -1.18867000e-01 -2.08198268e-01 -1.40973346e+02] [ 1.15687380e-01 9.92906933e-01 -2.74272236e-02 2.27553426e+01] [ 2.09981696e-01 2.54144612e-03 9.77702014e-01 -9.18781658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02534707 meters 0.024167842096581738 Centerline is valid? [True, True] Translation: X:-141.00, Y:22.75, Z:-9.19 [[ 9.71548062e-01 -1.16417130e-01 -2.06255703e-01 -1.41001061e+02] [ 1.13252476e-01 9.93195894e-01 -2.71255159e-02 2.27522198e+01] [ 2.08010192e-01 2.99477344e-03 9.78122074e-01 -9.19015882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05534707 meters 0.025684716992757785 Centerline is valid? [True, True] Translation: X:-141.03, Y:22.75, Z:-9.20 [[ 9.71975300e-01 -1.14043249e-01 -2.05567882e-01 -1.41028016e+02] [ 1.10856369e-01 9.93469803e-01 -2.69928912e-02 2.27511628e+01] [ 2.07303840e-01 3.44791446e-03 9.78270530e-01 -9.19680477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08534707 meters 0.026083249164925236 Centerline is valid? [True, True] Translation: X:-141.06, Y:22.75, Z:-9.20 [[ 9.72539710e-01 -1.10643244e-01 -2.04754941e-01 -1.41056162e+02] [ 1.07430296e-01 9.93851956e-01 -2.67772584e-02 2.27492585e+01] [ 2.06458821e-01 4.04506320e-03 9.78446929e-01 -9.20338642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11534707 meters 0.025494560143431298 Centerline is valid? [True, True] Translation: X:-141.08, Y:22.74, Z:-9.21 [[ 9.72250305e-01 -1.08841296e-01 -2.07081907e-01 -1.41083276e+02] [ 1.05532399e-01 9.94049446e-01 -2.69928107e-02 2.27446300e+01] [ 2.08787587e-01 4.38991802e-03 9.77951160e-01 -9.20961932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14534707 meters 0.025188920566427665 Centerline is valid? [True, True] Translation: X:-141.11, Y:22.74, Z:-9.22 [[ 9.71927207e-01 -1.11749874e-01 -2.07049439e-01 -1.41110671e+02] [ 1.08518952e-01 9.93729445e-01 -2.69337544e-02 2.27380999e+01] [ 2.08760968e-01 3.70886059e-03 9.77959663e-01 -9.21767733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17534707000002 meters 0.024992855122255634 Centerline is valid? [True, True] Translation: X:-141.14, Y:22.73, Z:-9.22 [[ 9.71850672e-01 -1.12246300e-01 -2.07140144e-01 -1.41137466e+02] [ 1.09042803e-01 9.93674206e-01 -2.68558822e-02 2.27308623e+01] [ 2.08844291e-01 3.51276518e-03 9.77942597e-01 -9.22302989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20534707 meters 0.02574967011814979 Centerline is valid? [True, True] Translation: X:-141.16, Y:22.73, Z:-9.23 [[ 9.71726422e-01 -1.11925282e-01 -2.07895388e-01 -1.41164294e+02] [ 1.08702855e-01 9.93710326e-01 -2.68975303e-02 2.27269527e+01] [ 2.09598308e-01 3.53821867e-03 9.77781177e-01 -9.23136801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23534707 meters 0.024119633236662004 Centerline is valid? [True, True] Translation: X:-141.19, Y:22.72, Z:-9.24 [[ 9.71503700e-01 -1.14956624e-01 -2.07281296e-01 -1.41191438e+02] [ 1.11842370e-01 9.93366631e-01 -2.67211660e-02 2.27204036e+01] [ 2.08978097e-01 2.77688036e-03 9.77916379e-01 -9.23729668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26534707 meters 0.024145501769895748 Centerline is valid? [True, True] Translation: X:-141.22, Y:22.71, Z:-9.24 [[ 9.71429378e-01 -1.15092786e-01 -2.07553882e-01 -1.41217726e+02] [ 1.11980418e-01 9.93351028e-01 -2.67230363e-02 2.27148036e+01] [ 2.09249491e-01 2.71757205e-03 9.77858510e-01 -9.23926274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29534707 meters 0.02371289383292182 Centerline is valid? [True, True] Translation: X:-141.25, Y:22.71, Z:-9.24 [[ 9.72269974e-01 -1.13657130e-01 -2.04384822e-01 -1.41245519e+02] [ 1.10619573e-01 9.93515721e-01 -2.62644556e-02 2.27111128e+01] [ 2.06044676e-01 2.92717992e-03 9.78538207e-01 -9.24472451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32534707 meters 0.023963827688279666 Centerline is valid? [True, True] Translation: X:-141.27, Y:22.71, Z:-9.25 [[ 9.72468747e-01 -1.12795447e-01 -2.03915969e-01 -1.41272429e+02] [ 1.09772999e-01 9.93613680e-01 -2.61102106e-02 2.27061087e+01] [ 2.05558810e-01 3.00689631e-03 9.78640145e-01 -9.24958081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35534707 meters 0.02371168704178321 Centerline is valid? [True, True] Translation: X:-141.30, Y:22.70, Z:-9.26 [[ 9.72315358e-01 -1.14631039e-01 -2.03623599e-01 -1.41298394e+02] [ 1.11676673e-01 9.93404938e-01 -2.59797800e-02 2.26984919e+01] [ 2.05258778e-01 2.52053303e-03 9.78704491e-01 -9.25703185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38534707 meters 0.02330285254204104 Centerline is valid? [True, True] Translation: X:-141.32, Y:22.69, Z:-9.26 [[ 9.71335441e-01 -1.16060458e-01 -2.07454647e-01 -1.41324669e+02] [ 1.13031482e-01 9.93239648e-01 -2.64364470e-02 2.26900482e+01] [ 2.09120406e-01 2.22975173e-03 9.77887357e-01 -9.26472845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41534707 meters 0.02239199230661989 Centerline is valid? [True, True] Translation: X:-141.35, Y:22.68, Z:-9.27 [[ 9.70851126e-01 -1.19321785e-01 -2.07871123e-01 -1.41350668e+02] [ 1.16361352e-01 9.92854505e-01 -2.64568823e-02 2.26801010e+01] [ 2.09542663e-01 1.49752897e-03 9.77798358e-01 -9.27108276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44534707 meters 0.023464206497249118 Centerline is valid? [True, True] Translation: X:-141.38, Y:22.67, Z:-9.28 [[ 9.70883772e-01 -1.20069562e-01 -2.07287243e-01 -1.41378116e+02] [ 1.17151280e-01 9.92764640e-01 -2.63428604e-02 2.26745958e+01] [ 2.08950421e-01 1.29188986e-03 9.77925382e-01 -9.27824907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47534707 meters 0.02250774825902984 Centerline is valid? [True, True] Translation: X:-141.41, Y:22.67, Z:-9.28 [[ 9.70653744e-01 -1.19002041e-01 -2.08973261e-01 -1.41405076e+02] [ 1.16031582e-01 9.92892969e-01 -2.64617606e-02 2.26663434e+01] [ 2.10637085e-01 1.43770890e-03 9.77563272e-01 -9.28358484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50534707 meters 0.0228433593738486 Centerline is valid? [True, True] Translation: X:-141.43, Y:22.66, Z:-9.29 [[ 9.70803347e-01 -1.19036260e-01 -2.08257607e-01 -1.41432730e+02] [ 1.16107215e-01 9.92889017e-01 -2.62776586e-02 2.26595524e+01] [ 2.09904685e-01 1.33022820e-03 9.77720949e-01 -9.29090077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53534707 meters 0.02181470514830104 Centerline is valid? [True, True] Translation: X:-141.46, Y:22.65, Z:-9.29 [[ 9.70829428e-01 -1.17940233e-01 -2.08759009e-01 -1.41459813e+02] [ 1.14991389e-01 9.93019594e-01 -2.62500666e-02 2.26540245e+01] [ 2.10397725e-01 1.47884885e-03 9.77614756e-01 -9.29343596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56534707 meters 0.02181470514830104 Centerline is valid? [True, True] Translation: X:-141.49, Y:22.65, Z:-9.30 [[ 9.70890301e-01 -1.17424965e-01 -2.08766380e-01 -1.41486533e+02] [ 1.14476977e-01 9.93080579e-01 -2.61913124e-02 2.26504632e+01] [ 2.10397352e-01 1.52994701e-03 9.77614757e-01 -9.29854504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59534707 meters 0.022179317138472567 Centerline is valid? [True, True] Translation: X:-141.51, Y:22.64, Z:-9.31 [[ 9.70762941e-01 -1.17254935e-01 -2.09453079e-01 -1.41512601e+02] [ 1.14307721e-01 9.93100778e-01 -2.61646553e-02 2.26433604e+01] [ 2.11075951e-01 1.45757364e-03 9.77468577e-01 -9.30599271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62534707 meters 0.022037177954757965 Centerline is valid? [True, True] Translation: X:-141.54, Y:22.64, Z:-9.31 [[ 9.70575615e-01 -1.17697364e-01 -2.10072143e-01 -1.41539494e+02] [ 1.14767253e-01 9.93048723e-01 -2.61287373e-02 2.26377265e+01] [ 2.11687157e-01 1.25051246e-03 9.77336679e-01 -9.31153455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65534707 meters 0.021901967367124495 Centerline is valid? [True, True] Translation: X:-141.57, Y:22.63, Z:-9.32 [[ 9.70942798e-01 -1.15277794e-01 -2.09716744e-01 -1.41565557e+02] [ 1.12325972e-01 9.93331902e-01 -2.59732106e-02 2.26318811e+01] [ 2.11312467e-01 1.66186462e-03 9.77417147e-01 -9.31892334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68534707 meters 0.022626878684118473 Centerline is valid? [True, True] Translation: X:-141.59, Y:22.63, Z:-9.32 [[ 9.71334911e-01 -1.11863059e-01 -2.09750200e-01 -1.41592398e+02] [ 1.08853952e-01 9.93720970e-01 -2.58737489e-02 2.26263222e+01] [ 2.11327489e-01 2.29993734e-03 9.77412606e-01 -9.32303167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71534707 meters 0.022164205972617233 Centerline is valid? [True, True] Translation: X:-141.62, Y:22.62, Z:-9.33 [[ 9.71825578e-01 -1.09593649e-01 -2.08672655e-01 -1.41618767e+02] [ 1.06573418e-01 9.93972714e-01 -2.56972970e-02 2.26226567e+01] [ 2.10231186e-01 2.73433243e-03 9.77647877e-01 -9.33072124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74534707 meters 0.023561792116395877 Centerline is valid? [True, True] Translation: X:-141.65, Y:22.62, Z:-9.34 [[ 9.72082265e-01 -1.04549149e-01 -2.10060815e-01 -1.41646962e+02] [ 1.01395568e-01 9.94512692e-01 -2.57574101e-02 2.26191130e+01] [ 2.11601062e-01 3.73908603e-03 9.77348970e-01 -9.33821276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77534707 meters 0.023381131240268773 Centerline is valid? [True, True] Translation: X:-141.67, Y:22.61, Z:-9.34 [[ 9.72334146e-01 -1.01145778e-01 -2.10560778e-01 -1.41673442e+02] [ 9.79156291e-02 9.94861848e-01 -2.57377737e-02 2.26127643e+01] [ 2.12082151e-01 4.40852516e-03 9.77241897e-01 -9.34329922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80534707 meters 0.0254455914337763 Centerline is valid? [True, True] Translation: X:-141.70, Y:22.61, Z:-9.35 [[ 9.72629427e-01 -1.03208566e-01 -2.08182585e-01 -1.41701659e+02] [ 1.00107224e-01 9.94652202e-01 -2.54074872e-02 2.26071776e+01] [ 2.09691537e-01 3.87148910e-03 9.77759925e-01 -9.34807707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83534707 meters 0.02277353325322177 Centerline is valid? [True, True] Translation: X:-141.73, Y:22.60, Z:-9.36 [[ 9.72026680e-01 -1.05499041e-01 -2.09843005e-01 -1.41727474e+02] [ 1.02420970e-01 9.94413905e-01 -2.55133506e-02 2.25961218e+01] [ 2.11362436e-01 3.30733332e-03 9.77402160e-01 -9.35569521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86534707 meters 0.02235594492372423 Centerline is valid? [True, True] Translation: X:-141.75, Y:22.59, Z:-9.36 [[ 9.72123362e-01 -1.07181197e-01 -2.08538628e-01 -1.41754118e+02] [ 1.04201057e-01 9.94235496e-01 -2.52570380e-02 2.25891882e+01] [ 2.10043586e-01 2.82301123e-03 9.77687947e-01 -9.36155793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89534707 meters 0.021987221618097644 Centerline is valid? [True, True] Translation: X:-141.78, Y:22.58, Z:-9.37 [[ 9.71769251e-01 -1.10853474e-01 -2.08269130e-01 -1.41780764e+02] [ 1.07971651e-01 9.93834763e-01 -2.51909891e-02 2.25788520e+01] [ 2.09777610e-01 1.99266672e-03 9.77747096e-01 -9.36707735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92534707000002 meters 0.02338779981567913 Centerline is valid? [True, True] Translation: X:-141.81, Y:22.57, Z:-9.37 [[ 9.71686820e-01 -1.12694309e-01 -2.07664916e-01 -1.41808683e+02] [ 1.09879694e-01 9.93628499e-01 -2.50770660e-02 2.25706087e+01] [ 2.09167822e-01 1.54889710e-03 9.77878532e-01 -9.37221287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95534707 meters 0.02136510102865238 Centerline is valid? [True, True] Translation: X:-141.83, Y:22.56, Z:-9.38 [[ 9.71332137e-01 -1.12421325e-01 -2.09464379e-01 -1.41834616e+02] [ 1.09570723e-01 9.93659454e-01 -2.52021241e-02 2.25629303e+01] [ 2.10969516e-01 1.52846960e-03 9.77491446e-01 -9.37841215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98534707 meters 0.021070886545210867 Centerline is valid? [True, True] Translation: X:-141.86, Y:22.56, Z:-9.38 [[ 9.71425038e-01 -1.12050677e-01 -2.09232027e-01 -1.41862157e+02] [ 1.09210706e-01 9.93701289e-01 -2.51151207e-02 2.25582482e+01] [ 2.10728301e-01 1.54707967e-03 9.77543446e-01 -9.38340456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01534707 meters 0.021933252590000937 Centerline is valid? [True, True] Translation: X:-141.89, Y:22.55, Z:-9.39 [[ 9.71245965e-01 -1.11981920e-01 -2.10098370e-01 -1.41887914e+02] [ 1.09141030e-01 9.93709181e-01 -2.51057528e-02 2.25515119e+01] [ 2.11588069e-01 1.45350864e-03 9.77357855e-01 -9.39336007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04534707 meters 0.021454528212345177 Centerline is valid? [True, True] Translation: X:-141.92, Y:22.55, Z:-9.40 [[ 9.71367486e-01 -1.12394012e-01 -2.09315059e-01 -1.41915537e+02] [ 1.09606856e-01 9.93662932e-01 -2.49061262e-02 2.25452262e+01] [ 2.10787914e-01 1.25063569e-03 9.77531018e-01 -9.39622159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07534707 meters 0.023744992087045003 Centerline is valid? [True, True] Translation: X:-141.94, Y:22.54, Z:-9.40 [[ 9.71367692e-01 -1.16427485e-01 -2.07097678e-01 -1.41942985e+02] [ 1.13802544e-01 9.93199146e-01 -2.45853238e-02 2.25366975e+01] [ 2.08551645e-01 3.13146455e-04 9.78011305e-01 -9.40036830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10534707 meters 0.021064263224201955 Centerline is valid? [True, True] Translation: X:-141.97, Y:22.53, Z:-9.41 [[ 9.71172755e-01 -1.15843575e-01 -2.08335656e-01 -1.41970318e+02] [ 1.13194635e-01 9.93267411e-01 -2.46338133e-02 2.25280081e+01] [ 2.09786687e-01 3.41209642e-04 9.77747119e-01 -9.40824018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13534707 meters 0.02093282144910179 Centerline is valid? [True, True] Translation: X:-142.00, Y:22.52, Z:-9.41 [[ 9.71028998e-01 -1.16957185e-01 -2.08383548e-01 -1.41996723e+02] [ 1.14351651e-01 9.93136958e-01 -2.45496013e-02 2.25219190e+01] [ 2.09824655e-01 9.37195954e-06 9.77739032e-01 -9.41340838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16534707 meters 0.02103311063352375 Centerline is valid? [True, True] Translation: X:-142.02, Y:22.51, Z:-9.42 [[ 9.71067723e-01 -1.17774348e-01 -2.07741860e-01 -1.42023109e+02] [ 1.15215246e-01 9.93040358e-01 -2.44191253e-02 2.25142952e+01] [ 2.09171998e-01 -2.22405108e-04 9.77878840e-01 -9.42038785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19534707 meters 0.020912228272049523 Centerline is valid? [True, True] Translation: X:-142.05, Y:22.51, Z:-9.43 [[ 9.71049748e-01 -1.17905077e-01 -2.07751725e-01 -1.42049911e+02] [ 1.15372183e-01 9.93024804e-01 -2.43104441e-02 2.25069145e+01] [ 2.09168941e-01 -3.62119533e-04 9.77879452e-01 -9.42686520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22534707 meters 0.020217394947112284 Centerline is valid? [True, True] Translation: X:-142.08, Y:22.50, Z:-9.43 [[ 9.71043525e-01 -1.18321856e-01 -2.07543756e-01 -1.42076577e+02] [ 1.15823969e-01 9.92975144e-01 -2.41903070e-02 2.25013827e+01] [ 2.08948033e-01 -5.48700511e-04 9.77926592e-01 -9.43046122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25534707 meters 0.020702076222480992 Centerline is valid? [True, True] Translation: X:-142.10, Y:22.49, Z:-9.44 [[ 9.70781200e-01 -1.19636261e-01 -2.08016891e-01 -1.42103640e+02] [ 1.17168658e-01 9.92817391e-01 -2.41895258e-02 2.24938910e+01] [ 2.09416732e-01 -8.90323182e-04 9.77826078e-01 -9.43646133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28534707 meters 0.020408934733341138 Centerline is valid? [True, True] Translation: X:-142.13, Y:22.49, Z:-9.44 [[ 9.70713148e-01 -1.19878880e-01 -2.08194714e-01 -1.42130983e+02] [ 1.17436416e-01 9.92787962e-01 -2.40987677e-02 2.24884551e+01] [ 2.09582139e-01 -1.05665044e-03 9.77790474e-01 -9.44177766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31534707 meters 0.020772263297822207 Centerline is valid? [True, True] Translation: X:-142.16, Y:22.48, Z:-9.45 [[ 9.70332294e-01 -1.20338101e-01 -2.09699738e-01 -1.42157388e+02] [ 1.17893985e-01 9.92732147e-01 -2.41638859e-02 2.24803005e+01] [ 2.11083508e-01 -1.27533903e-03 9.77467200e-01 -9.45153576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34534707 meters 0.020986093858898422 Centerline is valid? [True, True] Translation: X:-142.18, Y:22.48, Z:-9.45 [[ 9.70191921e-01 -1.21441441e-01 -2.09713169e-01 -1.42183810e+02] [ 1.19043009e-01 9.92597289e-01 -2.40703990e-02 2.24754196e+01] [ 2.11083867e-01 -1.61198008e-03 9.77466625e-01 -9.45480981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37534707 meters 0.02026967874148998 Centerline is valid? [True, True] Translation: X:-142.21, Y:22.47, Z:-9.46 [[ 9.69841556e-01 -1.22828594e-01 -2.10524328e-01 -1.42210920e+02] [ 1.20460999e-01 9.92425879e-01 -2.40836415e-02 2.24666029e+01] [ 2.11887951e-01 -2.00265455e-03 9.77291914e-01 -9.46003679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40534707 meters 0.020756562638014144 Centerline is valid? [True, True] Translation: X:-142.24, Y:22.46, Z:-9.47 [[ 9.69997563e-01 -1.23709974e-01 -2.09285856e-01 -1.42238325e+02] [ 1.21411589e-01 9.92315798e-01 -2.38449758e-02 2.24578758e+01] [ 2.10627523e-01 -2.28015995e-03 9.77563731e-01 -9.46717443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43534707 meters 0.020597347268355926 Centerline is valid? [True, True] Translation: X:-142.27, Y:22.45, Z:-9.47 [[ 9.70326418e-01 -1.22457743e-01 -2.08496386e-01 -1.42265647e+02] [ 1.20167506e-01 9.92471524e-01 -2.36652429e-02 2.24508592e+01] [ 2.09824719e-01 -2.09148031e-03 9.77736781e-01 -9.47139080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46534707 meters 0.02054500208789333 Centerline is valid? [True, True] Translation: X:-142.29, Y:22.44, Z:-9.48 [[ 9.70325201e-01 -1.22235359e-01 -2.08632504e-01 -1.42292237e+02] [ 1.19946359e-01 9.92498944e-01 -2.36372074e-02 2.24446368e+01] [ 2.09956843e-01 -2.08893124e-03 9.77708423e-01 -9.47854309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49534707 meters 0.020321387296450374 Centerline is valid? [True, True] Translation: X:-142.32, Y:22.44, Z:-9.49 [[ 9.70287177e-01 -1.20813266e-01 -2.09635276e-01 -1.42318969e+02] [ 1.18493443e-01 9.92673425e-01 -2.36384342e-02 2.24369807e+01] [ 2.10955204e-01 -1.90433604e-03 9.77493875e-01 -9.48646452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52534707 meters 0.021809610511673093 Centerline is valid? [True, True] Translation: X:-142.35, Y:22.43, Z:-9.49 [[ 9.70751766e-01 -1.19548554e-01 -2.08204594e-01 -1.42346650e+02] [ 1.17252892e-01 9.92826870e-01 -2.33787571e-02 2.24329606e+01] [ 2.09506012e-01 -1.71762104e-03 9.77805850e-01 -9.48813401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55534707 meters 0.019681266958241656 Centerline is valid? [True, True] Translation: X:-142.37, Y:22.43, Z:-9.50 [[ 9.70614837e-01 -1.16932738e-01 -2.10317789e-01 -1.42373852e+02] [ 1.14538313e-01 9.93139101e-01 -2.35733204e-02 2.24261620e+01] [ 2.11631313e-01 -1.20883006e-03 9.77348825e-01 -9.49631065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58534707 meters 0.01942964544183716 Centerline is valid? [True, True] Translation: X:-142.40, Y:22.42, Z:-9.51 [[ 9.70911741e-01 -1.13606191e-01 -2.10770074e-01 -1.42400360e+02] [ 1.11145603e-01 9.93525686e-01 -2.35237277e-02 2.24199850e+01] [ 2.12077923e-01 -5.86703451e-04 9.77252583e-01 -9.50517729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61534707 meters 0.01971062097880871 Centerline is valid? [True, True] Translation: X:-142.43, Y:22.42, Z:-9.51 [[ 9.70951689e-01 -1.11710641e-01 -2.11597615e-01 -1.42427481e+02] [ 1.09208943e-01 9.93740738e-01 -2.35106951e-02 2.24159920e+01] [ 2.12899565e-01 -2.80602663e-04 9.77074049e-01 -9.50968062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64534707 meters 0.019302273241144946 Centerline is valid? [True, True] Translation: X:-142.45, Y:22.41, Z:-9.52 [[ 9.71450036e-01 -1.07233074e-01 -2.11626785e-01 -1.42453672e+02] [ 1.04636948e-01 9.94233699e-01 -2.34619106e-02 2.24121466e+01] [ 2.12922374e-01 6.48093025e-04 9.77068904e-01 -9.51514075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67534707000002 meters 0.019667362697693147 Centerline is valid? [True, True] Translation: X:-142.48, Y:22.41, Z:-9.52 [[ 9.71861527e-01 -1.04837144e-01 -2.10936830e-01 -1.42481360e+02] [ 1.02214600e-01 9.94488782e-01 -2.33289113e-02 2.24081894e+01] [ 2.12220047e-01 1.11164772e-03 9.77221273e-01 -9.51979605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70534707 meters 0.019465067076641623 Centerline is valid? [True, True] Translation: X:-142.51, Y:22.40, Z:-9.53 [[ 9.72678021e-01 -9.94495754e-02 -2.09779049e-01 -1.42508235e+02] [ 9.67562788e-02 9.95040257e-01 -2.30891752e-02 2.24041806e+01] [ 2.11034808e-01 2.16089302e-03 9.77476159e-01 -9.52512593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73534707 meters 0.01977747912918086 Centerline is valid? [True, True] Translation: X:-142.54, Y:22.40, Z:-9.53 [[ 9.73348172e-01 -9.41389382e-02 -2.09120052e-01 -1.42535900e+02] [ 9.13650732e-02 9.95553957e-01 -2.29072503e-02 2.24012342e+01] [ 2.10346760e-01 3.19046129e-03 9.77621635e-01 -9.53154131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76534707 meters 0.02001509599466501 Centerline is valid? [True, True] Translation: X:-142.56, Y:22.40, Z:-9.54 [[ 9.73708532e-01 -9.04743711e-02 -2.09059996e-01 -1.42564267e+02] [ 8.76392456e-02 9.95891213e-01 -2.28046978e-02 2.23978023e+01] [ 2.10264254e-01 3.88326850e-03 9.77636877e-01 -9.53633362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79534707 meters 0.020600604082818566 Centerline is valid? [True, True] Translation: X:-142.59, Y:22.39, Z:-9.54 [[ 9.73876946e-01 -8.53410886e-02 -2.10429544e-01 -1.42590946e+02] [ 8.23686402e-02 9.96339566e-01 -2.28664822e-02 2.23936088e+01] [ 2.11610732e-01 4.93634440e-03 9.77341563e-01 -9.54211693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82534707 meters 0.02119652397159723 Centerline is valid? [True, True] Translation: X:-142.62, Y:22.39, Z:-9.55 [[ 9.74138769e-01 -8.09449426e-02 -2.10953962e-01 -1.42618544e+02] [ 7.78671182e-02 9.96701393e-01 -2.28701953e-02 2.23894233e+01] [ 2.12109334e-01 5.85236685e-03 9.77228418e-01 -9.54884298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85534707 meters 0.022038033801290914 Centerline is valid? [True, True] Translation: X:-142.65, Y:22.39, Z:-9.56 [[ 9.74104928e-01 -7.81485029e-02 -2.12161262e-01 -1.42645982e+02] [ 7.49905065e-02 9.96921183e-01 -2.29036911e-02 2.23864955e+01] [ 2.13297946e-01 6.40051783e-03 9.76966233e-01 -9.55617445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88534707 meters 0.022279192196908524 Centerline is valid? [True, True] Translation: X:-142.67, Y:22.38, Z:-9.56 [[ 9.74098631e-01 -7.62647087e-02 -2.12874497e-01 -1.42672895e+02] [ 7.30602167e-02 9.97064786e-01 -2.28914148e-02 2.23803840e+01] [ 2.13995472e-01 6.74583898e-03 9.76811359e-01 -9.56122056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91534707 meters 0.02259350885972253 Centerline is valid? [True, True] Translation: X:-142.70, Y:22.38, Z:-9.57 [[ 9.74075330e-01 -7.44837095e-02 -2.13610460e-01 -1.42700469e+02] [ 7.12237972e-02 9.97196819e-01 -2.29275965e-02 2.23765459e+01] [ 2.14719404e-01 7.11905805e-03 9.76649833e-01 -9.56759939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94534707 meters 0.022313917977829018 Centerline is valid? [True, True] Translation: X:-142.73, Y:22.37, Z:-9.57 [[ 9.74111729e-01 -7.30189002e-02 -2.13949949e-01 -1.42727667e+02] [ 6.97336382e-02 9.97303391e-01 -2.28728352e-02 2.23698302e+01] [ 2.15043158e-01 7.36118877e-03 9.76576803e-01 -9.57207075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97534707 meters 0.022317799251307925 Centerline is valid? [True, True] Translation: X:-142.76, Y:22.36, Z:-9.58 [[ 9.74279350e-01 -7.47521544e-02 -2.12583778e-01 -1.42755131e+02] [ 7.15626761e-02 9.97178455e-01 -2.26696520e-02 2.23638749e+01] [ 2.13678568e-01 6.87350977e-03 9.76879841e-01 -9.57888368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00534707 meters 0.022750235655636147 Centerline is valid? [True, True] Translation: X:-142.78, Y:22.36, Z:-9.59 [[ 9.74331950e-01 -7.49560888e-02 -2.12270669e-01 -1.42783022e+02] [ 7.18019387e-02 9.97164192e-01 -2.25401125e-02 2.23602650e+01] [ 2.13358229e-01 6.72010623e-03 9.76950923e-01 -9.58718715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03534707 meters 0.021704565504038535 Centerline is valid? [True, True] Translation: X:-142.81, Y:22.35, Z:-9.59 [[ 9.74123507e-01 -7.68613354e-02 -2.12545825e-01 -1.42810018e+02] [ 7.37623210e-02 9.97022364e-01 -2.24839021e-02 2.23505781e+01] [ 2.13641084e-01 6.22422414e-03 9.76892392e-01 -9.58999606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06534707 meters 0.022557051253153906 Centerline is valid? [True, True] Translation: X:-142.84, Y:22.34, Z:-9.59 [[ 9.74232269e-01 -8.04980449e-02 -2.10693025e-01 -1.42838716e+02] [ 7.75442437e-02 9.96740429e-01 -2.22577436e-02 2.23443976e+01] [ 2.11797961e-01 5.34618077e-03 9.77298850e-01 -9.59415558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09534707 meters 0.019816998306003978 Centerline is valid? [True, True] Translation: X:-142.86, Y:22.33, Z:-9.60 [[ 9.73083272e-01 -8.46391798e-02 -2.14348212e-01 -1.42863834e+02] [ 8.16854270e-02 9.96401510e-01 -2.26168621e-02 2.23321558e+01] [ 2.15491154e-01 4.49896492e-03 9.76495428e-01 -9.60442043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12534707 meters 0.019258766667494886 Centerline is valid? [True, True] Translation: X:-142.89, Y:22.33, Z:-9.61 [[ 9.72719522e-01 -8.68926357e-02 -2.15096260e-01 -1.42890198e+02] [ 8.39943228e-02 9.96209997e-01 -2.25963703e-02 2.23259327e+01] [ 2.16244502e-01 3.91306585e-03 9.76331400e-01 -9.60964756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15534707 meters 0.01958200599651238 Centerline is valid? [True, True] Translation: X:-142.92, Y:22.32, Z:-9.62 [[ 9.72182728e-01 -8.81563732e-02 -2.17000456e-01 -1.42917323e+02] [ 8.52467196e-02 9.96100068e-01 -2.27519386e-02 2.23190949e+01] [ 2.18159897e-01 3.62046475e-03 9.75906323e-01 -9.61958842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18534707 meters 0.01931028640544746 Centerline is valid? [True, True] Translation: X:-142.94, Y:22.31, Z:-9.62 [[ 9.71908400e-01 -8.78995487e-02 -2.18329412e-01 -1.42944592e+02] [ 8.49679707e-02 9.96122812e-01 -2.27988578e-02 2.23140206e+01] [ 2.19486917e-01 3.60739429e-03 9.75608774e-01 -9.62391440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21534707 meters 0.01903263050285409 Centerline is valid? [True, True] Translation: X:-142.97, Y:22.31, Z:-9.63 [[ 9.71673520e-01 -8.97468474e-02 -2.18623131e-01 -1.42971830e+02] [ 8.68665665e-02 9.95959675e-01 -2.27711426e-02 2.23073418e+01] [ 2.19783460e-01 3.13507553e-03 9.75543644e-01 -9.63359634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24534707 meters 0.01887790894748511 Centerline is valid? [True, True] Translation: X:-143.00, Y:22.30, Z:-9.64 [[ 9.71496119e-01 -8.95014195e-02 -2.19510333e-01 -1.42998628e+02] [ 8.66110092e-02 9.95981825e-01 -2.27758197e-02 2.23021489e+01] [ 2.20666770e-01 3.11460898e-03 9.75344286e-01 -9.63733043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27534707 meters 0.01892229024224459 Centerline is valid? [True, True] Translation: X:-143.03, Y:22.29, Z:-9.65 [[ 9.71558003e-01 -9.05057341e-02 -2.18823580e-01 -1.43025328e+02] [ 8.76687620e-02 9.95891908e-01 -2.26604503e-02 2.22948083e+01] [ 2.19975533e-01 2.83194949e-03 9.75501279e-01 -9.64664782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30534707 meters 0.01823152705978786 Centerline is valid? [True, True] Translation: X:-143.05, Y:22.29, Z:-9.65 [[ 9.71272005e-01 -9.24709751e-02 -2.19271090e-01 -1.43052012e+02] [ 8.96940579e-02 9.95712745e-01 -2.26076357e-02 2.22863998e+01] [ 2.20421569e-01 2.29084981e-03 9.75402011e-01 -9.65173056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33534707 meters 0.02051398378015565 Centerline is valid? [True, True] Translation: X:-143.08, Y:22.28, Z:-9.65 [[ 9.71729328e-01 -9.13698996e-02 -2.17700837e-01 -1.43080810e+02] [ 8.86292957e-02 9.95814093e-01 -2.23414290e-02 2.22814606e+01] [ 2.18830895e-01 2.41514999e-03 9.75759810e-01 -9.65409017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36534707 meters 0.018515242005154975 Centerline is valid? [True, True] Translation: X:-143.11, Y:22.27, Z:-9.66 [[ 9.71480677e-01 -9.22413964e-02 -2.18441796e-01 -1.43107550e+02] [ 8.95253801e-02 9.95734401e-01 -2.23206124e-02 2.22743426e+01] [ 2.19568896e-01 2.12795882e-03 9.75594676e-01 -9.66260103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39534707 meters 0.01855799135285923 Centerline is valid? [True, True] Translation: X:-143.14, Y:22.27, Z:-9.67 [[ 9.71522234e-01 -9.04422440e-02 -2.19008560e-01 -1.43135043e+02] [ 8.76885970e-02 9.95898707e-01 -2.22817417e-02 2.22708730e+01] [ 2.20125552e-01 2.44265411e-03 9.75468490e-01 -9.67093290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42534707000002 meters 0.01993995831949141 Centerline is valid? [True, True] Translation: X:-143.16, Y:22.26, Z:-9.67 [[ 9.71504733e-01 -9.09358654e-02 -2.18881754e-01 -1.43162470e+02] [ 8.82041253e-02 9.95854093e-01 -2.22409062e-02 2.22644395e+01] [ 2.19996786e-01 2.30087195e-03 9.75497883e-01 -9.67224603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45534707 meters 0.019639501723019093 Centerline is valid? [True, True] Translation: X:-143.19, Y:22.26, Z:-9.68 [[ 9.71819971e-01 -9.01553016e-02 -2.17802586e-01 -1.43190101e+02] [ 8.74390359e-02 9.95924754e-01 -2.20975118e-02 2.22607697e+01] [ 2.18907195e-01 2.43035514e-03 9.75742657e-01 -9.67734959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48534707 meters 0.019639501723019093 Centerline is valid? [True, True] Translation: X:-143.22, Y:22.26, Z:-9.68 [[ 9.71863902e-01 -8.96693555e-02 -2.17807168e-01 -1.43216999e+02] [ 8.69511785e-02 9.95968469e-01 -2.20522544e-02 2.22578305e+01] [ 2.18906483e-01 2.49320015e-03 9.75742659e-01 -9.68247060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51534707 meters 0.017718835966511727 Centerline is valid? [True, True] Translation: X:-143.24, Y:22.25, Z:-9.69 [[ 9.71805548e-01 -8.87415686e-02 -2.18446585e-01 -1.43244198e+02] [ 8.60083964e-02 9.96051291e-01 -2.20086626e-02 2.22532847e+01] [ 2.19537086e-01 2.59989998e-03 9.75600691e-01 -9.69103036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54534707 meters 0.020296047559709197 Centerline is valid? [True, True] Translation: X:-143.27, Y:22.25, Z:-9.70 [[ 9.71506492e-01 -8.86846831e-02 -2.19795732e-01 -1.43272490e+02] [ 8.59375991e-02 9.96056535e-01 -2.20478476e-02 2.22488492e+01] [ 2.20884282e-01 2.53090957e-03 9.75296739e-01 -9.69692323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57534707 meters 0.018208479861200423 Centerline is valid? [True, True] Translation: X:-143.30, Y:22.24, Z:-9.71 [[ 9.71339389e-01 -8.71688619e-02 -2.21136565e-01 -1.43300236e+02] [ 8.43683988e-02 9.96189597e-01 -2.20965920e-02 2.22447985e+01] [ 2.22220081e-01 2.80635228e-03 9.74992492e-01 -9.70568592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60534707 meters 0.018561182058529746 Centerline is valid? [True, True] Translation: X:-143.33, Y:22.24, Z:-9.71 [[ 9.71403238e-01 -8.48307867e-02 -2.21764484e-01 -1.43327488e+02] [ 8.19610673e-02 9.96389843e-01 -2.21283764e-02 2.22405677e+01] [ 2.22841047e-01 3.31952273e-03 9.74849141e-01 -9.71199683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63534707 meters 0.01909301876761394 Centerline is valid? [True, True] Translation: X:-143.36, Y:22.24, Z:-9.72 [[ 9.71443846e-01 -8.34263623e-02 -2.22119105e-01 -1.43355627e+02] [ 8.05218102e-02 9.96507443e-01 -2.21168458e-02 2.22374994e+01] [ 2.23188469e-01 3.59984129e-03 9.74768664e-01 -9.71830931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66534707 meters 0.018617000674528695 Centerline is valid? [True, True] Translation: X:-143.38, Y:22.23, Z:-9.72 [[ 9.71392464e-01 -8.31179909e-02 -2.22459168e-01 -1.43382259e+02] [ 8.02046006e-02 9.96533065e-01 -2.21149871e-02 2.22317046e+01] [ 2.23526069e-01 3.64008311e-03 9.74691154e-01 -9.72272775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69534707 meters 0.018553355122773094 Centerline is valid? [True, True] Translation: X:-143.41, Y:22.23, Z:-9.73 [[ 9.71548252e-01 -8.22689349e-02 -2.22094160e-01 -1.43409832e+02] [ 7.93620735e-02 9.96603128e-01 -2.19969495e-02 2.22271044e+01] [ 2.23149400e-01 3.74524484e-03 9.74777061e-01 -9.72809397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72534707 meters 0.01810626202581975 Centerline is valid? [True, True] Translation: X:-143.44, Y:22.22, Z:-9.73 [[ 9.71673320e-01 -8.36591781e-02 -2.21025113e-01 -1.43437290e+02] [ 8.08381534e-02 9.96488929e-01 -2.17946630e-02 2.22206180e+01] [ 2.22072402e-01 3.31003055e-03 9.75024560e-01 -9.73422401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75534707 meters 0.018039855343908454 Centerline is valid? [True, True] Translation: X:-143.46, Y:22.21, Z:-9.74 [[ 9.72050965e-01 -8.46339927e-02 -2.18984039e-01 -1.43464823e+02] [ 8.18986506e-02 9.96407535e-01 -2.15553874e-02 2.22138569e+01] [ 2.20021665e-01 3.01843780e-03 9.75490316e-01 -9.74180025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78534707 meters 0.01749532713013931 Centerline is valid? [True, True] Translation: X:-143.49, Y:22.21, Z:-9.74 [[ 9.72364837e-01 -8.44973844e-02 -2.17639187e-01 -1.43492293e+02] [ 8.18118075e-02 9.96419356e-01 -2.13376304e-02 2.22081972e+01] [ 2.18662873e-01 2.94250618e-03 9.75796029e-01 -9.74326287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81534707 meters 0.01843844813717899 Centerline is valid? [True, True] Translation: X:-143.52, Y:22.20, Z:-9.75 [[ 9.73327033e-01 -8.30407749e-02 -2.13866118e-01 -1.43520115e+02] [ 8.04233742e-02 9.96541116e-01 -2.09257188e-02 2.22048014e+01] [ 2.14864068e-01 3.16773297e-03 9.76638827e-01 -9.75038192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84534707 meters 0.019326180305660325 Centerline is valid? [True, True] Translation: X:-143.55, Y:22.20, Z:-9.75 [[ 9.72812635e-01 -8.26201947e-02 -2.16354988e-01 -1.43546969e+02] [ 7.99501015e-02 9.96575939e-01 -2.10803051e-02 2.21993891e+01] [ 2.17355834e-01 3.20958390e-03 9.76087158e-01 -9.75412613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87534707 meters 0.01815894312280592 Centerline is valid? [True, True] Translation: X:-143.57, Y:22.19, Z:-9.77 [[ 9.71971747e-01 -8.15810606e-02 -2.20489125e-01 -1.43573594e+02] [ 7.87874029e-02 9.96660645e-01 -2.14500503e-02 2.21934517e+01] [ 2.21502751e-01 3.47707738e-03 9.75153548e-01 -9.76506087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90534707 meters 0.01967241576965681 Centerline is valid? [True, True] Translation: X:-143.60, Y:22.19, Z:-9.77 [[ 9.72275086e-01 -8.03578585e-02 -2.19599118e-01 -1.43600718e+02] [ 7.75626295e-02 9.96759170e-01 -2.13353324e-02 2.21868792e+01] [ 2.20601896e-01 3.71112709e-03 9.75356874e-01 -9.76799084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93534707 meters 0.018352335835312487 Centerline is valid? [True, True] Translation: X:-143.63, Y:22.18, Z:-9.78 [[ 9.72099981e-01 -8.04222157e-02 -2.20349480e-01 -1.43627254e+02] [ 7.76196596e-02 9.96754159e-01 -2.13620124e-02 2.21825013e+01] [ 2.21352241e-01 3.66256019e-03 9.75187044e-01 -9.77719771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96534707 meters 0.019951602300769648 Centerline is valid? [True, True] Translation: X:-143.66, Y:22.18, Z:-9.78 [[ 9.72550512e-01 -7.81874836e-02 -2.19162540e-01 -1.43655941e+02] [ 7.53811472e-02 9.96930448e-01 -2.11510130e-02 2.21779815e+01] [ 2.20143554e-01 4.04970484e-03 9.75459079e-01 -9.77866888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99534707 meters 0.019113782850862404 Centerline is valid? [True, True] Translation: X:-143.68, Y:22.17, Z:-9.78 [[ 9.72669438e-01 -7.74175231e-02 -2.18907952e-01 -1.43682367e+02] [ 7.46061491e-02 9.96989979e-01 -2.10927630e-02 2.21738020e+01] [ 2.19881984e-01 4.18440664e-03 9.75517506e-01 -9.78463131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02534707 meters 0.018304890498840445 Centerline is valid? [True, True] Translation: X:-143.71, Y:22.17, Z:-9.79 [[ 9.73133028e-01 -7.70627068e-02 -2.16964165e-01 -1.43710308e+02] [ 7.43100037e-02 9.97017621e-01 -2.08299727e-02 2.21691319e+01] [ 2.17922310e-01 4.14772655e-03 9.75957306e-01 -9.79095653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05534707 meters 0.018126495629134272 Centerline is valid? [True, True] Translation: X:-143.74, Y:22.16, Z:-9.80 [[ 9.72825661e-01 -7.71366344e-02 -2.18312098e-01 -1.43738171e+02] [ 7.43721199e-02 9.97012258e-01 -2.08649151e-02 2.21628552e+01] [ 2.19269287e-01 4.06159129e-03 9.75655925e-01 -9.79665946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08534707 meters 0.018704825539892025 Centerline is valid? [True, True] Translation: X:-143.77, Y:22.16, Z:-9.80 [[ 9.72964033e-01 -7.75623865e-02 -2.17543252e-01 -1.43765574e+02] [ 7.48467587e-02 9.96980005e-01 -2.07082690e-02 2.21592733e+01] [ 2.18492455e-01 3.86599366e-03 9.75830980e-01 -9.80321671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11534707 meters 0.018631350236135092 Centerline is valid? [True, True] Translation: X:-143.79, Y:22.15, Z:-9.80 [[ 9.72964201e-01 -7.89476457e-02 -2.17043619e-01 -1.43793324e+02] [ 7.62866294e-02 9.96872584e-01 -2.06252738e-02 2.21530832e+01] [ 2.17993150e-01 3.51012695e-03 9.75943987e-01 -9.80457773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14534707 meters 0.020601327124037862 Centerline is valid? [True, True] Translation: X:-143.82, Y:22.15, Z:-9.81 [[ 9.73615376e-01 -7.99240814e-02 -2.13741059e-01 -1.43822211e+02] [ 7.73797278e-02 9.96795869e-01 -2.02576955e-02 2.21483786e+01] [ 2.14675282e-01 3.18397889e-03 9.76680288e-01 -9.80648437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17534707000002 meters 0.017187757763808535 Centerline is valid? [True, True] Translation: X:-143.85, Y:22.14, Z:-9.82 [[ 9.73294595e-01 -7.90397550e-02 -2.15523427e-01 -1.43848303e+02] [ 7.64493015e-02 9.96865927e-01 -2.03427844e-02 2.21442498e+01] [ 2.16455850e-01 3.32290665e-03 9.76286753e-01 -9.81522598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20534707000002 meters 0.017563258358310536 Centerline is valid? [True, True] Translation: X:-143.88, Y:22.14, Z:-9.82 [[ 9.73502382e-01 -7.71025657e-02 -2.15286567e-01 -1.43875891e+02] [ 7.44804030e-02 9.97016277e-01 -2.02783821e-02 2.21413337e+01] [ 2.16207726e-01 3.70642309e-03 9.76340351e-01 -9.82206160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23534707 meters 0.01741921462706695 Centerline is valid? [True, True] Translation: X:-143.90, Y:22.14, Z:-9.83 [[ 9.74001152e-01 -7.57430107e-02 -2.13505862e-01 -1.43902752e+02] [ 7.31521885e-02 9.97119816e-01 -2.00207201e-02 2.21365259e+01] [ 2.14407355e-01 3.88178342e-03 9.76736616e-01 -9.82539796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26534707 meters 0.01858041757238032 Centerline is valid? [True, True] Translation: X:-143.93, Y:22.13, Z:-9.83 [[ 9.74386344e-01 -7.48802341e-02 -2.12047643e-01 -1.43931665e+02] [ 7.23148239e-02 9.97184525e-01 -1.98390969e-02 2.21317218e+01] [ 2.12936184e-01 3.99675711e-03 9.77057935e-01 -9.82747764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29534707 meters 0.017255987721450632 Centerline is valid? [True, True] Translation: X:-143.96, Y:22.13, Z:-9.84 [[ 9.74014368e-01 -7.64091017e-02 -2.13208019e-01 -1.43958510e+02] [ 7.38718642e-02 9.97070096e-01 -1.98537241e-02 2.21256387e+01] [ 2.14100345e-01 3.58773870e-03 9.76805083e-01 -9.83652067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32534707 meters 0.019008068727049687 Centerline is valid? [True, True] Translation: X:-143.99, Y:22.12, Z:-9.84 [[ 9.73882743e-01 -7.55990527e-02 -2.14096210e-01 -1.43986309e+02] [ 7.30427606e-02 9.97131502e-01 -1.98374042e-02 2.21208323e+01] [ 2.14981764e-01 3.68112741e-03 9.76611125e-01 -9.83910017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35534707 meters 0.01794332568944418 Centerline is valid? [True, True] Translation: X:-144.01, Y:22.11, Z:-9.85 [[ 9.73541293e-01 -7.75695413e-02 -2.14942590e-01 -1.44013280e+02] [ 7.50528560e-02 9.96981806e-01 -1.98581721e-02 2.21149138e+01] [ 2.15834241e-01 3.20069530e-03 9.76424772e-01 -9.84687571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38534707 meters 0.016521855888856036 Centerline is valid? [True, True] Translation: X:-144.04, Y:22.11, Z:-9.85 [[ 9.73341659e-01 -7.94801080e-02 -2.15148618e-01 -1.44041355e+02] [ 7.70257989e-02 9.96832844e-01 -1.97815041e-02 2.21101798e+01] [ 2.16039444e-01 2.68216782e-03 9.76380953e-01 -9.85373491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41534707 meters 0.01675368916456892 Centerline is valid? [True, True] Translation: X:-144.07, Y:22.10, Z:-9.86 [[ 9.73763562e-01 -8.16015817e-02 -2.12428125e-01 -1.44069972e+02] [ 7.92670646e-02 9.96662716e-01 -1.94977709e-02 2.21035090e+01] [ 2.13310241e-01 2.14766500e-03 9.76982154e-01 -9.85545683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44534707 meters 0.01598957960394382 Centerline is valid? [True, True] Translation: X:-144.10, Y:22.10, Z:-9.86 [[ 9.73702022e-01 -8.56507483e-02 -2.11112105e-01 -1.44097481e+02] [ 8.34577921e-02 9.96324540e-01 -1.92926950e-02 2.20971440e+01] [ 2.11988605e-01 1.16638592e-03 9.77271442e-01 -9.86040771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47534707 meters 0.01591925391577817 Centerline is valid? [True, True] Translation: X:-144.13, Y:22.09, Z:-9.87 [[ 9.73360873e-01 -8.77741715e-02 -2.11811961e-01 -1.44125029e+02] [ 8.56263552e-02 9.96140181e-01 -1.93097466e-02 2.20909398e+01] [ 2.12689302e-01 6.58665655e-04 9.77119658e-01 -9.86660364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50534707 meters 0.01764543269350704 Centerline is valid? [True, True] Translation: X:-144.15, Y:22.09, Z:-9.87 [[ 9.73361827e-01 -8.80429509e-02 -2.11695989e-01 -1.44152100e+02] [ 8.59098409e-02 9.96116515e-01 -1.92713985e-02 2.20874010e+01] [ 2.12570582e-01 5.71274849e-04 9.77145548e-01 -9.87230427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53534707 meters 0.01616339666886455 Centerline is valid? [True, True] Translation: X:-144.18, Y:22.08, Z:-9.88 [[ 9.72550647e-01 -8.89170075e-02 -2.15032567e-01 -1.44178049e+02] [ 8.67451086e-02 9.96038978e-01 -1.95356165e-02 2.20822422e+01] [ 2.15917867e-01 3.46353100e-04 9.76411468e-01 -9.88151698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56534707 meters 0.017397848701331656 Centerline is valid? [True, True] Translation: X:-144.21, Y:22.08, Z:-9.88 [[ 9.72605893e-01 -8.89994139e-02 -2.14748413e-01 -1.44205705e+02] [ 8.68423303e-02 9.96031635e-01 -1.94779995e-02 2.20787499e+01] [ 2.15629743e-01 2.95164540e-04 9.76475154e-01 -9.88365552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59534707 meters 0.016522720470485534 Centerline is valid? [True, True] Translation: X:-144.23, Y:22.07, Z:-9.89 [[ 9.72280393e-01 -8.95015019e-02 -2.16009997e-01 -1.44232482e+02] [ 8.73382524e-02 9.95986676e-01 -1.95594328e-02 2.20748795e+01] [ 2.16893677e-01 1.51317433e-04 9.76195221e-01 -9.89214220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62534707 meters 0.016270484203961832 Centerline is valid? [True, True] Translation: X:-144.26, Y:22.07, Z:-9.90 [[ 9.72389061e-01 -8.71954251e-02 -2.16463560e-01 -1.44260408e+02] [ 8.49737551e-02 9.96191024e-01 -1.95679584e-02 2.20722051e+01] [ 2.17345292e-01 6.33947212e-04 9.76094576e-01 -9.89763405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65534707 meters 0.01646322307888196 Centerline is valid? [True, True] Translation: X:-144.29, Y:22.07, Z:-9.90 [[ 9.72375314e-01 -8.66776928e-02 -2.16733077e-01 -1.44288700e+02] [ 8.44437461e-02 9.96236144e-01 -1.95652478e-02 2.20698479e+01] [ 2.17613195e-01 7.23011071e-04 9.76034822e-01 -9.90369419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68534707 meters 0.016229282219013923 Centerline is valid? [True, True] Translation: X:-144.32, Y:22.07, Z:-9.91 [[ 9.72626152e-01 -8.42206914e-02 -2.16576186e-01 -1.44315563e+02] [ 8.19364193e-02 9.96446352e-01 -1.95215213e-02 2.20667730e+01] [ 2.17450666e-01 1.24166498e-03 9.76070523e-01 -9.90695167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71534707 meters 0.017856066460005277 Centerline is valid? [True, True] Translation: X:-144.34, Y:22.06, Z:-9.91 [[ 9.73196867e-01 -8.33758926e-02 -2.14327595e-01 -1.44344576e+02] [ 8.11288579e-02 9.96517227e-01 -1.92749931e-02 2.20627406e+01] [ 2.15188211e-01 1.37020987e-03 9.76571634e-01 -9.90757842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74534707 meters 0.017022488065195057 Centerline is valid? [True, True] Translation: X:-144.37, Y:22.06, Z:-9.92 [[ 9.73351036e-01 -8.45592436e-02 -2.13160725e-01 -1.44372308e+02] [ 8.23708243e-02 9.96417874e-01 -1.91433696e-02 2.20590136e+01] [ 2.14015905e-01 1.07499399e-03 9.76829584e-01 -9.91561563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77534707 meters 0.01654983853817352 Centerline is valid? [True, True] Translation: X:-144.40, Y:22.05, Z:-9.93 [[ 9.73067998e-01 -8.77312157e-02 -2.13171072e-01 -1.44398987e+02] [ 8.56236653e-02 9.96144122e-01 -1.91174452e-02 2.20535737e+01] [ 2.14026307e-01 3.50085604e-04 9.76827834e-01 -9.92531660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80534707 meters 0.018131864467129284 Centerline is valid? [True, True] Translation: X:-144.43, Y:22.05, Z:-9.92 [[ 9.73374445e-01 -8.65423089e-02 -2.12256020e-01 -1.44427984e+02] [ 8.44308305e-02 9.96248006e-01 -1.90090715e-02 2.20492374e+01] [ 2.13104726e-01 5.81992362e-04 9.77029190e-01 -9.92267200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83534707 meters 0.01771278985700367 Centerline is valid? [True, True] Translation: X:-144.46, Y:22.04, Z:-9.93 [[ 9.72967557e-01 -8.81477406e-02 -2.13457512e-01 -1.44455887e+02] [ 8.60571413e-02 9.96107392e-01 -1.90848731e-02 2.20437402e+01] [ 2.14308894e-01 1.99419057e-04 9.76765918e-01 -9.93014843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86534707 meters 0.01705153492053766 Centerline is valid? [True, True] Translation: X:-144.48, Y:22.04, Z:-9.94 [[ 9.72757180e-01 -8.86658976e-02 -2.14200439e-01 -1.44484150e+02] [ 8.65794891e-02 9.96061422e-01 -1.91216247e-02 2.20385768e+01] [ 2.15052230e-01 5.53331586e-05 9.76602547e-01 -9.93674529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89534707 meters 0.016746311347001195 Centerline is valid? [True, True] Translation: X:-144.51, Y:22.03, Z:-9.95 [[ 9.72481921e-01 -8.89936057e-02 -2.15311524e-01 -1.44511958e+02] [ 8.69036115e-02 9.96032195e-01 -1.91736388e-02 2.20347829e+01] [ 2.16163541e-01 -6.53318917e-05 9.76357168e-01 -9.94577973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92534707000002 meters 0.018419741664831377 Centerline is valid? [True, True] Translation: X:-144.54, Y:22.03, Z:-9.95 [[ 9.72668344e-01 -8.80695617e-02 -2.14848890e-01 -1.44540264e+02] [ 8.59721027e-02 9.96114320e-01 -1.91064929e-02 2.20319581e+01] [ 2.15696756e-01 1.13269993e-04 9.76460392e-01 -9.94924709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95534707000002 meters 0.016568605790090882 Centerline is valid? [True, True] Translation: X:-144.57, Y:22.03, Z:-9.96 [[ 9.72613692e-01 -8.68171463e-02 -2.15604705e-01 -1.44567861e+02] [ 8.46797668e-02 9.96224196e-01 -1.91491234e-02 2.20284288e+01] [ 2.16453096e-01 3.67343500e-04 9.76292949e-01 -9.95773871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98534707 meters 0.01672255777859518 Centerline is valid? [True, True] Translation: X:-144.60, Y:22.02, Z:-9.96 [[ 9.72918292e-01 -8.58527586e-02 -2.14614310e-01 -1.44596148e+02] [ 8.37174049e-02 9.96307682e-01 -1.90367937e-02 2.20241058e+01] [ 2.15456247e-01 5.54291702e-04 9.76513338e-01 -9.96288779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01534707 meters 0.01669406964819947 Centerline is valid? [True, True] Translation: X:-144.62, Y:22.02, Z:-9.97 [[ 9.72997451e-01 -8.44104141e-02 -2.14827472e-01 -1.44623817e+02] [ 8.22416647e-02 9.96430711e-01 -1.90301490e-02 2.20215562e+01] [ 2.15667033e-01 8.48517555e-04 9.76466595e-01 -9.96648207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04534707 meters 0.016861065435936642 Centerline is valid? [True, True] Translation: X:-144.65, Y:22.02, Z:-9.97 [[ 9.73530701e-01 -8.11651057e-02 -2.13659074e-01 -1.44651855e+02] [ 7.89495229e-02 9.96699499e-01 -1.88966268e-02 2.20197230e+01] [ 2.14487639e-01 1.52816438e-03 9.76725508e-01 -9.97274681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07534707 meters 0.01687750697780919 Centerline is valid? [True, True] Translation: X:-144.68, Y:22.02, Z:-9.97 [[ 9.73907988e-01 -7.85835178e-02 -2.12903409e-01 -1.44679383e+02] [ 7.63287980e-02 9.96905403e-01 -1.88024583e-02 2.20169965e+01] [ 2.13722122e-01 2.06120302e-03 9.76892321e-01 -9.97453016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10534707 meters 0.01670273707952525 Centerline is valid? [True, True] Translation: X:-144.71, Y:22.01, Z:-9.98 [[ 9.74331342e-01 -7.67358765e-02 -2.11636577e-01 -1.44707321e+02] [ 7.44743346e-02 9.97048547e-01 -1.86485526e-02 2.20144056e+01] [ 2.12442954e-01 2.40837610e-03 9.77170503e-01 -9.97870491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13534707 meters 0.01722636318019786 Centerline is valid? [True, True] Translation: X:-144.74, Y:22.01, Z:-9.98 [[ 9.74372729e-01 -7.53520987e-02 -2.11943026e-01 -1.44736041e+02] [ 7.30582766e-02 9.97153381e-01 -1.86446694e-02 2.20126566e+01] [ 2.12744620e-01 2.68266520e-03 9.77104155e-01 -9.98365364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16534707 meters 0.017614871823614757 Centerline is valid? [True, True] Translation: X:-144.76, Y:22.01, Z:-9.99 [[ 9.74613359e-01 -7.31238358e-02 -2.11616885e-01 -1.44764222e+02] [ 7.07913674e-02 9.97317941e-01 -1.85878406e-02 2.20095240e+01] [ 2.12408530e-01 3.13530909e-03 9.77175924e-01 -9.98545814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19534707 meters 0.01879377184621463 Centerline is valid? [True, True] Translation: X:-144.79, Y:22.01, Z:-9.99 [[ 9.74653071e-01 -7.14934118e-02 -2.11990762e-01 -1.44791064e+02] [ 6.91248269e-02 9.97435111e-01 -1.85730467e-02 2.20075364e+01] [ 2.12774880e-01 3.44845228e-03 9.77095164e-01 -9.99052024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22534707 meters 0.017918004762448505 Centerline is valid? [True, True] Translation: X:-144.82, Y:22.00, Z:-10.00 [[ 9.74389166e-01 -7.04154494e-02 -2.13558933e-01 -1.44819210e+02] [ 6.79927285e-02 9.97510967e-01 -1.86777719e-02 2.20045012e+01] [ 2.14342581e-01 3.67896405e-03 9.76751618e-01 -9.99833437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25534707 meters 0.017664078408228742 Centerline is valid? [True, True] Translation: X:-144.85, Y:22.00, Z:-10.00 [[ 9.74324441e-01 -7.03838813e-02 -2.13864427e-01 -1.44845551e+02] [ 6.79599102e-02 9.97513261e-01 -1.86746979e-02 2.20004688e+01] [ 2.14647000e-01 3.66100730e-03 9.76684833e-01 -1.00030711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28534707 meters 0.017492547017148728 Centerline is valid? [True, True] Translation: X:-144.87, Y:22.00, Z:-10.01 [[ 9.74377321e-01 -7.04929570e-02 -2.13587406e-01 -1.44874064e+02] [ 6.80894913e-02 9.97505859e-01 -1.85979203e-02 2.19973080e+01] [ 2.14365711e-01 3.57833397e-03 9.76746916e-01 -1.00085687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31534707 meters 0.018079933512421018 Centerline is valid? [True, True] Translation: X:-144.90, Y:21.99, Z:-10.01 [[ 9.74639059e-01 -7.14677330e-02 -2.12063829e-01 -1.44902586e+02] [ 6.91418287e-02 9.97437635e-01 -1.83731458e-02 2.19946498e+01] [ 2.12833531e-01 3.24470459e-03 9.77083088e-01 -1.00141519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34534707 meters 0.018424767334620788 Centerline is valid? [True, True] Translation: X:-144.93, Y:21.99, Z:-10.02 [[ 9.74652649e-01 -7.20510466e-02 -2.11803823e-01 -1.44930510e+02] [ 6.97632720e-02 9.97396357e-01 -1.82645122e-02 2.19921625e+01] [ 2.12568339e-01 3.02542751e-03 9.77141519e-01 -1.00171579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37534707 meters 0.018424767334620788 Centerline is valid? [True, True] Translation: X:-144.96, Y:21.99, Z:-10.02 [[ 9.74665749e-01 -7.18651736e-02 -2.11806692e-01 -1.44957458e+02] [ 6.95803022e-02 9.97409748e-01 -1.82311866e-02 2.19897127e+01] [ 2.12568247e-01 3.03173946e-03 9.77141519e-01 -1.00222764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40534707 meters 0.01747572031853452 Centerline is valid? [True, True] Translation: X:-144.99, Y:21.99, Z:-10.03 [[ 9.75161818e-01 -7.18963606e-02 -2.09500220e-01 -1.44985063e+02] [ 6.96706794e-02 9.97407742e-01 -1.79942543e-02 2.19870995e+01] [ 2.10250863e-01 2.95128699e-03 9.77643015e-01 -1.00284610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43534707 meters 0.01769205702545585 Centerline is valid? [True, True] Translation: X:-145.01, Y:21.99, Z:-10.04 [[ 9.75135906e-01 -7.38023995e-02 -2.08957341e-01 -1.45012904e+02] [ 7.16384557e-02 9.97269748e-01 -1.79159530e-02 2.19856045e+01] [ 2.09709075e-01 2.50110781e-03 9.77760629e-01 -1.00359484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46534707 meters 0.017686379477629934 Centerline is valid? [True, True] Translation: X:-145.04, Y:21.98, Z:-10.04 [[ 9.75044565e-01 -7.33216033e-02 -2.09551995e-01 -1.45041086e+02] [ 7.11395400e-02 9.97304994e-01 -1.79419875e-02 2.19837558e+01] [ 2.10302787e-01 2.58680483e-03 9.77632879e-01 -1.00409475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49534707 meters 0.020976739074802724 Centerline is valid? [True, True] Translation: X:-145.07, Y:21.98, Z:-10.04 [[ 9.75379057e-01 -7.34499829e-02 -2.07944213e-01 -1.45069209e+02] [ 7.13101637e-02 9.97295738e-01 -1.77783970e-02 2.19803816e+01] [ 2.08687701e-01 2.51214017e-03 9.77979106e-01 -1.00412294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52534707 meters 0.01867306871605658 Centerline is valid? [True, True] Translation: X:-145.10, Y:21.98, Z:-10.05 [[ 9.75492536e-01 -7.25034165e-02 -2.07743995e-01 -1.45096274e+02] [ 7.03563445e-02 9.97364603e-01 -1.77153250e-02 2.19789210e+01] [ 2.08480928e-01 2.66505930e-03 9.78022801e-01 -1.00480067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55534707 meters 0.01976255911121268 Centerline is valid? [True, True] Translation: X:-145.12, Y:21.98, Z:-10.05 [[ 9.75846229e-01 -7.05048571e-02 -2.06768476e-01 -1.45123640e+02] [ 6.83419325e-02 9.97506810e-01 -1.75938718e-02 2.19767028e+01] [ 2.07493416e-01 3.03795621e-03 9.78231697e-01 -1.00502537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58534707 meters 0.01742694066017981 Centerline is valid? [True, True] Translation: X:-145.15, Y:21.97, Z:-10.06 [[ 9.76197888e-01 -7.08059154e-02 -2.04998061e-01 -1.45151817e+02] [ 6.86971032e-02 9.97485901e-01 -1.73949703e-02 2.19741401e+01] [ 2.05714342e-01 2.89816036e-03 9.78607792e-01 -1.00575024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61534707 meters 0.01754395898224752 Centerline is valid? [True, True] Translation: X:-145.18, Y:21.97, Z:-10.06 [[ 9.76797081e-01 -6.94500710e-02 -2.02593561e-01 -1.45180143e+02] [ 6.73791998e-02 9.97580730e-01 -1.71093638e-02 2.19726317e+01] [ 2.03291679e-01 3.06178457e-03 9.79113435e-01 -1.00617864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64534707 meters 0.020212934752263254 Centerline is valid? [True, True] Translation: X:-145.21, Y:21.97, Z:-10.06 [[ 9.77631644e-01 -6.60149616e-02 -1.99695753e-01 -1.45208900e+02] [ 6.39387569e-02 9.97811808e-01 -1.68353917e-02 2.19730575e+01] [ 2.00370168e-01 3.69051341e-03 9.79713313e-01 -1.00613423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67534707000002 meters 0.021295098504809384 Centerline is valid? [True, True] Translation: X:-145.24, Y:21.97, Z:-10.07 [[ 9.78181491e-01 -6.42421302e-02 -1.97570038e-01 -1.45237041e+02] [ 6.21939017e-02 9.97926672e-01 -1.65612748e-02 2.19719662e+01] [ 1.98224342e-01 3.91228094e-03 9.80148868e-01 -1.00657246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70534707000002 meters 0.01886114882299538 Centerline is valid? [True, True] Translation: X:-145.26, Y:21.97, Z:-10.07 [[ 9.78827912e-01 -6.18679883e-02 -1.95110920e-01 -1.45264472e+02] [ 5.98422450e-02 9.98075311e-01 -1.62658855e-02 2.19715930e+01] [ 1.95741730e-01 4.24562722e-03 9.80646292e-01 -1.00706146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73534707 meters 0.018916398759862275 Centerline is valid? [True, True] Translation: X:-145.29, Y:21.97, Z:-10.08 [[ 9.78890785e-01 -6.11550440e-02 -1.95020234e-01 -1.45292086e+02] [ 5.91237465e-02 9.98118788e-01 -1.62255359e-02 2.19694560e+01] [ 1.95645633e-01 4.35270075e-03 9.80664999e-01 -1.00755566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76534707 meters 0.01928923473062722 Centerline is valid? [True, True] Translation: X:-145.32, Y:21.97, Z:-10.08 [[ 9.78317715e-01 -6.06833669e-02 -1.98020142e-01 -1.45318991e+02] [ 5.85978848e-02 9.98147274e-01 -1.63800934e-02 2.19675308e+01] [ 1.98647264e-01 4.42137411e-03 9.80061078e-01 -1.00828424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79534707 meters 0.022664845138509287 Centerline is valid? [True, True] Translation: X:-145.35, Y:21.97, Z:-10.08 [[ 9.78548020e-01 -5.84098764e-02 -1.97565328e-01 -1.45348708e+02] [ 5.62979211e-02 9.98281037e-01 -1.62946244e-02 2.19689673e+01] [ 1.98177487e-01 4.82255517e-03 9.80154287e-01 -1.00849277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82534707 meters 0.01975328914109012 Centerline is valid? [True, True] Translation: X:-145.38, Y:21.96, Z:-10.09 [[ 9.78537234e-01 -5.86250731e-02 -1.97555013e-01 -1.45375266e+02] [ 5.65332884e-02 9.98269007e-01 -1.62165761e-02 2.19648573e+01] [ 1.98163744e-01 4.70008902e-03 9.80157661e-01 -1.00913570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85534707 meters 0.019819786503561122 Centerline is valid? [True, True] Translation: X:-145.40, Y:21.96, Z:-10.10 [[ 9.78322560e-01 -5.91826160e-02 -1.98449962e-01 -1.45402504e+02] [ 5.70897736e-02 9.98236692e-01 -1.62562154e-02 2.19622215e+01] [ 1.99062119e-01 4.57435885e-03 9.79976198e-01 -1.00975000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88534707 meters 0.020501814709182734 Centerline is valid? [True, True] Translation: X:-145.43, Y:21.96, Z:-10.10 [[ 9.78169582e-01 -5.89153074e-02 -1.99281847e-01 -1.45429989e+02] [ 5.68186715e-02 9.98252609e-01 -1.62285890e-02 2.19583803e+01] [ 1.99889736e-01 4.55138230e-03 9.79807827e-01 -1.01024951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91534707 meters 0.019224337392643627 Centerline is valid? [True, True] Translation: X:-145.46, Y:21.95, Z:-10.11 [[ 9.77999864e-01 -6.08273642e-02 -1.99540218e-01 -1.45457208e+02] [ 5.87829605e-02 9.98139985e-01 -1.61596350e-02 2.19521687e+01] [ 2.00152018e-01 4.07455610e-03 9.79756382e-01 -1.01077744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94534707 meters 0.01939647542067876 Centerline is valid? [True, True] Translation: X:-145.49, Y:21.95, Z:-10.11 [[ 9.78112326e-01 -6.10362058e-02 -1.98924256e-01 -1.45485611e+02] [ 5.90157862e-02 9.98127601e-01 -1.60757357e-02 2.19494273e+01] [ 1.99532992e-01 3.98420390e-03 9.79883009e-01 -1.01137313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97534707 meters 0.01892561632889361 Centerline is valid? [True, True] Translation: X:-145.51, Y:21.94, Z:-10.12 [[ 9.78235506e-01 -6.36821809e-02 -1.97483857e-01 -1.45513577e+02] [ 6.17611588e-02 9.97964656e-01 -1.58777906e-02 2.19445253e+01] [ 1.98093042e-01 3.33538671e-03 9.80177546e-01 -1.01163479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00534707 meters 0.020214189042521254 Centerline is valid? [True, True] Translation: X:-145.54, Y:21.94, Z:-10.12 [[ 9.78778352e-01 -6.44921875e-02 -1.94508859e-01 -1.45542306e+02] [ 6.26515642e-02 9.97913431e-01 -1.56066178e-02 2.19411375e+01] [ 1.95109507e-01 3.08913539e-03 9.80776599e-01 -1.01193280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03534707 meters 0.01849003942958628 Centerline is valid? [True, True] Translation: X:-145.57, Y:21.94, Z:-10.12 [[ 9.78726123e-01 -6.67972618e-02 -1.93993044e-01 -1.45569577e+02] [ 6.50275426e-02 9.97763338e-01 -1.54835662e-02 2.19368409e+01] [ 1.94593407e-01 2.53927977e-03 9.80880705e-01 -1.01233862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06534707 meters 0.019188185594807675 Centerline is valid? [True, True] Translation: X:-145.60, Y:21.93, Z:-10.12 [[ 9.80312576e-01 -6.69102932e-02 -1.85769392e-01 -1.45598856e+02] [ 6.52963813e-02 9.97756161e-01 -1.47994970e-02 2.19321465e+01] [ 1.86342794e-01 2.37806394e-03 9.82481912e-01 -1.01221145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09534707 meters 0.018582454549570387 Centerline is valid? [True, True] Translation: X:-145.63, Y:21.93, Z:-10.12 [[ 9.81877910e-01 -6.66985622e-02 -1.77389605e-01 -1.45627398e+02] [ 6.52388823e-02 9.97770684e-01 -1.40552354e-02 2.19270812e+01] [ 1.77931612e-01 2.22782554e-03 9.84040334e-01 -1.01197032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12534707 meters 0.019104970208542568 Centerline is valid? [True, True] Translation: X:-145.66, Y:21.92, Z:-10.12 [[ 9.82481643e-01 -6.40253758e-02 -1.75015923e-01 -1.45656269e+02] [ 6.25670836e-02 9.97944751e-01 -1.38431785e-02 2.19244809e+01] [ 1.75542537e-01 2.65043287e-03 9.84468279e-01 -1.01234350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15534707 meters 0.01921507099156244 Centerline is valid? [True, True] Translation: X:-145.68, Y:21.92, Z:-10.13 [[ 9.82440675e-01 -6.22979121e-02 -1.75867251e-01 -1.45683359e+02] [ 6.08122210e-02 9.98053408e-01 -1.38299997e-02 2.19207983e+01] [ 1.76386490e-01 2.89227609e-03 9.84316738e-01 -1.01282088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18534707 meters 0.020400939281367426 Centerline is valid? [True, True] Translation: X:-145.71, Y:21.91, Z:-10.13 [[ 9.82306740e-01 -6.55003755e-02 -1.75451333e-01 -1.45710075e+02] [ 6.40796550e-02 9.97849961e-01 -1.37569210e-02 2.19147523e+01] [ 1.75975190e-01 2.27065534e-03 9.84391983e-01 -1.01331030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21534707 meters 0.018963798632911685 Centerline is valid? [True, True] Translation: X:-145.74, Y:21.91, Z:-10.14 [[ 9.82080136e-01 -6.72080254e-02 -1.76072961e-01 -1.45737539e+02] [ 6.58091627e-02 9.97737089e-01 -1.37787663e-02 2.19110604e+01] [ 1.76600567e-01 1.94463851e-03 9.84280680e-01 -1.01395483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24534707 meters 0.018767360102696605 Centerline is valid? [True, True] Translation: X:-145.77, Y:21.91, Z:-10.14 [[ 9.82125467e-01 -6.64478371e-02 -1.76108636e-01 -1.45765033e+02] [ 6.50405869e-02 9.97787779e-01 -1.37575477e-02 2.19078186e+01] [ 1.76633204e-01 2.05742893e-03 9.84274595e-01 -1.01448134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27534707 meters 0.018917689783281556 Centerline is valid? [True, True] Translation: X:-145.79, Y:21.91, Z:-10.15 [[ 9.81716344e-01 -6.53206821e-02 -1.78791017e-01 -1.45792729e+02] [ 6.38677896e-02 9.97861890e-01 -1.38763482e-02 2.19059502e+01] [ 1.79315154e-01 2.20365079e-03 9.83789215e-01 -1.01508583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30534707 meters 0.01928871852309046 Centerline is valid? [True, True] Translation: X:-145.82, Y:21.90, Z:-10.16 [[ 9.81148580e-01 -6.41873501e-02 -1.82283976e-01 -1.45819809e+02] [ 6.26745723e-02 9.97935066e-01 -1.40535654e-02 2.19042822e+01] [ 1.82809632e-01 2.36406556e-03 9.83145487e-01 -1.01583809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33534707 meters 0.02014505665871452 Centerline is valid? [True, True] Translation: X:-145.85, Y:21.90, Z:-10.16 [[ 9.81060063e-01 -6.41498276e-02 -1.82772956e-01 -1.45846640e+02] [ 6.26438818e-02 9.97937646e-01 -1.40070904e-02 2.18998298e+01] [ 1.83294566e-01 2.29218956e-03 9.83055364e-01 -1.01615389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36534707 meters 0.019275747349786345 Centerline is valid? [True, True] Translation: X:-145.87, Y:21.90, Z:-10.17 [[ 9.80705087e-01 -6.04622088e-02 -1.85908188e-01 -1.45874278e+02] [ 5.88499774e-02 9.98166071e-01 -1.41836312e-02 2.18974455e+01] [ 1.86424819e-01 2.96926665e-03 9.82464743e-01 -1.01700889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39534707 meters 0.01923517133175683 Centerline is valid? [True, True] Translation: X:-145.90, Y:21.90, Z:-10.18 [[ 9.80006062e-01 -5.96368463e-02 -1.89819824e-01 -1.45901337e+02] [ 5.79561193e-02 9.98215297e-01 -1.43982011e-02 2.18951251e+01] [ 1.90339716e-01 3.10910400e-03 9.81713362e-01 -1.01764587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42534707000002 meters 0.01937509440540452 Centerline is valid? [True, True] Translation: X:-145.93, Y:21.89, Z:-10.18 [[ 9.80165114e-01 -5.89303025e-02 -1.89218307e-01 -1.45929188e+02] [ 5.72654232e-02 9.98257160e-01 -1.42588020e-02 2.18938384e+01] [ 1.89728806e-01 3.14031387e-03 9.81831512e-01 -1.01819497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45534707000002 meters 0.019746168757761945 Centerline is valid? [True, True] Translation: X:-145.96, Y:21.89, Z:-10.18 [[ 9.80853218e-01 -5.39438482e-02 -1.87128369e-01 -1.45958073e+02] [ 5.22432331e-02 9.98536091e-01 -1.40114298e-02 2.18945402e+01] [ 1.87610260e-01 3.96696499e-03 9.82235539e-01 -1.01845491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48534707 meters 0.02205961753024059 Centerline is valid? [True, True] Translation: X:-145.99, Y:21.90, Z:-10.19 [[ 9.81264029e-01 -4.83438966e-02 -1.86504081e-01 -1.45987680e+02] [ 4.65693282e-02 9.98818527e-01 -1.38869504e-02 2.18979842e+01] [ 1.86955081e-01 4.94139513e-03 9.82356035e-01 -1.01863991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51534707 meters 0.02189630499878595 Centerline is valid? [True, True] Translation: X:-146.02, Y:21.90, Z:-10.19 [[ 9.81232539e-01 -4.33538441e-02 -1.87891323e-01 -1.46015621e+02] [ 4.14768044e-02 9.99042607e-01 -1.39120172e-02 2.18973788e+01] [ 1.88314576e-01 5.85779235e-03 9.82091292e-01 -1.01920342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54534707 meters 0.022662632164426443 Centerline is valid? [True, True] Translation: X:-146.04, Y:21.90, Z:-10.20 [[ 9.80935384e-01 -3.77925265e-02 -1.90623967e-01 -1.46043590e+02] [ 3.57600537e-02 9.99261042e-01 -1.40921279e-02 2.18978701e+01] [ 1.91015681e-01 7.00674364e-03 9.81561977e-01 -1.01997210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57534707 meters 0.023417382978014656 Centerline is valid? [True, True] Translation: X:-146.07, Y:21.90, Z:-10.21 [[ 9.80694296e-01 -3.56041578e-02 -1.92278554e-01 -1.46072232e+02] [ 3.34976094e-02 9.99337966e-01 -1.41964460e-02 2.18975223e+01] [ 1.92656712e-01 7.48150167e-03 9.81237697e-01 -1.02060378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60534707 meters 0.024365845248465558 Centerline is valid? [True, True] Translation: X:-146.10, Y:21.90, Z:-10.21 [[ 9.80557813e-01 -3.26726381e-02 -1.93491276e-01 -1.46101018e+02] [ 3.04913021e-02 9.99433567e-01 -1.42417105e-02 2.18975733e+01] [ 1.93846991e-01 8.06501958e-03 9.80998624e-01 -1.02112833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63534707 meters 0.023685711827691063 Centerline is valid? [True, True] Translation: X:-146.13, Y:21.89, Z:-10.21 [[ 9.80784734e-01 -2.86755748e-02 -1.92974136e-01 -1.46129114e+02] [ 2.64447994e-02 9.99550458e-01 -1.41263925e-02 2.18949056e+01] [ 1.93292469e-01 8.75178781e-03 9.81102150e-01 -1.02140750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66534707 meters 0.02413962298032143 Centerline is valid? [True, True] Translation: X:-146.16, Y:21.89, Z:-10.22 [[ 9.80622437e-01 -2.55058124e-02 -1.94239771e-01 -1.46158089e+02] [ 2.31889085e-02 9.99630350e-01 -1.41928719e-02 2.18941378e+01] [ 1.94529971e-01 9.41364037e-03 9.80851402e-01 -1.02190467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69534707 meters 0.026203152445632604 Centerline is valid? [True, True] Translation: X:-146.19, Y:21.90, Z:-10.23 [[ 9.80434190e-01 -1.93384340e-02 -1.95894933e-01 -1.46187510e+02] [ 1.68744655e-02 9.99756217e-01 -1.42393510e-02 2.18960349e+01] [ 1.96122543e-01 1.06551243e-02 9.80521502e-01 -1.02274046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72534707 meters 0.0305375642580229 Centerline is valid? [True, True] Translation: X:-146.22, Y:21.90, Z:-10.23 [[ 9.80759995e-01 -1.44349514e-02 -1.94682986e-01 -1.46218804e+02] [ 1.19078213e-02 9.99829048e-01 -1.41448875e-02 2.18971154e+01] [ 1.94853886e-01 1.15544895e-02 9.80764221e-01 -1.02262169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75534707 meters 0.02789954368051786 Centerline is valid? [True, True] Translation: X:-146.25, Y:21.90, Z:-10.24 [[ 9.80374409e-01 -1.53652304e-02 -1.96544978e-01 -1.46245349e+02] [ 1.28109219e-02 9.99816237e-01 -1.42608927e-02 2.18963803e+01] [ 1.96727982e-01 1.14630919e-02 9.80391095e-01 -1.02404321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78534707 meters 0.028041192020681973 Centerline is valid? [True, True] Translation: X:-146.27, Y:21.89, Z:-10.25 [[ 9.79763222e-01 -1.60642846e-02 -1.99514330e-01 -1.46272358e+02] [ 1.34614851e-02 9.99805761e-01 -1.43954385e-02 2.18915888e+01] [ 1.99706829e-01 1.14183620e-02 9.79789163e-01 -1.02459814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81534707 meters 0.026959337095774624 Centerline is valid? [True, True] Translation: X:-146.30, Y:21.89, Z:-10.26 [[ 9.78769047e-01 -1.82539996e-02 -2.04151766e-01 -1.46298940e+02] [ 1.55808993e-02 9.99770642e-01 -1.46935343e-02 2.18903154e+01] [ 2.04373158e-01 1.12007085e-02 9.78828972e-01 -1.02585032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84534707 meters 0.026762589200935955 Centerline is valid? [True, True] Translation: X:-146.33, Y:21.89, Z:-10.27 [[ 9.78453363e-01 -1.98108251e-02 -2.05515323e-01 -1.46326537e+02] [ 1.71535368e-02 9.99744746e-01 -1.47036850e-02 2.18885622e+01] [ 2.05754157e-01 1.08615554e-02 9.78543435e-01 -1.02656518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87534707 meters 0.02504914453031132 Centerline is valid? [True, True] Translation: X:-146.35, Y:21.89, Z:-10.27 [[ 9.77639133e-01 -2.27897963e-02 -2.09051074e-01 -1.46354157e+02] [ 2.01244752e-02 9.99686924e-01 -1.48680744e-02 2.18871000e+01] [ 2.09324465e-01 1.03285682e-02 9.77791690e-01 -1.02746297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90534707 meters 0.025171434685744926 Centerline is valid? [True, True] Translation: X:-146.38, Y:21.89, Z:-10.28 [[ 9.77810453e-01 -2.53137388e-02 -2.07956563e-01 -1.46382978e+02] [ 2.27497582e-02 9.99632933e-01 -1.47121858e-02 2.18868440e+01] [ 2.08252649e-01 9.65476751e-03 9.78027412e-01 -1.02821316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93534707 meters 0.024623557068672457 Centerline is valid? [True, True] Translation: X:-146.41, Y:21.88, Z:-10.29 [[ 9.77877984e-01 -2.71193815e-02 -2.07410676e-01 -1.46410418e+02] [ 2.46122655e-02 9.99589589e-01 -1.46591245e-02 2.18845658e+01] [ 2.07723099e-01 9.22998847e-03 9.78144121e-01 -1.02887154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96534707 meters 0.02704617681261133 Centerline is valid? [True, True] Translation: X:-146.44, Y:21.88, Z:-10.29 [[ 9.77854137e-01 -2.72148375e-02 -2.07510576e-01 -1.46438490e+02] [ 2.47138631e-02 9.99587426e-01 -1.46356692e-02 2.18810075e+01] [ 2.07823270e-01 9.18316172e-03 9.78123284e-01 -1.02884437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99534707 meters 0.0235038501869313 Centerline is valid? [True, True] Translation: X:-146.46, Y:21.88, Z:-10.30 [[ 9.77134350e-01 -2.88810308e-02 -2.10652195e-01 -1.46464544e+02] [ 2.63489899e-02 9.99542983e-01 -1.48174512e-02 2.18778280e+01] [ 2.10983867e-01 8.92816795e-03 9.77448769e-01 -1.03025512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02534707 meters 0.02630765882744958 Centerline is valid? [True, True] Translation: X:-146.49, Y:21.88, Z:-10.31 [[ 9.77219266e-01 -2.57442787e-02 -2.10664990e-01 -1.46493461e+02] [ 2.31597724e-02 9.99623303e-01 -1.47267237e-02 2.18776184e+01] [ 2.10964763e-01 9.51228488e-03 9.77447382e-01 -1.03054859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05534707 meters 0.023876327297047695 Centerline is valid? [True, True] Translation: X:-146.52, Y:21.88, Z:-10.32 [[ 9.77020108e-01 -2.69603625e-02 -2.11435211e-01 -1.46520730e+02] [ 2.43918002e-02 9.99593694e-01 -1.47474444e-02 2.18756782e+01] [ 2.11746900e-01 9.25126432e-03 9.77280750e-01 -1.03153826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08534707 meters 0.025306340823049604 Centerline is valid? [True, True] Translation: X:-146.55, Y:21.88, Z:-10.32 [[ 9.77295816e-01 -2.34063087e-02 -2.10582602e-01 -1.46548967e+02] [ 2.07963568e-02 9.99677120e-01 -1.46002505e-02 2.18781809e+01] [ 2.10856347e-01 9.88941279e-03 9.77467033e-01 -1.03212726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11534707 meters 0.026320164704498532 Centerline is valid? [True, True] Translation: X:-146.58, Y:21.88, Z:-10.33 [[ 9.76868751e-01 -1.85782052e-02 -2.13031201e-01 -1.46578409e+02] [ 1.58098769e-02 9.99767080e-01 -1.46912906e-02 2.18796203e+01] [ 2.13254520e-01 1.09834657e-02 9.76934938e-01 -1.03295312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14534707 meters 0.027484669502450407 Centerline is valid? [True, True] Translation: X:-146.61, Y:21.88, Z:-10.34 [[ 9.76608214e-01 -1.64015986e-02 -2.14400056e-01 -1.46606695e+02] [ 1.35458362e-02 9.99798977e-01 -1.47823029e-02 2.18804451e+01] [ 2.14599410e-01 1.15322904e-02 9.76634066e-01 -1.03373549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17534707000002 meters 0.028223284813197372 Centerline is valid? [True, True] Translation: X:-146.64, Y:21.88, Z:-10.35 [[ 9.76084227e-01 -1.17508703e-02 -2.17074869e-01 -1.46635112e+02] [ 8.71379595e-03 9.99850380e-01 -1.49428321e-02 2.18812082e+01] [ 2.17217982e-01 1.26939166e-02 9.76040580e-01 -1.03464473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20534707000002 meters 0.02833433683889134 Centerline is valid? [True, True] Translation: X:-146.66, Y:21.88, Z:-10.35 [[ 9.76306059e-01 -8.10778944e-03 -2.16242326e-01 -1.46663144e+02] [ 5.00975067e-03 9.99876870e-01 -1.48710073e-02 2.18813985e+01] [ 2.16336271e-01 1.34353344e-02 9.76226464e-01 -1.03500686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23534707 meters 0.029067937307875713 Centerline is valid? [True, True] Translation: X:-146.69, Y:21.88, Z:-10.36 [[ 9.76252737e-01 -5.90720430e-03 -2.16554146e-01 -1.46692083e+02] [ 2.75438697e-03 9.99885821e-01 -1.48579562e-02 2.18816461e+01] [ 2.16617189e-01 1.39086465e-02 9.76157540e-01 -1.03553003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26534707 meters 0.03300359912694145 Centerline is valid? [True, True] Translation: X:-146.72, Y:21.89, Z:-10.36 [[ 9.76289448e-01 -1.86994560e-03 -2.16461123e-01 -1.46721987e+02] [-1.36125771e-03 9.99889882e-01 -1.47773474e-02 2.18861052e+01] [ 2.16464920e-01 1.47216277e-02 9.76179396e-01 -1.03615015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29534707 meters 0.03300359912694145 Centerline is valid? [True, True] Translation: X:-146.75, Y:21.88, Z:-10.37 [[ 9.76289907e-01 -1.41663521e-03 -2.16462491e-01 -1.46749052e+02] [-1.82109211e-03 9.99889447e-01 -1.47572562e-02 2.18840730e+01] [ 2.16459466e-01 1.48015584e-02 9.76179396e-01 -1.03666398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32534707 meters 0.03373309682085047 Centerline is valid? [True, True] Translation: X:-146.78, Y:21.88, Z:-10.37 [[ 9.75790150e-01 -2.28897474e-04 -2.18708782e-01 -1.46776458e+02] [-3.08602385e-03 9.99885489e-01 -1.48150564e-02 2.18804832e+01] [ 2.18687129e-01 1.51313266e-02 9.75677704e-01 -1.03697085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35534707 meters 0.031995385408273506 Centerline is valid? [True, True] Translation: X:-146.80, Y:21.88, Z:-10.39 [[ 9.75510063e-01 -1.88704949e-03 -2.19946713e-01 -1.46803509e+02] [-1.41266123e-03 9.99888823e-01 -1.48440724e-02 2.18829022e+01] [ 2.19950271e-01 1.47912522e-02 9.75398942e-01 -1.03852378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38534707 meters 0.03129516030784361 Centerline is valid? [True, True] Translation: X:-146.83, Y:21.88, Z:-10.39 [[ 9.75285663e-01 -2.20396326e-03 -2.20936683e-01 -1.46830516e+02] [-1.09845464e-03 9.99889524e-01 -1.48233729e-02 2.18795185e+01] [ 2.20944945e-01 1.46997120e-02 9.75175497e-01 -1.03888997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41534707 meters 0.03125093253255054 Centerline is valid? [True, True] Translation: X:-146.86, Y:21.88, Z:-10.40 [[ 9.75075419e-01 -5.36651526e-03 -2.21808762e-01 -1.46859431e+02] [ 2.12715100e-03 9.99887609e-01 -1.48406196e-02 2.18778387e+01] [ 2.21863475e-01 1.39989026e-02 9.74977245e-01 -1.03963144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44534707 meters 0.030464917746555478 Centerline is valid? [True, True] Translation: X:-146.89, Y:21.88, Z:-10.41 [[ 9.74974274e-01 -8.41066136e-03 -2.22158559e-01 -1.46887226e+02] [ 5.24186962e-03 9.99876001e-01 -1.48494410e-02 2.18760687e+01] [ 2.22255905e-01 1.33132968e-02 9.74897466e-01 -1.04059061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47534707 meters 0.029139536944664594 Centerline is valid? [True, True] Translation: X:-146.92, Y:21.87, Z:-10.41 [[ 9.74778098e-01 -1.51177018e-02 -2.22663682e-01 -1.46916595e+02] [ 1.21104504e-02 9.99816166e-01 -1.48651132e-02 2.18680338e+01] [ 2.22847475e-01 1.17936293e-02 9.74781982e-01 -1.04114707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50534707 meters 0.027125833157940465 Centerline is valid? [True, True] Translation: X:-146.94, Y:21.86, Z:-10.42 [[ 9.74551350e-01 -1.88252724e-02 -2.23372506e-01 -1.46944488e+02] [ 1.58967685e-02 9.99762591e-01 -1.49015022e-02 2.18611636e+01] [ 2.23600000e-01 1.09713781e-02 9.74619243e-01 -1.04177533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53534707 meters 0.025858517614926305 Centerline is valid? [True, True] Translation: X:-146.97, Y:21.86, Z:-10.43 [[ 9.74121327e-01 -2.49147532e-02 -2.24648380e-01 -1.46972210e+02] [ 2.21157416e-02 9.99643369e-01 -1.49676232e-02 2.18559272e+01] [ 2.24941178e-01 9.61201543e-03 9.74324933e-01 -1.04292160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56534707 meters 0.02460576725026436 Centerline is valid? [True, True] Translation: X:-147.00, Y:21.85, Z:-10.43 [[ 9.74224491e-01 -2.87288031e-02 -2.23743818e-01 -1.47000506e+02] [ 2.60552732e-02 9.99549562e-01 -1.48928238e-02 2.18483015e+01] [ 2.24070888e-01 8.67924738e-03 9.74534200e-01 -1.04326854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59534707 meters 0.02236264675083369 Centerline is valid? [True, True] Translation: X:-147.03, Y:21.84, Z:-10.44 [[ 9.74148144e-01 -3.08975607e-02 -2.23787252e-01 -1.47027514e+02] [ 2.82851736e-02 9.99489278e-01 -1.48705131e-02 2.18427741e+01] [ 2.24132421e-01 8.15622150e-03 9.74524568e-01 -1.04379962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62534707 meters 0.02330239257680745 Centerline is valid? [True, True] Translation: X:-147.05, Y:21.84, Z:-10.45 [[ 9.73939568e-01 -3.27730064e-02 -2.24427376e-01 -1.47054670e+02] [ 3.02082228e-02 9.99433263e-01 -1.48531311e-02 2.18413990e+01] [ 2.24786966e-01 7.68649992e-03 9.74377615e-01 -1.04482809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65534707 meters 0.022101488762942743 Centerline is valid? [True, True] Translation: X:-147.08, Y:21.84, Z:-10.45 [[ 9.73694868e-01 -3.40034461e-02 -2.25304394e-01 -1.47081383e+02] [ 3.14704494e-02 9.99394725e-01 -1.48254969e-02 2.18374490e+01] [ 2.25672141e-01 7.34507968e-03 9.74175618e-01 -1.04536066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68534707 meters 0.02435912437463628 Centerline is valid? [True, True] Translation: X:-147.11, Y:21.84, Z:-10.46 [[ 9.73148472e-01 -3.55697434e-02 -2.27413380e-01 -1.47109403e+02] [ 3.30407009e-02 9.99342647e-01 -1.49193243e-02 2.18359486e+01] [ 2.27794566e-01 7.00482016e-03 9.73684019e-01 -1.04583831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71534707 meters 0.02151286401455487 Centerline is valid? [True, True] Translation: X:-147.14, Y:21.83, Z:-10.47 [[ 9.72454458e-01 -4.01473128e-02 -2.29609496e-01 -1.47136070e+02] [ 3.77137912e-02 9.99176312e-01 -1.49789084e-02 2.18302913e+01] [ 2.30021732e-01 5.90686166e-03 9.73167566e-01 -1.04650003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74534707 meters 0.020319421321820623 Centerline is valid? [True, True] Translation: X:-147.16, Y:21.83, Z:-10.47 [[ 9.72243455e-01 -4.17778396e-02 -2.30211373e-01 -1.47162565e+02] [ 3.93844716e-02 9.99111780e-01 -1.49837816e-02 2.18275803e+01] [ 2.30632884e-01 5.50113033e-03 9.73025288e-01 -1.04721290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77534707 meters 0.022423642281662902 Centerline is valid? [True, True] Translation: X:-147.19, Y:21.83, Z:-10.48 [[ 9.72365526e-01 -4.26948705e-02 -2.29526540e-01 -1.47189822e+02] [ 4.03524285e-02 9.99074531e-01 -1.48917304e-02 2.18280014e+01] [ 2.29949921e-01 5.21825194e-03 9.73188473e-01 -1.04819878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80534707 meters 0.020720439672070216 Centerline is valid? [True, True] Translation: X:-147.22, Y:21.83, Z:-10.49 [[ 9.71701919e-01 -4.49010981e-02 -2.31903583e-01 -1.47216461e+02] [ 4.25917369e-02 9.98980579e-01 -1.49581670e-02 2.18253012e+01] [ 2.32338814e-01 4.65770319e-03 9.72623762e-01 -1.04901029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83534707 meters 0.020818104544246617 Centerline is valid? [True, True] Translation: X:-147.24, Y:21.82, Z:-10.49 [[ 9.71660105e-01 -4.44045042e-02 -2.32174244e-01 -1.47244294e+02] [ 4.20835720e-02 9.99002349e-01 -1.49425528e-02 2.18225643e+01] [ 2.32606132e-01 4.74836090e-03 9.72559428e-01 -1.04928938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86534707 meters 0.021613312252172348 Centerline is valid? [True, True] Translation: X:-147.27, Y:21.82, Z:-10.50 [[ 9.71973424e-01 -4.41172997e-02 -2.30914110e-01 -1.47272208e+02] [ 4.18218485e-02 9.99015039e-01 -1.48285462e-02 2.18225643e+01] [ 2.31340864e-01 4.75569787e-03 9.72861135e-01 -1.05002196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89534707 meters 0.022001211161073987 Centerline is valid? [True, True] Translation: X:-147.30, Y:21.82, Z:-10.50 [[ 9.72174302e-01 -4.19481725e-02 -2.30472291e-01 -1.47300168e+02] [ 3.96084562e-02 9.99106091e-01 -1.47711959e-02 2.18211045e+01] [ 2.30885894e-01 5.23152539e-03 9.72966770e-01 -1.05026771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92534707000002 meters 0.021352439468562107 Centerline is valid? [True, True] Translation: X:-147.33, Y:21.82, Z:-10.51 [[ 9.71729458e-01 -3.83294445e-02 -2.32965050e-01 -1.47327522e+02] [ 3.58428843e-02 9.99246368e-01 -1.48991091e-02 2.18212243e+01] [ 2.33360554e-01 6.12776388e-03 9.72370969e-01 -1.05116853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95534707000002 meters 0.024392967714450483 Centerline is valid? [True, True] Translation: X:-147.36, Y:21.83, Z:-10.53 [[ 9.71171751e-01 -3.45522390e-02 -2.35863464e-01 -1.47356285e+02] [ 3.18967471e-02 9.99377613e-01 -1.50659809e-02 2.18259546e+01] [ 2.36237229e-01 7.10837775e-03 9.71669410e-01 -1.05251066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98534707 meters 0.02422135246969032 Centerline is valid? [True, True] Translation: X:-147.39, Y:21.82, Z:-10.52 [[ 9.71196137e-01 -3.15802342e-02 -2.36179490e-01 -1.47385065e+02] [ 2.88341794e-02 9.99470561e-01 -1.50727345e-02 2.18219261e+01] [ 2.36530448e-01 7.82853975e-03 9.71592539e-01 -1.05203297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01534707 meters 0.024700258832814313 Centerline is valid? [True, True] Translation: X:-147.41, Y:21.82, Z:-10.53 [[ 9.71456313e-01 -2.95904517e-02 -2.35365750e-01 -1.47412117e+02] [ 2.68191618e-02 9.99528241e-01 -1.49675476e-02 2.18243458e+01] [ 2.35697611e-01 8.22800643e-03 9.71791611e-01 -1.05305896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04534707 meters 0.02642620006410332 Centerline is valid? [True, True] Translation: X:-147.44, Y:21.82, Z:-10.54 [[ 9.71793277e-01 -2.82520251e-02 -2.34135965e-01 -1.47440511e+02] [ 2.54990943e-02 9.99565619e-01 -1.47773306e-02 2.18244729e+01] [ 2.34451750e-01 8.39025546e-03 9.72091549e-01 -1.05358719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07534707 meters 0.025410457136431933 Centerline is valid? [True, True] Translation: X:-147.47, Y:21.82, Z:-10.55 [[ 9.71556954e-01 -2.70825378e-02 -2.35252249e-01 -1.47467829e+02] [ 2.42922005e-02 9.99596058e-01 -1.47515774e-02 2.18244696e+01] [ 2.35556731e-01 8.61720284e-03 9.71822397e-01 -1.05463096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10534707 meters 0.027920498238034958 Centerline is valid? [True, True] Translation: X:-147.50, Y:21.82, Z:-10.55 [[ 9.71187683e-01 -2.68737760e-02 -2.36795869e-01 -1.47496616e+02] [ 2.40625904e-02 9.99601571e-01 -1.47543842e-02 2.18232395e+01] [ 2.37098029e-01 8.63135418e-03 9.71447386e-01 -1.05494675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13534707 meters 0.024480853882138463 Centerline is valid? [True, True] Translation: X:-147.52, Y:21.82, Z:-10.56 [[ 9.71187221e-01 -2.97526345e-02 -2.36453298e-01 -1.47523082e+02] [ 2.70548094e-02 9.99526643e-01 -1.46467220e-02 2.18184816e+01] [ 2.36777150e-01 7.82751036e-03 9.71532455e-01 -1.05557740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16534707 meters 0.022706215533429015 Centerline is valid? [True, True] Translation: X:-147.55, Y:21.81, Z:-10.56 [[ 9.71456138e-01 -3.17870804e-02 -2.35079887e-01 -1.47551402e+02] [ 2.91927681e-02 9.99468499e-01 -1.45086499e-02 2.18149325e+01] [ 2.35416129e-01 7.23188439e-03 9.71867762e-01 -1.05602658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19534707 meters 0.02345082858945083 Centerline is valid? [True, True] Translation: X:-147.58, Y:21.81, Z:-10.56 [[ 9.71461328e-01 -3.59996699e-02 -2.34450235e-01 -1.47581396e+02] [ 3.35451513e-02 9.99332736e-01 -1.44501085e-02 2.18115129e+01] [ 2.34813994e-01 6.17305301e-03 9.72020721e-01 -1.05620991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22534707 meters 0.023703016200782308 Centerline is valid? [True, True] Translation: X:-147.61, Y:21.81, Z:-10.58 [[ 9.70627031e-01 -3.89795901e-02 -2.37410527e-01 -1.47607313e+02] [ 3.65533772e-02 9.99224830e-01 -1.46146779e-02 2.18114267e+01] [ 2.37796167e-01 5.50724491e-03 9.71299466e-01 -1.05820630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25534707 meters 0.022876396079920345 Centerline is valid? [True, True] Translation: X:-147.64, Y:21.81, Z:-10.58 [[ 9.70343734e-01 -3.96459431e-02 -2.38455946e-01 -1.47635438e+02] [ 3.72247264e-02 9.99199525e-01 -1.46502009e-02 2.18061967e+01] [ 2.38845889e-01 5.33927327e-03 9.71042807e-01 -1.05844943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28534707 meters 0.022353079199382352 Centerline is valid? [True, True] Translation: X:-147.66, Y:21.80, Z:-10.59 [[ 9.70153342e-01 -4.36675239e-02 -2.38528070e-01 -1.47662725e+02] [ 4.13712807e-02 9.99036769e-01 -1.46271072e-02 2.18026191e+01] [ 2.38937042e-01 4.32232521e-03 9.71025441e-01 -1.05927847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31534707 meters 0.024549240495755516 Centerline is valid? [True, True] Translation: X:-147.69, Y:21.80, Z:-10.59 [[ 9.70479221e-01 -4.31214406e-02 -2.37298595e-01 -1.47690629e+02] [ 4.08403211e-02 9.99060137e-01 -1.45227549e-02 2.18002660e+01] [ 2.37701809e-01 4.40268104e-03 9.71328197e-01 -1.05924526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34534707 meters 0.023562951303092456 Centerline is valid? [True, True] Translation: X:-147.72, Y:21.80, Z:-10.61 [[ 9.70038030e-01 -4.67216957e-02 -2.38418337e-01 -1.47716431e+02] [ 4.45344689e-02 9.98901809e-01 -1.45553310e-02 2.17974833e+01] [ 2.38836557e-01 3.50139062e-03 9.71053469e-01 -1.06053793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37534707 meters 0.021838105266015397 Centerline is valid? [True, True] Translation: X:-147.74, Y:21.79, Z:-10.61 [[ 9.69265413e-01 -5.04488424e-02 -2.40789272e-01 -1.47744576e+02] [ 4.83415004e-02 9.98723355e-01 -1.46546926e-02 2.17919727e+01] [ 2.41221181e-01 2.56417206e-03 9.70466778e-01 -1.06067836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40534707 meters 0.023433125640000038 Centerline is valid? [True, True] Translation: X:-147.77, Y:21.79, Z:-10.62 [[ 9.69326152e-01 -5.01693214e-02 -2.40603097e-01 -1.47772183e+02] [ 4.80689851e-02 9.98737391e-01 -1.45943793e-02 2.17911486e+01] [ 2.41031500e-01 2.58116687e-03 9.70513861e-01 -1.06162292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43534707 meters 0.02241520124344703 Centerline is valid? [True, True] Translation: X:-147.80, Y:21.79, Z:-10.63 [[ 9.69054023e-01 -5.10196696e-02 -2.41518725e-01 -1.47799797e+02] [ 4.89364052e-02 9.98694887e-01 -1.46202446e-02 2.17911847e+01] [ 2.41949436e-01 2.34874862e-03 9.70286016e-01 -1.06268930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46534707 meters 0.02528798147969142 Centerline is valid? [True, True] Translation: X:-147.83, Y:21.79, Z:-10.62 [[ 9.69265890e-01 -4.75210970e-02 -2.41382227e-01 -1.47828677e+02] [ 4.53412106e-02 9.98865148e-01 -1.45805217e-02 2.17928892e+01] [ 2.41801176e-01 3.18783997e-03 9.70320581e-01 -1.06249540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49534707 meters 0.024922512598269532 Centerline is valid? [True, True] Translation: X:-147.86, Y:21.80, Z:-10.63 [[ 9.69306537e-01 -4.43684995e-02 -2.41818678e-01 -1.47856381e+02] [ 4.20938148e-02 9.99007459e-01 -1.45673282e-02 2.17963686e+01] [ 2.42224994e-01 3.94113577e-03 9.70212100e-01 -1.06324139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52534707 meters 0.023186051636807186 Centerline is valid? [True, True] Translation: X:-147.88, Y:21.80, Z:-10.64 [[ 9.69159629e-01 -4.22349325e-02 -2.42787611e-01 -1.47884190e+02] [ 3.98824548e-02 9.99097728e-01 -1.45986032e-02 2.17987632e+01] [ 2.43185122e-01 4.46541090e-03 9.69969616e-01 -1.06442898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55534707 meters 0.024057190541265917 Centerline is valid? [True, True] Translation: X:-147.91, Y:21.80, Z:-10.65 [[ 9.69155323e-01 -3.81571449e-02 -2.43478934e-01 -1.47912695e+02] [ 3.56701277e-02 9.99256719e-01 -1.46168262e-02 2.18025937e+01] [ 2.43855697e-01 5.48105025e-03 9.69796039e-01 -1.06517723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58534707 meters 0.024439598911351428 Centerline is valid? [True, True] Translation: X:-147.94, Y:21.80, Z:-10.66 [[ 9.69044701e-01 -3.42471751e-02 -2.44498462e-01 -1.47940403e+02] [ 3.16239576e-02 9.99392500e-01 -1.46477055e-02 2.18037749e+01] [ 2.44851572e-01 6.46227246e-03 9.69539038e-01 -1.06556970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61534707 meters 0.025617943068414504 Centerline is valid? [True, True] Translation: X:-147.97, Y:21.81, Z:-10.67 [[ 9.68930307e-01 -3.00883870e-02 -2.45496941e-01 -1.47968576e+02] [ 2.73202289e-02 9.99519018e-01 -1.46743875e-02 2.18078998e+01] [ 2.45820390e-01 7.51142618e-03 9.69286291e-01 -1.06652098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64534707 meters 0.02597003481974862 Centerline is valid? [True, True] Translation: X:-148.00, Y:21.81, Z:-10.67 [[ 9.68671675e-01 -2.83670276e-02 -2.46719473e-01 -1.47997414e+02] [ 2.55213077e-02 9.99565824e-01 -1.47249966e-02 2.18085536e+01] [ 2.47030058e-01 7.96708354e-03 9.68975065e-01 -1.06715077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67534707000002 meters 0.02698006523108949 Centerline is valid? [True, True] Translation: X:-148.03, Y:21.81, Z:-10.68 [[ 9.68522606e-01 -2.41759839e-02 -2.47748830e-01 -1.48027192e+02] [ 2.11757914e-02 9.99666694e-01 -1.47677518e-02 2.18121267e+01] [ 2.48023279e-01 9.05662393e-03 9.68711738e-01 -1.06776999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70534707000002 meters 0.0304853031359308 Centerline is valid? [True, True] Translation: X:-148.06, Y:21.82, Z:-10.68 [[ 9.69225990e-01 -2.01572076e-02 -2.45346016e-01 -1.48055699e+02] [ 1.70940861e-02 9.99747164e-01 -1.46082611e-02 2.18163537e+01] [ 2.45578445e-01 9.96474043e-03 9.69325503e-01 -1.06804783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73534707 meters 0.028859931488376647 Centerline is valid? [True, True] Translation: X:-148.08, Y:21.82, Z:-10.69 [[ 9.68937323e-01 -1.95692517e-02 -2.46530949e-01 -1.48082101e+02] [ 1.64677017e-02 9.99757266e-01 -1.46364212e-02 2.18160887e+01] [ 2.46757532e-01 1.01219766e-02 9.69024389e-01 -1.06911131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76534707 meters 0.028418145884122614 Centerline is valid? [True, True] Translation: X:-148.11, Y:21.82, Z:-10.69 [[ 9.68781783e-01 -1.85143846e-02 -2.47222724e-01 -1.48110128e+02] [ 1.53704060e-02 9.99774667e-01 -1.46412245e-02 2.18154711e+01] [ 2.47438090e-01 1.03842379e-02 9.68848058e-01 -1.06946548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79534707 meters 0.03161961512881453 Centerline is valid? [True, True] Translation: X:-148.14, Y:21.82, Z:-10.71 [[ 9.68920627e-01 -1.92729035e-02 -2.46619899e-01 -1.48137058e+02] [ 1.61777955e-02 9.99762964e-01 -1.45703386e-02 2.18211823e+01] [ 2.46842254e-01 1.01277353e-02 9.69002751e-01 -1.07085508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82534707 meters 0.02861082652361152 Centerline is valid? [True, True] Translation: X:-148.17, Y:21.81, Z:-10.71 [[ 9.68917868e-01 -1.89881638e-02 -2.46652821e-01 -1.48165200e+02] [ 1.58940697e-02 9.99768111e-01 -1.45293800e-02 2.18145558e+01] [ 2.46871511e-01 1.01574588e-02 9.68994986e-01 -1.07055189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85534707 meters 0.02818176319672186 Centerline is valid? [True, True] Translation: X:-148.19, Y:21.81, Z:-10.72 [[ 9.68418170e-01 -2.18567743e-02 -2.48371755e-01 -1.48192095e+02] [ 1.88286558e-02 9.99716688e-01 -1.45611150e-02 2.18139494e+01] [ 2.48619647e-01 9.42474204e-03 9.68555339e-01 -1.07180382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88534707 meters 0.030326060536876642 Centerline is valid? [True, True] Translation: X:-148.22, Y:21.81, Z:-10.73 [[ 9.68697811e-01 -2.27466811e-02 -2.47198582e-01 -1.48219675e+02] [ 1.97840456e-02 9.99699670e-01 -1.44624129e-02 2.18144690e+01] [ 2.47453313e-01 9.11911969e-03 9.68856904e-01 -1.07263924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91534707 meters 0.02864563994543145 Centerline is valid? [True, True] Translation: X:-148.25, Y:21.81, Z:-10.73 [[ 9.68251613e-01 -2.55524891e-02 -2.48668223e-01 -1.48246953e+02] [ 2.26525905e-02 9.99637998e-01 -1.45166591e-02 2.18082140e+01] [ 2.48949141e-01 8.42279916e-03 9.68479933e-01 -1.07279146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94534707 meters 0.0262511059425897 Centerline is valid? [True, True] Translation: X:-148.27, Y:21.80, Z:-10.74 [[ 9.67985068e-01 -2.97796262e-02 -2.49234995e-01 -1.48273311e+02] [ 2.70134646e-02 9.99529721e-01 -1.45123725e-02 2.18044167e+01] [ 2.49549958e-01 7.31505912e-03 9.68334296e-01 -1.07366903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97534707 meters 0.02570024432656098 Centerline is valid? [True, True] Translation: X:-148.30, Y:21.80, Z:-10.74 [[ 9.68298140e-01 -3.18485992e-02 -2.47758712e-01 -1.48301814e+02] [ 2.91907561e-02 9.99470208e-01 -1.43945342e-02 2.18016460e+01] [ 2.48085897e-01 6.70593656e-03 9.68714828e-01 -1.07441787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00534707 meters 0.027521640037379873 Centerline is valid? [True, True] Translation: X:-148.33, Y:21.80, Z:-10.75 [[ 9.68096356e-01 -3.47012335e-02 -2.48163795e-01 -1.48329304e+02] [ 3.21315293e-02 9.99379925e-01 -1.43989565e-02 2.17995707e+01] [ 2.48509576e-01 5.96569510e-03 9.68611068e-01 -1.07542393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03534707 meters 0.025996234327175488 Centerline is valid? [True, True] Translation: X:-148.36, Y:21.80, Z:-10.76 [[ 9.67272565e-01 -3.79089948e-02 -2.50891797e-01 -1.48356492e+02] [ 3.53944557e-02 9.99267805e-01 -1.45287816e-02 2.17953994e+01] [ 2.51258867e-01 5.17311322e-03 9.67906101e-01 -1.07627925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06534707 meters 0.02587679605980865 Centerline is valid? [True, True] Translation: X:-148.38, Y:21.79, Z:-10.77 [[ 9.67243237e-01 -3.93891706e-02 -2.50776822e-01 -1.48384235e+02] [ 3.69327322e-02 9.99212612e-01 -1.44958398e-02 2.17912780e+01] [ 2.51150343e-01 4.75912979e-03 9.67936390e-01 -1.07670641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09534707 meters 0.026587914267245612 Centerline is valid? [True, True] Translation: X:-148.41, Y:21.79, Z:-10.77 [[ 9.67426737e-01 -4.04730993e-02 -2.49894852e-01 -1.48412571e+02] [ 3.80795486e-02 9.99170842e-01 -1.44075288e-02 2.17882023e+01] [ 2.50270767e-01 4.42234541e-03 9.68165785e-01 -1.07728737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12534707 meters 0.02666263289605236 Centerline is valid? [True, True] Translation: X:-148.44, Y:21.78, Z:-10.78 [[ 9.67498510e-01 -4.23198544e-02 -2.49310375e-01 -1.48440804e+02] [ 4.00057702e-02 9.99096487e-01 -1.43439469e-02 2.17848163e+01] [ 2.49692153e-01 3.90389367e-03 9.68317401e-01 -1.07774292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15534707 meters 0.024480774141377386 Centerline is valid? [True, True] Translation: X:-148.47, Y:21.78, Z:-10.79 [[ 9.67207310e-01 -4.36701599e-02 -2.50205789e-01 -1.48468558e+02] [ 4.13912250e-02 9.99039738e-01 -1.43654941e-02 2.17829979e+01] [ 2.50592870e-01 3.53808679e-03 9.68086099e-01 -1.07874038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18534707 meters 0.024480774141377386 Centerline is valid? [True, True] Translation: X:-148.50, Y:21.78, Z:-10.79 [[ 9.67212273e-01 -4.35502542e-02 -2.50207504e-01 -1.48496421e+02] [ 4.12751105e-02 9.99044972e-01 -1.43355776e-02 2.17813071e+01] [ 2.50592867e-01 3.53820420e-03 9.68086100e-01 -1.07926864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21534707 meters 0.025544444272236237 Centerline is valid? [True, True] Translation: X:-148.53, Y:21.78, Z:-10.80 [[ 9.67610174e-01 -4.38397214e-02 -2.48613414e-01 -1.48525196e+02] [ 4.16107080e-02 9.99032755e-01 -1.42163418e-02 2.17805552e+01] [ 2.48996184e-01 3.41089674e-03 9.68498459e-01 -1.07981743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24534707 meters 0.025869580627063474 Centerline is valid? [True, True] Translation: X:-148.55, Y:21.78, Z:-10.81 [[ 9.67607442e-01 -4.19763184e-02 -2.48945431e-01 -1.48554415e+02] [ 3.96853326e-02 9.99111085e-01 -1.42166974e-02 2.17807766e+01] [ 2.49320905e-01 3.87670000e-03 9.68413165e-01 -1.08064478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27534707 meters 0.02670323917053014 Centerline is valid? [True, True] Translation: X:-148.58, Y:21.78, Z:-10.81 [[ 9.67887097e-01 -4.18798314e-02 -2.47872240e-01 -1.48582420e+02] [ 3.96091305e-02 9.99115157e-01 -1.41428018e-02 2.17783595e+01] [ 2.48245211e-01 3.87063149e-03 9.68689493e-01 -1.08094358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30534707 meters 0.025020225619421185 Centerline is valid? [True, True] Translation: X:-148.61, Y:21.78, Z:-10.82 [[ 9.67134492e-01 -3.96870505e-02 -2.51148986e-01 -1.48610416e+02] [ 3.72879553e-02 9.99202156e-01 -1.43059257e-02 2.17783896e+01] [ 2.51516368e-01 4.47092204e-03 9.67842718e-01 -1.08201809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33534707 meters 0.027908243890747357 Centerline is valid? [True, True] Translation: X:-148.64, Y:21.78, Z:-10.83 [[ 9.67425502e-01 -3.43877376e-02 -2.50809451e-01 -1.48639194e+02] [ 3.18225715e-02 9.99391558e-01 -1.42771631e-02 2.17807786e+01] [ 2.51147808e-01 5.83069004e-03 9.67931186e-01 -1.08298965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36534707 meters 0.029018596678171343 Centerline is valid? [True, True] Translation: X:-148.67, Y:21.78, Z:-10.84 [[ 9.67971575e-01 -3.30709711e-02 -2.48872139e-01 -1.48668641e+02] [ 3.05072606e-02 9.99434350e-01 -1.41522611e-02 2.17806067e+01] [ 2.49199393e-01 6.10657927e-03 9.68432947e-01 -1.08356615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39534707 meters 0.027650624012773486 Centerline is valid? [True, True] Translation: X:-148.70, Y:21.78, Z:-10.83 [[ 9.68427723e-01 -2.64218685e-02 -2.47890358e-01 -1.48697976e+02] [ 2.36695468e-02 9.99620721e-01 -1.40771991e-02 2.17794439e+01] [ 2.48168285e-01 7.76529747e-03 9.68685812e-01 -1.08312002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42534707000002 meters 0.028444909927367767 Centerline is valid? [True, True] Translation: X:-148.73, Y:21.78, Z:-10.84 [[ 9.68601960e-01 -2.07544532e-02 -2.47748855e-01 -1.48725580e+02] [ 1.78317373e-02 9.99742485e-01 -1.40353945e-02 2.17835521e+01] [ 2.47976353e-01 9.17691813e-03 9.68722619e-01 -1.08408541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45534707000002 meters 0.029362482095014127 Centerline is valid? [True, True] Translation: X:-148.75, Y:21.79, Z:-10.85 [[ 9.68402154e-01 -1.63088163e-02 -2.48859981e-01 -1.48754563e+02] [ 1.32212445e-02 9.99813552e-01 -1.40733511e-02 2.17855942e+01] [ 2.49043102e-01 1.03384249e-02 9.68437221e-01 -1.08507684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48534707 meters 0.02861278383182846 Centerline is valid? [True, True] Translation: X:-148.78, Y:21.78, Z:-10.86 [[ 9.68665278e-01 -1.51744101e-02 -2.47905861e-01 -1.48782175e+02] [ 1.20789260e-02 9.99828996e-01 -1.40028112e-02 2.17840557e+01] [ 2.48075952e-01 1.05696005e-02 9.68682923e-01 -1.08555040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51534707 meters 0.03143599294588349 Centerline is valid? [True, True] Translation: X:-148.81, Y:21.79, Z:-10.86 [[ 9.69545371e-01 -1.29744954e-02 -2.44567857e-01 -1.48809882e+02] [ 9.90586698e-03 9.99856078e-01 -1.37730307e-02 2.17863585e+01] [ 2.44711357e-01 1.09309215e-02 9.69534356e-01 -1.08631426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54534707 meters 0.030437193199334484 Centerline is valid? [True, True] Translation: X:-148.84, Y:21.78, Z:-10.87 [[ 9.68790021e-01 -1.13340912e-02 -2.47623573e-01 -1.48837167e+02] [ 8.14195249e-03 9.99870083e-01 -1.39113429e-02 2.17839340e+01] [ 2.47749075e-01 1.14610308e-02 9.68756440e-01 -1.08723879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57534707 meters 0.02907074565968694 Centerline is valid? [True, True] Translation: X:-148.86, Y:21.78, Z:-10.88 [[ 9.68231431e-01 -1.24138062e-02 -2.49747460e-01 -1.48864067e+02] [ 9.20705905e-03 9.99859547e-01 -1.40041414e-02 2.17792638e+01] [ 2.49886227e-01 1.12598103e-02 9.68209735e-01 -1.08785040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60534707 meters 0.03110231367195527 Centerline is valid? [True, True] Translation: X:-148.89, Y:21.78, Z:-10.88 [[ 9.69044339e-01 -1.27731566e-02 -2.46556110e-01 -1.48893606e+02] [ 9.67021046e-03 9.99858125e-01 -1.37919181e-02 2.17776096e+01] [ 2.46697296e-01 1.09807307e-02 9.69030375e-01 -1.08829534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63534707 meters 0.029924664193299148 Centerline is valid? [True, True] Translation: X:-148.92, Y:21.77, Z:-10.89 [[ 9.69207108e-01 -1.67307548e-02 -2.45677968e-01 -1.48921489e+02] [ 1.37796882e-02 9.99810838e-01 -1.37261726e-02 2.17712615e+01] [ 2.45861144e-01 9.91813822e-03 9.69254316e-01 -1.08903438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66534707 meters 0.02674336154100103 Centerline is valid? [True, True] Translation: X:-148.95, Y:21.76, Z:-10.90 [[ 9.68674102e-01 -2.11405870e-02 -2.47433951e-01 -1.48948154e+02] [ 1.82934259e-02 9.99737416e-01 -1.38003207e-02 2.17641103e+01] [ 2.47660725e-01 8.84159857e-03 9.68806478e-01 -1.09011366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69534707 meters 0.027396664953055497 Centerline is valid? [True, True] Translation: X:-148.98, Y:21.76, Z:-10.91 [[ 9.68920562e-01 -2.41532526e-02 -2.46190099e-01 -1.48976613e+02] [ 2.14375394e-02 9.99676243e-01 -1.37055070e-02 2.17597857e+01] [ 2.46441426e-01 8.00183759e-03 9.69124654e-01 -1.09089075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72534707 meters 0.023971620073249766 Centerline is valid? [True, True] Translation: X:-149.01, Y:21.75, Z:-10.92 [[ 9.68231393e-01 -3.05772255e-02 -2.48179377e-01 -1.49005230e+02] [ 2.80262584e-02 9.99511841e-01 -1.38061258e-02 2.17483821e+01] [ 2.48480379e-01 6.41198508e-03 9.68615707e-01 -1.09150863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75534707 meters 0.023625295067733334 Centerline is valid? [True, True] Translation: X:-149.03, Y:21.74, Z:-10.93 [[ 9.68159319e-01 -3.75068265e-02 -2.47509133e-01 -1.49034534e+02] [ 3.51856111e-02 9.99285560e-01 -1.37964718e-02 2.17407767e+01] [ 2.47849765e-01 4.64842266e-03 9.68787328e-01 -1.09284105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78534707 meters 0.025593195876636464 Centerline is valid? [True, True] Translation: X:-149.07, Y:21.73, Z:-10.93 [[ 9.68345957e-01 -4.09167801e-02 -2.46235505e-01 -1.49065014e+02] [ 3.87039367e-02 9.99155125e-01 -1.38217676e-02 2.17342849e+01] [ 2.46593009e-01 3.85396939e-03 9.69111467e-01 -1.09316410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81534707 meters 0.023157921484311398 Centerline is valid? [True, True] Translation: X:-149.10, Y:21.73, Z:-10.94 [[ 9.68230011e-01 -4.66715901e-02 -2.45667271e-01 -1.49095178e+02] [ 4.46272679e-02 9.98907208e-01 -1.38851530e-02 2.17272642e+01] [ 2.46046850e-01 2.48056274e-03 9.69254763e-01 -1.09422888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84534707 meters 0.021155764812067417 Centerline is valid? [True, True] Translation: X:-149.13, Y:21.72, Z:-10.95 [[ 9.67637068e-01 -5.09693406e-02 -2.47144961e-01 -1.49125331e+02] [ 4.90119028e-02 9.98699090e-01 -1.40698811e-02 2.17199076e+01] [ 2.47540580e-01 1.50149367e-03 9.68876363e-01 -1.09492433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87534707 meters 0.021096594312543297 Centerline is valid? [True, True] Translation: X:-149.16, Y:21.72, Z:-10.96 [[ 9.67634328e-01 -5.44804880e-02 -2.46405525e-01 -1.49156676e+02] [ 5.26226171e-02 9.98514590e-01 -1.41235121e-02 2.17152288e+01] [ 2.46808968e-01 6.99891574e-04 9.69063901e-01 -1.09561004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90534707 meters 0.0250170356505751 Centerline is valid? [True, True] Translation: X:-149.19, Y:21.71, Z:-10.97 [[ 9.67890929e-01 -5.80500491e-02 -2.44575841e-01 -1.49187193e+02] [ 5.63067088e-02 9.98313669e-01 -1.41199754e-02 2.17086796e+01] [ 2.44983070e-01 -1.04664557e-04 9.69527351e-01 -1.09664726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93534707 meters 0.02141647146059325 Centerline is valid? [True, True] Translation: X:-149.22, Y:21.71, Z:-10.97 [[ 9.67515389e-01 -5.92160658e-02 -2.45779229e-01 -1.49217969e+02] [ 5.74666268e-02 9.98245145e-01 -1.42904850e-02 2.17053109e+01] [ 2.46194148e-01 -2.97839094e-04 9.69220487e-01 -1.09690327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96534707 meters 0.020874498692447032 Centerline is valid? [True, True] Translation: X:-149.25, Y:21.70, Z:-10.98 [[ 9.67168081e-01 -6.27594582e-02 -2.46266427e-01 -1.49248469e+02] [ 6.10911236e-02 9.98028074e-01 -1.44165668e-02 2.16992657e+01] [ 2.46685584e-01 -1.10144954e-03 9.69094943e-01 -1.09779378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99534707 meters 0.02346994513803236 Centerline is valid? [True, True] Translation: X:-149.28, Y:21.69, Z:-11.00 [[ 9.67408265e-01 -6.43833364e-02 -2.44900049e-01 -1.49276666e+02] [ 6.27586882e-02 9.97924259e-01 -1.44402565e-02 2.16925248e+01] [ 2.45321412e-01 -1.39998235e-03 9.69440790e-01 -1.09999654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02534707 meters 0.023539194300592394 Centerline is valid? [True, True] Translation: X:-149.31, Y:21.69, Z:-11.01 [[ 9.67414440e-01 -6.46051684e-02 -2.44817223e-01 -1.49308219e+02] [ 6.29627605e-02 9.97909990e-01 -1.45376182e-02 2.16891904e+01] [ 2.45244758e-01 -1.35046644e-03 9.69460254e-01 -1.10063862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05534707 meters 0.023294130563518124 Centerline is valid? [True, True] Translation: X:-149.34, Y:21.68, Z:-11.01 [[ 9.67126564e-01 -6.77099253e-02 -2.45115432e-01 -1.49338226e+02] [ 6.61385874e-02 9.97702950e-01 -1.46461912e-02 2.16840673e+01] [ 2.45544082e-01 -2.04686789e-03 9.69383265e-01 -1.10124839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08534707 meters 0.024119838155021316 Centerline is valid? [True, True] Translation: X:-149.37, Y:21.68, Z:-11.02 [[ 9.66868795e-01 -7.06566941e-02 -2.45300558e-01 -1.49368941e+02] [ 6.91550175e-02 9.97497009e-01 -1.47411509e-02 2.16775660e+01] [ 2.45728134e-01 -2.71100560e-03 9.69334996e-01 -1.10206881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11534707 meters 0.02462890907876487 Centerline is valid? [True, True] Translation: X:-149.40, Y:21.67, Z:-11.03 [[ 9.66012532e-01 -7.60627119e-02 -2.47051111e-01 -1.49398579e+02] [ 7.46945696e-02 9.97094847e-01 -1.49193736e-02 2.16686707e+01] [ 2.47468198e-01 -4.04107455e-03 9.68887589e-01 -1.10322229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14534707 meters 0.023198505532198713 Centerline is valid? [True, True] Translation: X:-149.43, Y:21.66, Z:-11.03 [[ 9.65644095e-01 -7.93512158e-02 -2.47456798e-01 -1.49429898e+02] [ 7.80751076e-02 9.96834906e-01 -1.49815854e-02 2.16646892e+01] [ 2.47862381e-01 -4.85333669e-03 9.68783095e-01 -1.10313269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17534707000002 meters 0.024997950524639122 Centerline is valid? [True, True] Translation: X:-149.46, Y:21.65, Z:-11.04 [[ 9.65102016e-01 -8.69555281e-02 -2.47015858e-01 -1.49459807e+02] [ 8.59102902e-02 9.96189541e-01 -1.50273480e-02 2.16536276e+01] [ 2.47381325e-01 -6.71828020e-03 9.68894909e-01 -1.10397749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20534707000002 meters 0.02714716390940692 Centerline is valid? [True, True] Translation: X:-149.49, Y:21.64, Z:-11.05 [[ 9.64105728e-01 -9.42163792e-02 -2.48240649e-01 -1.49488909e+02] [ 9.33940528e-02 9.95514492e-01 -1.51144852e-02 2.16427698e+01] [ 2.48551195e-01 -8.61223853e-03 9.68580473e-01 -1.10486566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23534707 meters 0.035794000755156256 Centerline is valid? [True, True] Translation: X:-149.52, Y:21.63, Z:-11.07 [[ 9.63749199e-01 -9.84619168e-02 -2.47977281e-01 -1.49516054e+02] [ 9.77765091e-02 9.95093693e-01 -1.51094490e-02 2.16275459e+01] [ 2.48248334e-01 -9.68463359e-03 9.68648013e-01 -1.10711170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26534707 meters 0.041999685486425534 Centerline is valid? [True, True] Translation: X:-149.55, Y:21.62, Z:-11.08 [[ 9.64108000e-01 -1.04920581e-01 -2.43900462e-01 -1.49547393e+02] [ 1.04449645e-01 9.94418547e-01 -1.49004746e-02 2.16153656e+01] [ 2.44102509e-01 -1.11096500e-02 9.69685795e-01 -1.10770267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29534707 meters 0.04179016096886985 Centerline is valid? [True, True] Translation: X:-149.58, Y:21.61, Z:-11.08 [[ 9.63851638e-01 -1.08573441e-01 -2.43314258e-01 -1.49578345e+02] [ 1.08199369e-01 9.94016912e-01 -1.49423927e-02 2.16077537e+01] [ 2.43480834e-01 -1.19241996e-02 9.69832407e-01 -1.10824189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32534707 meters 0.047073580394346747 Centerline is valid? [True, True] Translation: X:-149.61, Y:21.60, Z:-11.09 [[ 9.63146862e-01 -1.16870997e-01 -2.42258728e-01 -1.49607432e+02] [ 1.16753668e-01 9.93049248e-01 -1.48920397e-02 2.15952019e+01] [ 2.42315295e-01 -1.39413740e-02 9.70097385e-01 -1.10874585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35534707 meters 0.0487876052976286 Centerline is valid? [True, True] Translation: X:-149.64, Y:21.59, Z:-11.09 [[ 9.63196250e-01 -1.19736062e-01 -2.40657971e-01 -1.49637684e+02] [ 1.19702183e-01 9.92699310e-01 -1.48144347e-02 2.15867477e+01] [ 2.40674824e-01 -1.45380767e-02 9.70496921e-01 -1.10934993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38534707 meters 0.05081598821589418 Centerline is valid? [True, True] Translation: X:-149.67, Y:21.58, Z:-11.10 [[ 9.62794664e-01 -1.21752145e-01 -2.41252668e-01 -1.49667393e+02] [ 1.21764472e-01 9.92446949e-01 -1.49153229e-02 2.15804058e+01] [ 2.41246447e-01 -1.50156105e-02 9.70347712e-01 -1.11020726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41534707 meters 0.05419098720535763 Centerline is valid? [True, True] Translation: X:-149.70, Y:21.57, Z:-11.11 [[ 9.63223901e-01 -1.23574882e-01 -2.38597916e-01 -1.49697604e+02] [ 1.23633917e-01 9.92217848e-01 -1.47782500e-02 2.15723477e+01] [ 2.38567331e-01 -1.52640314e-02 9.71005993e-01 -1.11104144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44534707 meters 0.058846298495477706 Centerline is valid? [True, True] Translation: X:-149.73, Y:21.57, Z:-11.12 [[ 9.63427945e-01 -1.24941061e-01 -2.37057644e-01 -1.49728853e+02] [ 1.25019791e-01 9.92044417e-01 -1.47623257e-02 2.15672268e+01] [ 2.37016133e-01 -1.54144599e-02 9.71383419e-01 -1.11167226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47534707 meters 0.05591534292343214 Centerline is valid? [True, True] Translation: X:-149.76, Y:21.57, Z:-11.12 [[ 9.63937384e-01 -1.23286014e-01 -2.35850118e-01 -1.49759406e+02] [ 1.23298510e-01 9.92259944e-01 -1.47539908e-02 2.15653152e+01] [ 2.35843586e-01 -1.48580448e-02 9.71677437e-01 -1.11204969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50534707 meters 0.05832085587796333 Centerline is valid? [True, True] Translation: X:-149.79, Y:21.57, Z:-11.13 [[ 9.65128871e-01 -1.18467121e-01 -2.33434794e-01 -1.49790022e+02] [ 1.18338338e-01 9.92865862e-01 -1.46088465e-02 2.15666448e+01] [ 2.33500106e-01 -1.35248661e-02 9.72262711e-01 -1.11258057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53534707 meters 0.053364513461005424 Centerline is valid? [True, True] Translation: X:-149.82, Y:21.57, Z:-11.13 [[ 9.65807598e-01 -1.11661574e-01 -2.33981574e-01 -1.49820269e+02] [ 1.11334849e-01 9.93674997e-01 -1.46476126e-02 2.15720144e+01] [ 2.34137215e-01 -1.19035276e-02 9.72130686e-01 -1.11301978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56534707 meters 0.05170678910373718 Centerline is valid? [True, True] Translation: X:-149.85, Y:21.58, Z:-11.14 [[ 9.66617127e-01 -1.00670079e-01 -2.35620172e-01 -1.49850037e+02] [ 1.00017797e-01 9.94876315e-01 -1.47498491e-02 2.15818711e+01] [ 2.35897797e-01 -9.30875362e-03 9.71733285e-01 -1.11420614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59534707 meters 0.05035519579254427 Centerline is valid? [True, True] Translation: X:-149.88, Y:21.59, Z:-11.15 [[ 9.67612122e-01 -8.72646408e-02 -2.36879009e-01 -1.49879698e+02] [ 8.62083507e-02 9.96166688e-01 -1.48340840e-02 2.15948433e+01] [ 2.37265468e-01 -6.06730919e-03 9.71425903e-01 -1.11539311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62534707 meters 0.049792564008905325 Centerline is valid? [True, True] Translation: X:-149.91, Y:21.61, Z:-11.16 [[ 9.69388878e-01 -7.39143687e-02 -2.34140704e-01 -1.49910491e+02] [ 7.24972006e-02 9.97260780e-01 -1.46660575e-02 2.16073519e+01] [ 2.34583374e-01 -2.75743256e-03 9.72092093e-01 -1.11597492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65534707 meters 0.049568793809577384 Centerline is valid? [True, True] Translation: X:-149.94, Y:21.61, Z:-11.16 [[ 9.70607676e-01 -6.80842118e-02 -2.30836043e-01 -1.49942089e+02] [ 6.65432144e-02 9.97678702e-01 -1.44640039e-02 2.16123804e+01] [ 2.31284974e-01 -1.32169909e-03 9.72885149e-01 -1.11625790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68534707 meters 0.04777864142151022 Centerline is valid? [True, True] Translation: X:-149.97, Y:21.62, Z:-11.16 [[ 9.72733575e-01 -5.68747175e-02 -2.24843632e-01 -1.49974321e+02] [ 5.51152342e-02 9.98380447e-01 -1.40994301e-02 2.16224771e+01] [ 2.25281387e-01 1.32267958e-03 9.74292845e-01 -1.11610724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71534707 meters 0.04758528417718746 Centerline is valid? [True, True] Translation: X:-150.01, Y:21.63, Z:-11.16 [[ 9.73852996e-01 -5.09470509e-02 -2.21392728e-01 -1.50007532e+02] [ 4.90857270e-02 9.98697776e-01 -1.39048114e-02 2.16274715e+01] [ 2.21812834e-01 2.67401920e-03 9.75085594e-01 -1.11616410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74534707 meters 0.052114071034676086 Centerline is valid? [True, True] Translation: X:-150.04, Y:21.64, Z:-11.17 [[ 9.74355384e-01 -4.08469840e-02 -2.21276093e-01 -1.50039144e+02] [ 3.87153774e-02 9.99152708e-01 -1.39637241e-02 2.16369697e+01] [ 2.21658984e-01 5.03884233e-03 9.75111227e-01 -1.11686208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77534707 meters 0.05207082566926936 Centerline is valid? [True, True] Translation: X:-150.07, Y:21.64, Z:-11.18 [[ 9.72702210e-01 -3.30629121e-02 -2.29689476e-01 -1.50068650e+02] [ 3.05451165e-02 9.99428070e-01 -1.45095898e-02 2.16429725e+01] [ 2.30037839e-01 7.09761824e-03 9.73155803e-01 -1.11819124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80534707 meters 0.05703448067444067 Centerline is valid? [True, True] Translation: X:-150.10, Y:21.65, Z:-11.19 [[ 9.72832585e-01 -2.51819853e-02 -2.30136109e-01 -1.50098556e+02] [ 2.24358129e-02 9.99642515e-01 -1.45422342e-02 2.16501401e+01] [ 2.30420041e-01 8.98386863e-03 9.73049791e-01 -1.11920996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83534707 meters 0.05634279539321704 Centerline is valid? [True, True] Translation: X:-150.13, Y:21.65, Z:-11.20 [[ 9.73281530e-01 -2.35408888e-02 -2.28405102e-01 -1.50131287e+02] [ 2.07872804e-02 9.99679428e-01 -1.44544327e-02 2.16512063e+01] [ 2.28672152e-01 9.32031147e-03 9.73458874e-01 -1.11972828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86534707 meters 0.05755208588226089 Centerline is valid? [True, True] Translation: X:-150.16, Y:21.65, Z:-11.20 [[ 9.74472236e-01 -2.47698349e-02 -2.23137438e-01 -1.50161539e+02] [ 2.21591301e-02 9.99653654e-01 -1.41966266e-02 2.16508129e+01] [ 2.23411803e-01 8.88968693e-03 9.74683610e-01 -1.11966569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89534707 meters 0.06068315330583966 Centerline is valid? [True, True] Translation: X:-150.19, Y:21.65, Z:-11.20 [[ 9.74901253e-01 -2.67177317e-02 -2.21028754e-01 -1.50192222e+02] [ 2.42012042e-02 9.99607862e-01 -1.40862684e-02 2.16484753e+01] [ 2.21318434e-01 8.38355865e-03 9.75165559e-01 -1.12001001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92534707000002 meters 0.06610181859792089 Centerline is valid? [True, True] Translation: X:-150.22, Y:21.64, Z:-11.20 [[ 9.75491839e-01 -3.19557342e-02 -2.17702785e-01 -1.50222179e+02] [ 2.96373211e-02 9.99463966e-01 -1.39072174e-02 2.16439109e+01] [ 2.18030504e-01 7.11424971e-03 9.75916024e-01 -1.12046727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95534707000002 meters 0.06887540990926927 Centerline is valid? [True, True] Translation: X:-150.25, Y:21.64, Z:-11.21 [[ 9.75340314e-01 -3.85388058e-02 -2.17315512e-01 -1.50251300e+02] [ 3.63881116e-02 9.99241182e-01 -1.38911833e-02 2.16381271e+01] [ 2.17685959e-01 5.64092992e-03 9.76002563e-01 -1.12099261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98534707 meters 0.0733790595905565 Centerline is valid? [True, True] Translation: X:-150.28, Y:21.64, Z:-11.22 [[ 9.75387186e-01 -4.03867416e-02 -2.16768881e-01 -1.50281988e+02] [ 3.82845698e-02 9.99170333e-01 -1.38901639e-02 2.16364765e+01] [ 2.17150013e-01 5.24938456e-03 9.76124129e-01 -1.12174085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01534707 meters 0.07720068975298354 Centerline is valid? [True, True] Translation: X:-150.31, Y:21.64, Z:-11.23 [[ 9.75538231e-01 -3.85475588e-02 -2.16423765e-01 -1.50312124e+02] [ 3.63910261e-02 9.99240365e-01 -1.39422744e-02 2.16396946e+01] [ 2.16796802e-01 5.72533882e-03 9.76199963e-01 -1.12258720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04534707 meters 0.08342019935411187 Centerline is valid? [True, True] Translation: X:-150.34, Y:21.64, Z:-11.23 [[ 9.75749764e-01 -3.68134507e-02 -2.15771102e-01 -1.50343808e+02] [ 3.46116392e-02 9.99303118e-01 -1.39754455e-02 2.16446559e+01] [ 2.16135219e-01 6.16834614e-03 9.76343955e-01 -1.12309114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07534707 meters 0.09048657535671097 Centerline is valid? [True, True] Translation: X:-150.37, Y:21.65, Z:-11.25 [[ 9.75162398e-01 -3.81101928e-02 -2.18187789e-01 -1.50374231e+02] [ 3.58711771e-02 9.99255316e-01 -1.42152306e-02 2.16538592e+01] [ 2.18567054e-01 6.03550551e-03 9.75803267e-01 -1.12485363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10534707 meters 0.09048657535671097 Centerline is valid? [True, True] Translation: X:-150.41, Y:21.65, Z:-11.25 [[ 9.75150569e-01 -3.84410401e-02 -2.18182619e-01 -1.50406111e+02] [ 3.61925435e-02 9.99242601e-01 -1.42941977e-02 2.16520379e+01] [ 2.18566851e-01 6.04241106e-03 9.75803270e-01 -1.12545926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13534707 meters 0.10042133890129293 Centerline is valid? [True, False] Translation: X:-150.43, Y:21.66, Z:-11.28 [[ 9.84255596e-01 -3.97408744e-02 -1.72225390e-01 -1.50432610e+02] [ 3.73489937e-02 9.99155834e-01 -1.71076434e-02 2.16577011e+01] [ 1.72759876e-01 1.04058487e-02 9.84909003e-01 -1.12783215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16534707 meters 0.11491903640198356 Centerline is valid? [False, False] Translation: X:-150.44, Y:21.66, Z:-11.30 [[ 9.89701335e-01 -3.90144371e-02 -1.37728508e-01 -1.50444899e+02] [ 3.65304562e-02 9.99121880e-01 -2.05181667e-02 2.16649585e+01] [ 1.38408071e-01 1.52755717e-02 9.90257473e-01 -1.12950388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19534707 meters 0.13257548457537163 Centerline is valid? [False, False] Translation: X:-150.45, Y:21.67, Z:-11.30 [[ 9.91766766e-01 -4.32112701e-02 -1.20546537e-01 -1.50446416e+02] [ 4.06964026e-02 9.98901067e-01 -2.32478203e-02 2.16710354e+01] [ 1.21418633e-01 1.81506052e-02 9.92435424e-01 -1.13025218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22534707 meters 0.14278464472150632 Centerline is valid? [False, False] Translation: X:-150.45, Y:21.67, Z:-11.31 [[ 9.93558659e-01 -4.57996508e-02 -1.03651254e-01 -1.50445074e+02] [ 4.32414489e-02 9.98705239e-01 -2.67959631e-02 2.16736749e+01] [ 1.04744296e-01 2.21413308e-02 9.94252681e-01 -1.13095889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25534707 meters 0.15481849987574015 Centerline is valid? [False, False] Translation: X:-150.44, Y:21.68, Z:-11.31 [[ 9.93379012e-01 -5.01072005e-02 -1.03379914e-01 -1.50442953e+02] [ 4.71853957e-02 9.98419819e-01 -3.05188911e-02 2.16758615e+01] [ 1.04745772e-01 2.54388037e-02 9.94173622e-01 -1.13115008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28534707 meters 0.16305816537806947 Centerline is valid? [False, False] Translation: X:-150.46, Y:21.68, Z:-11.32 [[ 9.95271519e-01 -5.41475130e-02 -8.06390151e-02 -1.50460542e+02] [ 5.20515228e-02 9.98255347e-01 -2.78729380e-02 2.16776308e+01] [ 8.20075783e-02 2.35437578e-02 9.96353576e-01 -1.13179201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31534707 meters 0.1790345894961734 Centerline is valid? [False, False] Translation: X:-150.47, Y:21.68, Z:-11.32 [[ 9.95968116e-01 -5.30306239e-02 -7.23551285e-02 -1.50467853e+02] [ 5.08742108e-02 9.98213566e-01 -3.13287587e-02 2.16816327e+01] [ 7.38872545e-02 2.75214347e-02 9.96886776e-01 -1.13184045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34534707 meters 0.2947290407731487 Centerline is valid? [False, False] Translation: X:-150.46, Y:21.69, Z:-11.33 [[ 9.96736929e-01 -5.29302097e-02 -6.09416688e-02 -1.50462564e+02] [ 5.06961280e-02 9.98004549e-01 -3.76407006e-02 2.16865013e+01] [ 6.28123928e-02 3.44283697e-02 9.97431346e-01 -1.13251536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37534707 meters 0.29668804137944627 Centerline is valid? [False, False] Translation: X:-150.46, Y:21.69, Z:-11.33 [[ 9.96759324e-01 -5.28376871e-02 -6.06550050e-02 -1.50463156e+02] [ 5.06173865e-02 9.98010943e-01 -3.75770801e-02 2.16859834e+01] [ 6.25198447e-02 3.43851071e-02 9.97451219e-01 -1.13251130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40534707 meters 0.307354222873275 Centerline is valid? [False, False] Translation: X:-150.44, Y:21.69, Z:-11.34 [[ 9.97848589e-01 -5.22013209e-02 -3.96637703e-02 -1.50441407e+02] [ 5.06628452e-02 9.97959860e-01 -3.88509268e-02 2.16912098e+01] [ 4.16109203e-02 3.67578630e-02 9.98457506e-01 -1.13371289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43534707 meters 0.3132347273662258 Centerline is valid? [False, False] Translation: X:-150.44, Y:21.70, Z:-11.34 [[ 9.98092181e-01 -4.77013397e-02 -3.91992283e-02 -1.50443097e+02] [ 4.63258961e-02 9.98303233e-01 -3.52784200e-02 2.16955536e+01] [ 4.08155442e-02 3.33951758e-02 9.98608459e-01 -1.13367242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46534707 meters 0.317609481099359 Centerline is valid? [False, False] Translation: X:-150.44, Y:21.70, Z:-11.34 [[ 9.98124892e-01 -4.76561273e-02 -3.84134617e-02 -1.50444501e+02] [ 4.62874161e-02 9.98287663e-01 -3.57661530e-02 2.16976159e+01] [ 4.00521613e-02 3.39210277e-02 9.98621644e-01 -1.13367481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49534707 meters 0.3157351712297983 Centerline is valid? [False, False] Translation: X:-150.44, Y:21.70, Z:-11.34 [[ 9.98535451e-01 -4.34977739e-02 -3.21698185e-02 -1.50441434e+02] [ 4.21245238e-02 9.98220779e-01 -4.21995355e-02 2.17011603e+01] [ 3.39481672e-02 4.07825939e-02 9.98591159e-01 -1.13398653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52534707 meters 0.3126619309305995 Centerline is valid? [False, False] Translation: X:-150.44, Y:21.70, Z:-11.34 [[ 9.98567120e-01 -4.33286713e-02 -3.14059537e-02 -1.50442726e+02] [ 4.19732226e-02 9.98209956e-01 -4.26043768e-02 2.17027348e+01] [ 3.31957266e-02 4.12251208e-02 9.98598284e-01 -1.13399733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55534707 meters 0.31453528152659865 Centerline is valid? [False, False] Translation: X:-150.45, Y:21.70, Z:-11.34 [[ 9.98671651e-01 -4.15613811e-02 -3.04562695e-02 -1.50446300e+02] [ 4.02808374e-02 9.98325491e-01 -4.15170943e-02 2.17047660e+01] [ 3.21307779e-02 4.02351411e-02 9.98673493e-01 -1.13379204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58534707 meters 0.30907854569613297 Centerline is valid? [False, False] Translation: X:-150.47, Y:21.71, Z:-11.34 [[ 9.99137308e-01 -3.81712954e-02 -1.63582279e-02 -1.50465256e+02] [ 3.73152733e-02 9.98062997e-01 -4.97777482e-02 2.17072513e+01] [ 1.82266231e-02 4.91243936e-02 9.98626349e-01 -1.13367767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61534707 meters 0.30453060830116035 Centerline is valid? [False, False] Translation: X:-150.47, Y:21.71, Z:-11.34 [[ 9.99221089e-01 -3.61570613e-02 -1.58076446e-02 -1.50467589e+02] [ 3.53627531e-02 9.98224530e-01 -4.79297763e-02 2.17081068e+01] [ 1.75125784e-02 4.73334415e-02 9.98725615e-01 -1.13352294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64534707 meters 0.31636868659222256 Centerline is valid? [False, False] Translation: X:-150.47, Y:21.71, Z:-11.33 [[ 9.99250123e-01 -3.57449443e-02 -1.48825479e-02 -1.50469934e+02] [ 3.49972469e-02 9.98244286e-01 -4.77863829e-02 2.17075990e+01] [ 1.65645400e-02 4.72297008e-02 9.98746700e-01 -1.13343940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67534707000002 meters 0.3132968271331944 Centerline is valid? [False, False] Translation: X:-150.49, Y:21.70, Z:-11.33 [[ 9.99593871e-01 -2.65953546e-02 -1.02362674e-02 -1.50491563e+02] [ 2.60446012e-02 9.98378148e-01 -5.06236427e-02 2.17026450e+01] [ 1.15660194e-02 5.03364834e-02 9.98665342e-01 -1.13312040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70534707000002 meters 0.3071086323035594 Centerline is valid? [False, False] Translation: X:-150.50, Y:21.70, Z:-11.33 [[ 9.99667374e-01 -2.43740916e-02 -8.42877344e-03 -1.50499069e+02] [ 2.39353817e-02 9.98525209e-01 -4.87288914e-02 2.17008861e+01] [ 9.60406522e-03 4.85109370e-02 9.98776477e-01 -1.13255586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73534707 meters 0.30190856574997815 Centerline is valid? [False, False] Translation: X:-150.51, Y:21.70, Z:-11.32 [[ 9.99511153e-01 -3.02605831e-02 -7.85826707e-03 -1.50513840e+02] [ 2.98835567e-02 9.98569880e-01 -4.43302117e-02 2.17034519e+01] [ 9.18848686e-03 4.40737080e-02 9.98986026e-01 -1.13212026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76534707 meters 0.22894718431218078 Centerline is valid? [False, False] Translation: X:-150.53, Y:21.70, Z:-11.31 [[ 9.99519575e-01 -2.64020933e-02 -1.62342003e-02 -1.50527335e+02] [ 2.57702831e-02 9.98946609e-01 -3.79679431e-02 2.17035369e+01] [ 1.72195325e-02 3.75313424e-02 9.99147079e-01 -1.13081798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79534707 meters 0.23365525561786155 Centerline is valid? [False, False] Translation: X:-150.53, Y:21.70, Z:-11.31 [[ 9.99619758e-01 -2.34321758e-02 -1.45352291e-02 -1.50531960e+02] [ 2.28986193e-02 9.99094888e-01 -3.58477145e-02 2.17041198e+01] [ 1.53620631e-02 3.55012470e-02 9.99251554e-01 -1.13055193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82534707 meters 0.2371927771061895 Centerline is valid? [False, False] Translation: X:-150.54, Y:21.71, Z:-11.30 [[ 9.99664861e-01 -2.33204054e-02 -1.12394314e-02 -1.50538675e+02] [ 2.28728746e-02 9.98999696e-01 -3.84244506e-02 2.17078847e+01] [ 1.21242624e-02 3.81544949e-02 9.99198297e-01 -1.13021047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85534707 meters 0.24121600755334568 Centerline is valid? [False, False] Translation: X:-150.55, Y:21.71, Z:-11.30 [[ 9.99697250e-01 -2.32399679e-02 -8.08156773e-03 -1.50545182e+02] [ 2.28920025e-02 9.98906317e-01 -4.07691696e-02 2.17099205e+01] [ 9.02020326e-03 4.05718235e-02 9.99135908e-01 -1.12989243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88534707 meters 0.23644819364208103 Centerline is valid? [False, False] Translation: X:-150.56, Y:21.71, Z:-11.29 [[ 9.99573744e-01 -2.87688723e-02 -4.96815359e-03 -1.50563818e+02] [ 2.85378025e-02 9.98727194e-01 -4.15882939e-02 2.17141472e+01] [ 6.15827841e-03 4.14287864e-02 9.99122481e-01 -1.12894093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91534707 meters 0.23464903897027756 Centerline is valid? [False, False] Translation: X:-150.58, Y:21.71, Z:-11.28 [[ 9.99686449e-01 -2.49559217e-02 -2.05059026e-03 -1.50583132e+02] [ 2.48370662e-02 9.98658548e-01 -4.54337464e-02 2.17081430e+01] [ 3.18168051e-03 4.53685700e-02 9.98965250e-01 -1.12810567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94534707 meters 0.23331245130982903 Centerline is valid? [False, False] Translation: X:-150.60, Y:21.70, Z:-11.27 [[ 9.99567012e-01 -2.88984190e-02 5.53808948e-03 -1.50597867e+02] [ 2.91308717e-02 9.98427083e-01 -4.79035728e-02 2.17023629e+01] [-4.14504101e-03 4.80441605e-02 9.98836612e-01 -1.12719198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97534707 meters 0.2343048363355322 Centerline is valid? [False, False] Translation: X:-150.64, Y:21.70, Z:-11.26 [[ 9.98807979e-01 -4.40758819e-02 2.09746836e-02 -1.50640461e+02] [ 4.48430817e-02 9.98284962e-01 -3.76328779e-02 2.16960265e+01] [-1.92800089e-02 3.85285881e-02 9.99071484e-01 -1.12585457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00534707 meters 0.2575679015043571 Centerline is valid? [False, False] Translation: X:-150.66, Y:21.69, Z:-11.25 [[ 9.98725894e-01 -4.65701066e-02 1.94374143e-02 -1.50655039e+02] [ 4.73389948e-02 9.98029910e-01 -4.11742335e-02 2.16890805e+01] [-1.74816324e-02 4.20419209e-02 9.98962897e-01 -1.12452977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03534707 meters 0.24620956494382026 Centerline is valid? [False, False] Translation: X:-150.70, Y:21.68, Z:-11.23 [[ 9.97240807e-01 -6.48309515e-02 3.61624298e-02 -1.50697761e+02] [ 6.60048124e-02 9.97297359e-01 -3.22698360e-02 2.16808054e+01] [-3.39726115e-02 3.45676917e-02 9.98824778e-01 -1.12319997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06534707 meters 0.24289180371151445 Centerline is valid? [False, False] Translation: X:-150.73, Y:21.67, Z:-11.22 [[ 9.95766912e-01 -7.74377337e-02 4.95141859e-02 -1.50732972e+02] [ 7.87150872e-02 9.96598809e-01 -2.43874790e-02 2.16732744e+01] [-4.74572675e-02 2.81817581e-02 9.98475636e-01 -1.12159944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09534707 meters 0.2458669545132987 Centerline is valid? [False, False] Translation: X:-150.74, Y:21.67, Z:-11.21 [[ 9.95569790e-01 -7.92551022e-02 5.05907258e-02 -1.50743948e+02] [ 8.04657608e-02 9.96506615e-01 -2.23568039e-02 2.16733266e+01] [-4.86421021e-02 2.63285798e-02 9.98469204e-01 -1.12081170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12534707 meters 0.23588610876215496 Centerline is valid? [False, False] Translation: X:-150.75, Y:21.66, Z:-11.19 [[ 9.96078046e-01 -7.65746795e-02 4.43265599e-02 -1.50750427e+02] [ 7.77212564e-02 9.96667969e-01 -2.47460424e-02 2.16649027e+01] [-4.22839422e-02 2.80941055e-02 9.98710563e-01 -1.11914902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15534707 meters 0.22909011480565047 Centerline is valid? [False, False] Translation: X:-150.75, Y:21.66, Z:-11.18 [[ 9.96672046e-01 -6.92472160e-02 4.30076287e-02 -1.50754873e+02] [ 7.00562543e-02 9.97387832e-01 -1.75964037e-02 2.16643761e+01] [-4.16767836e-02 2.05507970e-02 9.98919772e-01 -1.11844563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18534707 meters 0.22680665099542185 Centerline is valid? [False, False] Translation: X:-150.76, Y:21.66, Z:-11.18 [[ 9.96982396e-01 -6.46866547e-02 4.29154857e-02 -1.50757376e+02] [ 6.52942610e-02 9.97782545e-01 -1.29094166e-02 2.16619920e+01] [-4.19852555e-02 1.56725961e-02 9.98995299e-01 -1.11816160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21534707 meters 0.2293953017196206 Centerline is valid? [False, False] Translation: X:-150.78, Y:21.66, Z:-11.19 [[ 9.97925365e-01 -4.88852409e-02 4.18950862e-02 -1.50782427e+02] [ 5.01239150e-02 9.98320623e-01 -2.90435495e-02 2.16553612e+01] [-4.04049276e-02 3.10832405e-02 9.98699792e-01 -1.11870323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24534707 meters 0.2310579496253565 Centerline is valid? [False, False] Translation: X:-150.79, Y:21.66, Z:-11.18 [[ 9.99049131e-01 -3.23581031e-02 2.92196508e-02 -1.50788971e+02] [ 3.35574529e-02 9.98573403e-01 -4.15337974e-02 2.16553455e+01] [-2.78340113e-02 4.24748412e-02 9.98709745e-01 -1.11831965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27534707 meters 0.2329664024869401 Centerline is valid? [False, False] Translation: X:-150.79, Y:21.65, Z:-11.18 [[ 9.99720099e-01 -1.30428018e-02 1.97385170e-02 -1.50788589e+02] [ 1.38029820e-02 9.99148573e-01 -3.88793984e-02 2.16520233e+01] [-1.92146148e-02 3.91409664e-02 9.99048939e-01 -1.11797302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30534707 meters 0.23390712241992842 Centerline is valid? [False, False] Translation: X:-150.78, Y:21.64, Z:-11.17 [[ 9.99987854e-01 -4.81318677e-03 1.06091950e-03 -1.50781666e+02] [ 4.84610250e-03 9.99424201e-01 -3.35824647e-02 2.16440277e+01] [-8.98669945e-04 3.35871981e-02 9.99435387e-01 -1.11747862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33534707 meters 0.23461690533613835 Centerline is valid? [False, False] Translation: X:-150.78, Y:21.64, Z:-11.17 [[ 9.99997739e-01 1.71398295e-03 1.25840327e-03 -1.50781619e+02] [-1.67839159e-03 9.99613231e-01 -2.77591776e-02 2.16369982e+01] [-1.30549532e-03 2.77570027e-02 9.99613848e-01 -1.11746291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36534707 meters 0.2378139157585617 Centerline is valid? [False, False] Translation: X:-150.78, Y:21.63, Z:-11.17 [[ 9.99988765e-01 4.64571699e-03 9.42058978e-04 -1.50780719e+02] [-4.62029617e-03 9.99666788e-01 -2.53961932e-02 2.16312724e+01] [-1.05972860e-03 2.53915553e-02 9.99677021e-01 -1.11744357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39534707 meters 0.24015009300046203 Centerline is valid? [False, False] Translation: X:-150.78, Y:21.63, Z:-11.17 [[ 9.99983346e-01 5.73084408e-03 6.81536718e-04 -1.50780166e+02] [-5.71238087e-03 9.99682109e-01 -2.45570882e-02 2.16292546e+01] [-8.22052907e-04 2.45527860e-02 9.99698197e-01 -1.11743180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42534707000002 meters 0.2408455713439693 Centerline is valid? [False, False] Translation: X:-150.78, Y:21.62, Z:-11.17 [[ 9.99959345e-01 9.01590622e-03 -1.47417521e-04 -1.50778303e+02] [-9.01693379e-03 9.99703424e-01 -2.26220876e-02 2.16230988e+01] [-5.65848205e-05 2.26224972e-02 9.99744077e-01 -1.11739367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45534707000002 meters 0.24515431399346987 Centerline is valid? [False, False] Translation: X:-150.78, Y:21.62, Z:-11.17 [[ 9.99932701e-01 1.15773196e-02 -7.48326188e-04 -1.50776346e+02] [-1.15905909e-02 9.99707792e-01 -2.12129210e-02 2.16193572e+01] [ 5.02518755e-04 2.12201669e-02 9.99774701e-01 -1.11741007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48534707 meters 0.24620329404373542 Centerline is valid? [False, False] Translation: X:-150.77, Y:21.61, Z:-11.17 [[ 9.99891851e-01 1.46682423e-02 -1.06296781e-03 -1.50774636e+02] [-1.46859096e-02 9.99708875e-01 -1.91438906e-02 2.16142658e+01] [ 7.81851133e-04 1.91574308e-02 9.99816174e-01 -1.11746035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51534707 meters 0.2538439897764646 Centerline is valid? [False, False] Translation: X:-150.77, Y:21.61, Z:-11.17 [[ 9.99868842e-01 1.61515578e-02 -1.19420927e-03 -1.50774145e+02] [-1.61707165e-02 9.99701750e-01 -1.83007862e-02 2.16113242e+01] [ 8.98266895e-04 1.83176971e-02 9.99831813e-01 -1.11744345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2993.56 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 ... 0%| | 0/5351 [00:00